Particle radiotherapy isocenter determination method, debugging method and related device

Abstract

The invention provides a particle radiotherapy isocenter determination method, a debugging method and a related device, and relates to the technical field of particle radiotherapy, and the particle radiotherapy isocenter determination method comprises the steps: obtaining the range of the mechanical isocenter of a rack and a treatment head through an electronic theodolite and a first test tool installed on the treatment head; according to the determined range of the mechanical isocenter of the rack and the treatment head, utilizing a two-dimensional image system at a fixed position to respectively collect images of the circular geometry on the first test tool on the treatment head in two intersecting directions when the treatment head is in a horizontal position, so as to obtain two two-dimensional images; the cross curve of the two-dimensional image system is adjusted, so that the cross point of the cross curve is aligned with the center of the circular geometry on the isocenter test tool, and the mechanical isocenter of the rack and the treatment head is determined; the actual mechanical isocenter of a treatment room is accurately determined through special equipment and tools, and accurate particle radiotherapy is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of particle radiotherapy, and particularly to methods for determining the center point of particle radiotherapy, debugging methods, and related devices. Background Art

[0002] The coordinates of the isocenter of the radiation beam of a particle radiotherapy device are the basis for formulating a treatment plan. For a radiotherapy device with a rotating gantry, the radiation beam reaches the patient after being emitted from the gantry. Therefore, to determine the isocenter of the radiation beam at different angles of the rotating gantry (treatment head), it is first necessary to determine the mechanical isocenter of the rotating gantry; due to clinical needs, the patient lies on the treatment couch, and it is also necessary to determine the motion isocenter of the treatment couch as the reference for patient positioning. When the treatment room is designed and constructed, there is a theoretical isocenter point. The installation and positioning of the gantry in the treatment room, the treatment head on the gantry, and the treatment couch are all referenced to the theoretical isocenter to determine their installation positions and the final fixed positions of the devices. Since the gantry is an arc (or circular) track with a central origin, and since the treatment head is installed on the inner arc (circle) of the gantry and can move on the arc track of the gantry under the drive of a control motor, once the gantry is installed and fixed, and the treatment head is installed on the gantry, the movement of the treatment head on the arc (or circular) track is also circular motion, that is, the treatment head actually moves in an arc (or circular) around a point in space as the center, and this point deviates from the theoretical isocenter point. The existing solution is to detect the deviation between the theoretical isocenter point and the actual isocenter. If the deviation is within the allowable range, the theoretical isocenter is considered credible, and based on the theoretical isocenter point, the center of the radiation beam and the isocenter of the treatment couch are also matched with this reference.

[0003] Patent CN 113624132 B solves the problems of installation positioning and position adjustment of the C-shaped inner gantry during initial installation; the solution is to use a theodolite ruler and adjust the positions of the gantry and the treatment head by adjusting shims and screws, etc., so as to achieve the purpose that the isocenter error of the treatment head during rotation along the inner gantry track from -5° to 185° is not greater than ±0.25 mm of the theoretical isocenter. Patent CN 113624132 B solves the installation problem to meet the theoretical isocenter of the inner gantry and the installation is considered qualified if the error is not greater than ±0.25 mm. In fact, the theoretical isocenter and the actual isocenter of the radiotherapy room may be inconsistent and have an adverse impact. Summary of the Invention

[0004] Based on the above problems, the present invention provides a method for determining the isocenter in particle radiotherapy, a debugging method, and related devices. By actually measuring the actual isocenter of the moving equipment in the treatment room with special equipment and tooling, the actual mechanical isocenter of the treatment room is accurately determined. This isocenter coordinate can be used as a benchmark for subsequent beam commissioning, treatment plan formulation, and clinical treatment, realizing true precise particle radiotherapy.

[0005] In a first aspect, the present invention provides a method for determining the isocenter in particle radiotherapy, including:

[0006] Obtaining the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tooling installed on the treatment head;

[0007] According to the determined range of the mechanical isocenter of the gantry and the treatment head, using a two-dimensional imaging system at a fixed position, when the treatment head is in a horizontal position, images of the circular geometric body on the first test tooling on the treatment head are collected in two intersecting directions respectively, obtaining two two-dimensional images;

[0008] Adjust the crosshair of the two-dimensional imaging system so that its intersection point aligns with the center of the circular geometric body on the first test tooling, obtain the coordinates of the two groups of two-dimensional images, thereby determine the mechanical isocenter of the gantry and the treatment head, and use the mechanical isocenter of the gantry and the treatment head as the isocenter in particle radiotherapy.

[0009] Optionally, the circular geometric body on the first test tooling is a circular small hole or a circular small ball.

[0010] Preferably, the gantry is a C-shaped gantry; the axis of the circular geometric body is parallel to the beam direction of the treatment head; the obtaining the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tooling installed on the treatment head includes:

[0011] Set up an electronic theodolite in the treatment room, and the plane where the optical axis of the electronic theodolite is located is perpendicular to the circular arc track plane of the C-shaped gantry;

[0012] When the treatment head moves along the gantry track, capture the trajectory marked by the tooling through the electronic theodolite; judge whether the central crosshair of the electronic theodolite is always within the circumferential range of the circular geometric body;

[0013] If so, determine the moving range of the circular geometric body of the first test tooling in space through the measurement data of the circular geometric body at different positions by the electronic theodolite, and map this range to the range of the mechanical isocenter of the gantry and the treatment head.

[0014] Preferably, if the central crosshair of the electronic theodolite exceeds the range of the circular geometric body at a certain moment, the movement of the treatment head is immediately paused, and the angle and position of the electronic theodolite are finely adjusted to bring the central crosshair of the electronic theodolite back within the circumference of the circular geometric body.

[0015] Preferably, analyze the marked trajectory image of the first test tooling captured by the electronic theodolite, extract the features of the circular geometric body and the central crosshair of the electronic theodolite, and determine whether the central crosshair of the electronic theodolite is within the circumferential range by judging whether the difference between the distance from the intersection point of the central crosshair of the electronic theodolite to the center of the circle of the circular geometric body and the radius of the circular geometric body is greater than the dynamic threshold.

[0016] Preferably, the method for finely adjusting the electronic theodolite includes:

[0017] Collect deviation and motion state data, where the deviation and motion state data include the degree and direction of the central crosshair of the electronic theodolite exceeding the range of the circular geometric body and the motion state data of the treatment head;

[0018] Extract the features of the deviation and motion state data to obtain the distance beyond the range, the angle change rate, and the motion speed of the treatment head;

[0019] Input the data features collected in real time into the adjustment model to calculate the optimal adjustment parameters.

[0020] Preferably, adjust the crosshair of the two-dimensional imaging system so that its intersection point is centered on the circular geometric body on the first test tooling, including:

[0021] Real-time extract the elliptical projection contour of the circular geometric body through an image recognition algorithm, and calculate the intersection point of its major axis and minor axis as the geometric center coordinates;

[0022] Adjust the crosshair of the two-dimensional imaging system so that its intersection point coincides with the geometric center coordinates;

[0023] When the intersection points of the crosshairs of the two images deviate from the corresponding geometric centers by less than the first threshold, trigger the coordinate synchronization module to perform a spatial coordinate transformation on the two sets of two-dimensional image coordinates, and calculate the three-dimensional spatial coordinates of the mechanical isocenter by least squares fitting.

[0024] In a second aspect, the present application provides a radiotherapy isocenter debugging method for keeping the mechanical isocenter of the treatment couch consistent with the mechanical isocenters of the gantry and the treatment head. The method includes:

[0025] Install a second test tooling on the treatment couch plate and adjust the position of the second test tooling by moving the treatment couch; the second test tooling includes a sphere;

[0026] When the treatment couch is at different horizontal angles, use a two-dimensional imaging system to collect two two-dimensional images of the sphere on the second test tool in two intersecting directions respectively;

[0027] Compare the center coordinates of the sphere in the collected two-dimensional images with the mechanical isocenter coordinates of the gantry and the treatment head. If the two do not coincide, then according to the coordinate deviation data, finely adjust the position of the treatment couch board, and repeat the above image collection and comparison steps until the two coordinates coincide.

[0028] Preferably, the treatment couch board is fixedly installed at the tool end of the six-axis robot; the six-axis robot is used to drive the movement of the treatment couch board;

[0029] The second test tool is installed on the treatment couch board, and the sphere is located at the center of the cube at the top of the second test tool.

[0030] In a third aspect, the present application provides a device for determining the isocenter of particle radiotherapy, and the device includes:

[0031] A range determination module, configured to obtain the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tool installed on the treatment head;

[0032] A first image acquisition module, configured to, according to the determined range of the mechanical isocenter of the gantry and the treatment head, use a two-dimensional imaging system at a fixed position to collect images of the circular geometric body on the first test tool on the treatment head in two intersecting directions when the treatment head is in a horizontal position, and obtain two two-dimensional images;

[0033] An isocenter determination module, configured to adjust the crosshair of the two-dimensional imaging system so that its intersection point aligns with the center of the circular geometric body on the first test tool, obtain the coordinates of the two groups of two-dimensional images, thereby determine the mechanical isocenter of the gantry and the treatment head, and use the mechanical isocenter of the gantry and the treatment head as the isocenter of particle radiotherapy.

[0034] In a fourth aspect, the present application provides a device for debugging the isocenter of particle radiotherapy, which is used to make the mechanical isocenter of the treatment couch consistent with the mechanical isocenter of the gantry and the treatment head, and the device includes:

[0035] A debugging setting module, configured to install a second test tool on the treatment couch board, and adjust the position of the second test tool by moving the treatment couch to different horizontal angles; the second test tool includes a sphere;

[0036] A second image acquisition module, when the treatment couch is at different horizontal angles, use a two-dimensional imaging system to collect two two-dimensional images of the sphere on the second test tool in two intersecting directions respectively;

[0037] A comparison and debugging module is used to compare the central coordinates of the sphere in the collected two-dimensional image with the mechanical isocenter coordinates of the gantry and the treatment head. If the two do not coincide, the position of the treatment couch is finely adjusted according to the coordinate deviation data, and the above-mentioned image acquisition and comparison steps are repeated until the two coordinates coincide.

[0038] In a fifth aspect, the present application provides a particle radiotherapy system, including:

[0039] A particle accelerator for generating a high-energy particle beam;

[0040] The particle radiotherapy isocenter determination device described in the present application is used to determine the particle radiotherapy isocenter;

[0041] And / or,

[0042] The particle radiotherapy isocenter debugging device described in the present application is used to keep the mechanical isocenter of the treatment couch consistent with the determined particle radiotherapy isocenter.

[0043] In a sixth aspect, the present invention provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the present invention are implemented.

[0044] In a seventh aspect, the present invention provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions, the computer executes the steps of any method described in the present invention.

[0045] Compared with the prior art, the beneficial effects of the present invention at least include: through devices such as an electronic theodolite and a two-dimensional imaging system, combined with complex measurement, analysis, and adjustment methods, such as obtaining the mechanical isocenter range of the gantry and the treatment head, and adjusting the crosshair of the two-dimensional imaging system to determine the three-dimensional space coordinates of the mechanical isocenter, etc., the particle radiotherapy isocenter can be accurately determined. The present application does not need to find the theoretical isocenter. Instead, it takes the actual mechanical isocenter measured during the process of the treatment head rotating in a circular motion within the inner gantry as the reference for subsequent work, including subsequent beam debugging and treatment planning, etc. Therefore, problems caused by the error between the theoretical isocenter and the actual mechanical isocenter are avoided. The present application uses the actual mechanical isocenter as the reference for radiotherapy, which can make the radiation beam accurately focus on the lesion, reduce the radiation to the surrounding normal tissues, improve the radiotherapy effect, and reduce side effects. Instead of taking the theoretical isocenter as the reference, it takes the measured actual mechanical isocenter as the reference, avoiding the systematic error caused by the deviation between the theoretical isocenter and the actual isocenter, making the radiotherapy process more accurate and reliable, ensuring that the treatment dose can accurately act on the target area, and improving the accuracy and treatment quality of radiotherapy. Description of the Drawings

[0046] Figure 1 It is a schematic diagram of the method for determining the isocenter of particle radiotherapy in an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the position of the first test tooling on the treatment head in an embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of the small hole of the first test tooling in an embodiment of the present invention;

[0049] Figure 4 It is a schematic diagram of the position of the small hole of the first test tooling when the gantry is at different angles in an embodiment of the present invention;

[0050] Figure 5 It is a schematic diagram of the method for debugging the isocenter of particle radiotherapy in an embodiment of the present invention;

[0051] Figure 6 It is a schematic diagram of the position of the second test tooling on the treatment couch plate in an embodiment of the present invention. Detailed implementation manners

[0052] In view of the deficiencies in the prior art, the applicant of this case has proposed the technical solution of this application through long-term research and a large number of practices. The following will further explain and illustrate the technical solution, its implementation process and principle, etc. in combination with the drawings in the embodiments of this application and specific implementation cases.

[0053] It should be noted that the embodiments described below by referring to the drawings are exemplary and are only used to explain this application, and should not be construed as a limitation to this application. The described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, this application covers any alternatives, modifications, equivalent methods and solutions made on the spirit, principle and scope defined by the claims of this application. All other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by this application.

[0054] In the description of this application, "first", "second", "third" and similar terms do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Terms such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Terms such as "connect" or "be connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0055] In the description of the present application, the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "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 application 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 application. In addition, when using position terms such as both sides, outer side, upper and lower, etc., it should be understood that they are only used for easy understanding and description, considering that the structure may be facing other positions.

[0056] In the description of the present application, unless otherwise clearly defined and limited, the technical terms or scientific terms used should have the ordinary meaning understood by those with ordinary skills in the field to which the present application belongs. Terms such as "installation", "connection", "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or a contact connection or an integral connection; for those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to specific circumstances.

[0057] Furthermore, in order to enable the public to have a better understanding of the present application, in the following detailed description of the present application, some specific details are described in detail. Those skilled in the art can fully understand the present application without the description of these details.

[0058] Embodiment 1: Refer to the attached Figure 1 , the embodiment of the present application provides a method for determining the center point such as particle radiotherapy, including:

[0059] Obtain the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tooling installed on the treatment head;

[0060] According to the determined range of the mechanical isocenter of the gantry and the treatment head, use a two-dimensional imaging system at a fixed position. When the treatment head is in a horizontal position, images of the circular geometric body on the first test tooling on the treatment head are collected in two intersecting directions respectively to obtain two two-dimensional images;

[0061] Adjust the crosshairs of the two-dimensional imaging system so that the intersection point aligns with the center of the circular geometric body on the first test tooling, obtain the coordinates of the two groups of two-dimensional images, thereby determine the mechanical isocenter of the gantry and the treatment head, and use the mechanical isocenter of the gantry and the treatment head as the center point such as particle radiotherapy.

[0062] The working principle and effects of the above technical solution are as follows: By using an electronic theodolite and the first test tooling installed on the treatment head, when the treatment head moves along the gantry track, the electronic theodolite captures the trajectory marked by the tooling. By judging whether the central crosshair of the theodolite is within the circumferential range of the circular geometric body on the first test tooling, if the condition is met, based on the measurement data of the tooling circular geometric body at different positions by the theodolite, its spatial movement range is determined, and then the mechanical isocenter range of the gantry and the treatment head is mapped; this step lays a foundation for accurately determining the isocenter subsequently and limits the area where the isocenter may exist.

[0063] On the premise that the mechanical isocenter range has been determined, with the help of a two-dimensional imaging system at a fixed position, when the treatment head is in a horizontal position, images of the circular geometric body on the first test tooling are collected from two intersecting (which can be orthogonal or oblique) directions to obtain two two-dimensional images; these two images contain the position information of the circular geometric body from different perspectives and provide multi-dimensional data for determining its precise center.

[0064] Adjust the crosshair of the two-dimensional imaging system so that its intersection point aligns with the center of the circular geometric body to obtain two sets of two-dimensional image coordinates; based on these two sets of coordinates and combined with the previously determined mechanical isocenter range, accurately determine the mechanical isocenter of the gantry and the treatment head, and use it as the isocenter for particle radiotherapy to ensure that the radiation can accurately focus on this point during particle radiotherapy, improving the accuracy and effect of radiotherapy.

[0065] The flat panel of the two-dimensional (radiation) imaging system is usually positioned against the wall of the treatment room. When taking a film, the flat panel is moved, and the flat panel moves along the roof track to a fixed film-taking position for positioning and filming, that is, the positions of the X-ray tube and the imaging flat panel are fixed and unchanged during each image acquisition. By determining the pixel coordinates of the center points of the small holes on the first test tooling in two images, namely the lateral (LAT) and anteroposterior (PA) views, and converting these coordinates into the spatial coordinates of the treatment room, these spatial coordinates are defined as the isocenter coordinates of the machine head.

[0066] In a possible implementation manner, the circular geometric body on the first test tooling is a circular small hole or a circular small ball, and the diameter of the small ball or the small hole can be accurate to 1 mm.

[0067] The working principle and effects of the above technical solution are as follows: Install a test tooling with a circular small hole or a circular small ball whose diameter is accurate to 1 mm on the treatment head. Whether it is a circular small hole or a circular small ball, its small and precise size provides a clear and stable reference point for subsequent measurements. Due to the precise size, the consistency and accuracy of the measurement reference can be ensured in different measurement links.

[0068] When determining the mechanical isocenter range of the gantry and the treatment head with an electronic theodolite, observe the first test tooling with the electronic theodolite. If the circular geometric body is a circular small hole, the light emitted by the electronic theodolite can pass through the small hole. By observing the relative position relationship between the light and the crosshair of the theodolite, determine whether it is within the specified range. If the circular geometric body is a circular small ball, the electronic theodolite takes the contour of the small ball as the observation object and determines whether the central crosshair of the theodolite is within the circumferential range of the small ball. Since the diameter of the circular small hole or small ball is accurate to 1 mm, the judgment of deviation is more accurate in this process, which helps to determine a more accurate mechanical isocenter range.

[0069] When collecting images using a two-dimensional imaging system, the circular small hole or small ball is used as the imaging object, and its clear and accurate contour can be accurately identified in the image. When adjusting the crosshair of the two-dimensional imaging system to align with the center of the circular geometric body, due to its accurate diameter, the center position can be determined more accurately, and then more accurate two-dimensional image coordinates can be obtained, providing reliable data support for finally determining the isocenter of particle radiotherapy.

[0070] Refer to Attachment Figures 2 - 4 , in a possible implementation manner, the gantry is a C-shaped gantry; the axis of the circular geometric body is parallel to the beam direction of the treatment head; the method for obtaining the mechanical isocenter range of the gantry and the treatment head through the electronic theodolite and the first test tooling installed on the treatment head includes:

[0071] Set up an electronic theodolite in the treatment room, and the plane where the optical axis of the electronic theodolite is located is perpendicular to the circular arc track plane of the C-shaped gantry;

[0072] When the treatment head moves along the gantry track, capture the trajectory marked by the tooling with the electronic theodolite; determine whether the central crosshair of the electronic theodolite is always within the circumferential range of the circular geometric body;

[0073] If so, determine the moving range of the circular geometric body of the first test tooling in space through the measurement data of the circular geometric body at different positions by the electronic theodolite, and map this range to the mechanical isocenter range of the gantry and the treatment head.

[0074] The working principle of the above technical solution is:

[0075] The C-shaped gantry is selected because of its structural characteristics, which can provide a circular motion trajectory for the treatment head, facilitating the realization of treatment requirements at different angles. The plane where the optical axis of the electronic theodolite is located is set perpendicular to the circular arc track plane of the C-shaped gantry. This is to establish a specific measurement coordinate system. In this coordinate system, the electronic theodolite can observe the first test tooling installed on the treatment head from the best perspective, ensuring the accuracy and comprehensiveness of the measurement. The perpendicular setting enables the electronic theodolite to effectively capture the position change information of the tooling when the treatment head moves along the gantry track.

[0076] When the treatment head moves along the C-shaped gantry track, the first test tooling installed on the treatment head moves together with the treatment head. The electronic theodolite uses its optical imaging system to capture the trajectory of the tooling mark (i.e., the circular geometric body). During this process, the electronic theodolite continuously collects the position information of the tooling mark and, through internal image processing and analysis algorithms, determines whether the central crosshair is always within the circumferential range of the circular geometric body. This judgment process is based on the image data obtained by the electronic theodolite and is achieved through the analysis of the position relationship between the contour of the circular geometric body and the central crosshair. If the central crosshair is always within the circumferential range, it indicates that during the movement of the treatment head, the relative position relationship between it and the tooling remains within a certain accuracy range, meeting the prerequisite for determining the mechanical isocenter range.

[0077] If the central crosshair of the electronic theodolite is always within the circumferential range of the circular geometric body, the electronic theodolite will record and analyze the measurement data of the circular geometric body at different positions. These measurement data contain the three-dimensional coordinate information of the circular geometric body in space. Through the comprehensive processing of the measurement data at different positions, such as using spatial geometric algorithms, the activity range of the circular geometric body of the first test tooling in space can be determined. Since the first test tooling is installed on the treatment head and its axis is parallel to the beam direction of the treatment head, the activity range of this circular geometric body can accurately reflect the spatial position change of the treatment head during the movement of the gantry. Furthermore, by means of a specific coordinate transformation and mapping relationship, the spatial activity range of this circular geometric body is mapped to the range of the mechanical isocenter of the gantry and the treatment head. This mapping relationship is established based on the mechanical connection and geometric relationship among the treatment head, the gantry, and the first test tooling, thus realizing the determination of the mechanical isocenter range of the gantry and the treatment head through the measurement of the circular geometric body of the tooling.

[0078] The effects of the above technical solutions are as follows: The plane where the optical axis of the electronic theodolite is located is erected perpendicular to the circular arc track plane of the C-shaped frame, ensuring that the electronic theodolite can observe the tooling marks during the movement of the treatment head at the most suitable angle; the perpendicular setting reduces the measurement errors caused by the deviation of the observation angle, making the track of the tooling marks captured by the electronic theodolite more accurate, thus providing a reliable data basis for determining the mechanical isocenter range subsequently. For example, if the observation angle is inclined, it may cause the imaging of the circular geometric body in the field of view of the electronic theodolite to be distorted, resulting in a deviation in the judgment of its position, while the perpendicular setting effectively avoids this problem.

[0079] By judging whether the central crosshair of the electronic theodolite is always within the circumferential range of the circular geometric body, the position accuracy during the movement of the treatment head can be strictly controlled; since the axis of the circular geometric body is parallel to the beam direction of the treatment head, only when the crosshair is always within the circumferential range can it be indicated that the treatment head maintains a high position accuracy during movement, meeting the stringent requirements for determining the mechanical isocenter range; the positions that do not meet the accuracy requirements that may occur during the movement of the treatment head are eliminated, ensuring the accuracy of the subsequently determined mechanical isocenter range.

[0080] When the treatment head moves along the C-shaped frame track, the electronic theodolite continuously captures the track of the tooling marks. The circular motion characteristics of the C-shaped frame enable the treatment head to cover multiple angles and positions. The track capture of the entire movement process by the electronic theodolite comprehensively records the position changes of the circular geometric body in space. Compared with measuring only at some positions, this full-range track capture can more completely reflect the movement of the treatment head, avoiding missing any position deviation that may affect the mechanical isocenter range, thus making the determined mechanical isocenter range more comprehensive and accurate.

[0081] The spatial activity range of the circular geometric body is determined by using the measurement data of the electronic theodolite at different positions, fully considering the position of the treatment head in different motion states. By comprehensively analyzing these multi-position measurement data, the activity track and range of the circular geometric body in space can be more accurately depicted, and then this range can be accurately mapped to the mechanical isocenter range of the frame and the treatment head. For example, when the treatment head moves at different angles, there may be slight position changes due to factors such as the mechanical structure of the frame. The multi-position measurement data can effectively capture these changes, making the determined mechanical isocenter range more in line with the actual situation.

[0082] In a possible implementation, the marked trajectory image of the first test tool captured by the electronic theodolite is analyzed to extract the features of the circular geometric body and the central crosshair. By calculating the distance between the intersection point of the central crosshair of the electronic theodolite and the center of the circle of the circular geometric body and comparing it with the radius of the circular geometric body, it is determined whether the difference between the distance and the radius of the circular geometric body is greater than the dynamic threshold to determine whether the central crosshair of the electronic theodolite is within the circumferential range, including:

[0083] Transmit the trajectory image of the first test tool marked by the electronic theodolite to the image processing module;

[0084] a1) Preprocess the image:

[0085] Adaptive Gaussian filtering is used to eliminate random noise (σ = 1.2 - 1.8);

[0086] The contrast between the circular geometric body and the background is enhanced by the CLAHE algorithm (clip limit = 2.0, tile = 8×8);

[0087] a2) Feature extraction:

[0088] Based on the HSV color space segmentation, the contour of the circular geometric body is extracted (for example: H ∈ [20, 40], S > 0.7);

[0089] The center coordinate C(x, y) is located by using the Hough circle detection algorithm;

[0090] Sub-pixel edge detection is used to determine the intersection point P(x, y) of the central crosshair;

[0091] Calculate the Euclidean distance D = ||C - P||2. If D > R - Δ (where R is the radius of the circular geometric body and Δ is the dynamic threshold), then trigger the fine adjustment of the electronic theodolite.

[0092] Among them, the method for setting the threshold includes:

[0093] a3.1) Set the initial threshold Δ0:

[0094] Δ0 = k1*R + 0.05|δmech|, where δmech is the repeatability error of the nominal position of the frame; R is the radius of the circular geometric body; k1 is a coefficient, k1 ≤ 0.1;

[0095] b) Dynamic adjustment rule:

[0096] When the number of times of triggering the fine adjustment of the electronic theodolite in N consecutive detections > n times, relax the threshold according to Δnew = Δ0 × k2; (for example, N = 50, n = 5, 1 < k2 < 1.5, for example, k2 = 1.2)

[0097] If the electronic theodolite fine-tuning is not triggered by the consecutive detections, the threshold is tightened according to Δnew = Δ0 × k3; (e.g. M = 200, 0.7 <k3<1,例如k3=0.9)

[0098] c) Environmental adaptive compensation:

[0099] Collect the temperature and humidity data of the treatment room in real time. When the temperature change rate is greater than the first threshold, trigger Δnew=Δ0×[1+k4·(dT / dt)]. The first threshold can be 2℃ / h, 3℃ / h, etc.; (dT / dt) is the temperature change rate; k4<0.05;

[0100] The effects of the above technical solution are:

[0101] Adaptive Gaussian filtering (σ=1.2-1.8) can effectively eliminate random noise and ensure image clarity, which is crucial for accurately identifying circular geometric bodies and center crosshairs, because noise may interfere with the feature extraction algorithm and cause deviations in the positioning of the center of the circle and the intersection of the crosshairs. The CLAHE algorithm (clip limit=2.0, tile=8×8) divides the image into multiple small tiles (here 8×8 small blocks), and calculates its histogram for each small block; then, by limiting the clip limit of the histogram (here 2.0), it prevents excessive local contrast enhancement from causing noise amplification or loss of details. Next, the histogram of each small block is equalized to make the grayscale value distribution in the small block more uniform, thereby enhancing the contrast between the circular geometric body and the background; in this way, the outline of the circular geometric body in the image is clearer and easier to be recognized and processed by the subsequent feature extraction algorithm; the CLAHE algorithm (clip limit = 2.0, tile = 8×8) enhances the contrast between the circular geometric body and the background, making the outline of the circular geometric body clearer and more recognizable, further improving the accuracy of subsequent feature extraction, thus laying a solid foundation for accurately judging whether the central crosshairs of the electronic theodolite are within the circumference.

[0102] The contour of the circular geometric body is extracted based on HSV color space segmentation (H∈[20,40],S>0.7). By setting the range of H∈[20,40] and S>0.7, the area of ​​specific color (within the hue and saturation range) can be segmented from the image. These areas are likely to correspond to circular geometric bodies. Compared with the RGB color space, the HSV color space is more in line with the human perception of color, and can more conveniently filter out the target object through the range of hue and saturation, and more accurately extract the contour of the circular geometric body in a complex background.

[0103] The Hough circle detection algorithm is used to locate the center coordinates C(x, y) of the circle, and sub-pixel edge detection is adopted to determine the intersection point P(x, y) of the central crosshair. The principle of this algorithm is to map each point in the image space to the parameter space (here it is the parameter space of the circle, including the center coordinates and radius). For each point on the edge in the image, it corresponds to a sine curve in the parameter space (for a circle). When multiple points belong to the same circle in the image space, their sine curves in the parameter space will intersect at a point, and the parameters corresponding to this point are the center coordinates and radius of the circle. By finding these intersection points in the parameter space, the circles in the image can be detected and their center coordinates can be determined, so as to accurately find the center position of the circular geometric body.

[0104] Traditional pixel-level edge detection can only determine that the edge is located at a certain pixel position, but sub-pixel edge detection can further accurately determine the position of the edge to the sub-pixel level of accuracy. It calculates the gray value interpolation of the pixels near the edge, such as using quadratic interpolation or cubic interpolation and other methods. According to the change trend of the gray values of the pixels near the edge, it calculates a more accurate edge position, so as to more accurately determine the coordinates of the intersection point of the central crosshair, improving the accuracy of subsequent distance calculation; sub-pixel edge detection can be accurate to below the pixel level, greatly improving the accuracy of crosshair intersection point positioning. Compared with ordinary pixel-level detection, it can more accurately calculate the distance between the intersection point of the central crosshair and the center of the circular geometric body, so as to more accurately judge whether the crosshair is within the circumferential range.

[0105] The setting of the initial threshold Δ0 = k1*R + 0.05|δmech| comprehensively considers the radius R of the circular geometric body and the repeatability error δmech of the nominal position of the frame; the coefficient k1 ≤ 0.1 ensures that the influence of the characteristics of the circular geometric body itself on the threshold is within a reasonable range, and 0.05|δmech| related to the repeatability error of the nominal position of the frame enables the threshold to be adjusted according to the actual operation conditions of the device, so that the initial threshold takes into account both the characteristics of the measurement object and the performance of the device, improving the rationality and accuracy of the judgment.

[0106] When the fine adjustment of the electronic theodolite is triggered more than n times in N consecutive detections, the threshold is relaxed according to Δnew = Δ0 × k2 (e.g., N = 50, n = 5, 1 < k2 < 1.5, for example, k2 = 1.2). This usually indicates that in the current operating state of the device, the crosshair exceeds the circumferential range relatively frequently. Appropriately relaxing the threshold can avoid frequent triggering of fine adjustment and improve the stability of device operation. On the contrary, if the fine adjustment of the electronic theodolite is not triggered in M consecutive detections, the threshold is tightened according to Δnew = Δ0 × k3 (e.g., M = 200, 0.7 < k3 < 1, for example, k3 = 0.9). This helps to maintain a high judgment accuracy when the device is operating stably, promptly detect potential position deviations, and the dynamic adjustment rule enables the threshold to adaptively change according to the actual operating state of the device, improving the adaptability of the system to different working conditions.

[0107] The temperature and humidity data of the treatment room are collected in real time. When the temperature change rate > the first threshold (such as 2 °C / h, 3 °C / h, etc.), Δnew = Δ0 × [1 + k4·(dT / dt)] is triggered. Temperature changes may cause thermal expansion and contraction of device components, thereby affecting the relative position of the treatment head and the gantry, and further affecting the measurement results of the electronic theodolite. Through environmental adaptive compensation, adjusting the threshold according to the temperature change rate can effectively offset the influence of temperature changes on the measurement results, ensure the accuracy of judging whether the central crosshair of the electronic theodolite is within the circumferential range under different environmental conditions, improve the stability and reliability of device operation, and ensure that the radiotherapy device can still work accurately in complex environments.

[0108] In an implementable manner, if the central crosshair of the electronic theodolite exceeds the range of the circular geometric body at a certain moment, the movement of the treatment head is immediately paused, and the angle and position of the electronic theodolite are finely adjusted to make the central crosshair of the electronic theodolite return to the circumferential range of the circular geometric body again.

[0109] In an implementable manner, the method for finely adjusting the theodolite includes:

[0110] Collect deviation and motion state data, where the deviation and motion state data include the degree and direction of the central crosshair of the electronic theodolite exceeding the range of the circular geometric body and the motion state data of the treatment head;

[0111] Extract features from the deviation and motion state data to obtain the distance beyond the range, the angular change rate, and the motion speed of the treatment head;

[0112] Input the data collected in real time into the adjustment model to calculate the optimal adjustment parameters.

[0113] Using machine learning or deep learning algorithms, an adjustment model is established, with the collected data as the input and the angle and position parameters that the theodolite needs to adjust as the output, and the model is trained; common algorithms include neural networks, decision trees, support vector machines, etc.

[0114] In an implementable method, the adjustment model is constructed using a reinforcement learning algorithm, including:

[0115] Construct a triple model including an environmental state space, an action space, and a reward function, where the state space includes normalized vectors of deviation distance, angle change rate, motion speed, and acceleration;

[0116] The action space is defined as the fine-tuning amounts of the elevation angle and azimuth angle of the electronic theodolite and the correction amounts of the treatment head motion parameters;

[0117] Through the offline training stage, simulate the optimal adjustment strategy under different deviation scenarios to generate the action value function Q-table;

[0118] During online application, combine real-time data with the Q-table to predict the optimal adjustment parameters, and suppress noise in the adjustment process through a Kalman filter.

[0119] The working principle and effects of the above technical solutions are as follows:

[0120] When the central crosshair of the electronic theodolite exceeds the range of the circular geometric body at a certain moment, the system immediately detects this deviation situation and pauses the movement of the treatment head; at this time, the system starts to collect deviation and motion state data, including the degree to which the central crosshair of the electronic theodolite exceeds the range of the circular geometric body, that is, the distance information between the crosshair and the edge of the circular geometric body, which reflects the magnitude of the deviation; the direction of the excess can be obtained through image analysis or coordinate calculation and is used to determine the adjustment direction; and the motion state data of the treatment head, such as the motion speed, which is crucial for understanding the current dynamic situation of the system because the motion state of the treatment head affects the cause of the deviation and the subsequent adjustment strategy.

[0121] Extract features from the collected deviation and motion state data; obtain the distance beyond the range from the degree to which the central crosshair exceeds the range, which is a key feature directly reflecting the magnitude of the deviation; calculate the angle change rate by analyzing the change in the position of the crosshair and time, which reflects the speed of deviation change; extract the motion speed of the treatment head, which helps to judge the motion trend of the treatment head and its impact on the deviation; for example, if the motion speed of the treatment head is too fast, it is easier to cause deviation, and the speed factor needs to be considered during adjustment to avoid over-adjustment or under-adjustment. The results after these feature extractions will be used as the input data for the subsequent adjustment model.

[0122] A calibration model is established using machine learning or deep learning algorithms, with the collected data (such as out-of-range distances, angular rate of change, movement speed of the treatment head, etc.) as input and the angular and position parameters that the theodolite needs to be calibrated as output. Among common algorithms, a neural network can capture complex relationships between data by constructing a multi-layer neuron structure and performing complex non-linear transformations and learning on the input data; a decision tree gradually determines the output result according to the characteristics of the input data through a series of conditional judgments and branch structures; a support vector machine classifies or regresses data with different characteristics by finding an optimal classification hyperplane to obtain calibration parameters; the model is trained with a large amount of training data to continuously optimize it, enabling it to accurately calculate the optimal calibration parameters based on the input data.

[0123] When the calibration model is constructed using a reinforcement learning algorithm, a triple model including an environmental state space, an action space, and a reward function is first constructed. The state space includes the normalized vectors of the deviation distance, angular rate of change, movement speed, and acceleration; normalization is to unify data of different magnitudes and ranges into a standard range for easier model processing and learning; the action space is defined as the fine-tuning amounts of the pitch angle and azimuth angle of the electronic theodolite and the correction amounts of the movement parameters of the treatment head, which are the adjustment actions that the system can take. The reward function is used to measure whether the state change of the system after taking a certain action develops in the desired direction. For example, if the central crosshair returns to the circular geometric body range after taking a certain action, the reward function will give a positive reward, and vice versa for a negative reward.

[0124] In the offline training stage, by simulating different deviation scenarios, the model continuously tries various actions and adjusts the action strategy according to the results feedback by the reward function. During multiple simulations and adjustments, the model generates an action-value function Q-table. The Q-table records the expected values of taking different actions in different states. Through continuous learning, the values in the Q-table can reflect the optimal calibration strategy in various scenarios.

[0125] During online application, the system combines real-time data to predict the optimal calibration parameters from the Q-table; due to various noise interferences in actual applications, the real-time data may be inaccurate, which in turn affects the accuracy of the calibration parameters. Therefore, a Kalman filter is used to suppress noise during the calibration process; the Kalman filter uses the state equation and observation equation of the system, and through two steps of prediction and update, continuously estimates and corrects the system state, thereby effectively removing the influence of noise on the calibration parameters, enabling the electronic theodolite to accurately perform fine-tuning of angles and positions, and the movement parameters of the treatment head can also be reasonably corrected, ultimately bringing the central crosshair of the electronic theodolite back to the circumference range of the circular geometric body.

[0126] In an implementable method, adjusting the crosshairs of a two-dimensional imaging system so that the intersection point thereof is centered on the circular geometric body on the first test fixture, includes:

[0127] Real-time extracting the elliptical projection contour of the circular geometric body through an image recognition algorithm, and calculating the intersection point of its major axis and minor axis as the geometric center coordinates;

[0128] Adjusting the crosshairs of the two-dimensional imaging system so that the intersection point thereof coincides with the geometric center coordinates;

[0129] When the intersection points of the crosshairs of the two images deviate from the corresponding geometric centers by less than a first threshold, triggering the coordinate synchronization module to perform a spatial coordinate system conversion on the two sets of two-dimensional image coordinates, and calculating the three-dimensional spatial coordinates of the mechanical isocenter through least squares fitting.

[0130] The working principle and effect of the above technical solution are as follows: The image processing software of the two-dimensional imaging system can manually register or automatically register the intersection point with the geometric center to make their coordinates coincide; after the two-dimensional imaging system acquires an image containing a circular geometric body, it can automatically register the intersection point with the geometric center through an image recognition algorithm; since the circular geometric body appears as an elliptical projection in two-dimensional images at different angles, the algorithm can real-time identify and extract the elliptical projection contour through pixel analysis and feature extraction of the image. The principle is to use the edge detection algorithm of the image to first find the edge of the object in the image, and then through the ellipse fitting algorithm, according to the distribution of the edge pixel points, determine the elliptical contour that best fits these points.

[0131] For the extracted elliptical projection contour, the geometric center coordinates are determined by calculating the intersection point of its major axis and minor axis. Mathematically, the major axis and minor axis of an ellipse are perpendicular to each other and symmetric about the center of the ellipse, and their intersection point is the geometric center of the ellipse. For the ellipse formed by the projection of a circular geometric body, the center coordinates can accurately reflect the center position of the circular geometric body in the two-dimensional image, providing an accurate target position for subsequent crosshair adjustment.

[0132] The two-dimensional imaging system is equipped with a crosshair automatic adjustment mechanism. After obtaining the geometric center coordinates of the circular geometric body, the crosshair calibration program can be started. The system will send a control command, which contains the direction and distance information to be adjusted. These information are calculated based on the deviation between the current crosshair intersection point and the geometric center coordinates. The crosshair calibration program automatically and accurately adjusts the position of the crosshairs so that the intersection point coincides with the geometric center coordinates of the circular geometric body.

[0133] Continuously monitor the deviation between the crosshair intersection point and the geometric center coordinates. When the crosshair intersection points of both images deviate from the corresponding geometric center by less than the first threshold, it indicates that the crosshair has coincided with the geometric center of the circular geometric body within an acceptable accuracy range. The setting of the first threshold is determined according to the accuracy requirements of the actual application, which ensures that the coincidence accuracy between the crosshair and the geometric center meets the needs of subsequent calculations of the mechanical isocenter's three-dimensional space coordinates.

[0134] Once the deviation between the crosshair intersection point and the geometric center meets the accuracy requirements, the coordinate synchronization module is triggered. Since the two sets of two-dimensional image coordinates collected by the two-dimensional imaging system are in their respective two-dimensional coordinate systems, in order to comprehensively calculate the three-dimensional space coordinates of the mechanical isocenter by combining these two sets of coordinates, a spatial coordinate system conversion is required. The coordinate synchronization module will convert the two sets of two-dimensional image coordinates to a unified spatial coordinate system according to parameters such as the installation position and angle of the two-dimensional imaging system, as well as the pre-set conversion rules, so that they can be used for subsequent calculations in the same reference system.

[0135] After completing the spatial coordinate system conversion, the least squares method is used to perform fitting calculations on the two sets of converted two-dimensional image coordinates. The principle of the least squares method is to find the best function matching for a set of data points, so that the sum of the squares of the errors between the actual data points and the fitting function is minimized. When calculating the three-dimensional space coordinates of the mechanical isocenter, the converted two-dimensional image coordinates are regarded as data points. By constructing a suitable mathematical model (such as a spatial straight line or plane equation, etc.), the parameters in the model are solved using the least squares method, thereby obtaining the three-dimensional space coordinates of the mechanical isocenter that best conforms to these two-dimensional coordinate data. This three-dimensional coordinate is the exact position of the mechanical isocenter of the gantry and the treatment head in space, providing a key basis for determining the isocenter of particle radiotherapy.

[0136] Example 2, referring to the appendix Figure 5 This embodiment provides a radiotherapy isocenter debugging method for aligning the mechanical isocenter of the treatment couch with the mechanical isocenters of the gantry and the treatment head. The method includes:

[0137] Install a second test tooling on the treatment couch plate and adjust the position of the second test tooling by moving the treatment couch; the second test tooling includes a sphere.

[0138] When the treatment couch is at different horizontal angles, use the two-dimensional imaging system to collect two two-dimensional images of the sphere on the second test tooling in two intersecting directions respectively.

[0139] Compare the center coordinates of the sphere in the collected two-dimensional images with the mechanical isocenter coordinates of the gantry and the treatment head. If they do not coincide, then according to the coordinate deviation data, slightly adjust the position of the treatment couch plate and repeat the above image collection and comparison steps until the two coordinates coincide.

[0140] In an achievable manner, the treatment bedplate is fixedly installed at the tool end of the six-axis robot; the six-axis robot drives the movement of the treatment bedplate.

[0141] The second test tooling is installed on the treatment bedplate, and the sphere is located at the center of the cube at the top of the second test tooling. Refer to Appendix Figure 6 , the second test tooling includes a rod, a cube, and a cube flange; a sphere (metal small ball) with a diameter of 1 mm is built in the center of the cube.

[0142] The working principle and effects of the above technical solution are as follows:

[0143] First, install the second test tooling on the treatment bedplate. This tooling includes a sphere and is located at the center of the cube at the top of the tooling; fixedly install the treatment bedplate at the tool end of the six-axis robot, and utilize the multi-degree-of-freedom movement ability of the six-axis robot to drive the movement of the treatment bedplate, thereby adjusting the position of the second test tooling. The six-axis robot can perform precise movements in six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom), ensuring that the second test tooling can be accurately moved to the required position.

[0144] When the treatment bed is at different horizontal angles driven by the six-axis robot, use the two-dimensional imaging system to respectively collect two two-dimensional images of the sphere of the second test tooling on the treatment bedplate in two intersecting directions. Selecting two intersecting directions to collect images is to obtain the position information of the sphere from different perspectives, so as to more accurately determine its center coordinates. The two-dimensional imaging system can convert the image of the sphere into a digital signal for subsequent analysis and processing. By collecting images at different horizontal angles, the position change of the second test tooling during the movement of the treatment bed can be comprehensively understood.

[0145] Extract the center coordinates of the sphere in the collected two-dimensional images and compare them with the known mechanical isocenter coordinates of the gantry and the treatment head; the method of extracting the center coordinates of the sphere can be through image recognition algorithms, such as edge detection, ellipse fitting, etc., to find the contour of the sphere in the image, and then calculate its center coordinates. If the comparison shows that the two do not coincide, it means that there is a deviation between the mechanical isocenter of the treatment bed and the mechanical isocenters of the gantry and the treatment head. At this time, according to the coordinate deviation data, the six-axis robot finely adjusts the position of the treatment bedplate; the direction and amplitude of the fine adjustment are determined by the specific situation of the coordinate deviation, and the purpose is to make the mechanical isocenter of the treatment bed approach the mechanical isocenters of the gantry and the treatment head.

[0146] After the fine-tuning is completed, repeat the above image acquisition and comparison steps, that is, collect two-dimensional images again when the treatment couch is at different horizontal angles, extract the center coordinates of the sphere, and compare them with the mechanical isocenter coordinates of the gantry and the treatment head. Continuously carry out this process, and continuously fine-tune the position of the treatment couch plate according to the coordinate deviation until the center coordinates of the sphere in the collected two-dimensional images coincide with the mechanical isocenter coordinates of the gantry and the treatment head; when the two coordinates coincide, it indicates that the mechanical isocenter of the treatment couch is consistent with the mechanical isocenter of the gantry and the treatment head, and the debugging of the radiotherapy isocenter is completed.

[0147] The effects of the above technical solutions are as follows: By continuously comparing the center coordinates of the sphere with the mechanical isocenter coordinates of the gantry and the treatment head, and fine-tuning the position of the treatment couch plate according to the deviation, the mechanical isocenter of the treatment couch is finally made consistent with the mechanical isocenter of the gantry and the treatment head. During radiotherapy, particle beams and other rays need to be accurately focused on the isocenter, ensuring that the rays can accurately act on the target lesion, reducing the radiation dose to the surrounding normal tissues, thereby improving the accuracy and treatment effect of radiotherapy, and enhancing the treatment quality and survival rate of patients; Two-dimensional images are collected at different horizontal angles of the treatment couch, and the position information of the sphere is obtained from multiple angles, which can comprehensively consider the situation of the treatment couch in different motion states, avoid isocenter deviation caused by the limitation of single-angle measurement, further improve the accuracy of isocenter debugging, and provide a strong guarantee for the high-precision implementation of radiotherapy.

[0148] Embodiment 3, this embodiment provides a device for determining the isocenter of particle radiotherapy, and the device includes:

[0149] A range determination module, configured to obtain the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tooling installed on the treatment head;

[0150] A first image acquisition module, configured to, according to the determined range of the mechanical isocenter of the gantry and the treatment head, use a two-dimensional image system at a fixed position to collect images of the circular geometric body on the first test tooling on the treatment head in two intersecting directions respectively when the treatment head is in a horizontal position, and obtain two two-dimensional images;

[0151] An isocenter determination module, configured to adjust the crosshairs of the two-dimensional image system so that the intersection point thereof aligns with the center of the circular geometric body on the first test tooling, obtain the coordinates of the two groups of two-dimensional images, thereby determine the mechanical isocenter of the gantry and the treatment head, and use the mechanical isocenter of the gantry and the treatment head as the isocenter of particle radiotherapy.

[0152] The working principle and effect of the above technical solutions are the same as those of the method in Embodiment 1, and will not be elaborated here.

[0153] Embodiment 4. This embodiment provides a device for debugging the isocenter of particle radiotherapy, etc., which is used to align the mechanical isocenter of the treatment couch with the mechanical isocenters of the gantry and the treatment head. The device includes:

[0154] A debugging setting module, which is used to install a second test tooling on the treatment couch board, and adjust the position of the second test tooling by moving the treatment couch to different horizontal angles; the second test tooling includes a sphere.

[0155] A second image acquisition module, when the treatment couch is at different horizontal angles, uses a two-dimensional imaging system to respectively acquire two two-dimensional images of the sphere on the second test tooling in two intersecting directions.

[0156] A comparison and debugging module, which is used to compare the center coordinates of the sphere in the acquired two-dimensional images with the mechanical isocenter coordinates of the gantry and the treatment head. If the two do not coincide, then according to the coordinate deviation data, finely adjust the position of the treatment couch board, and repeat the above image acquisition and comparison steps until the two coordinates coincide.

[0157] The working principle and effect of the above technical solution are the same as those of the method in Embodiment 2, and will not be elaborated here.

[0158] This embodiment of the present application also provides a particle radiotherapy system, including:

[0159] A particle accelerator, which is used to generate a high-energy particle beam;

[0160] The aforementioned device for determining the isocenter of particle radiotherapy, etc., which is used to determine the isocenter of particle radiotherapy;

[0161] And / or,

[0162] The aforementioned device for debugging the isocenter of particle radiotherapy, etc., which is used to align the mechanical isocenter of the treatment couch with the determined isocenter of particle radiotherapy.

[0163] This embodiment of the present invention also provides an electronic device. The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of any one of the methods in this embodiment of the present application.

[0164] This embodiment of the present application also provides a computer-readable storage medium, which is used to store a computer program. When the computer program is executed, it implements the steps of any one of the methods in this embodiment of the present application. Its specific implementation manner is the same as the implementation manner and the achieved technical effect recorded in the above method embodiment, and some content will not be elaborated.

[0165] In this application, a readable storage medium may be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device. The program product may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0166] A computer-readable storage medium may include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable storage medium may also be any readable medium that can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the above. The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as C language or similar programming languages. The program code may be executed entirely on the user computing device, partially on an associated device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (for example, by using an Internet service provider to connect through the Internet).

[0167] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention, and all such changes should fall within the protection scope of the claims of the present invention.

Claims

1. Method for determining the central point in particle radiotherapy, etc., characterized in that, Comprising: Obtaining the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tooling installed on the treatment head; According to the determined range of the mechanical isocenter of the gantry and the treatment head, using a two-dimensional imaging system at a fixed position, when the treatment head is in a horizontal position, images of the circular geometric body on the first test tooling on the treatment head are collected in two intersecting directions respectively to obtain two two-dimensional images; Adjust the crosshair of the two-dimensional imaging system to make its intersection point align with the center of the circular geometric body on the first test tooling, obtain the coordinates of the two groups of two-dimensional images, thereby determine the mechanical isocenter of the gantry and the treatment head, and use the mechanical isocenter of the gantry and the treatment head as the isocenter for particle radiotherapy.

2. The method for determining the isocenter of particle radiotherapy according to claim 1, wherein The circular geometric body on the first test tooling is a circular small hole or a circular small ball.

3. The method for determining the isocenter of particle radiotherapy according to claim 1, wherein The gantry is a C-shaped gantry; the axis of the circular geometric body is parallel to the beam direction of the treatment head; the obtaining the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tooling installed on the treatment head includes: Set up an electronic theodolite in the treatment room, and the plane where the optical axis of the electronic theodolite is located is perpendicular to the circular arc track plane of the C-shaped gantry; When the treatment head moves along the gantry track, capture the trajectory marked by the tooling of the electronic theodolite through the electronic theodolite; judge whether the central crosshair of the electronic theodolite is always within the circumferential range of the circular geometric body; If so, determine the moving range of the circular geometric body of the first test tooling in space through the measurement data of the circular geometric body at different positions by the electronic theodolite, and map this range to the range of the mechanical isocenter of the gantry and the treatment head.

4. The method for determining the isocenter of particle radiotherapy according to claim 3, characterized in that, If the central crosshair of the electronic theodolite exceeds the range of the circular geometric body at a certain moment, immediately pause the movement of the treatment head, and finely adjust the angle and position of the electronic theodolite to make the central crosshair of the electronic theodolite return to the circumferential range of the circular geometric body again.

5. The method for determining the isocenter of particle radiotherapy according to claim 3, wherein Analyze the marked trajectory image of the first test tooling captured by the electronic theodolite, extract the features of the circular geometric body and the central crosshair of the electronic theodolite, and determine whether the central crosshair of the electronic theodolite is within the circumferential range by judging whether the difference between the distance from the intersection point of the central crosshair of the electronic theodolite to the center of the circle of the circular geometric body and the radius of the circular geometric body is greater than the dynamic threshold.

6. The method for determining the isocenter of particle radiotherapy according to claim 4, wherein The method for finely adjusting the electronic theodolite includes: Collect deviation and motion state data, and the deviation and motion state data include the degree and direction of the central crosshair of the electronic theodolite exceeding the range of the circular geometric body and the motion state data of the treatment head; Extract features from the deviation and motion state data to obtain the distance beyond the range, the angle change rate, and the motion speed of the treatment head; Input the data features collected in real time into the adjustment model to calculate the optimal adjustment parameters.

7. The method for determining the isocenter of particle radiotherapy according to claim 1, wherein Adjust the crosshair of the two-dimensional imaging system to make its intersection point align with the center of the circular geometric body on the first test tooling, including: Real-time extract the elliptical projection contour of the circular geometric body through an image recognition algorithm, and calculate the intersection point of its major axis and minor axis as the geometric center coordinates; Adjust the crosshair of the two-dimensional imaging system to make its intersection point coincide with the geometric center coordinates; When the deviation of the intersection points of the crosshairs of the two images from the corresponding geometric centers is less than the first threshold, the coordinate synchronization module is triggered to perform a spatial coordinate transformation on the two sets of two-dimensional image coordinates, and the three-dimensional spatial coordinates of the mechanical isocenter are calculated by least-squares fitting.

8. A method for adjusting the central point in radiotherapy and the like, which is used to make the mechanical isocenter of the treatment couch coincide with the mechanical isocenters of the gantry and the treatment head, and is characterized in that, The method includes: Install a second test tooling on the treatment couch plate and adjust the position of the second test tooling by moving the treatment couch; the second test tooling includes a sphere. When the treatment couch is at different horizontal angles, use a two-dimensional imaging system to collect two two-dimensional images of the sphere on the second test tooling in two intersecting directions respectively. Compare the center coordinates of the sphere in the collected two-dimensional images with the mechanical isocenter coordinates of the gantry and the treatment head. If they do not coincide, fine-tune the position of the treatment couch plate according to the coordinate deviation data, and repeat the above image collection and comparison steps until the two coordinates coincide.

9. The radiotherapy isocenter debugging method according to claim 8, characterized in that The treatment couch plate is fixedly installed at the tool end of the six-axis robot; the six-axis robot is used to drive the movement of the treatment couch plate. The second test tooling is installed on the treatment couch plate, and the sphere is located at the center of the cube at the top of the second test tooling.

10. A central point determination device for particle radiotherapy, etc., characterized in that, The device includes: A range determination module for obtaining the range of the mechanical isocenter of the gantry and the treatment head through an electronic theodolite and a first test tooling installed on the treatment head. A first image acquisition module for, according to the determined range of the mechanical isocenter of the gantry and the treatment head, using a two-dimensional imaging system at a fixed position to collect images of the circular geometric body on the first test tooling on the treatment head in two intersecting directions when the treatment head is in a horizontal position, to obtain two two-dimensional images. An isocenter determination module for adjusting the crosshairs of the two-dimensional imaging system so that their intersection point aligns with the center of the circular geometric body on the first test tooling, obtaining the coordinates of the two sets of two-dimensional images, thereby determining the mechanical isocenter of the gantry and the treatment head, and taking the mechanical isocenter of the gantry and the treatment head as the particle radiotherapy isocenter.

11. Particle radiotherapy and other central point debugging devices are used to keep the mechanical isocenter of the treatment couch consistent with the mechanical isocenters of the gantry and the treatment head, and are characterized in that, The device includes: A debugging setting module for installing a second test tooling on the treatment couch plate and adjusting the position of the second test tooling by moving the treatment couch to different horizontal angles; the second test tooling includes a sphere. A second image acquisition module for, when the treatment couch is at different horizontal angles, using a two-dimensional imaging system to collect two two-dimensional images of the sphere on the second test tooling in two intersecting directions respectively. A comparison and debugging module for comparing the center coordinates of the sphere in the collected two-dimensional images with the mechanical isocenter coordinates of the gantry and the treatment head. If they do not coincide, fine-tune the position of the treatment couch plate according to the coordinate deviation data, and repeat the above image collection and comparison steps until the two coordinates coincide.

12. A particle radiotherapy system, characterized in that, Includes: A particle accelerator for generating a particle beam. The particle radiotherapy isocenter determination device according to claim 10, for determining the particle radiotherapy isocenter. And / or The particle radiotherapy isocenter debugging device according to claim 11, for keeping the mechanical isocenter of the treatment couch consistent with the determined particle radiotherapy isocenter.

13. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the method according to any one of claims 1-9 are implemented.

14. A computer-readable storage medium, characterized in that, The storage medium stores computer instructions. When a computer reads the computer instructions, the computer executes the steps of the method according to any one of claims 1-9.

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