Radiotherapy positioning CT (Computed Tomography) and image-guided CT composite imaging system

Abstract

The invention relates to a radiation therapy positioning CT and image guiding CT composite imaging system, and the system comprises a vertical CT subsystem which is used for carrying out the scanning imaging of a target object in a first posture, and determining first initial image data, and the first posture comprises any one of a sitting position posture and a standing position posture; the first control subsystem is used for determining a treatment positioning CT image according to the first initial image data; the cone beam CT subsystem is used for scanning and imaging the target object in the first posture and determining second initial image data; and the second control subsystem is used for determining a guiding CT image according to the second initial image data, and determining a target adjustment instruction corresponding to the six-degree-of-freedom seat according to the guiding CT image and the treatment positioning CT image so as to adjust the target object to a second posture. According to the invention, the target object can be subjected to CT scanning in a sitting position posture or a standing position posture, and the method is suitable for focus positioning and image guiding of sitting radiotherapy.

Description

Technical Field

[0001] The present disclosure relates to the field of medical imaging equipment, and particularly to a composite imaging system for radiotherapy positioning CT and image-guided CT. Background Art

[0002] Compared with the common horizontal radiotherapy in the prior art, sitting and standing radiotherapy allows patients to receive treatment in a more flexible posture, improving the treatment comfort of patients; moreover, the irradiation accuracy for areas such as the neck, head, and pelvis is higher, and the radiation dose to normal tissues can be reduced. The prior art generally relies on image-guided radiation therapy (IGRT) technology and uses computed tomography (CT) images to achieve radiotherapy positioning and image guidance. However, common CT devices usually adopt a lying scan mode, and the CT images obtained thereby are difficult to be applied to the radiotherapy positioning and image guidance of sitting and standing radiotherapy, affecting the treatment accuracy and treatment effect of sitting and standing radiotherapy. Summary of the Invention

[0003] In view of this, the present disclosure proposes a technical solution for a composite imaging system for radiotherapy positioning CT and image-guided CT.

[0004] According to one aspect of the present disclosure, there is provided a composite imaging system for radiotherapy positioning CT and image-guided CT, the system including: a vertical CT subsystem, a first control subsystem, a cone beam CT subsystem, a second control subsystem, and a six-degree-of-freedom seat; the vertical CT subsystem is configured to scan and image a target object in a first posture to determine first initial image data, wherein the first posture includes any one of a sitting and standing posture and a standing posture; the first control subsystem is configured to determine a treatment positioning CT image corresponding to the target object according to the first initial image data, wherein the treatment positioning CT image is used to indicate the position to be treated of the target object; the cone beam CT subsystem is configured to scan and image the target object in the first posture to determine second initial image data; the second control subsystem is configured to determine a guided CT image corresponding to the target object according to the second initial image data, and determine a target adjustment instruction corresponding to the six-degree-of-freedom seat according to the guided CT image and the treatment positioning CT image, wherein the target adjustment instruction is used to control the six-degree-of-freedom seat to adjust the target object to a second posture matching the first posture.

[0005] In a possible implementation, the vertical CT subsystem includes: an X-ray generator, a detector, and a motion control module that controls the vertical movement of the X-ray generator and the detector.

[0006] In a possible implementation, a preset area in the horizontal direction in the vertical CT subsystem is embedded in a vertical wall.

[0007] In a possible implementation, the cone beam CT subsystem is a suspended system, and the cone beam CT subsystem includes: a telescopic robotic arm module, a cone beam X-ray source, and a flat panel detector.

[0008] In a possible implementation, the telescopic robotic arm module includes: a main shaft telescopic arm suspended in the vertical direction, a first horizontal rod and a second horizontal rod distributed collinearly in the horizontal direction, a first vertical robotic arm corresponding to the first horizontal rod, and a second vertical robotic arm corresponding to the second horizontal rod. The cone beam X-ray source is disposed on the first vertical robotic arm, and the flat panel detector is disposed on the second vertical robotic arm.

[0009] In a possible implementation, the telescopic robotic arm module includes: a first vertical robotic arm and a second vertical robotic arm suspended in the vertical direction. The first vertical robotic arm is disposed on a first annular cableway, and the second vertical robotic arm is disposed on the first annular cableway or on a second annular cableway independent of the first annular cableway. The cone beam X-ray source is disposed on the first vertical robotic arm, and the flat panel detector is disposed on the second vertical robotic arm.

[0010] In a possible implementation, the first control subsystem is further configured to transmit the treatment positioning CT image to a radiotherapy system corresponding to the target object.

[0011] In a possible implementation, when the vertical CT subsystem and the cone beam CT subsystem are disposed in different rooms, the second control subsystem is further configured to: align the three-dimensional coordinate systems of the vertical CT subsystem and the cone beam CT subsystem to determine a coordinate system alignment result; perform image registration on the guiding CT image and the treatment positioning CT image according to the coordinate system alignment result to determine an image registration result; and determine the target adjustment instruction according to the coordinate system alignment result, the image registration result, and the first pose.

[0012] In a possible implementation, when the upright CT subsystem and the cone beam CT subsystem are arranged in the same room, the second control subsystem is further configured to: perform image registration on the guiding CT image and the treatment positioning CT image to determine an image registration result; and determine the target adjustment instruction according to the image registration result and the first posture.

[0013] In a possible implementation, when the upright CT subsystem and the cone beam CT subsystem are arranged in the same room, the first control subsystem and the second control subsystem are the same control subsystem.

[0014] The combined imaging system of radiotherapy positioning CT and image-guided CT according to the embodiments of the present disclosure can scan and image a target object in a first posture through the upright CT subsystem to determine first initial image data, where the first posture includes any one of a sitting position and a standing position, and use the first control subsystem to determine a treatment positioning CT image corresponding to the target object according to the first initial image data to indicate the position to be treated of the target object, so as to realize the lesion positioning of radiotherapy and improve the accuracy of lesion positioning related to factors such as load-bearing and body posture. Moreover, compared with the horizontal scanning CT device in the prior art, the upright CT subsystem can reduce the space occupation and improve the comfort of the target object during the scanning and imaging. Through the cone beam CT subsystem, the target object in the first posture can be scanned and imaged to determine second initial image data; use the second control subsystem to determine a guiding CT image corresponding to the target object according to the second initial image data, and determine a target adjustment instruction for the six-degree-of-freedom seat according to the guiding CT image and the treatment positioning CT image, so as to control the six-degree-of-freedom seat to adjust the target object to a second posture matching the first posture, thereby ensuring that the guiding CT image is suitable for sitting and standing radiotherapy, realizing the image guidance of radiotherapy, and improving the accuracy and reliability of sitting and standing radiotherapy.

[0015] Other features and aspects of the present disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings included in and constituting a part of this specification, together with the specification, illustrate exemplary embodiments, features, and aspects of the present disclosure and are used to explain the principles of the present disclosure.

[0017] Figure 1 A block diagram showing a combined imaging system of radiotherapy positioning CT and image-guided CT according to an embodiment of the present disclosure;

[0018] Figure 2 A schematic diagram showing an upright CT subsystem according to an embodiment of the present disclosure;

[0019] Figure 3 Schematic diagram showing a cone beam CT subsystem according to an embodiment of the present disclosure;

[0020] Figure 4 Schematic diagram showing a cone beam CT subsystem according to an embodiment of the present disclosure. Detailed implementation manners

[0021] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. Identical reference numerals in the drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0022] As used herein, the terms "comprising", "including", "having" or variations thereof are open-ended and include one or more stated features, wholes, elements, steps, components or functions, but do not exclude the existence or addition of one or more other features, wholes, elements, steps, components, functions or groups thereof.

[0023] When an element is referred to as being "connected", "coupled", "responsive" or variations thereof to another element, it can be directly connected, coupled or responsive to the other element, or intervening elements may be present.

[0024] Although the terms first, second, third, etc. may be used herein to describe various elements / operations, these elements / operations should not be limited by these terms. These terms are only used to distinguish one element / operation from another. Thus, without departing from the teachings of the inventive concept, a first element / operation in some embodiments may be referred to as a second element / operation in other embodiments.

[0025] The term "exemplary" used herein means "serving as an example, embodiment or illustration". Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0026] The term "and / or" herein is merely a description of the associated relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set composed of A, B, and C.

[0027] In addition, to better illustrate the present disclosure, numerous specific details are provided in the following detailed implementation manners. Those skilled in the art should understand that the present disclosure can also be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art are not described in detail to highlight the gist of the present disclosure.

[0028] Common radiotherapy methods in the prior art usually require patients to maintain a lying position during the treatment process, that is, horizontal radiotherapy. Although horizontal radiotherapy is suitable for the treatment of most tumor diseases, for some special patients, for example, patients who are prone to dyspnea and saliva accumulation in the lying position, or patients with abnormal body postures who are restricted by the size of the treatment bed and cannot lie flat, or patients with limited physical strength, limited joint movement, and discomfort due to long-term bed rest, etc., the applicability of horizontal radiotherapy is poor.

[0029] Sitting and standing radiotherapy is an emerging treatment mode. Compared with traditional horizontal radiotherapy, this treatment method allows patients to receive treatment in a more flexible posture in the sitting or standing position, improving the treatment comfort of patients. Moreover, the sitting and standing positions can avoid the influence of gravity on the morphology and position of the patient's organs and pathological tissues (such as tumors, etc.) in horizontal radiotherapy, reduce the errors caused by the patient's own factors (such as respiratory fluctuations), thereby improving the irradiation accuracy and the effect of radiotherapy. On the other hand, in some treatment scenarios, sitting and standing radiotherapy can provide a more favorable irradiation angle, and the irradiation accuracy for areas such as the neck, head, and pelvis is higher.

[0030] In the prior art, image-guided radiation therapy (IGRT, Image-Guided Radiation Therapy) technology is usually adopted, and computed tomography (CT) images are used to achieve radiotherapy positioning and image guidance. It mainly includes, before the radiotherapy stage, positioning the patient's lesion based on CT images to formulate corresponding radiotherapy plans (including irradiation position, irradiation time, radiation dose, etc.); and during the radiotherapy stage, using CT images to perform image guidance on the radiotherapy target head to ensure irradiation accuracy, etc. For this reason, for patients receiving radiotherapy, CT image acquisition needs to be performed first in the treatment posture.

[0031] However, the commonly used CT devices in the prior art usually adopt the supine scanning method. On the one hand, it is difficult to apply the CT images obtained by supine scanning in sitting or standing radiotherapy. On the other hand, due to the influence of gravity, the CT images obtained by supine scanning will also affect the morphology and position of the patient's organs and pathological tissues (such as tumors, etc.), reduce the errors caused by the patient's own factors (such as breathing fluctuations), affect the accuracy of lesion localization of the patient, and cannot reflect the true situation of some lesions related to the patient's load-bearing.

[0032] Currently, some upright CT devices have been proposed in the prior art. However, these upright CT devices usually have a double-arm support structure, which requires a large space area and also has the problem of limited movement range of the patient. Moreover, the double-arm support structure may resonate during the scanning process, affecting the accuracy of CT images.

[0033] In view of this, the present disclosure provides a composite imaging system for radiotherapy positioning CT and image-guided CT, which can be applied to sitting or standing radiotherapy, realize lesion positioning and image guidance for radiotherapy, and improve the accuracy and reliability of sitting or standing radiotherapy. The composite imaging system for radiotherapy positioning CT and image-guided CT provided by the present disclosure will be described in detail below.

[0034] Figure 1 The block diagram of a composite imaging system for radiotherapy positioning CT and image-guided CT according to an embodiment of the present disclosure is shown. As Figure 1 shown, the system 100 includes: an upright CT subsystem 101, a first control subsystem 102, a cone beam CT subsystem 103, a second control subsystem 104, and a six-degree-of-freedom seat 105.

[0035] The upright CT subsystem 101 is configured to scan and image a target object in a first posture to determine first initial image data, where the first posture includes any one of a sitting position and a standing position.

[0036] The first control subsystem 102 is configured to determine a radiotherapy positioning CT image corresponding to the target object according to the first initial image data, where the radiotherapy positioning CT image is used to indicate the position to be treated of the target object.

[0037] The cone beam CT subsystem 103 is configured to scan and image a target object in a first posture to determine second initial image data.

[0038] The second control subsystem 104 is configured to determine a guided CT image corresponding to the target object according to the second initial image data, and determine a target adjustment instruction corresponding to the six-degree-of-freedom seat 105 according to the guided CT image and the treatment positioning CT image, where the target adjustment instruction is used to control the six-degree-of-freedom seat 105 to adjust the target object to a second posture matching the first posture.

[0039] In the composite imaging system of the radiotherapy positioning CT and the image-guided CT according to the embodiments of the present disclosure, through the vertical CT subsystem, the target object in the first posture can be scanned and imaged to determine the first initial image data, where the first posture includes any one of a sitting posture and a standing posture, and the first control subsystem is used to determine the treatment positioning CT image corresponding to the target object according to the first initial image data to indicate the position to be treated of the target object, so as to realize the lesion positioning of radiotherapy and improve the accuracy of lesion positioning related to factors such as load and body posture. Moreover, compared with the horizontal scanning CT device in the prior art, the vertical CT subsystem can reduce the space occupation and improve the comfort of the target object during the scanning and imaging. Through the cone beam CT subsystem, the target object in the first posture can be scanned and imaged to determine the second initial image data; the second control subsystem is used to determine the guided CT image corresponding to the target object according to the second initial image data, and determine the target adjustment instruction corresponding to the six-degree-of-freedom seat according to the guided CT image and the treatment positioning CT image, so as to control the six-degree-of-freedom seat to adjust the target object to the second posture matching the first posture, thereby ensuring that the guided CT image is applicable to sitting and standing radiotherapy, realizing the image guidance of radiotherapy, and improving the accuracy and reliability of sitting and standing radiotherapy.

[0040] The target object here can represent a patient who needs to undergo any CT scan imaging and / or radiotherapy.

[0041] Before the vertical CT subsystem 101 scans and images the target object, medical staff can use medical devices (such as thermoplastic films, etc.) and the six-degree-of-freedom seat 105 to position the body of the target object according to the requirements of the scanning position, so that the target object is in the first posture. The first posture may include any one of a sitting posture and a standing posture, and the present disclosure does not make specific limitations thereto.

[0042] For the specific form of the six-degree-of-freedom seat 105, reference may be made to the implementation manners in the related art, and it should be satisfied that it can assist the human body to achieve a sitting posture and a standing posture, and the present disclosure does not make specific limitations thereto.

[0043] Before the radiotherapy stage corresponding to the target object, the vertical CT subsystem 101 can scan and image the target object when the target object is in a sitting or standing posture. That is to say, the imaging module of the vertical CT subsystem 101 moves in the vertical direction and has a space that can accommodate the target object, so as to facilitate the target object to enter the imaging area of the vertical CT subsystem 101. The specific form of the vertical CT subsystem 101 can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereto.

[0044] In a possible implementation manner, the vertical CT subsystem 101 includes: an X-ray generator, a detector, and a motion control module that controls the X-ray generator and the detector to move in the vertical direction.

[0045] Specifically, the vertical subsystem 101 may include an imaging module composed of an X-ray generator and a detector, and both the X-ray generator and the detector are arranged on a motion control module that can move in the vertical direction. Among them, the specific form and specific quantity of the X-ray generator may refer to the implementation manners in related technologies, and the present disclosure does not make specific limitations thereto. The specific form and specific quantity of the detector can be flexibly set according to actual usage requirements and are related to the form and quantity of the X-ray generator, and the present disclosure does not make specific limitations thereto.

[0046] In one example, when the vertical CT subsystem 101 is a single-energy imaging CT device, the X-ray generator can be a high-frequency X-ray generator with a fixed radiation energy, and the detector can be a common X-ray detector.

[0047] In one example, when the vertical CT subsystem 101 is a dual-energy imaging CT device, the X-ray generator can be a dual-energy X-ray tube that can adjust the radiation energy by switching the target material, and the detector can be a double-layer detector or a photon technology detector.

[0048] In one example, when the vertical CT subsystem 101 is a dual-energy imaging CT device, the X-ray generator can be two high-frequency X-ray generators with fixed and different radiation energies, and the detector can be two X-ray detectors with different detection ranges.

[0049] In addition, the arrangement of the detectors can also be flexibly set according to actual usage requirements. For example, it can be set in an arc shape or a linear shape, etc., and the present disclosure does not make specific limitations thereto.

[0050] During the process of medical staff positioning a target object using medical devices and a six-degree-of-freedom seat 105, the upright CT subsystem 101 can, through the motion control module, raise the X-ray generator and the detector to a higher position, thereby providing sufficient operating space for the medical staff and improving the comfort of the target object. After the medical staff complete the positioning of the target object, the upright subsystem 101 can, through the motion control module, adjust the positions of the X-ray generator and the detector so that the X-ray generator can accurately irradiate the corresponding scanning position of the target object.

[0051] The specific form of the motion control module can be flexibly set according to actual usage requirements. For example, the X-ray generator and the detector can be controlled to move along a fixed track based on a motor. The present disclosure does not make specific limitations in this regard.

[0052] The upright CT subsystem 101 can be arranged close to the room wall and supported by the wall, thereby improving the stability of the upright CT subsystem 101; and, compared with the CT devices using the lying position scanning method in the prior art, it can reduce the space occupation. The specific setting method of the upright CT subsystem can be flexibly set according to actual usage requirements. For example, the upright CT subsystem 101 can be fixed on the room wall, etc. The present disclosure does not make specific limitations in this regard.

[0053] In a possible implementation, a preset area in the horizontal direction in the upright CT subsystem 101 is embedded in the vertical wall.

[0054] Figure 2 Shows a schematic diagram of an upright CT subsystem according to an embodiment of the present disclosure. As Figure 2 shown, the upright CT subsystem 101 includes a motion control module 201, an X-ray generator 202, and a detector 203. A preset area in the horizontal direction in the upright CT subsystem 101, including the support structure and the motion control module 201, is embedded in the vertical wall and supported by the wall, so that on the basis of increasing the stability of the upright CT subsystem 101, the space occupation of the upright CT subsystem 101 can be greatly reduced, enabling the upright CT subsystem 101 to be arranged in the same room as the cone beam CT subsystem 103, the radiotherapy device corresponding to the target object, etc., reducing the movement amount of medical staff and the target object during radiotherapy, and improving the comfort of the target object.

[0055] Among them, the specific size of the preset area can be flexibly set according to actual usage requirements. The present disclosure does not make specific limitations in this regard.

[0056] The specific method for the upright CT subsystem 101 to scan and image the target object can be flexibly set according to actual usage requirements. The present disclosure does not make specific limitations in this regard.

[0057] In one example, the upright CT subsystem 101 may first perform a direct digital radiography (DR) scan on the target object to preliminarily locate the range of the position to be treated of the target object, and then, based on the result of the DR scan, perform a CT scan on the target object, so as to determine the first initial image data that can be used to accurately locate the position to be treated of the target object. The position to be treated here may represent a lesion, an organ, or a body part that needs to be radiotherapy, etc., depending on the actual situation of the target object, and the present disclosure does not make specific limitations thereto.

[0058] For the specific form of the first initial image data, reference may be made to the implementation manners in the related art, and the present disclosure does not make specific limitations thereto.

[0059] The first control subsystem 102 may be communicatively connected to the upright CT subsystem 101 and the six-degree-of-freedom seat 105 respectively, so as to control the scanning and imaging process of the upright CT subsystem 101 on the target object and the adjustment process of the attitude of the six-degree-of-freedom seat 105 on the target object. Among them, the specific method for the first control subsystem 102 to be communicatively connected to the upright CT subsystem 101 and the six-degree-of-freedom seat 105 may be flexibly set according to actual usage requirements. For example, it may be connected through a control bus, etc., and the present disclosure does not make specific limitations thereto.

[0060] The first control subsystem 102 may receive the first initial image data from the upright CT subsystem 101, and perform image reconstruction on the first initial image data to determine the treatment positioning CT image corresponding to the target object, so as to accurately indicate the position to be treated of the target object. Among them, for the specific method for the first control subsystem 102 to perform image reconstruction on the first initial image data, reference may be made to the implementation manners in the related art, and the present disclosure does not make specific limitations thereto.

[0061] The specific form of the first control subsystem 102 may be flexibly set according to actual usage requirements. For example, it may include electronic devices such as a terminal device and a server. The terminal device may be a user equipment (UE), a mobile device, a user terminal, a terminal, a personal digital assistant (PDA), a handheld device, a computing device, etc., and the present disclosure does not make specific limitations thereto.

[0062] In a possible implementation manner, the first control subsystem 102 is further configured to transmit the treatment positioning CT image to the radiotherapy system corresponding to the target object.

[0063] The first control subsystem 102 can also be communicatively connected to the radiotherapy system corresponding to the target object, so as to realize the linkage control of the system 100 and the radiotherapy system and improve the efficiency of radiotherapy. Specifically, the first control subsystem 102 can transmit the treatment positioning CT image to the radiotherapy system corresponding to the target object, so that the radiotherapy system can reasonably formulate a radiotherapy plan for the target object according to the position to be treated of the target object indicated by the treatment positioning CT image.

[0064] Among them, the radiotherapy system corresponding to the target object should be a radiotherapy system capable of realizing sitting and standing radiotherapy, and its specific form can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0065] During the radiotherapy stage corresponding to the target object, before the cone beam CT subsystem 103 (Cone beam CT, CBCT) performs a new scan and imaging on the target object, medical staff can use medical devices (such as thermoplastic films, etc.) and the six-degree-of-freedom seat 105 to perform body position reset on the target object, so that the target object is in the first posture again to ensure that the scanning positions of the cone beam CT subsystem 103 and the standing CT subsystem 101 are the same.

[0066] The cone beam CT subsystem 103 can perform targeted scan and imaging on the position to be treated of the target object when the target object is in a sitting or standing position, and determine the second initial image data corresponding to the target object, so as to facilitate subsequent image guidance for the radiotherapy process. Among them, the specific method for the cone beam CT subsystem 103 to perform scan and imaging on the target object can be flexibly set according to actual usage requirements, which can be DR scan or CT scan, and the present disclosure does not make specific limitations thereon. The specific form of the second initial image data can refer to the implementation manner in related technologies, and the present disclosure does not make specific limitations thereon.

[0067] The specific form of the cone beam CT subsystem 103 can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0068] In a possible implementation manner, the cone beam CT subsystem 103 is a hanging system, and the cone beam CT subsystem 103 includes: a telescopic robotic arm module, a cone beam X-ray source, and a flat panel detector.

[0069] Specifically, the cone beam CT subsystem 103 is a hanging system, and can include a telescopic robotic arm module hanging at a position such as the ceiling of the room and in front of the radiotherapy system required by the target object, and a cone beam X-ray source and a flat panel detector connected to the telescopic robotic arm mechanical module.

[0070] During the process of medical staff using the six-degree-of-freedom seat 105 to perform body position reduction on the target object and restore it to the first posture, the cone beam CT subsystem 103 can use the telescopic robotic arm mechanical module to raise the cone beam X-ray source and the flat panel detector to a higher position, providing sufficient operating space for medical staff and improving the comfort of the target object. After the medical staff completes the body position reduction of the target object, the cone beam CT subsystem 103 can use the telescopic robotic arm mechanical module to adjust the positions of the cone beam X-ray source and the flat panel detector, so that the cone beam CT subsystem 103 can use the telescopic robotic arm mechanical module to accurately irradiate the corresponding treatment position of the target object with the cone beam X-ray source.

[0071] Among them, the specific form of the telescopic robotic arm module can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0072] In a possible implementation manner, the telescopic robotic arm module includes: a main shaft telescopic arm suspended in the vertical direction, a first horizontal rod and a second horizontal rod distributed collinearly in the horizontal direction, a first vertical robotic arm corresponding to the first horizontal rod, and a second vertical robotic arm corresponding to the second horizontal rod. The cone beam X-ray source is arranged on the first vertical robotic arm, and the flat panel detector is arranged on the second vertical robotic arm.

[0073] Figure 3 Shows a schematic diagram of a cone beam CT subsystem according to an embodiment of the present disclosure. As Figure 3 shown, the cone beam CT subsystem 103 includes: a main shaft telescopic arm 301 suspended in the vertical direction, a first horizontal rod 302 and a second horizontal rod 303 distributed collinearly in the horizontal direction, a first vertical robotic arm 304 corresponding to the first horizontal rod 302, and a second vertical robotic arm 305 corresponding to the second horizontal rod 303; the cone beam X-ray source 306 is arranged on the first vertical robotic arm 304, and the flat panel detector 307 is arranged on the second vertical robotic arm 305. The collinear distribution here means that the first horizontal rod 302 and the second horizontal rod 303 are on the same straight line.

[0074] Among them, the specific forms of the cone beam X-ray source 306 and the flat panel detector 307 can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0075] When the cone beam CT subsystem 103 is idle, the cone beam X-ray 306 and the flat panel detector 307 can be raised to a higher position by adjusting the telescopic lengths of the main shaft telescopic arm 301, the first vertical robotic arm 304, and the second vertical robotic arm 305, reducing the space occupied by the cone beam CT subsystem 103 in the vertical direction, providing sufficient operating space for medical staff, and improving the comfort of the target object.

[0076] When the cone-beam CT subsystem 103 scans and images a target object, the telescopic lengths of the main shaft telescopic arm 301, the first vertical robotic arm 304, and the second vertical robotic arm 305 can be adjusted so that the cone-beam X-ray 306 and the flat-panel detector 307 accurately correspond to the treatment position of the target object, ensuring the accuracy of the scan imaging. Furthermore, the main shaft telescopic arm 301 can be used to control the rotation of the cone-beam X-ray 306 and the flat-panel detector 307 to achieve scan imaging.

[0077] Among them, the specific forms of the main shaft telescopic arm, the first vertical robotic arm, and the second vertical robotic arm, as well as the specific parameters (including the maximum length, the minimum length, etc.), can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0078] The specific lengths of the first horizontal rod and the second horizontal rod can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0079] Taking the above Figure 3 as an example, as Figure 3 shown, the length of the first horizontal rod 302 is the same as the length of the second horizontal rod 303. In this case, the cone-beam X-ray 306 and the flat-panel detector 307 can perform isocentric rotation, reducing artifacts in the imaging process, and the reconstruction algorithm for the second initial image data is relatively simple. However, this structural design has high requirements for the machining accuracy of the first horizontal rod and the second horizontal rod, resulting in high manufacturing costs. In addition, the imaging field of view of isocentric rotation has low scalability and poor applicability to target objects with special body types (such as being overly obese, etc.).

[0080] Figure 4 FIG. shows a schematic diagram of a cone-beam CT subsystem according to an embodiment of the present disclosure. As Figure 4As shown, the cone beam CT subsystem 103 includes: a vertically suspended main shaft telescopic arm 401, a first horizontal rod 402 and a second horizontal rod 403 that are collinearly distributed in the horizontal direction, a first vertical robotic arm 404 corresponding to the first horizontal rod 402, and a second vertical robotic arm 405 corresponding to the second horizontal rod 403; the cone beam X-ray source 406 is disposed on the first vertical robotic arm 404, and the flat panel detector 407 is disposed on the second vertical robotic arm 405, and the length of the first horizontal rod 402 is different from the length of the second horizontal rod 403. In this case, the cone beam X-ray 406 and the flat panel detector 407 can perform non-isocentric rotation. This structural design also has lower requirements for the machining accuracy of the first and second horizontal rods and does not need to meet strict isocentric constraints; in addition, non-isocentric rotation can be applied to large-range or whole-body scans, can more conveniently expand the imaging field of view, and has stronger applicability to target objects with special body types (such as excessive obesity, etc.). However, due to the dynamic changes in the geometric parameters corresponding to the cone beam X-ray 406 and the flat panel detector 407 during the rotation process, the occurrence probability of imaging interference phenomena such as motion artifacts and geometric distortions is increased, and the reconstruction algorithm for the second initial image data is relatively complex and requires a relatively complex dynamic calibration and dynamic supplementation process, resulting in lower imaging efficiency.

[0081] In a possible implementation manner, the telescopic robotic arm module includes: a first vertical robotic arm and a second vertical robotic arm that are vertically suspended, and the first vertical robotic arm is disposed on the first annular cableway, the second vertical robotic arm is disposed on the first annular cableway, or is disposed on a second annular cableway independent of the first annular cableway, the cone beam X-ray source is disposed on the first vertical robotic arm, and the flat panel detector is disposed on the second vertical robotic arm.

[0082] Specifically, the telescopic robotic arm module may include: a first vertical robotic arm and a second vertical robotic arm that are vertically suspended, the cone beam X-ray source is disposed on the first vertical robotic arm, and the flat panel detector is disposed on the second vertical robotic arm.

[0083] In the case where both the first vertical robotic arm and the second vertical robotic arm are disposed on the first annular cableway, or in the case where the first vertical robotic arm is disposed on the first annular cableway, the second vertical robotic arm is disposed on the second annular cableway, and the sizes of the first annular cableway and the second annular cableway are the same, the cone beam X-ray and the flat panel detector can perform isocentric rotation; in the case where the first vertical robotic arm is disposed on the first annular cableway, the second vertical robotic arm is disposed on the second annular cableway, and the sizes of the first annular cableway and the second annular cableway are different, the cone beam X-ray and the flat panel detector can perform non-isocentric rotation. Among them, the specific sizes of the first annular cableway and the second annular cableway can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0084] When the cone beam CT subsystem 103 is idle, the telescopic lengths of the first vertical robotic arm and the second vertical robotic arm can be adjusted to raise the cone beam X-ray and the flat panel detector to a higher position, reducing the space occupied by the cone beam CT subsystem 103 in the vertical direction, providing sufficient operating space for medical staff, and improving the comfort of the target object.

[0085] When the cone beam CT subsystem 103 performs a scanning imaging on the target object, the telescopic lengths of the first vertical robotic arm and the second vertical robotic arm can be adjusted to accurately align the cone beam X-ray and the flat panel detector with the position to be treated of the target object, ensuring the accuracy of the scanning imaging; furthermore, the first vertical robotic arm and the second vertical robotic arm can be controlled to move on the first annular cableway, or the first vertical robotic arm and the second vertical robotic arm can be controlled to move on the first annular cableway and the second annular cableway respectively, so that the cone beam X-ray and the flat panel detector rotate to achieve the scanning imaging.

[0086] Among them, the specific forms of the first vertical robotic arm and the second vertical robotic arm, as well as the specific parameters (including the maximum length, the minimum length, etc.) can be flexibly set according to the actual usage requirements, and the present disclosure does not make specific limitations thereon.

[0087] By means of the suspended cone beam CT subsystem 103, the space occupation can be reduced, so that the cone beam CT subsystem 103 and the radiotherapy system corresponding to the target object can be placed in the same room. On the one hand, the number of movements and the number of positionings of the target object during the radiotherapy stage can be reduced, improving the comfort of the target object during the radiotherapy stage; on the other hand, the positional relationship between the cone beam CT subsystem 103 and the radiotherapy system can be directly aligned in the physical space, thereby improving the accuracy of radiotherapy and reducing the complexity of subsequent second image data processing.

[0088] The second control subsystem 104 can be communicatively connected to the cone beam CT subsystem 103 and the six-degree-of-freedom seat 105 respectively, so as to control the scanning imaging process of the cone beam CT subsystem 103 on the target object and the adjustment process of the posture of the six-degree-of-freedom seat 105 on the target object. Among them, the specific method for the second control subsystem 104 to be communicatively connected to the cone beam CT subsystem 103 and the six-degree-of-freedom seat 105 can be flexibly set according to the actual usage requirements, for example, by connecting through a control bus, etc., and the present disclosure does not make specific limitations thereon.

[0089] The second control subsystem 104 can receive the second initial image data from the cone beam CT subsystem 103, perform image reconstruction on the second initial image data, and determine the guiding CT image corresponding to the target object for image guidance in radiotherapy. The specific method for the second control subsystem 104 to perform image reconstruction on the second initial image can refer to the implementation in related technologies, and the present disclosure does not make specific limitations thereon.

[0090] Based on the guiding CT image and the treatment positioning CT image, the second control subsystem 104 can determine the target adjustment instruction corresponding to the six-degree-of-freedom seat 105, so as to control the six-degree-of-freedom seat 105 to adjust the target object to the second posture matching the first posture. The specific form of the second posture here depends on the specific form of the first posture and the actual situation of the radiotherapy system corresponding to the target object, and can be any one of the sitting position posture and the standing position posture, or other postures, and the present disclosure does not make specific limitations thereon.

[0091] Based on the target adjustment instruction, the specific method for controlling the six-degree-of-freedom seat 105 to adjust the posture of the target object can be flexibly set according to actual usage requirements. For example, the second control subsystem 104 can transmit the target adjustment instruction to the six-degree-of-freedom seat 105 for automatic adjustment, or display the target adjustment instruction to the medical staff, and the medical staff manually adjusts the six-degree-of-freedom seat 105 in combination with the actual treatment requirements, etc., and the present disclosure does not make specific limitations thereon.

[0092] In a possible implementation manner, when the upright CT subsystem 101 and the cone beam CT subsystem 103 are arranged in different rooms, the second control subsystem 104 is further configured to: align the three-dimensional coordinate systems of the upright CT subsystem 101 and the cone beam CT subsystem 103 to determine the coordinate system alignment result; perform image registration on the guiding CT image and the treatment positioning CT image according to the coordinate system alignment result to determine the image registration result; and determine the target adjustment instruction according to the coordinate system alignment result, the image registration result, and the first posture.

[0093] When the space in the room where the radiotherapy system is located (usually called the treatment room) is limited, the upright CT subsystem 101 and the cone beam CT subsystem 103 can be respectively arranged in different rooms. Among them, the cone beam CT subsystem 103 should be arranged in the same treatment room as the radiotherapy system corresponding to the target object, and the upright CT subsystem 101 can be arranged in any other room.

[0094] When the upright CT subsystem 101 and the cone beam CT subsystem 103 are set in different rooms, there may be certain differences between the three-dimensional coordinate system parameters corresponding to the upright CT subsystem 101 and the three-dimensional coordinate system parameters corresponding to the cone beam CT subsystem 103. Moreover, since the target object needs to be moved between different rooms, a relatively large position change will occur. Therefore, in order to ensure the accuracy and reliability of radiotherapy, it is necessary to align the three-dimensional coordinate systems of the upright CT subsystem 101 and the cone beam CT subsystem 103, determine the corresponding coordinate system alignment result, so as to adjust the position of the target object relative to the cone beam CT subsystem 103 during the radiotherapy stage and use it as a reference basis for the subsequent image registration process.

[0095] Among them, for the specific method of aligning the three-dimensional coordinate systems of the upright CT subsystem 101 and the cone beam CT subsystem 103, the implementation methods in related technologies can be referred to, and the present disclosure does not make specific limitations thereto. The specific content of the coordinate system alignment result can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereto.

[0096] After the coordinate system alignment, on the one hand, it can make the spatial position relationship of the target object relative to the cone beam CT subsystem 103 during the radiotherapy stage consistent with the spatial position relationship of the target object relative to the upright CT subsystem 101 before the radiotherapy stage, thereby improving the similarity between the treatment positioning CT image and the guiding CT image and reducing the complexity of the subsequent image registration; on the other hand, it can provide a reference basis related to the spatial position for the subsequent image registration process, thereby improving the accuracy of the image registration result.

[0097] Combined with the coordinate system alignment result, the second control subsystem 104 can perform image registration on the guiding CT image and the treatment positioning CT image, determine the image registration result, and further determine the target adjustment instruction according to the coordinate system alignment result, the image registration result and the first posture, so as to control the six-degree-of-freedom seat 105 to adjust the target object to the second posture matching the first posture, thereby realizing the image guidance of radiotherapy and improving the accuracy and reliability of radiotherapy.

[0098] Among them, for the specific method of performing image registration on the guiding CT image and the treatment positioning CT image, the implementation methods in related technologies can be referred to, and the present disclosure does not make specific limitations thereto. The specific content of the image registration result can be flexibly set according to actual usage requirements, and the present disclosure does not make specific limitations thereto.

[0099] In a possible implementation, when the upright CT subsystem 101 and the cone beam CT subsystem 103 are arranged in the same room, the second control subsystem 104 is further configured to: perform image registration on the guiding CT image and the treatment positioning CT image to determine the image registration result; and determine a target adjustment instruction according to the image registration result and the first pose.

[0100] When the upright CT subsystem 101 and the cone beam CT subsystem 103 are arranged in the same room, through physical-level position registration, the upright CT subsystem 101 and the cone beam CT subsystem 103 can share the same set of three-dimensional coordinate system parameters, so that it is not necessary to align the three-dimensional coordinate systems of the upright CT subsystem 101 and the cone beam CT subsystem 103, which can simplify the imaging process and the position and pose adjustment process of the target object in the radiotherapy stage, and improve the working efficiency of the system 100; at the same time, it can also reduce the probability that the position registration error between the upright CT subsystem 101 and the cone beam CT subsystem 103 affects the accuracy of the image registration result, thereby improving the accuracy and reliability of the target adjustment instruction, and further ensuring the accuracy of radiotherapy.

[0101] In this case, the second control subsystem 104 can directly perform image registration on the guiding CT image and the treatment positioning CT image to determine the image registration result, and then determine a target adjustment instruction according to the image registration result and the first pose, so as to control the six-degree-of-freedom seat 105 to adjust the target object to a second pose matching the first pose, thereby realizing the image guidance of radiotherapy and improving the accuracy and reliability of radiotherapy.

[0102] In a possible implementation, when the upright CT subsystem 101 and the cone beam CT subsystem 103 are arranged in the same room, the first control subsystem 102 and the second control subsystem 104 are the same control subsystem.

[0103] When the upright CT subsystem 101 and the cone beam CT subsystem 103 are arranged in the same room, the first control subsystem 102 and the second control subsystem 104 can be set as the same control subsystem, thereby reducing the operation and maintenance cost of the entire system 100, reducing the number of data transmissions, and improving the working efficiency of the system 100.

[0104] The composite imaging system of radiotherapy positioning CT and image-guided CT according to the embodiments of the present disclosure can scan and image a target object in a first posture through a vertical CT subsystem to determine first initial image data, where the first posture includes any one of a sitting position and a standing position, and use a first control subsystem to determine a radiotherapy positioning CT image corresponding to the target object according to the first initial image data to indicate the position to be treated of the target object, thereby realizing the lesion positioning of radiotherapy and improving the accuracy of lesion positioning related to factors such as load-bearing and body posture. Moreover, compared with the horizontal scanning CT equipment in the prior art, the vertical CT subsystem can reduce the space occupation and improve the comfort of the target object when receiving scanning and imaging. Through the cone-beam CT subsystem, the target object in the first posture can be scanned and imaged to determine second initial image data; use a second control subsystem to determine a guided CT image corresponding to the target object according to the second initial image data, and determine a target adjustment instruction corresponding to the six-degree-of-freedom seat according to the guided CT image and the radiotherapy positioning CT image to control the six-degree-of-freedom seat to adjust the target object to a second posture matching the first posture, thereby ensuring that the guided CT image is applicable to sitting and standing radiotherapy, realizing the image guidance of radiotherapy, and improving the accuracy and reliability of sitting and standing radiotherapy.

[0105] It should be noted that although some structures in the composite imaging system of radiotherapy positioning CT and image-guided CT provided by the present disclosure are introduced above by taking Figures 1 to 4 as an example, those skilled in the art can understand that the present disclosure should not be limited thereto. In fact, the user can flexibly set the specific structure of the composite imaging system according to personal preferences and / or actual application scenarios, as long as it is applicable to sitting and standing radiotherapy, realizes the lesion positioning and image guidance of radiotherapy, and improves the accuracy and reliability of sitting and standing radiotherapy.

[0106] The various embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to technologies in the market, or to enable other ordinary skilled persons in the technical field to understand the embodiments disclosed herein.

Claims

1. A composite imaging system for radiotherapy positioning CT and image-guided CT, characterized in that, The system includes: a vertical CT subsystem, a first control subsystem, a cone beam CT subsystem, a second control subsystem, and a six-degree-of-freedom seat; The vertical CT subsystem is configured to scan and image a target object in a first posture to determine first initial image data, wherein the first posture includes any one of a sitting posture and a standing posture; The first control subsystem is configured to determine a treatment positioning CT image corresponding to the target object according to the first initial image data, wherein the treatment positioning CT image is used to indicate the position to be treated of the target object; The cone beam CT subsystem is configured to scan and image the target object in the first posture to determine second initial image data; The second control subsystem is configured to determine a guiding CT image corresponding to the target object according to the second initial image data, and determine a target adjustment instruction corresponding to the six-degree-of-freedom seat according to the guiding CT image and the treatment positioning CT image, wherein the target adjustment instruction is used to control the six-degree-of-freedom seat to adjust the target object to a second posture matching the first posture.

2. The system according to claim 1, wherein The vertical CT subsystem includes: an X-ray generator, a detector, and a motion control module for controlling the X-ray generator and the detector to move in a vertical direction.

3. The system according to claim 2, wherein A preset area in the horizontal direction in the vertical CT subsystem is embedded in a vertical wall.

4. The system according to any one of claims 1 to 3, characterized in that The cone beam CT subsystem is a suspended system, and the cone beam CT subsystem includes: a telescopic robotic arm module, a cone beam X-ray source, and a flat panel detector.

5. The system according to claim 4, wherein The telescopic robotic arm module includes: a main shaft telescopic arm suspended in the vertical direction, a first horizontal rod and a second horizontal rod distributed collinearly in the horizontal direction, a first vertical robotic arm corresponding to the first horizontal rod, and a second vertical robotic arm corresponding to the second horizontal rod, wherein the cone beam X-ray source is disposed on the first vertical robotic arm, and the flat panel detector is disposed on the second vertical robotic arm.

6. The system according to claim 4, wherein The telescopic robotic arm module includes: a first vertical robotic arm and a second vertical robotic arm suspended in the vertical direction, and the first vertical robotic arm is disposed on a first annular cableway, the second vertical robotic arm is disposed on the first annular cableway, or disposed on a second annular cableway independent of the first annular cableway, wherein the cone beam X-ray source is disposed on the first vertical robotic arm, and the flat panel detector is disposed on the second vertical robotic arm.

7. The system according to any one of claims 1 to 3, characterized in that, The first control subsystem is further configured to transmit the treatment positioning CT image to a radiotherapy system corresponding to the target object.

8. The system according to claim 7, characterized in that, In the case where the vertical CT subsystem and the cone beam CT subsystem are disposed in different rooms, the second control subsystem is further configured to: Perform three-dimensional coordinate system alignment on the vertical CT subsystem and the cone beam CT subsystem to determine a coordinate system alignment result; Perform image registration on the guiding CT image and the treatment positioning CT image according to the coordinate system alignment result to determine an image registration result; Determine the target adjustment instruction according to the coordinate system alignment result, the image registration result, and the first pose.

9. The system according to claim 7, wherein When the vertical CT subsystem and the cone beam CT subsystem are arranged in the same room, the second control subsystem is further configured to: Perform image registration on the guiding CT image and the treatment positioning CT image to determine an image registration result; Determine the target adjustment instruction according to the image registration result and the first pose.

10. The system according to claim 9, wherein When the vertical CT subsystem and the cone beam CT subsystem are arranged in the same room, the first control subsystem and the second control subsystem are the same control subsystem.

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