Detection positioning correction device and detection positioning correction method

Abstract

The invention relates to a detecting, positioning and correcting device which comprises a coordinate plate, a first image obtaining device, a linear sliding table mechanism, an adjusting assembly and a supporting plate used for installing a bed body, and an inclination angle detecting device, a first laser emitting device and a second laser emitting device are installed at one end of the supporting plate. The first laser emitting device and the second laser emitting device are symmetrically distributed relative to the supporting plate, light rays of the first laser emitting device and the second laser emitting device irradiate on the coordinate plate, and the first image obtaining device is used for obtaining an image of the coordinate plate; the linear sliding table mechanism is connected with the supporting plate through an adjusting assembly, the linear sliding table mechanism comprises a machine base, a slide carriage and a driving device, the machine base is connected with the slide carriage in a sliding mode, the driving device is installed on the slide carriage, and the driving device is matched with the machine base to drive the slide carriage to move in a reciprocating mode. The device has multi-dimensional adjustment capability, and is beneficial to positioning detection work.

Description

Technical Field

[0001] The present invention relates to the technical field of medical radiotherapy, and particularly relates to a detection and positioning correction device and a detection and positioning correction method. Background Art

[0002] With the rapid development of medical imaging technology and radiotherapy technology, stereotactic radiotherapy has become an important means for treating tumors and certain functional diseases. Among them, the accuracy and movement mode of the treatment couch are one of the main factors affecting the three-precision (precision positioning, precision planning, and precision irradiation) radiotherapy technology. With the rapid development of robot technology, the cost of robots has been greatly reduced. Traditional robots are used for the multi-dimensional couch in radiotherapy, which greatly improves the precise positioning of patients. However, most traditional robots are used in industry, and simply transplanted to the radiotherapy couch, there are many deficiencies and redundancies. For example, the working range required by the treatment couch robot is relatively small, and the actions are relatively simple. The present invention aims to solve the above technical problems, reduce costs, increase reliability, and form a terminal closed-loop detection and control. Summary of the Invention

[0003] The present invention aims to solve the above technical problems, and provides a detection and positioning correction device and a detection and positioning correction method, which can achieve precise positioning of the tumor position during the treatment process, thereby greatly improving the accuracy and safety of radiotherapy.

[0004] A detection and positioning correction device includes a coordinate plate, a multi-axis adjustment device, an inclination detection device, a first image acquisition device, a second image acquisition device, a third image acquisition device, and a support plate for detecting and positioning the lesion. One end of the support plate close to the adjustment device is provided with an inclination detection device, a first laser emission device, and a second laser emission device, and the other end of the support plate is provided with a third laser emission device and a fourth laser emission device.

[0005] A detection and positioning correction method includes performing a first adjustment and a second adjustment through the multi-axis adjustment device for positioning correction; the light rays of the first laser emission device, the second laser emission device, the third laser emission device, and the fourth laser emission device irradiate onto the coordinate plate, and the first image acquisition device acquires an image without loading the coordinate plate, a first image with the coordinate plate loaded, and a second image with the coordinate plate loaded. The deviation is calculated through the image without loading the coordinate plate and the first image with the coordinate plate loaded, and the first adjustment is performed. The result of the first adjustment is determined through the second image with the coordinate plate loaded. The second unloaded support plate image and the second loaded support plate image are obtained by the second image acquisition device. The second unloaded support plate image includes the light information of the unloaded first laser emission device and the information of the neutral plane marking line a of the unloaded support plate. The second loaded support plate image includes the light information I of the loaded first laser emission device, the information I of the neutral plane marking line a of the loaded support plate, the light information II of the loaded first laser emission device, and the information II of the neutral plane marking line a of the loaded support plate; The third unloaded support plate image and the third loaded support plate image are obtained by the third image acquisition device. The third unloaded support plate image includes the light information of the unloaded second laser emission device and the information of the neutral plane marking line b of the unloaded support plate. The third loaded support plate image includes the light information I of the loaded second laser emission device, the information I of the neutral plane marking line b of the loaded support plate, the light information II of the loaded second laser emission device, and the information II of the neutral plane marking line b of the loaded support plate; The result of the second adjustment is determined by the light information II of the loaded first laser emission device, the information II of the neutral plane marking line a of the loaded support plate, or the light information II of the loaded second laser emission device and the information II of the neutral plane marking line b of the loaded support plate; The unloaded tilt angle and the loaded tilt angle are obtained by the tilt angle detection device.

[0006] Preferably, the unloaded coordinate plate image includes the ideal projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate, which are (X10, Z10), (X20, Z20), (X30, Z30), and (X40, Z40) respectively.

[0007] The first loaded coordinate plate image includes the actual projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate, which are (X10a, Z10a), (X20a, Z20a), (X30a, Z30a), and (X40a, Z40a) respectively.

[0008] The first adjustment includes: taking the first laser emission device and the second laser emission device as the reference for position correction, calculating and obtaining the movement amounts of the X and Z axes, ΔX1 = X10a - X10, ΔZ1 = Z10a - Z10, ΔX2 = X20a - X20, ΔZ2 = Z20a - Z20. The multi-axis adjustment device moves so that ΔX1 = 0, ΔZ1 = 0, ΔX2 = 0, ΔZ2 = 0, and makes the unloaded tilt angle equal to the loaded tilt angle.

[0009] The second loaded coordinate plate image includes: the actual projection points of the first laser line after the first adjustment on the coordinate plate, the actual projection points of the second laser line on the coordinate plate, the actual projection points of the third laser line on the coordinate plate, and the actual projection points of the fourth laser line on the coordinate plate, which are (X10b, Z10b), (X20b, Z20b), (X30b, Z30b), and (X40b, Z40b) respectively. The determination of the result of the first adjustment includes: when X10b = X10, X20b = X20, Z10b = Z10, and Z20b = Z20, it is confirmed that the first adjustment is completed, and the second adjustment is performed.

[0010] Preferably, by using the information of the light ray of the unloaded first laser emission device and the information of the neutral plane marking line a of the support plate, the positions of point K, point M, and the length of line segment KM are obtained. By using the information I of the light ray of the loaded first laser emission device and the information I of the neutral plane marking line a of the support plate, the positions of point K1, point M1, and the length of line segment K1M1 are obtained. By using the information of the light ray of the unloaded second laser emission device and the information of the neutral plane marking line b of the support plate, the positions of point H, point N, and the length of line segment HN are obtained. By using the information I of the light ray of the loaded second laser emission device and the information I of the neutral plane marking line b of the support plate, the positions of point H1, point N1, and the length of line segment H1N1 are obtained. The second adjustment includes: by using the unloaded coordinate plate image and the second loaded coordinate plate image, calculate ΔZ3 = |Z30b - Z30a|; ΔZ4 = |Z40b - Z30a|, and use the laser point with the smaller value of ΔZ3 and ΔZ4 as the reference for movement correction through the multi-axis adjustment device. The movement of the multi-axis adjustment device is confirmed by using the information II of the light ray of the loaded first laser emission device, the information II of the neutral plane marking line a of the support plate, or the information II of the light ray of the loaded second laser emission device and the information II of the neutral plane marking line b of the support plate.

[0011] Preferably, when ΔZ3 < ΔZ4, perform movement correction adjustment through the multi-axis adjustment device, and confirm the result of the second adjustment by using the information II of the light ray of the loaded first laser emission device and the information II of the neutral plane marking line a of the support plate.

[0012] Preferably, when ΔZ3 > ΔZ4, perform movement correction adjustment through the multi-axis adjustment device, and determine the result of the second adjustment by using the information II of the light ray of the loaded second laser emission device and the information II of the neutral plane marking line b of the support plate.

[0013] Beneficial effects: By providing a coordinate board, a first image acquisition device, a second image acquisition device, a third image acquisition device, a support plate, and a multi-axis adjustment device, the first adjustment and the second adjustment can be achieved in cooperation, and the precise positioning of the tumor position can be realized during the treatment process, thereby greatly improving the accuracy and safety of radiotherapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the detection, positioning, and correction device of the present invention.

[0015] Figure 2 Schematic diagram of the change of the support plate in the YZ-axis direction of the present invention.

[0016] Figure 3 Schematic diagram of the change of the support plate in the XZ-axis direction of the present invention.

[0017] Figure 4 Schematic diagram of the first image acquisition device of the present invention grasping the coordinate board in the unloaded state.

[0018] Figure 5 Schematic diagram of the first image acquisition device of the present invention grasping the coordinate board in the loaded state.

[0019] Figure 6 Schematic diagram of the first image acquisition device of the present invention grasping the coordinate board for the second time after the first adjustment.

[0020] Figure 7 Schematic diagram of the second image acquisition device of the present invention acquiring the neutral plane marking line of the support plate in the unloaded state.

[0021] Figure 8 Schematic diagram of the third image acquisition device of the present invention acquiring the neutral plane marking line of the support plate in the unloaded state.

[0022] Figure 9 Schematic diagram of the second image acquisition device of the present invention acquiring the neutral plane marking line of the support plate in the loaded state.

[0023] Figure 10 Schematic diagram of the third image device of the present invention acquiring the neutral plane marking line of the support plate in the loaded state.

[0024] Figure 11 Schematic diagram of the second image acquisition device of the present invention acquiring the neutral plane marking line of the support plate after the first adjustment.

[0025] Figure 12 Schematic diagram of the third image acquisition device of the present invention acquiring the neutral plane marking line of the support plate after the first adjustment.

[0026] Figure 13Schematic diagram of the second image acquisition device of the present invention for acquiring the neutral plane marking line of the support plate after the second adjustment.

[0027] Figure 14 Schematic diagram of the third image acquisition device of the present invention for acquiring the neutral plane marking line of the support plate after the second adjustment.

[0028] Markings in the figure: 1. Coordinate plate; 2. First image acquisition device; 3. Second image acquisition device; 4. Third image acquisition device; 5. Support plate; 6. Multi-axis adjustment device; 7. Inclination detection device. Detailed implementation manners

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the present invention in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the drawing structure is only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. It should be noted here that the description of these embodiment modes is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0030] Embodiment: Refer to Figure 1 , a detection and positioning correction device, including a coordinate plate 1, a multi-axis adjustment device 6, an inclination detection device 7, a first image acquisition device 2, a second image acquisition device 3, a third image acquisition device 4, and a support plate 5 for lesion detection and positioning. An inclination detection device 7, a first laser emission device, and a second laser emission device are installed at one end of the support plate 5 close to the multi-axis adjustment device 6, and a third laser emission device and a fourth laser emission device are installed at the other end of the support plate 5.

[0031] A detection and positioning correction method, refer to Figure 2 and Figure 3 , perform the first adjustment and the second adjustment through the multi-axis adjustment device. The first adjustment is for the adjustment in the XZ axis direction in Figure 3 , and the second adjustment is for the adjustment in the YZ axis direction in Figure 4 to complete the positioning correction; the light rays of the first laser emission device, the second laser emission device, the third laser emission device, and the fourth laser emission device are irradiated onto the coordinate plate, and the unloaded coordinate plate image, the first loaded coordinate plate image, and the second loaded coordinate plate image are acquired through the first image acquisition device. Calculate the deviation through the unloaded coordinate plate image and the first loaded coordinate plate image and perform the first adjustment, and determine the result of the first adjustment through the second loaded coordinate plate image; Figure 7 , Figure 8In the unloaded state, the second and third image acquisition devices acquire the image elements of the neutral plane marking line of the support plate, which is the benchmark for lesion point correction. The illustrated lesion points are attached to the image after image coordinate fusion. The second unloaded support plate image and the second loaded support plate image are acquired by the second image acquisition device. The second unloaded support plate image includes the light information of the unloaded first laser emission device and the information of the unloaded support plate neutral plane marking line a. The second loaded support plate image includes the light information I of the loaded first laser emission device, the information I of the loaded support plate neutral plane marking line a, the light information II of the loaded first laser emission device, and the information II of the loaded support plate neutral plane marking line a; Figure 9 、 Figure 10 In the loaded state, the second and third image acquisition devices acquire the image elements of the neutral plane marking line of the support plate. The marking lines within the double-dashed line frames are respectively Figure 7 、 Figure 8 The fused additional image elements attached to the corresponding Figure 9 、 Figure 10 Considering the patient's experience, it is necessary to first align the coordinate origin and level the support plate fixing plate. As shown in Figure 11 、 Figure 12 The third unloaded support plate image and the third loaded support plate image are acquired by the third image acquisition device. The third unloaded support plate image includes the light information of the unloaded second laser emission device and the information of the unloaded support plate neutral plane marking line b. The third loaded support plate image includes the light information I of the loaded second laser emission device, the information I of the loaded support plate neutral plane marking line b, the light information II of the loaded second laser emission device, and the information II of the loaded support plate neutral plane marking line b; Figure 11 、 Figure 12 After the first adjustment, they are respectively the image elements of the neutral plane marking line of the support plate acquired by the second and third image acquisition devices. The adjustment parameters can be directly obtained from the image, and the driving actuator can be operated. At this step, the position of the support plate fixing plate has coincided with that in the unloaded state. The next step is to adjust the lesion error caused by the deformation of the support plate during loading. By using the light information II of the loaded first laser emission device, the information II of the loaded support plate neutral plane marking line a, or the light information II of the loaded second laser emission device and the information II of the loaded support plate neutral plane marking line b, the result of the second adjustment is determined; The unloaded tilt angle and the loaded tilt angle are acquired by the tilt detection device.

[0032] Refer to Figure 4, the unloaded coordinate plate image includes the ideal projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate, which are (X10, Z10), (X20, Z20), (X30, Z30), and (X40, Z40) respectively.

[0033] Reference Figure 5 , the first loaded coordinate plate image includes the actual projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate, which are (X10a, Z10a), (X20a, Z20a), (X30a, Z30a), and (X40a, Z40a) respectively.

[0034] The first adjustment includes: performing position correction with the first laser emission device and the second laser emission device as references, reference Figure 4 and Figure 5 , calculating and obtaining the movement amounts of the X and Z axes, ΔX1 = X10a - X10, ΔZ1 = Z10a - Z10, ΔX2 = X20a - X20, ΔZ2 = Z20a - Z20, and the multi-axis adjustment device moves so that ΔX1 = 0, ΔZ1 = 0, ΔX2 = 0, ΔZ2 = 0, making the unloaded tilt angle equal to the loaded tilt angle.

[0035] The second loaded coordinate plate image includes: reference Figure 6 , the actual projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate after the first adjustment, which are (X10b, Z10b), (X20b, Z20b), (X30b, Z30b), and (X40b, Z40b) respectively, Determining the result of the first adjustment includes: when X10b = X10, X20b = X20, Z10b = Z10, Z20b = Z20, confirming that the first adjustment is completed and proceeding with the second adjustment.

[0036] Figure 9 、 Figure 10 are the image elements for obtaining the neutral plane marking line of the support plate by the second and third image acquisition devices in the loaded state. The marking lines within the double-dashed line frames are respectively Figure 7 、 Figure 8 of the fusion added to the corresponding Figure 9 、 Figure 10 on the image elements. Considering the patient's feelings, it is necessary to first align the coordinate origin and level the support plate fixing plate, reference Figure 7 and Figure 9, by not loading the light information of the first laser emission device and not loading the information of the neutral plane marking line a of the support plate, the positions of point K, point M and the length of line segment KM are obtained. Reference Figure 9 and Figure 11 , by loading the light information I of the first laser emission device and loading the information I of the neutral plane marking line a of the support plate, the positions of point K1, point M1 and the length of line segment K1M1 are obtained. Reference Figure 8 and Figure 10 , by not loading the light information of the second laser emission device and not loading the information of the neutral plane marking line b of the support plate, the positions of point H, point N and the length of line segment HN are obtained. Reference Figure 10 and Figure 12 , by loading the light information I of the second laser emission device and loading the information I of the neutral plane marking line b of the support plate, the positions of point H1, point N1 and the length of line segment H1N1 are obtained. The second adjustment includes: by not loading the coordinate plate image and loading the second coordinate plate image, calculating ΔZ3 = |Z30b - Z30a|; ΔZ4 = |Z40b - Z30a|, and taking the laser point with the smaller value of ΔZ3 and ΔZ4 as the reference for motion correction through the multi-axis adjustment device. Reference Figure 13 and Figure 14 , by loading the light information II of the first laser emission device, loading the information II of the neutral plane marking line a of the support plate, or loading the light information II of the second laser emission device and loading the information II of the neutral plane marking line b of the support plate, the result of the second adjustment is confirmed.

[0037] Figure 13 、 Figure 14 are respectively the image elements of the neutral plane marking line of the support plate obtained by the second and third image acquisition devices after the second adjustment. Reference Figure 13 , when ΔZ3 < ΔZ4, through the motion correction adjustment of the multi-axis adjustment device, by loading the light information II of the first laser emission device and loading the information II of the neutral plane marking line a of the support plate, the result of the second adjustment is confirmed. Reference Figure 14 , when ΔZ3 > ΔZ4, through the motion correction adjustment of the multi-axis adjustment device, by loading the light information II of the second laser emission device and loading the information II of the neutral plane marking line b of the support plate, the result of the second adjustment is determined. The length positions of the curves KM and HN are known (converted by imaging devices such as CT), and the lengths of the curves KM and HN are equal. Through the second adjustment, point K coincides with point K1, and point H coincides with point H1, completing the correction of the lesion point. The lengths of the line segments KK1 and HH1 can be measured by the image recognition software, providing data for the multi-axis adjustment device to complete the adjustment.

[0038] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A detection and positioning correction device, characterized in that: It includes a coordinate plate (1), a multi-axis adjustment device (6), an inclination detection device (7), a first image acquisition device (2), a second image acquisition device (3), a third image acquisition device (4), and a support plate (5) for lesion detection and positioning. An inclination detection device (7), a first laser emission device, and a second laser emission device are installed at one end of the support plate (5) close to the multi-axis adjustment device (6). A third laser emission device and a fourth laser emission device are installed at the other end of the support plate (5).

2. A detection and positioning correction method, applied to the detection and positioning correction device according to claim 1, characterized in that The first adjustment and the second adjustment are carried out through the multi-axis adjustment device for positioning correction; The light rays of the first laser emission device, the second laser emission device, the third laser emission device, and the fourth laser emission device irradiate on the coordinate plate. The first image acquisition device is used to acquire an image of the coordinate plate without loading, a first loaded coordinate plate image, and a second loaded coordinate plate image. The deviation is calculated through the image of the coordinate plate without loading and the first loaded coordinate plate image, and the first adjustment is carried out. The result of the first adjustment is determined through the second loaded coordinate plate image; The second image acquisition device is used to acquire a second image of the support plate without loading and a second image of the support plate with loading. The second image of the support plate without loading includes information on the light ray of the first laser emission device not loaded and information on the neutral plane marking line a of the support plate not loaded. The second image of the support plate with loading includes information I on the light ray of the first laser emission device loaded, information I on the neutral plane marking line a of the support plate loaded, information II on the light ray of the first laser emission device loaded, and information II on the neutral plane marking line a of the support plate loaded; The third image acquisition device is used to acquire a third image of the support plate without loading and a third image of the support plate with loading. The third image of the support plate without loading includes information on the light ray of the second laser emission device not loaded and information on the neutral plane marking line b of the support plate not loaded. The third image of the support plate with loading includes information I on the light ray of the second laser emission device loaded, information I on the neutral plane marking line b of the support plate loaded, information II on the light ray of the second laser emission device loaded, and information II on the neutral plane marking line b of the support plate loaded; The result of the second adjustment is determined by loading information II on the light ray of the first laser emission device, information II on the neutral plane marking line a of the support plate, or loading information II on the light ray of the second laser emission device and information II on the neutral plane marking line b of the support plate; The inclination detection device is used to acquire the inclination angle without loading and the inclination angle with loading.

3. According to the detection and positioning correction method described in claim 2, characterized in that The image of the coordinate plate without loading includes ideal projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate, which are (X10, Z10), (X20, Z20), (X30, Z30), and (X40, Z40) respectively; The first loaded coordinate plate image includes the actual projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate, which are (X10a, Z10a), (X20a, Z20a), (X30a, Z30a), and (X40a, Z40a) respectively; The first adjustment includes: performing position correction based on the first laser emission device and the second laser emission device, calculating the movement amounts of the X and Z axes as ΔX1 = X10a - X10, ΔZ1 = Z10a - Z10, ΔX2 = X20a - X20, and ΔZ2 = Z20a - Z20. The multi-axis adjustment device moves to make ΔX1 = 0, ΔZ1 = 0, ΔX2 = 0, and ΔZ2 = 0, so that the unloaded tilt angle is equal to the loaded tilt angle; The second loaded coordinate plate image includes the actual projection points of the first laser line, the second laser line, the third laser line, and the fourth laser line on the coordinate plate after the first adjustment, which are (X10b, Z10b), (X20b, Z20b), (X30b, Z30b), and (X40b, Z40b) respectively; Determining the result of the first adjustment includes: when X10b = X10, X20b = X20, Z10b = Z10, and Z20b = Z20, confirming that the first adjustment is completed and performing the second adjustment.

4. The detection and positioning correction method according to claim 2 or 3, wherein Based on the light information of the unloaded first laser emission device and the information of the neutral plane marking line a of the unloaded support plate, the positions of point K, point M, and the length of line segment KM are obtained. Based on the light information I of the loaded first laser emission device and the information I of the neutral plane marking line a of the loaded support plate, the positions of point K1, point M1, and the length of line segment K1M1 are obtained. Based on the light information of the unloaded second laser emission device and the information of the neutral plane marking line b of the unloaded support plate, the positions of point H, point N, and the length of line segment HN are obtained. Based on the light information I of the loaded second laser emission device and the information I of the neutral plane marking line b of the loaded support plate, the positions of point H1, point N1, and the length of line segment H1N1 are obtained. The second adjustment includes: calculating ΔZ3 = |Z30b - Z30a| and ΔZ4 = |Z40b - Z30a| from the unloaded coordinate plate image and the second loaded coordinate plate image. Using the laser point with the smaller value of ΔZ3 and ΔZ4 as the reference, perform movement correction through the multi-axis adjustment device. The movement of the multi-axis adjustment device is based on the light information II of the loaded first laser emission device, the information II of the neutral plane marking line a of the loaded support plate, or the light information II of the loaded second laser emission device and the information II of the neutral plane marking line b of the loaded support plate, and confirm the result of the second adjustment.

5. The detection and positioning correction method according to claim 4, wherein When ΔZ3 < ΔZ4, perform motion correction adjustment through the multi-axis adjustment device. By loading the light information II of the first laser emission device and the information II of the neutral plane marking line a of the support plate, confirm the result of the second adjustment.

6. The detection and positioning correction method according to claim 4, wherein When ΔZ3 > ΔZ4, perform motion correction adjustment through the multi-axis adjustment device. By loading the light information II of the second laser emission device and the information II of the neutral plane marking line b of the support plate, determine the result of the second adjustment.

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