Dynamic beam-adjusting multi-source collaborative radiotherapy system and adaptive irradiation method

Abstract

The invention belongs to the technical field of intelligent radiotherapy equipment, and particularly relates to a dynamic beam-adjusting multi-source collaborative radiotherapy system and a self-adaptive irradiation method. The system comprises a triangular-configuration radioactive source array, wherein three independently-controlled radioactive sources are annularly and symmetrically distributed at 120 degrees; the multi-stage dynamic collimator is used for being coupled with each radioactive source in the triangular radioactive source array, and the blade movement of the multi-stage dynamic collimator is driven by the real-time image data of the focus form; the four-mode biological motion tracking system is fused with a CT imaging unit, an ultrasonic elastic imaging unit, an optical surface monitoring unit and an IMU inertial sensing unit and is used for outputting real-time coordinates of a target region; and a central controller. According to the invention, through the triangular multi-source array, the bionic two-stage collimator and the four-mode fusion tracking system, the conformality, efficiency and precision of radiotherapy are significantly improved, and the conformality, efficiency and precision of radiotherapy are significantly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent radiotherapy equipment, and in particular relates to a dynamic beam-modulated multi-source collaborative radiotherapy system and an adaptive irradiation method. Background Art

[0002] The current radiotherapy system faces three major technical bottlenecks:

[0003] 1. Morphological adaptability defects: The traditional multi-leaf collimator (MLC) has limited freedom of movement of the leaves, making it difficult to dynamically match the constantly deforming tumor contours during respiratory movement. Fixed-aperture collimators are also difficult to match tumor morphological changes, resulting in a certain degree of radiation field redundancy and increased exposure to normal tissues.

[0004] 2. Motion displacement error: Patient breathing and organ peristalsis cause target area displacement. Existing gating technologies such as respiratory gating and gold label tracking cannot compensate for displacement in real time due to system delay. The target area displacement error caused by patient respiratory movement can reach 5-10mm, resulting in excessive dose deviation.

[0005] 3. Lack of multi-source coordination: Although a multi-source system exists, there is a lack of beam spatiotemporal coupling mechanism, each radiation source works independently, there is a lack of dynamic dose superposition algorithm, and a real-time feedback loop between source and target area has not been established, resulting in frequent dose hot spots and cold spots, and the existing multi-source system lacks dynamic coordinated control of the radiation field.

[0006] Although existing technologies include Elekta Agility and Accuray CyberKnife, they still have limitations in multi-source parallel irradiation, dynamic adaptability and motion compensation. Summary of the Invention

[0007] In view of this, the present invention provides a dynamically beam-modulated multi-source collaborative radiotherapy system and an adaptive irradiation method, which significantly improves the conformality, efficiency and accuracy of radiotherapy through a triangular configuration multi-source array, a bionic two-stage collimator and a four-modal fusion tracking system, so as to solve the problems of morphological adaptability defects, motion displacement errors and lack of multi-source collaboration in the existing technology, and significantly improve the conformality, efficiency and accuracy of radiotherapy.

[0008] One solution of the present invention provides a dynamic beam modulation multi-source coordinated radiotherapy system, the system comprising:

[0009] Triangular configuration radioactive source array: three independently controlled radioactive sources are distributed symmetrically in a 120° ring;

[0010] A multi-stage dynamic collimator: used to couple with each radiation source in the triangular configuration radiation source array, wherein the movement of the blades of the multi-stage dynamic collimator is driven by real-time imaging data of the lesion morphology;

[0011] Quad-modal bio-motion tracking system: It integrates CT imaging unit, ultrasound elastic imaging unit, optical surface monitoring unit and IMU inertial sensing unit to output real-time coordinates of the target area;

[0012] Central controller: used to perform the following operations: calculate the collimator opening and closing parameters based on the tumor volume change rate and dose rate change; predict the target area displacement trajectory through the LSTM neural network.

[0013] As a further solution of the present invention, the output dose of each radiation source in the triangular configuration radiation source array is 35%-40% of that of a traditional single-source radiotherapy machine, and the total superimposed dose reaches 118±2% of the prescribed dose.

[0014] As a further embodiment of the present invention, the radiation source is a 6MV X-ray source or a proton source, and the dose rate fluctuation is <±1.5% / h.

[0015] As a further solution of the present invention, the angle of the radiation source in the triangular configuration radiation source array can be adjusted within a range of ±15°.

[0016] As a further solution of the present invention, the multi-stage dynamic collimator includes a coaxially arranged main collimation module and a fine-tuning module. The main collimation module is composed of 12-24 tungsten alloy blades to control the overall size of the radiation field (5×5cm to 30×30cm); the fine-tuning module is composed of 24 tungsten carbide blades to perform submillimeter edge conformal correction with a positioning accuracy of 0.1mm.

[0017] As a further solution of the present invention, the main collimation module and the fine-tuning module are coaxially nested, wherein the response time of the main collimation module is ≤0.8s, the response time of the fine-tuning module is ≤0.4s, and the total system delay from image acquisition to mechanical response is ≤101ms.

[0018] As a further embodiment of the present invention, the quad-modal bio-motion tracking system is configured to update and output the real-time coordinates of the target area at a frequency of ≥40 Hz, so that the registration error is less than 0.3 mm RMS.

[0019] As a further solution of the present invention, the data refresh rate of the four-modal biological motion tracking system is 50 Hz for optical positioning and 30 Hz for ultrasound; and the three-dimensional registration error is less than 0.3 mm RMS.

[0020] One solution of the present invention further provides a dynamic beam modulation adaptive irradiation method based on a dynamic beam modulation multi-source collaborative radiotherapy system, comprising the following steps:

[0021] Calculate the optimal aperture parameters required for each radiation source based on the target volume change data obtained in real time;

[0022] When the displacement of the target area is detected to exceed the safety threshold, beam refocusing is automatically triggered.

[0023] As a further solution of the present invention, the dynamic beam-modulated adaptive irradiation method also uses AI to segment the contours of the tumor and the organ at risk and calculate the dose weights of the three radiation sources; reconstructs the dose distribution thermodynamic map online every 5 seconds and dynamically updates the collimator aperture according to the tumor volume; and automatically cuts off the beam when the tracking system loses lock for >1.0 second.

[0024] As a further solution of the present invention, in the dynamic beam modulation adaptive irradiation method, when real-time beam modulation is performed based on a three-dimensional tumor model, the real-time beam modulation formula is:

[0025]

[0026] in, is the real-time tumor volume; is the dose rate variation.

[0027] As a further solution of the present invention, when an asymmetric dose distribution is implemented, two main radiation sources and one auxiliary radiation source are configured, and the auxiliary source performs shielding irradiation on critical organs to reduce the dose to normal tissues.

[0028] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0029] 1. This invention utilizes a triangular multi-source array with radiation sources arranged in a 120° circular symmetry, each independently controlled. This geometric design achieves multi-angle coverage of the tumor, improving the conformality of the radiotherapy and reducing the area of ​​irradiation to surrounding healthy tissue. Furthermore, the main collimation module and the fine-tuning module within the multi-stage dynamic collimator work in tandem, particularly the submillimeter edge conformal correction provided by the fine-tuning module, enhancing adaptability to complex tumor morphologies.

[0030] 2. The total delay of the system of the present invention is rapid from image acquisition to mechanical response, which can ensure the high efficiency and real-time performance of radiotherapy. The four-modal bio-motion tracking system updates and outputs the real-time coordinates of the target area at a frequency of ≥40Hz, ensuring high precision and real-time positioning of the target area, and reducing errors caused by tumor movement during treatment. Through the real-time leaf movement of the bionic two-stage collimator and AI segmentation of the tumor and the contours of the critical organ, the dose weights of the three radiation sources are calculated, and the dose distribution heat map is reconstructed online every 5 seconds to ensure the accuracy of the dose distribution. When the target displacement is detected to exceed the safety threshold, the system can automatically trigger beam refocusing to ensure the accuracy of radiotherapy.

[0031] 3. The system of the present invention has the function of automatic beam refocusing and cutting off. When the tracking system loses lock for more than 1.0 second, the beam is automatically cut off to ensure the safety of the treatment process. The LSTM neural network is used to predict the displacement trajectory of the target area, which improves the intelligence level of the system and can better cope with the uncertainty caused by tumor movement. Moreover, the output dose of each radiation source in the triangular configuration radiation source array is 35%-40% of that of the traditional single-source radiotherapy machine, and the total superimposed dose reaches 118±2% of the prescribed dose, ensuring the adequacy and uniformity of the treatment dose. Using a 6MV X-ray source or proton source, the dose rate fluctuation is less than ±1.5% / h, ensuring the stability of the radiation source and the treatment effect.

[0032] 4. The present invention's dynamic beam-modulated adaptive irradiation method calculates the optimal aperture parameters required for each radiation source based on real-time target volume change data. It also adjusts the collimator aperture in real time as tumor volume dynamically changes, ensuring adaptability and precision during treatment. When implementing an asymmetric dose distribution, two primary radiation sources and one auxiliary radiation source are deployed. The auxiliary source shields critical organs, reducing the dose to normal tissues and improving treatment safety and effectiveness.

[0033] In summary, the present invention greatly improves the conformality, efficiency and accuracy of radiotherapy through the coordinated work of a triangular configuration multi-source array, a bionic two-stage collimator and a four-modal fusion tracking system, solves the problems of morphological adaptability defects, motion displacement errors and lack of multi-source coordination in the existing technology, and has significant clinical application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0035] Figure 1 This is a structural block diagram of a dynamic beam modulation multi-source collaborative radiotherapy system in one embodiment of the present invention.

[0036] Figure 2 The figure is a flow chart of a dynamic beam modulation adaptive illumination method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] In order to solve the problems of morphological adaptability defects, motion displacement errors and lack of multi-source coordination in the existing technology, the present invention provides a dynamic beam-modulated multi-source collaborative radiotherapy system and an adaptive irradiation method. Through a triangular configuration multi-source array, a bionic two-stage collimator and a four-modal fusion tracking system, the conformality, efficiency and accuracy of radiotherapy are significantly improved.

[0039] In order to facilitate understanding of the following embodiments of the present application, the following embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0040] See Figure 1 As shown, this embodiment of the present application provides a dynamic beam modulation multi-source coordinated radiotherapy system, which includes:

[0041] Triangular configuration radioactive source array: three independently controlled radioactive sources are distributed symmetrically in a 120° ring;

[0042] A multi-stage dynamic collimator: used to couple with each radiation source in the triangular configuration radiation source array, wherein the movement of the blades of the multi-stage dynamic collimator is driven by real-time imaging data of the lesion morphology;

[0043] Quad-modal bio-motion tracking system: It integrates CT imaging unit, ultrasound elastic imaging unit, optical surface monitoring unit and IMU inertial sensing unit to output real-time coordinates of the target area;

[0044] Central controller: used to perform the following operations: calculate the collimator opening and closing parameters based on the tumor volume change rate and dose rate change; predict the target area displacement trajectory through the LSTM neural network.

[0045] In this embodiment, the dose delivered by each radiation source in the triangular array is 35%-40% of that of a conventional single-source radiotherapy device, resulting in a total cumulative dose of 118±2% of the prescribed dose. The radiation sources are 6MV X-ray or proton sources, with a dose rate fluctuation of <±1.5% / h. The angle of the radiation sources in the triangular array is adjustable within a ±15° range.

[0046] This invention utilizes a triangular multi-source array with radiation sources arranged in a 120° circular pattern, each independently controlled. This geometric design achieves multi-angle coverage of the tumor, improving the conformality of the radiotherapy and reducing the area of ​​irradiation to surrounding healthy tissue. Furthermore, the main collimation module and the fine-tuning module within the multi-stage dynamic collimator work in tandem, particularly the submillimeter edge conformal correction provided by the fine-tuning module, enhancing adaptability to complex tumor morphologies.

[0047] In this embodiment, the multi-stage dynamic collimator includes a coaxially arranged main collimation module and a fine-tuning module. The main collimation module is composed of 12-24 tungsten alloy blades to control the overall size of the radiation field (5×5cm to 30×30cm); the fine-tuning module is composed of 24 tungsten carbide blades to perform submillimeter edge conformal correction with a positioning accuracy of 0.1mm.

[0048] The main collimation module and the fine-tuning module are coaxially nested, wherein the response time of the main collimation module is ≤0.8s, the response time of the fine-tuning module is ≤0.4s, and the total delay of the system from image acquisition to mechanical response is ≤101ms.

[0049] In this embodiment, the quad-modal bio-motion tracking system is configured to update and output real-time target coordinates at a frequency of ≥40 Hz, with a registration error of <0.3 mm RMS. The data refresh rate of the quad-modal bio-motion tracking system is 50 Hz for optical positioning and 30 Hz for ultrasound, and the three-dimensional registration error is <0.3 mm RMS.

[0050] The system of the present invention has the function of automatic beam refocusing and cutting off. When the tracking system loses lock for more than 1.0 second, the beam is automatically cut off to ensure the safety of the treatment process. The LSTM neural network is used to predict the displacement trajectory of the target area, which improves the intelligence level of the system and can better cope with the uncertainty caused by tumor movement. Moreover, the output dose of each radiation source in the triangular configuration radiation source array is 35%-40% of that of the traditional single-source radiotherapy machine, and the total superimposed dose reaches 118±2% of the prescribed dose, ensuring the adequacy and uniformity of the treatment dose. Using a 6MV X-ray source or proton source, the dose rate fluctuation is less than ±1.5% / h, ensuring the stability of the radiation source and the treatment effect.

[0051] In some embodiments, see Figure 2 As shown, a dynamic beam modulation adaptive irradiation method based on a dynamic beam modulation multi-source collaborative radiotherapy system is also provided, comprising the following steps:

[0052] Step S10: Calculating the optimal aperture parameters required for each radiation source based on the target volume change data acquired in real time;

[0053] Step S20: When it is detected that the displacement of the target area exceeds a safety threshold, beam refocusing is automatically triggered.

[0054] The dynamic beam modulation adaptive illumination method of this embodiment further includes:

[0055] Step S30: Segment the contours of the tumor and the critical organ through AI, and calculate the dose weights of the three radiation sources;

[0056] Step S40: reconstructing the dose distribution thermogram online every 5 seconds and dynamically updating the collimator aperture according to the tumor volume;

[0057] Step S50: When the tracking system loses lock for more than 1.0 second, the beam is automatically cut off.

[0058] Among them, the dynamic beam modulation adaptive irradiation method uses the real-time beam modulation formula based on the three-dimensional tumor model as follows:

[0059]

[0060] in, is the real-time tumor volume; is the dose rate variation.

[0061] When an asymmetric dose distribution is implemented, two main radiation sources and one auxiliary radiation source are configured. The auxiliary source performs shielding irradiation on critical organs to reduce the dose to normal tissues.

[0062] The total delay of the system of the present invention is rapid from image acquisition to mechanical response, which can ensure the high efficiency and real-time performance of radiotherapy. The four-modal bio-motion tracking system updates and outputs the real-time coordinates of the target area at a frequency of ≥40Hz, ensuring high precision and real-time performance of target positioning, and reducing errors caused by tumor movement during treatment. Through the real-time leaf movement of the bionic two-stage collimator and AI segmentation of the tumor and the contours of the critical organ, the dose weights of the three radiation sources are calculated, and the dose distribution heat map is reconstructed online every 5 seconds to ensure the accuracy of the dose distribution. When the target displacement is detected to exceed the safety threshold, the system can automatically trigger beam refocusing to ensure the accuracy of radiotherapy.

[0063] The dynamic beam-modulated adaptive irradiation method of this invention calculates the optimal aperture parameters required for each radiation source based on real-time data on target volume changes. It also adjusts the collimator aperture in real time as tumor volume dynamically changes, ensuring adaptability and precision during treatment. When implementing an asymmetric dose distribution, two primary radiation sources and one auxiliary radiation source are deployed. The auxiliary source shields critical organs, reducing the dose to normal tissue and improving treatment safety and effectiveness.

[0064] In summary, the present invention greatly improves the conformality, efficiency and accuracy of radiotherapy through the coordinated work of a triangular configuration multi-source array, a bionic two-stage collimator and a four-modal fusion tracking system, solves the problems of morphological adaptability defects, motion displacement errors and lack of multi-source coordination in the existing technology, and has significant clinical application value.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dynamic beam-modulated multi-source coordinated radiotherapy system, characterized in that: The system includes: Triangular configuration radioactive source array: three independently controlled radioactive sources are distributed symmetrically in a 120° ring; A multi-stage dynamic collimator: used to couple with each radiation source in the triangular configuration radiation source array, wherein the movement of the blades of the multi-stage dynamic collimator is driven by real-time imaging data of the lesion morphology; Quad-modal bio-motion tracking system: It integrates CT imaging unit, ultrasound elastic imaging unit, optical surface monitoring unit and IMU inertial sensing unit to output real-time coordinates of the target area; Central controller: used to perform the following operations: calculate the collimator opening and closing parameters based on the tumor volume change rate and dose rate change; predict the target area displacement trajectory through the LSTM neural network.

2. The dynamic beam modulation multi-source coordinated radiotherapy system according to claim 1, characterized in that: The output dose of each radiation source in the triangular configuration radiation source array is 35%-40% of that of a traditional single-source radiotherapy machine, and the total superimposed dose reaches 118±2% of the prescribed dose.

3. The dynamic beam modulation multi-source coordinated radiotherapy system according to claim 2, characterized in that: The radiation source is a 6MV X-ray source or a proton source, and the dose rate fluctuation is <±1.5% / h.

4. The dynamic beam modulation multi-source coordinated radiotherapy system according to claim 3, characterized in that: The angle of the radiation source in the triangular configuration radiation source array can be adjusted within a range of ±15°.

5. The dynamic beam modulation multi-source coordinated radiotherapy system according to claim 1, characterized in that: The multi-stage dynamic collimator includes a coaxially arranged main collimation module and a fine-tuning module. The main collimation module is composed of 12-24 tungsten alloy blades; the fine-tuning module is composed of 24 tungsten carbide blades, which perform submillimeter edge conformal correction with a positioning accuracy of 0.1mm.

6. The dynamic beam modulation multi-source coordinated radiotherapy system according to claim 5, characterized in that: The main collimation module and the fine-tuning module are coaxially nested, wherein the response time of the main collimation module is ≤0.8s, the response time of the fine-tuning module is ≤0.4s, and the total delay of the system from image acquisition to mechanical response is ≤101ms.

7. The dynamic beam modulation multi-source coordinated radiotherapy system according to claim 1, characterized in that: The four-modal bio-motion tracking system is used to update and output the real-time coordinates of the target area at a frequency of ≥40 Hz. The data refresh rate of the four-modal bio-motion tracking system is 50 Hz for optical positioning and 30 Hz for ultrasound; the three-dimensional registration error is <0.3 mm RMS.

8. A dynamic beam-adaptive irradiation method, characterized in that: The steps of performing the method based on the dynamic beam modulation multi-source collaborative radiotherapy system according to any one of claims 1 to 7, the dynamic beam modulation adaptive irradiation method includes the following steps: Calculate the optimal aperture parameters required for each radiation source based on the target volume change data obtained in real time; When the displacement of the target area is detected to exceed the safety threshold, beam refocusing is automatically triggered.

9. The method of dynamically beam modulated multi-source coordinated radiotherapy according to claim 8, characterized in that: This method also uses AI to segment the contours of the tumor and organs at risk and calculate the dose weights of the three radiation sources; it reconstructs the dose distribution heat map online every 5 seconds and dynamically updates the collimator aperture based on the tumor volume; and it automatically cuts off the beam when the tracking system loses lock for >1.0 second.

10. The dynamic beam modulation multi-source coordinated radiotherapy method according to claim 9, characterized in that: In the dynamic beam modulation adaptive irradiation method, when real-time beam modulation is performed based on the three-dimensional tumor model, the real-time beam modulation formula is:

11. Among them, is the real-time tumor volume; is the dose rate variation.

Images