An adaptive multi-modal guidance system and method for a radiotherapy device

Abstract

The application discloses a kind of adaptive multi-mode guiding system and method of radiotherapy equipment, wherein, adaptive multi-mode guiding system includes: rotating gantry;First X-ray generating component is installed on the rotating gantry, and the first X-ray generating component is used to generate the X-ray that is emitted along the first radial direction of the rotating frame;Second X-ray generating component is installed on the rotating gantry, and the second X-ray generating component is used to generate the X-ray that is emitted along the second radial direction of the rotating frame, and the second radial direction is perpendicular to the first radial direction;First detection flat plate component is installed on the rotating gantry, and is oppositely arranged with the first X-ray generating component, for detecting the imaging information of the first X-ray generating component;Second detection flat plate component is installed on the rotating gantry, and is oppositely arranged with the second X-ray generating component, for detecting the imaging information of the second X-ray generating component.

Description

Technical Field

[0001] This invention relates to the field of radiotherapy technology, specifically to an adaptive multi-mode guidance system and method for radiotherapy equipment. Background Technology

[0002] Radiotherapy is one of the main methods of cancer treatment, and its core objective is to kill tumor cells to the maximum extent possible while protecting surrounding normal tissues from radiation damage. However, the following technical challenges exist in actual treatment:

[0003] (1) Target displacement caused by changes in anatomical structure

[0004] During fractionated radiotherapy, patients may experience deviations in the target area from the original treatment plan (TPS0) due to tumor shrinkage, weight changes, or organ movement (such as respiratory movements or changes in bladder fullness). While traditional CBCT can provide three-dimensional images, it suffers from long acquisition times (usually 1-2 minutes), high equipment costs, and the inability to provide real-time guidance.

[0005] (2) Limitations in the precision of organ protection

[0006] Current image-guided radiotherapy (IGRT) systems mostly rely on single-view two-dimensional fluoroscopic images or intermittent CBCT scans, making it difficult to simultaneously monitor changes in the spatial relationship between the target area and organs at risk (such as the spinal cord and rectum) from multiple angles. When organ displacement exceeds a safety threshold, it may cause irreversible radiation damage.

[0007] (3) Insufficient timeliness of adaptive radiotherapy

[0008] Current adaptive radiotherapy (ART) protocols typically require manual intervention to assess image changes and revise the treatment plan, which can take several hours and cannot meet the need for real-time adjustments during the treatment process.

[0009] (4) Lack of dose accumulation management

[0010] Conventional systems do not integrate cumulative dose data (Dosej) from fractionated treatments, making it difficult for physicians to quickly assess the impact of historical irradiation doses on current treatment decisions, potentially leading to over-irradiation that could endanger organs.

[0011] Therefore, the existing technology has the following main shortcomings:

[0012] Poor real-time performance: CBCT reconstruction takes a long time and cannot achieve a second-level response during treatment;

[0013] Lack of simultaneous multi-organ monitoring: A single imaging perspective makes it difficult to comprehensively assess changes in the spatial relationship between the target area and multiple organs at risk;

[0014] Adaptive decision lag: It relies on offline manual analysis and cannot automatically trigger the solution optimization process;

[0015] Insufficient dose guidance: No dose-image combined feedback mechanism has been established during the treatment process.

[0016] In view of this, this invention patent is hereby proposed. Summary of the Invention

[0017] To address the aforementioned problems, this invention provides an adaptive multi-mode guidance system and method for radiotherapy equipment, specifically employing the following technical solution:

[0018] An adaptive multi-mode guidance system for a radiotherapy device includes:

[0019] Rotating frame;

[0020] A first X-ray generating assembly is mounted on the rotating frame, and the first X-ray generating assembly is used to generate X-rays emitted along a first radial direction of the rotating frame;

[0021] A second X-ray generating assembly is mounted on the rotating frame. The second X-ray generating assembly is used to generate X-rays emitted along a second radial direction of the rotating frame, which is perpendicular to the first radial direction.

[0022] The first detection plate assembly is mounted on the rotating frame and is positioned opposite to the first X-ray generating assembly, and is used to detect the imaging information of the first X-ray generating assembly;

[0023] The second detection plate assembly is mounted on the rotating frame and positioned opposite the second X-ray generating assembly, and is used to detect the imaging information of the second X-ray generating assembly.

[0024] As an optional embodiment of the present invention, in an adaptive multi-mode guidance system of a radiotherapy device of the present invention, the first X-ray generating component includes a first X-ray tube and a first telescopic mechanism that drives it to reciprocate along a first radial direction of the rotating frame.

[0025] The first detection plate assembly includes a first detection plate and a second telescopic mechanism that drives it to reciprocate along a first radial direction of the rotating frame. The first detection plate is disposed opposite to the first X-ray tube, and the central axis of the first X-ray tube is perpendicular to the detection surface of the first detection plate.

[0026] The second X-ray generating assembly includes a second X-ray tube and a third telescopic mechanism that drives it to reciprocate in a second radial direction along the rotating frame;

[0027] The second detection plate assembly includes a second detection plate and a fourth telescopic mechanism that drives it to reciprocate in a second radial direction along the rotating frame. The second detection plate is disposed opposite to the second X-ray tube, and the central axis of the second X-ray tube is perpendicular to the detection surface of the second detection plate.

[0028] As an optional embodiment of the present invention, an adaptive multi-mode guidance method for an adaptive multi-mode guidance system of a radiotherapy device includes:

[0029] The target position coordinates of the first X-ray generating component, the first detection plate component, the second X-ray generating component, and the second detection plate component are determined based on the initial radiotherapy protocol TPS0.

[0030] The first X-ray generating component, the first detection plate component, the second X-ray generating component, and the second detection plate component are controlled to move to the target position coordinates to complete X-ray imaging and obtain the first X-ray image imageA and the second X-ray image imageB.

[0031] Based on the patient's CT image information and target area and organs at risk delineation information in the initial radiotherapy protocol TPS0, as well as the first X-ray image imageA and the second X-ray image imageB, axial fluoroscopic images image0A and image0B of the first X-ray generating component and the second X-ray generating component are generated. The projection contours of the tumor target area and organs at risk on the fluoroscopic images image0A and image0B are Contour0AT and Contour0BT, the contours of organs at risk are {Contour0AR0Ai (i = 1, ..., n)} and {Contour0AR0Bi (i = 1, ..., n)}, and the projection areas are {AreaT0A, Area0TB, AreaOAR0Ai (i = 1, ..., n), AreaOAR0Bi (i = 1, ..., n)}.

[0032] For the first X-ray image imageA and the second X-ray image imageB, the image regions {AreaTA,AreaTB,AreaOARAi (i=1,..,n),AreaOARBi (i=1,..,n)} on the first X-ray image imageA and the second X-ray image imageB are segmented according to the contours {Contour0AT,Contour0BT,ContourOAR0Ai (i=1,..,n),AreaOARBi (i=1,..,n)}.

[0033] Calculate and compare the similarity between two sets of images {AreaTA,AreaOARAi(i=1,..,n),AreaTB,AreaOARBi(i=1,..,n)} and {AreaT0A,AreaOAR0Ai(i=1,..,n),Area0TB,AreaOAR0Bi(i=1,..,n)} {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)};

[0034] If any of the similarities in {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} is less than a preset similarity threshold, then a new subsequent radiotherapy plan TPSnew is formulated.

[0035] As an optional embodiment of the present invention, in the adaptive multi-mode guidance method of the present invention, determining the target position coordinates of the first X-ray generating component, the first probe plate component, and the second X-ray generating component and the second probe plate component based on the initial radiotherapy protocol TPS0 includes:

[0036] Based on the initial radiotherapy protocol TPS0, calculate the minimum visual cone FOVAmin of the coverage target area TargetA and the organ at risk OARi (i = 1, ..., n) corresponding to the first X-ray generating component, and the minimum visual cone FOVBmin of the coverage target area TargetB and OARi (i = 1, ..., n) corresponding to the second X-ray generating component;

[0037] Based on the minimum field of view FOVAmin information, determine the position coordinates {Xxa,Yxa,Zxa} of the first X-ray tube of the first X-ray generating component and the position coordinates {Xea,Yea,Zea} of the first detection plate of the first detection plate component.

[0038] Based on the minimum field of view FOVBmin information, determine the position coordinates {Xxb,Yxb,Zxb} of the second X-ray generating component and the position coordinates {Xeb,Yeb,Zeb} of the second detection plate component.

[0039] As an optional embodiment of the present invention, in the adaptive multi-mode guidance method of the present invention, the step of generating fluoroscopic images image0A and image0B in the axial direction of the first X-ray generating component and the second X-ray generating component based on the patient CT image information and target area and organ at risk delineation information in the initial radiotherapy plan TPS0, as well as the first X-ray image imageA and the second X-ray image imageB, and the projection contours Contour0AT and Contour0BT of the tumor target area and organ at risk on the fluoroscopic images image0A and image0B, the organ at risk contours {ContourOAR0Ai (i=1,..,n)} and {ContourOAR0Bi (i=1,..,n)}, and the projection regions {AreaT0A, Area0TB, AreaOAR0Ai (i=1,..,n), AreaOAR0Bi (i=1,..,n)} include:

[0040] Based on the patient's CT image volume data in the initial radiotherapy protocol TPS0, the three-dimensional spatial contours of the target area and organs at risk (OARi (i=1,..,n)) were extracted;

[0041] Based on the geometric positional relationship between the first X-ray tube of the first X-ray generating component and the first detection plate of the first detection plate component, the virtual projection of the central axis direction of the first X-ray tube is simulated by the digital reconstruction radiographic image (DRR) algorithm to generate a perspective image image0A. The three-dimensional contours of the target area and OARi (i = 1, ..., n) are projected onto image0A to form the projection contours Contour0AT and ContourOAR0Ai (i = 1, ..., n).

[0042] Based on the geometric positional relationship between the second X-ray tube of the second X-ray generating component and the second detection plate of the second detection plate component, the virtual projection of the central axis direction of the second X-ray tube is simulated by the digital reconstruction radiographic image (DRR) algorithm to generate a perspective image image0B. The three-dimensional contours of the target area and OARi (i = 1, ..., n) are then projected onto image0B to form projection contours Contour0BT and ContourOAR0Bi (i = 1, ..., n).

[0043] Calculate the projected areas of the target region and OARi (i = 1, ..., n) in image0A and image0B, and denote them as AreaT0A, AreaOAR0Ai (i = 1, ..., n) and Area0TB, AreaOAR0Bi (i = 1, ..., n), respectively.

[0044] As an optional embodiment of the present invention, in the adaptive multi-mode guidance method of the present invention, the step of segmenting the first X-ray image imageA and the second X-ray image imageB according to the contours {Contour0AT,Contour0BT,ContourOAR0Ai (i=1,..,n),ContourOAR0Bi (i=1,..,n)} to obtain the image regions {AreaTA,AreaTB,AreaOARAi (i=1,..,n),AreaOARBi (i=1,..,n)} on the first X-ray image imageA and the second X-ray image imageB includes:

[0045] Based on the projected contours Contour0AT and ContourOAR0Ai (i = 1, ..., n) in the perspective image image0A, the target area and the initial search area of ​​the organs at risk are located on the first X-ray image imageA.

[0046] Using edge detection or region growing algorithms, the target image region AreaTA and the organ at risk image region AreaOARAi (i=1,..,n) in the first X-ray image imageA are segmented within the initial search region;

[0047] Based on the projection contours Contour0BT and ContourOAR0Bi (i = 1, ..., n) in the perspective image image0B, the target area and the initial search area of ​​the organs at risk are located on the second X-ray image imageB.

[0048] Using edge detection or region growing algorithms, the target image region AreaTB and the organ at risk image region AreaOARBi (i=1,..,n) in the second X-ray image imageB are segmented within the initial search region;

[0049] Morphological post-processing is performed on the segmentation results to eliminate discrete noise points and smooth region boundaries.

[0050] As an optional embodiment of the present invention, in the adaptive multi-mode guidance method of the present invention, the calculation and comparison of the similarity {DTA,DOARAi,DTB,DOARBi(i=1,…,n)} between two sets of images {AreaTA,AreaOARAi(i=1,…,n),AreaTB,AreaOARBi(i=1,…,n)} and {AreaT0A,AreaOAR0Ai(i=1,…,n),Area0TB,AreaOAR0Bi(i=1,…,n)} includes:

[0051] For the target projection area, calculate separately:

[0052] The similarity of the X-ray tube beam direction is DTA = 1 - |AreaTA - AreaT0A| / max(AreaTA, AreaT0A).

[0053] The similarity of the X-ray tube beam direction is DTB = 1 - |AreaTB - Area0TB| / max(AreaTB, Area0TB).

[0054] For each organ at risk, calculate OARi separately:

[0055] The similarity of the X-ray tube beam direction is DOARAi = 1 - |AreaOARAi - AreaOAR0Ai| / max(AreaOARAi,AreaOAR0Ai) (i = 1,..,n).

[0056] The similarity of the X-ray tube beam direction is DOARBi = 1 - |AreaOARBi - AreaOAR0Bi| / max(AreaOARBi,AreaOAR0Bi) (i = 1,..,n).

[0057] As an optional embodiment of the present invention, in the adaptive multi-mode guidance method of the present invention, when there is a case in which the similarity {DTA,DOARAi (i=1,..,n),DTB,DOARBi (i=1,…,n)} exceeds a preset similarity threshold, the method for formulating a new subsequent radiotherapy plan TPSnew includes:

[0058] Control the rotating gantry to rotate 90 degrees, and re-acquire the first X-ray image (imageA) and the second X-ray image (imageB) of the first X-ray generating component and the second X-ray generating component;

[0059] The patient's three-dimensional CBCT data CBCTj (j=1,…,m; m is the total number of treatments) was reconstructed. A new subsequent radiotherapy plan TPSnew was formulated based on the original radiotherapy plan TPS0, CBCTj, and Dosej-1. Dosej-1 is the dose value of the tumor target area and organs at risk irradiated during the previous (j-1) treatment.

[0060] As an optional embodiment of the present invention, the adaptive multi-mode booting method of the present invention includes:

[0061] If the similarity {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} is greater than or equal to the preset similarity threshold, the dose values ​​of the tumor target area and organs at risk calculated by the radiotherapy planning software TPS are recorded as Dosej{DoseTj,DoseOARij(i=1,…,n)(j=1,…,m; m is the total number of treatments)} during this (jth) treatment, and then the guidance process ends.

[0062] As an optional embodiment of the present invention, the adaptive multi-mode booting method of the present invention includes:

[0063] The preset similarity threshold ε∈[0.9,1] is used. When all similarities {DTA,DOARAi(i=1,…,n),DTB,DOARBi(i=1,…,n)}≥ε, the matching is considered successful and the guidance process ends.

[0064] When any similarity is less than ε, the region is marked as an anomalous region and spatial location deviation analysis is performed.

[0065] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0066] This invention discloses an adaptive multi-mode guidance system and method for radiotherapy equipment. Through a first and second probe plate assembly, it compares the similarity of the tumor target area and the projection area of ​​organs at risk in dual-plane fluoroscopic images to determine whether a revised treatment plan is needed. Through a first and second X-ray generating assembly, it reconstructs CBCT images from dual X-ray tubes and provides dose management data for the tumor and organs, allowing physicians to optimize subsequent treatment plans. This adaptive multi-mode guidance system for radiotherapy equipment can quickly identify significant changes in the patient's tumor target area and organs at risk, and rapidly acquire image data of the changed anatomical structures of the tumor target area and organs at risk for developing optimized treatment plans, thereby ensuring the accuracy of tumor radiotherapy.

[0067] The present invention provides an adaptive multi-mode guidance system and method for radiotherapy equipment, which can adaptively adjust the field of view (FOV) of the X-ray imaging system to form a minimum FOV that can encompass the tumor target area and its organs at risk, thereby minimizing the X-ray imaging area of ​​the patient.

[0068] The present invention discloses an adaptive multi-mode guidance system and method for radiotherapy equipment, which drives the rotation of a first X-ray tube and a second X-ray tube by rotating the gantry. A 90-degree rotation can complete CBCT and is used to adaptively formulate subsequent radiotherapy plans. Attached Figure Description

[0069] Figure 1 A schematic diagram of the structural principle of an adaptive multi-mode guidance system for a radiotherapy device according to an embodiment of the present invention. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0071] Therefore, the following detailed description of embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely illustrates some embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0072] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0073] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0074] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0075] See Figure 1 As shown in this embodiment, an adaptive multi-mode guidance system for a radiotherapy device includes:

[0076] Rotating frame 100;

[0077] A first X-ray generating assembly is mounted on the rotating frame 100, and the first X-ray generating assembly is used to generate X-rays emitted along a first radial direction of the rotating frame 100;

[0078] A second X-ray generating assembly is mounted on the rotating frame 100. The second X-ray generating assembly is used to generate X-rays emitted along a second radial direction of the rotating frame 100, which is perpendicular to the first radial direction.

[0079] The first detection plate assembly is mounted on the rotating frame 100 and is positioned opposite to the first X-ray generating assembly, and is used to detect the imaging information of the first X-ray generating assembly;

[0080] The second detection plate assembly is mounted on the rotating frame 100 and is positioned opposite to the second X-ray generating assembly, and is used to detect the imaging information of the second X-ray generating assembly.

[0081] This embodiment of an adaptive multi-mode guidance system for radiotherapy equipment uses a first and a second probe plate assembly to compare the similarity between the tumor target area and the projection area of ​​organs at risk in dual-plane fluoroscopic images, determining whether a revised treatment plan is needed. It also uses a first and a second X-ray generation assembly to reconstruct CBCT images from dual X-ray tubes and collect dose management data for the tumor and organs, providing doctors with information to optimize subsequent treatment plans. This adaptive multi-mode guidance system for radiotherapy equipment can quickly identify significant changes in the patient's tumor target area and organs at risk, rapidly acquiring anatomical image data of these changed areas for developing optimized treatment plans, thereby ensuring the precision of tumor radiotherapy.

[0082] This embodiment presents an adaptive multi-mode guidance system for radiotherapy equipment, featuring real-time dual-view monitoring: projection images of the target area and organs at risk are simultaneously acquired through orthogonally arranged first and second X-ray generating components, completing deformation assessment within seconds. This solves the technical problem of existing CBCT reconstruction methods being time-consuming and unable to achieve second-level response during treatment.

[0083] Furthermore, in this embodiment, the first X-ray generating assembly includes a first X-ray tube XA and a first telescopic mechanism JXA that drives it to reciprocate along the first radial direction of the rotating frame 100;

[0084] The first detection plate assembly includes a first detection plate EA and a second telescopic mechanism JEA that drives it to reciprocate in a first radial direction along the rotating frame 100. The first detection plate EA is disposed opposite to the first X-ray tube XA, and the central axis of the first X-ray tube XA is perpendicular to the detection surface of the first detection plate EA.

[0085] The second X-ray generating assembly includes a second X-ray tube XB and a third telescopic mechanism JXB that drives it to reciprocate in a second radial direction along the rotating frame 100;

[0086] The second detection plate assembly includes a second detection plate EB and a fourth telescopic mechanism JEB that drives it to reciprocate in a second radial direction along the rotating frame 100. The second detection plate EB is disposed opposite to the second X-ray tube XB, and the central axis of the second X-ray tube XB is perpendicular to the detection surface of the second detection plate EB.

[0087] This embodiment also provides an adaptive multi-mode guidance method for an adaptive multi-mode guidance system of a radiotherapy device, including:

[0088] The target position coordinates of the first X-ray generating component, the first detector plate EA component, the second X-ray generating component, and the second detector plate EB component are determined based on the initial radiotherapy protocol TPS0.

[0089] The first X-ray generating component, the first detection plate component, the second X-ray generating component, and the second detection plate component are controlled to move to the target position coordinates to complete X-ray imaging and obtain the first X-ray image imageA and the second X-ray image imageB.

[0090] Based on the patient's CT image information and target area and organs at risk delineation information in the initial radiotherapy protocol TPS0, as well as the first X-ray image imageA and the second X-ray image imageB, axial fluoroscopic images image0A and image0B of the first X-ray generating component and the second X-ray generating component are generated. The projection contours of the tumor target area and organs at risk on the fluoroscopic images image0A and image0B are Contour0AT and Contour0BT, the contours of organs at risk are {Contour0AR0Ai (i = 1, ..., n)} and {Contour0AR0Bi (i = 1, ..., n)}, and the projection areas are {AreaT0A, Area0TB, AreaOAR0Ai (i = 1, ..., n), AreaOAR0Bi (i = 1, ..., n)}.

[0091] For the first X-ray image imageA and the second X-ray image imageB, the image regions {AreaTA,AreaTB,AreaOARAi (i=1,..,n),AreaOARBi (i=1,..,n)} on the first X-ray image imageA and the second X-ray image imageB are segmented according to the contours {Contour0AT,Contour0BT,ContourOAR0Ai (i=1,..,n),AreaOARBi (i=1,..,n)}.

[0092] Calculate and compare the similarity between two sets of images {AreaTA,AreaOARAi(i=1,..,n),AreaTB,AreaOARBi(i=1,..,n)} and {AreaT0A,AreaOAR0Ai(i=1,..,n),Area0TB,AreaOAR0Bi(i=1,..,n)} {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)};

[0093] If any of the similarities in {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} is less than a preset similarity threshold, then a new subsequent radiotherapy plan TPSnew is formulated.

[0094] This embodiment judges similarity by comparing the similarity {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} with a preset similarity threshold. When the similarity {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} is all greater than or equal to the preset similarity threshold, the consistency is high and the guidance process ends. When there is a case in the similarity {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} that is less than the preset similarity threshold, there is an inconsistency. The inconsistent area is marked as an abnormal area and spatial location deviation analysis is performed.

[0095] This embodiment of an adaptive multi-mode guidance system for radiotherapy equipment uses an adaptive multi-mode guidance method to generate projection areas of the target area and organs at risk in a fluoroscopic image along a specified axis based on the outline information of the target area and organs at risk in the patient's initial treatment plan. By comparing the similarity between the acquired projection areas of the target area and organs at risk and the projection areas of the target area and organs at risk from the original diagnostic CT, the changes in the tissue structure of the patient's treatment area are determined.

[0096] The adaptive multi-mode guidance method of this embodiment can adaptively adjust the field of view (FOV) of the X-ray imaging system to form a minimum FOV that can encompass the tumor target area and its organs at risk, thereby minimizing the patient's X-ray imaging area.

[0097] As an optional implementation of this embodiment, in the adaptive multi-mode guidance method of this embodiment, determining the target position coordinates of the first X-ray generating component, the first probe plate component, and the second X-ray generating component and the second probe plate component based on the initial radiotherapy protocol TPS0 includes:

[0098] Based on the initial radiotherapy protocol TPS0, calculate the minimum visual cone FOVAmin of the coverage target area TargetA and the organ at risk OARi (i = 1, ..., n) corresponding to the first X-ray generating component, and the minimum visual cone FOVBmin of the coverage target area TargetB and OARi (i = 1, ..., n) corresponding to the second X-ray generating component;

[0099] Based on the minimum viewing cone FOVAmin information, determine the position coordinates {Xxa,Yxa,Zxa} corresponding to the first X-ray tube XA of the first X-ray generating component and the position coordinates {Xea,Yea,Zea} of the first detection plate EA of the first detection plate component.

[0100] Based on the minimum field of view FOVBmin information, determine the position coordinates {Xxb,Yxb,Zxb} of the second X-ray tube XB of the second X-ray generating component and the position coordinates {Xeb,Yeb,Zeb} of the second detection plate EB of the second detection plate component.

[0101] As an optional implementation of this embodiment, the adaptive multi-mode guidance method of this embodiment, wherein the step of generating fluoroscopic images image0A and image0B in the axial direction of the first X-ray generating component and the second X-ray generating component based on the patient CT image information and target area and organ at risk delineation information in the initial radiotherapy plan TPS0, as well as the first X-ray image imageA and the second X-ray image imageB, and the projection contours Contour0AT and Contour0BT of the tumor target area and organ at risk on the fluoroscopic images image0A and image0B, the organ at risk contours {Contour0AR0Ai (i=1,..,n)} and {Contour0AR0Bi (i=1,..,n)}, and the projection regions {AreaT0A, Area0TB, AreaOAR0Ai (i=1,..,n), AreaOAR0Bi (i=1,..,n)} include:

[0102] Based on the patient's CT image volume data in the initial radiotherapy protocol TPS0, the three-dimensional spatial contours of the target area and organs at risk (OARi (i=1,..,n)) were extracted;

[0103] Based on the geometric positional relationship between the first X-ray tube XA of the first X-ray generating component and the first detector plate EA of the first detector plate component, the virtual projection of the central axis direction of the first X-ray tube XA is simulated by the digital reconstruction radiographic image (DRR) algorithm to generate a perspective image image0A. The three-dimensional contours of the target area and OARi (i = 1, ..., n) are projected onto image0A to form the projection contours Contour0AT and ContourOAR0Ai (i = 1, ..., n).

[0104] Based on the geometric positional relationship between the second X-ray tube XB of the second X-ray generating component and the second detector plate EB of the second detector plate component, the virtual projection of the central axis direction of the second X-ray tube XB is simulated by the digital reconstruction radiographic image DRR algorithm to generate a perspective image image0B. The three-dimensional contours of the target area and OARi (i = 1, ..., n) are projected onto image0B to form the projection contours Contour0BT and ContourOAR0Bi (i = 1, ..., n).

[0105] Calculate the projected areas of the target region and OARi in image0A and image0B, and denote them as AreaT0A, AreaOAR0Ai (i=1,..,n) and Area0TB, AreaOAR0Bi (i=1,..,n) respectively.

[0106] As an optional implementation of this embodiment, the adaptive multi-mode guidance method of this embodiment, wherein the segmentation of the first X-ray image imageA and the second X-ray image imageB according to the contour {Contour0AT,Contour0BT,ContourOAR0Ai (i=1,..,n),ContourOAR0Bi (i=1,..,n)} to obtain the image regions {AreaTA,AreaTB,AreaOARAi (i=1,..,n),AreaOARBi (i=1,..,n)} on the first X-ray image imageA and the second X-ray image imageB includes:

[0107] Based on the projected contours Contour0AT and ContourOAR0A(i=1,..,n)i in the perspective image image0A, the target area and the initial search area of ​​the organs at risk are located on imageA;

[0108] Using edge detection or region growing algorithms, the target image region AreaTA and the organ at risk image region AreaOARAi (i=1,..,n) in the first X-ray image imageA are segmented within the initial search region;

[0109] Based on the projection contours Contour0BT and ContourOAR0Bi (i = 1, ..., n) in the perspective image image0B, the target area and the initial search area of ​​the organs at risk are located on the second X-ray image imageB.

[0110] Using edge detection or region growing algorithms, the target image region AreaTB and the organ at risk image region AreaOARBi (i=1,..,n) in the second X-ray image imageB are segmented within the initial search region;

[0111] Morphological post-processing is performed on the segmentation results to eliminate discrete noise points and smooth region boundaries.

[0112] As an optional implementation of this embodiment, in the adaptive multi-mode guidance method of this embodiment, the calculation and comparison of the similarity {DTA,DOARAi(i=1,..,n),AreaTB,AreaOARBi(i=1,..,n)} between two sets of images {AreaTA,AreaOARAi(i=1,..,n),Area0TB,AreaOAR0Bi(i=1,..,n)} and {AreaT0A,AreaOAR0Ai(i=1,..,n),Area0TB,AreaOAR0Bi(i=1,..,n)} includes:

[0113] For the target projection area, calculate separately:

[0114] The similarity of the XA beam direction of the first X-ray tube is DTA = 1 - |AreaTA - AreaT0A| / max(AreaTA, AreaT0A).

[0115] The similarity of the XB beam direction of the second X-ray tube is DTB = 1 - |AreaTB - Area0TB| / max(AreaTB, Area0TB).

[0116] For each organ at risk, OARi (i = 1, ..., n), calculate separately:

[0117] The similarity of the XA beam direction of the first X-ray tube is DOARAi = 1 - |AreaOARAi - AreaOAR0Ai| / max(AreaOARAi,AreaOAR0Ai) (i = 1,..,n).

[0118] The similarity of the XB beam direction of the second X-ray tube is DOARBi = 1 - |AreaOARBi - AreaOAR0Bi| / max(AreaOARBi,AreaOAR0Bi) (i = 1,..,n).

[0119] As an optional implementation of this embodiment, in the adaptive multi-mode guidance method of this embodiment, when there is a situation in the similarity {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} that exceeds a preset similarity threshold, the formulation of a new subsequent radiotherapy plan TPSnew includes:

[0120] Control the rotating gantry to rotate 90 degrees, and re-acquire the first X-ray image (imageA) and the second X-ray image (imageB) of the first X-ray generating component and the second X-ray generating component;

[0121] The patient's three-dimensional CBCT data CBCTj (j=1,…,m; m is the total number of treatments) was reconstructed. A new subsequent radiotherapy plan TPSnew was formulated based on the original radiotherapy plan TPS0, CBCTj, and Dosej-1. Dosej-1 is the dose value of the tumor target area and organs at risk irradiated during the previous (j-1) treatment.

[0122] As an optional implementation of this embodiment, the adaptive multi-mode bootstrapping method of this embodiment includes:

[0123] If the similarity {DTA,DOARAi(i=1,..,n),DTB,DOARBi(i=1,…,n)} is greater than or equal to the preset similarity threshold, the dose values ​​of the tumor target area and organs at risk calculated by the radiotherapy planning software TPS are recorded as Dosej{DoseTj,DoseOARij(i=1,…,n)(j=1,…,m; m is the total number of treatments)} during this (jth) treatment, and then the guidance process ends.

[0124] The adaptive multi-mode guided method in this embodiment uses a rotating gantry 100 to rotate the first X-ray tube XA and the second X-ray tube XB. A 90-degree rotation is sufficient to complete CBCT, which is used to adaptively formulate subsequent radiotherapy plans.

[0125] Furthermore, the adaptive multi-mode bootstrapping method of this embodiment includes:

[0126] The preset similarity threshold ε∈[0.9,1] is used. When all similarities {DTA,DOARAi(i=1,…,n),DTB,DOARBi(i=1,…,n)}≥ε, the matching is considered successful and the guidance process ends.

[0127] When any similarity is less than ε, the region is marked as an anomalous region and spatial location deviation analysis is performed.

[0128] This embodiment also provides a computer-readable storage medium storing a computer-executable program, which, when executed, implements the adaptive multi-mode guidance method of the adaptive multi-mode guidance system for a radiotherapy device as described above.

[0129] The computer-readable storage medium described in this embodiment may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0130] This embodiment also provides an electronic device, including a processor and a memory, wherein the memory is used to store a computer-executable program, and when the computer program is executed by the processor, the processor executes the adaptive multi-mode guidance method of the adaptive multi-mode guidance system of the radiotherapy device.

[0131] The electronic device is manifested in the form of a general-purpose computing device. It may contain one or more processors that work collaboratively. This invention also does not preclude distributed processing, meaning that processors may be distributed across different physical devices. The electronic device of this invention is not limited to a single entity, but may also be the sum of multiple physical devices.

[0132] The memory stores a computer-executable program, typically machine-readable code. The computer-readable program can be executed by the processor to enable the electronic device to perform the method of the present invention, or at least some steps of the method.

[0133] The memory includes volatile memory, such as random access memory (RAM) and / or cache memory, and may also be non-volatile memory, such as read-only memory (ROM).

[0134] It should be understood that the electronic device of the present invention may also include elements or components not shown in the examples above. For example, some electronic devices also include display units such as a display screen, and some electronic devices also include human-computer interaction elements such as buttons and keyboards. Any electronic device capable of executing a computer-readable program in its memory to implement the method of the present invention or at least some steps of the method can be considered as an electronic device covered by the present invention.

[0135] From the above description of the embodiments, those skilled in the art will readily understand that the present invention can be implemented by hardware capable of executing specific computer programs, such as the system of the present invention, and the electronic processing unit, server, client, mobile phone, control unit, processor, etc. included in the system. The present invention can also be implemented by computer software that executes the methods of the present invention, for example, by control software executed by a microprocessor, electronic control unit, client, server, etc. However, it should be noted that the computer software executing the methods of the present invention is not limited to execution in one or a specific set of hardware entities; it can also be implemented in a distributed manner by unspecified hardware. For computer software, the software product can be stored in a computer-readable storage medium (such as a CD-ROM, USB flash drive, portable hard drive, etc.) or distributed across a network, as long as it enables electronic devices to execute the methods according to the present invention.

[0136] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described herein. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present invention, as well as all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present invention.

Claims

1. An adaptive multi-mode guidance method for a radiotherapy device, characterized in that, An adaptive multi-mode guidance system for radiotherapy equipment includes: Rotating frame; A first X-ray generating assembly is mounted on the rotating gantry, and the first X-ray generating assembly is used to generate X-rays emitted along a first radial direction of the rotating gantry; A second X-ray generating assembly is mounted on the rotating frame. The second X-ray generating assembly is used to generate X-rays emitted along a second radial direction of the rotating frame, which is perpendicular to the first radial direction. The first detection plate assembly is mounted on the rotating frame and is positioned opposite to the first X-ray generating assembly, and is used to detect the imaging information of the first X-ray generating assembly; The second detection plate assembly is mounted on the rotating frame and is positioned opposite to the second X-ray generating assembly, and is used to detect the imaging information of the second X-ray generating assembly; Adaptive multi-mode bootstrapping methods include: The target position coordinates of the first X-ray generating component, the first detection plate component, the second X-ray generating component, and the second detection plate component are determined based on the initial radiotherapy protocol TPS0. The first X-ray generating component, the first detection plate component, the second X-ray generating component, and the second detection plate component are controlled to move to the target position coordinates to complete X-ray imaging and obtain the first X-ray image imageA and the second X-ray image imageB. Based on the patient's CT image information and target area and organs at risk delineation information in the initial radiotherapy protocol TPS0, as well as the first X-ray image imageA and the second X-ray image imageB, axial fluoroscopic images image0A and image0B of the first X-ray generating component and the second X-ray generating component are generated. The projection contours of the tumor target area and organs at risk on the fluoroscopic images image0A and image0B are Contour0AT and Contour0BT, the contours of organs at risk are {ContourOAR0Ai (i=1,…,n)} and {ContourOAR0Bi (i=1,…,n)}, and the projection areas are {AreaT0A, Area0TB, AreaOAR0Ai (i=1,…,n), AreaOAR0Bi (i=1,…,n)}. For the first X-ray image imageA and the second X-ray image imageB, the image regions {AreaTA, AreaTB, AreaOARAi (i=1,…,n), AreaOARBi (i=1,…,n)} on the first X-ray image imageA and the second X-ray image imageB are segmented according to the contours {Contour0AT,Contour0BT, ContourOAR0Ai (i=1,…,n), AreaOARBi (i=1,…,n)}. Calculate the similarity between two sets of images {AreaTA, AreaOARAi(i=1,…,n), AreaTB, AreaOARBi(i=1,…,n)} and {AreaT0A, AreaOAR0Ai(i=1,…,n), Area0TB, AreaOAR0Bi(i=1,…,n)} and {DTA, DOARAi(i=1,…,n), DTB, DOARBi (i=1,…, n)}. If any of the similarities in {DTA, DOARAi(i=1,…,n), DTB, DOARBi (i=1,…, n)} is less than a preset similarity threshold, a new subsequent radiotherapy plan TPSnew is formulated.

2. The adaptive multi-mode guidance method for a radiotherapy device according to claim 1, characterized in that, The first X-ray generating assembly includes a first X-ray tube and a first telescopic mechanism that drives it to reciprocate in a first radial direction along the rotating frame; The first detection plate assembly includes a first detection plate and a second telescopic mechanism that drives it to reciprocate along a first radial direction of the rotating frame. The first detection plate is disposed opposite to the first X-ray tube, and the central axis of the first X-ray tube is perpendicular to the detection surface of the first detection plate. The second X-ray generating assembly includes a second X-ray tube and a third telescopic mechanism that drives it to reciprocate in a second radial direction along the rotating frame; The second detection plate assembly includes a second detection plate and a fourth telescopic mechanism that drives it to reciprocate in a second radial direction along the rotating frame. The second detection plate is disposed opposite to the second X-ray tube, and the central axis of the second X-ray tube is perpendicular to the detection surface of the second detection plate.

3. The adaptive multi-mode guidance method according to claim 1, characterized in that, The determination of the target position coordinates of the first X-ray generating component, the first detection plate component, the second X-ray generating component, and the second detection plate component based on the initial radiotherapy protocol TPS0 includes: Based on the initial radiotherapy protocol TPS0, calculate the minimum visual cone FOVAmin of the coverage target area TargetA and the organ at risk OARi (i=1,…,n) corresponding to the first X-ray generating component, and the minimum visual cone FOVBmin of the coverage target area TargetB and OARi (i=1,…,n) corresponding to the second X-ray generating component; Based on the minimum field of view FOVAmin information, determine the position coordinates {Xxa, Yxa, Zxa} of the first X-ray tube of the first X-ray generating component and the position coordinates {Xea, Yea, Zea} of the first detection plate of the first detection plate component. Based on the minimum field of view FOVBmin information, determine the position coordinates {Xxb, Yxb, Zxb} of the second X-ray generating component and the position coordinates {Xeb, Yeb, Zeb} of the second detection plate component.

4. The adaptive multi-mode guidance method according to claim 1, characterized in that, The process of generating axial fluoroscopic images image0A and image0B of the first X-ray generating component and the second X-ray generating component based on the patient's CT image information and target area and organ at risk delineation information in the initial radiotherapy protocol TPS0, as well as the first X-ray image imageA and the second X-ray image imageB, and the projection contours of the tumor target area and organ at risk on the fluoroscopic images image0A and image0B, Contour0AT and Contour0BT, the organ at risk contours {Contour0AR0Ai (i=1,…,n)} and {Contour0AR0Bi (i=1,…,n)}, and the projection regions {AreaT0A, Area0TB, AreaOAR0Ai (i=1,…,n), AreaOAR0Bi (i=1,…,n)} include: Based on the patient's CT image volume data in the initial radiotherapy protocol TPS0, the three-dimensional spatial contours of the target area and the organ at risk OARi (i=1,…,n) are extracted; Based on the geometric positional relationship between the first X-ray tube of the first X-ray generating component and the first detection plate of the first detection plate component, the virtual projection of the central axis direction of the first X-ray tube is simulated by the digital reconstruction radiographic image (DRR) algorithm to generate a perspective image image0A. The three-dimensional contours of the target area and OARi (i=1,…,n) are projected onto image0A to form the projection contours Contour0AT and ContourOAR0Ai (i=1,…,n). Based on the geometric positional relationship between the second X-ray tube of the second X-ray generating component and the second detection plate of the second detection plate component, the virtual projection of the central axis direction of the second X-ray tube is simulated by the digital reconstruction radiographic image (DRR) algorithm to generate a perspective image image0B. The three-dimensional contours of the target area and OARi (i=1,…,n) are projected onto image0B to form projection contours Contour0BT and ContourOAR0Bi (i=1,…,n). Calculate the projected areas of the target region and OARi (i=1,…,n) in image0A and image0B, and denote them as AreaT0A, AreaOAR0Ai (i=1,…,n) and Area0TB, AreaOAR0Bi (i=1,…,n) respectively.

5. The adaptive multi-mode guidance method according to claim 1, characterized in that, The step of segmenting the first X-ray image imageA and the second X-ray image imageB according to the contours {Contour0AT, Contour0BT, ContourOAR0Ai (i=1,…,n), ContourOAR0Bi (i=1,…,n)} to obtain the image regions {AreaTA, AreaTB, AreaOARAi (i=1,…,n), AreaOARBi (i=1,…,n)} on the first X-ray image imageA and the second X-ray image imageB includes: Based on the projected contours Contour0AT and ContourOAR0Ai (i=1,…,n) in the perspective image image0A, the target area and the initial search area of ​​the organs at risk are located on imageA. Using edge detection or region growing algorithms, the target image region AreaTA and the organ at risk image region AreaOARAi (i=1,…,n) in the first X-ray image imageA are segmented within the initial search region; Based on the projection contours Contour0BT and ContourOAR0Bi (i=1,…,n) in the perspective image image0B, the target area and the initial search area of ​​the organs at risk are located on the second X-ray image imageB. Using edge detection or region growing algorithms, the target image region AreaTB and the organ at risk image region AreaOARBi (i=1,…,n) in the second X-ray image imageB are segmented within the initial search region; Morphological post-processing is performed on the segmentation results to eliminate discrete noise points and smooth region boundaries.

6. The adaptive multi-mode bootstrapping method according to claim 1, characterized in that, The calculation and comparison of the similarity {DTA, DOARAi(i=1,…,n), DTB, DOARBi (i=1,…,n)} between the two sets of images {AreaTA, AreaOARAi(i=1,…,n), AreaTB, AreaOARBi(i=1,…,n)} and {AreaT0A, AreaOAR0Ai(i=1,…,n), Area0TB, AreaOAR0Bi(i=1,…,n)} includes: For the target projection area, calculate separately: The similarity of the X-ray tube beam direction is calculated as: DTA = 1 - |AreaTA - AreaT0A| / max(AreaTA, AreaT0A); The similarity of the X-ray tube beam direction is DTB = 1 - |AreaTB - Area0TB| / max(AreaTB, Area0TB); For each organ at risk, OARi (i=1,…,n), calculate separately: The similarity of the X-ray tube beam direction is calculated as: DOARAi = 1 - |AreaOARAi - AreaOAR0Ai| / max(AreaOARAi, AreaOAR0Ai) (i = 1, ..., n); The similarity of the ray direction of the second X-ray tube is DOARBi=1-|AreaOARBi-AreaOAR0Bi| / max(AreaOARBi,AreaOAR0Bi) (i=1,…,n).

7. The adaptive multi-mode bootstrapping method according to claim 1, characterized in that, When there is a case in the similarity {DTA,DOARAi(i=1,…,n), DTB, DOARBi (i=1,…, n)} that is less than a preset similarity threshold, a new subsequent radiotherapy plan TPSnew is formulated, which includes: Control the rotating gantry to rotate 90 degrees, and re-acquire the first X-ray image (imageA) and the second X-ray image (imageB) of the first X-ray generating component and the second X-ray generating component; The patient's three-dimensional CBCT data CBCTj (j=1,…,m; m is the total number of treatments) was reconstructed. A new subsequent radiotherapy plan TPSnew was formulated based on the original radiotherapy plan TPS0, CBCTj, and Dosej-1. Dosej-1 is the dose value of the tumor target area and organs at risk irradiated during the previous (j-1) treatment.

8. The adaptive multi-mode bootstrapping method according to claim 1, characterized in that, include: If the similarity {DTA, DOARAi(i=1,…,n), DTB, DOARBi (i=1,…, n)} is greater than or equal to the preset similarity threshold, the dose values ​​of the tumor target area and organs at risk calculated by the radiotherapy planning software TPS are recorded as Dosej{ DoseTj, DoseOARij (i=1,…,n) (j=1,…,m; m is the total number of treatments)} during this (jth) treatment, and then the guidance process ends.

9. The adaptive multi-mode guidance method according to claim 8, characterized in that, include: The preset similarity threshold ε∈[0.9,1] is used. When all similarities {DTA,DOARAi(i=1,…,n),DTB,DOARBi(i=1,…, n)}≥ε, the match is considered successful and the guidance process ends. When any similarity is less than ε, the region is marked as an anomalous region and spatial location deviation analysis is performed.

Images