A multifunctional radiotherapy verification device, positioning system and verification method

Abstract

The application discloses a multifunctional radiotherapy checking device, a positioning system and a checking method, and relates to the technical field of radiotherapy. The multifunctional radiotherapy checking device comprises a laser tracker target ball assembly, a checking device body provided with a support plate orthogonal scale line and a cubic phantom provided with an orthogonal scale line phantom, a plurality of target ball positioning holes are arranged on the checking device body and the cubic phantom, and the target ball positioning holes on the cubic phantom are arranged at the center positions of each face of the cubic phantom. A face positioning structure for XYZ three-direction face cooperation positioning with the cubic phantom is arranged on the checking device body, and a target ball center positioning hole is arranged at the orthogonal point of the support plate orthogonal scale line. The multifunctional radiotherapy checking device can realize rapid checking of the coincidence of the center point of a treatment area on a treatment bed plate and the center point of a beam port, the line width of a laser positioning system, the perpendicularity of orthogonal laser lines, the center point position of the laser positioning system, the image guiding range of an image guided radiotherapy system, the geometric position relationship, the center point position, and whether two groups of X-ray beam axes are coplanar.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of radiotherapy positioning technology, and simultaneously meets the position verification requirements of laser positioning systems, image-guided radiotherapy systems and patient support systems, and in particular relates to a multifunctional radiotherapy verification device, a positioning system and a verification method. BACKGROUND

[0002] Currently, particle radiotherapy equipment can be divided into proton radiotherapy equipment, heavy ion radiotherapy equipment and boron neutron capture therapy according to the type of particles.

[0003] Particle radiotherapy treatment rooms can be divided into isocentric treatment rooms and non-isocentric treatment rooms according to the layout of the room. Proton and heavy ion are usually isocentric treatment rooms, i.e. the centers of the laser positioning system, the image-guided radiotherapy system and the patient support system coincide.

[0004] Non-isocentric treatment rooms are more common in boron neutron capture therapy devices. Considering the tolerance of the flat panel detector used in the image-guided radiotherapy system to epithermal neutrons, the installation of the flat panel detector used in the image-guided radiotherapy system needs to be away from the beam port, so the center points of the laser positioning system, the image-guided radiotherapy system and the patient support system of the boron neutron capture therapy are usually non-isocentric.

[0005] The spatial positioning accuracy of the mechanical arm in the patient support system, the spatial positioning accuracy of the laser beam of the laser positioning system, the spatial accuracy of the tube beam in the image-guided radiotherapy system and the spatial accuracy of the detector installation all affect the position accuracy of the center points of the treatment room.

[0006] In order to realize the establishment and accurate adjustment of the position relationship of the center points, Chinese patent CN117398625A proposes a verification device for a laser lamp positioning system and a positioning method thereof. The method establishes the position relationship of the laser positioning line and the beam isocenter point through a laser tracker and a cubic phantom. The spatial position of the cubic phantom is adjusted through the six-dimensional adjustment device on the device to realize the laser lamp center and the beam isocenter.

[0007] However, the above technical solution has the following problems: first, the adjustment device is arranged on the bed body, which makes the verification process complex and affects the adjustment accuracy due to the operation errors of the verifier; second, the connection relationship structure of the cubic phantom and the device is complex and requires repeated operation, which affects the accuracy; third, it cannot simultaneously meet the verification requirements of isocentric treatment rooms and non-isocentric treatment rooms. SUMMARY

[0008] The present application aims to solve the problems of complex structure, low space utilization, complex connection relationship, low adjustment accuracy and the like of the existing verification device, and provides a multifunctional radiotherapy verification device, a positioning system and a verification method.

[0009] The technical scheme adopted by the present application to achieve the first inventive objective is as follows: a multifunctional radiotherapy verification device, comprising a laser tracker target ball assembly, a verification device body provided with orthogonal engraved lines of a support plate, and a cubic phantom provided with orthogonal engraved lines of a phantom, a plurality of target ball positioning holes are arranged on the verification device body and the cubic phantom, wherein the target ball positioning holes on the cubic phantom are arranged at the center of each face of the cubic phantom; a face positioning structure for XYZ three-direction face cooperation positioning with the cubic phantom is arranged on the verification device body, and a target ball center positioning hole is arranged at the orthogonal point of the orthogonal engraved lines of the support plate. The multifunctional radiotherapy verification device can quickly insert and position the laser tracker target ball in the target ball positioning hole according to the test requirement, so as to ensure the repeated installation accuracy of the laser tracker target ball base. Under the premise of cooperation with the laser tracker, the device can quickly verify the coincidence of the treatment area center point on the treatment bed plate and the treatment center point of the beam port; verify the line width of the laser positioning system and the center point position of the laser positioning system; and quickly verify the image guidance range, geometric position relationship, center point position and whether the two groups of X-ray beam axes are coplanar of the image guided radiotherapy system. Through the use of the multifunctional radiotherapy verification device, the complicated device adjustment process is reduced, and the system error caused by the difference in user operation is reduced.

[0010] Preferably, the arrangement of the target ball center positioning hole ensures the repeated assembly accuracy of the laser tracker target ball base.

[0011] Preferably, the laser tracker target ball assembly comprises a laser tracker target ball base and a laser tracker target ball magnetically attracted to the laser tracker target ball base, the laser tracker target ball base is provided with a high-precision bottom positioning plane, and a base insertion column is arranged at the center of the base positioning plane. The laser tracker target ball base can be quickly connected and positioned with the target ball positioning holes on the verification device body and the cubic phantom, without the need for adjusting the positioning position, with high positioning accuracy, convenient and fast operation, and accurate installation and positioning of the laser tracker target ball. The repeated position accuracy of the laser tracker target ball, the verification device body and the cubic phantom is ensured.

[0012] Preferably, the five faces of the cubic phantom, front, back, left, right and top, are respectively provided with mutually perpendicular phantom orthogonal scale lines; each phantom orthogonal scale line is respectively provided with a laser line width marker scale line at both ends; the width of the laser line width marker scale line is greater than the width of the phantom orthogonal scale line and is consistent with the width of the support plate orthogonal scale line on the body of the verification device. The orthogonal scale lines are drawn at the centers of the five faces of the cubic phantom, front, back, left, right and top, and five laser tracker target ball assemblies can be installed inside the target ball positioning hole.

[0013] Preferably, the inside of the cubic phantom is provided with a plurality of tungsten metal balls; the bottom of the cubic phantom is provided with a positioning surface mounting structure, and the positioning surface mounting structure comprises a positioning ring. The cubic phantom needs to have good X-ray transmittance, so the cubic phantom is generally made of organic polymer materials. When the X-ray passes through the cubic phantom, the tungsten metal balls can leave obvious images on the detector, realizing the image-guided radiotherapy system image-guided range, geometric position relationship, center point position, and coplanar verification of the two groups of X-ray beam axes. The bottom surface of the cubic phantom is provided with a high-precision size positioning surface, which ensures the precision of repeated assembly of the cubic phantom on the phantom bottom plate.

[0014] Preferably, the device further comprises a claw mechanism for realizing the adjustable connection between the body of the verification device and the treatment bed plate, and the claw mechanism comprises a claw assembly. The claw mechanism realizes the connection between the body of the verification device and the treatment bed plate, ensures the relative stability of the body of the verification device and the treatment bed plate, and can adjust the relative position of the body of the verification device and the treatment bed plate according to needs, so as to meet the needs of different tests and further meet the needs of supporting different radiotherapy patients.

[0015] The technical scheme adopted by the present application to achieve the second invention purpose is: a multifunctional radiotherapy positioning system, characterized in that: comprising the multifunctional radiotherapy verification device, and further comprising a patient support system, a laser positioning system and an image-guided radiotherapy system, and the multifunctional radiotherapy verification device is installed on the treatment bed plate of the patient support system.

[0016] The technical scheme adopted by the present application to achieve the third invention purpose is: a multifunctional radiotherapy positioning verification method, which utilizes the multifunctional radiotherapy verification device and comprises the following steps:

[0017] S1: connecting the body of the verification device with the treatment bed plate;

[0018] S2: selecting the number and position of the laser tracker target ball assembly according to the verification content, or selecting the number and position of the cubic phantom cooperating with the laser tracker target ball assembly;

[0019] S3: Verify the patient support system, and / or the laser positioning system, and / or the image guided radiotherapy system.

[0020] As preferred, S21: Select at least 3 non-collinear support plate target ball base positioning holes including the target ball center positioning hole on the verification device body, install the laser tracker target ball assembly, and verify the center point of the patient support system.

[0021] As preferred, S22: Install the cubic phantom on the face positioning structure of the verification device body, install the laser tracker target ball assembly on the target ball positioning holes on the YZ plane, XY plane, and XZ plane of the cubic phantom, and make them respectively coincide with the theoretical values of the X, Z, and Y axis center points of the laser positioning system, and verify the laser positioning system.

[0022] As preferred, S23: Install the cubic phantom on the face positioning structure of the verification device body, install the laser tracker target ball assembly on the target ball positioning holes on the YZ plane, XY plane, and XZ plane of the cubic phantom, and make them respectively coincide with the theoretical values of the X, Z, and Y axis center points of the laser positioning system, and verify the image guided radiotherapy system.

[0023] Further, the patient support system verification method comprises the following steps:

[0024] S311: Use multi-point tracking measurement: Select 3 non-collinear support plate target ball base positioning holes including the target ball center positioning hole on the verification device body, and install the laser tracker target ball assembly respectively;

[0025] S312: Use the laser tracker to collect multi-point coordinate information when the treatment bed plate is at any position, and use the multi-point information to generate the position and posture of the treatment area center point on the treatment bed plate at that position through data calculation;

[0026] S313: Verify the accuracy performance requirements of the bed surface position deviation, bed surface movement range, center rotation range of the patient support device, and lateral movement and rotation movement of the patient support device through data calculation results.

[0027] Further, the verification step of the bed surface position deviation in S313 includes: automatically driving the treatment bed plate to the preset position, reading the coordinates of the plurality of laser tracker targets using the laser tracker, and automatically fitting the plane formed by the coordinates of the plurality of laser tracker targets using the laser tracker data processing software such as SA software to obtain a measurement value (in addition to the automatically fitted plane data, the coordinate value of one target is also selected as the position comparison. The fitted plane is to obtain the normal vector of the bed plate before and after movement, and further obtain the attitude of the bed plate. The position and attitude before and after the bed movement need to be compared); comparing the measurement value with the position and attitude of the treatment bed plate at the preset position, and adjusting (adjusting the movement coordinate system of the treatment bed in the treatment room and the movement compensation error) until the deviation is within the allowable range.

[0028] Further, the verification step of the bed surface motion range in S313 includes: moving the treatment bed plate to the positive and negative limit positions in the X, Y and Z directions respectively in the point-by-point mode, reading the coordinates of the single laser tracker target using the laser tracker, and automatically fitting (target displacement and displacement direction) and calculating the positive and negative limit values of the bed surface translation in the X, Y and Z directions using the SA software; comparing with the designed value of the bed surface motion range, (and confirming the consistency of the movement direction of the treatment bed with the X, Y and Z directions of the treatment room coordinate system), and if not consistent, adjusting the patient support system until the bed surface translation motion range is consistent with the designed value.

[0029] Further, the verification step of the isocenter rotation range of the patient support system in S313 includes: automatically driving the treatment bed plate to the treatment center point preset position, reading the coordinates of the plurality of laser tracker targets using the laser tracker, and automatically fitting the plane formed by the coordinates of the plurality of laser tracker targets using the SA software; moving the treatment bed plate around the treatment center point in the point-by-point mode until the treatment bed plate is close to the wall surface, collecting the coordinates of the plurality of laser tracker targets at this time, and calculating the rotation angle of the bed plate around the center point.

[0030] Further, the verification step of the lateral movement accuracy of the patient support system in S313 includes: automatically driving the treatment bed plate to the preset position, reading the coordinates of the plurality of laser tracker targets using the laser tracker, and automatically fitting the plane formed by the coordinates of the plurality of laser tracker targets using the SA software; continuing to drive the treatment bed plate to move along the X, Y and Z directions respectively, and setting a certain distance for each movement, measuring the coordinates of the plurality of laser tracker targets after each movement of the treatment bed plate, calculating the actual attitude change interpolation of the interval center point of each movement, and if the distance error of each movement is within the allowable range, the lateral movement accuracy of the bed plate is verified to be qualified.

[0031] Further, the accuracy verification step of the rotating motion in S313 includes: automatically driving the treatment bed plate to a preset position of the treatment center point, reading a plurality of laser tracker target ball coordinates respectively using a laser tracker, and automatically fitting a plane formed by the plurality of laser tracker target ball coordinates using SA software; continuing to drive the treatment bed plate to rotate around the treatment center point, and setting a certain angle for each rotation until the rotation reaches the limit of the rotation range, collecting a plurality of laser tracker target ball coordinates at this time, and calculating the deviation between the rotation angle of the bed plate around the center point and the program driving angle value.

[0032] As preferred, the laser positioning system verification method comprises the following steps:

[0033] S321: mounting the cubic model on the surface positioning structure of the verification device body, so that the target ball positioning hole axes on the YZ plane, XY plane and XZ plane passing through the center of the cubic model are respectively on the same plane;

[0034] S322: moving the cubic model to the positioning center of the laser positioning system by the treatment bed plate driven by the mechanical arm, and installing laser tracker targets on the target ball positioning holes on the YZ plane, XY plane and XZ plane respectively, and making them coincide with the theoretical values of the X, Z and Y axes of the positioning center point of the laser positioning system respectively;

[0035] S323: checking whether any laser line falls in the middle of the laser line width marking scale line to confirm the laser positioning line width and the laser positioning accuracy; when verifying the laser line width, the laser line width and straightness are rechecked using the orthogonal scale lines on the support plate of the verification device body, and the XZ plane laser line completely falls in the horizontal scale line, and the YZ plane laser line completely falls in the vertical scale line;

[0036] S324: making the laser line coincide with the XOZ, YOZ and XOY plane scale lines of the cubic model to confirm that the XOZ, YOZ and XOY plane laser beams pass through the center point of the laser positioning system respectively.

[0037] Further, the specific steps of S324 include: using the treatment bed plate handle to move the treatment bed plate slightly to make the coordinate value Y of the laser tracker target ball consistent with the Y value of the center point of the laser positioning system, adjusting the XOZ plane laser beam to coincide with the XOZ plane scale line on the cubic model to prove that the XOZ plane laser beam passes through the center point of the laser positioning system, and repeating the above operation to complete the verification of the YOZ and XOY plane laser beams passing through the center point of the laser positioning system.

[0038] As preferred, the image guided radiotherapy system verification method comprises the following steps:

[0039] S331: Install the cubic phantom on the face positioning structure of the verification device body, so that the target ball positioning hole axes on the YZ plane, XY plane, and XZ plane of the cubic phantom center are respectively in the same plane;

[0040] S332: The mechanical arm drives the treatment bed plate to move the cubic phantom to the center of the image-guided radiotherapy system, installs the laser tracker target ball on the target ball positioning hole on the YZ plane, XY plane, and XZ plane, respectively, and makes the X value, Z value, and Y value of the target ball coordinates consistent with the X, Z, and Y values of the center point of the laser positioning image-guided radiotherapy system; and positions the target ball at the center point of the image-guided radiotherapy system.

[0041] Further, S333 includes confirming the target point guidance range of the X direction positive and negative directions, Y direction positive and negative directions, and Z direction positive and negative directions of the image-guided radiotherapy system.

[0042] Further, the confirmation of the target point guidance range of the X direction positive and negative directions, Y direction positive and negative directions, and Z direction positive and negative directions includes the following specific operation steps:

[0043] S3331: Use the image-guided radiotherapy system exposure function to view the X-ray radiography image of the cubic phantom in the image preview software, check and adjust the tungsten ball image in the X direction positive and negative direction flat panel image to be consistent with the actual image-guided radiotherapy system center point.

[0044] S3332: Move the treatment bed plate along the positive X direction by using the point-by-point mode, use the image registration function for image registration, and after registration, the cubic phantom can return to the center of the image-guided radiotherapy system; increase the distance of the treatment bed plate moving along the positive X direction by a certain length as the step length, and similarly perform image registration until the image registration function cannot obtain accurate registration results; in this way, the X direction positive target point guidance range of the image-guided radiotherapy system is confirmed.

[0045] S3333: Similarly, the X direction negative target point guidance range is confirmed.

[0046] S3334: Repeat steps 1 to 3 above to complete the confirmation of the Y direction positive and negative directions, and Z direction positive and negative directions target point guidance range, respectively.

[0047] Further, the accuracy of the positioning correction calculation is verified: after the treatment bed plate moves, the treatment bed plate movement distance is recorded, the positioning correction calculation is performed using the image registration software, and the deviation between the actual bed movement distance and the positioning correction calculation data is compared. If the deviation is within the system design deviation, the accuracy of the positioning correction calculation is verified.

[0048] Further, the repeatability of the positioning calibration is verified: the operation of verifying the positioning correction calculation accuracy is performed 10 times repeatedly, the deviation values of the 10 calculation results are compared, and the data repeatability is within the range of the system design, that is, the repeatability of the positioning calibration is verified.

[0049] The technical scheme adopted by the present application to achieve the fourth object is: a non-isocentric treatment room patient positioning accuracy verification method, which uses the multifunctional radiotherapy verification device to verify the positioning accuracy of the non-isocentric treatment room; the verification method comprises the following steps:

[0050] S1: The patient treatment system, the laser positioning system and the image-guided radiotherapy system in the non-isocentric treatment room are calibrated respectively in advance;

[0051] S2: The mechanical arm drives the treatment bed plate to move the cubic phantom to the center point of the laser positioning system; the scale lines on the cubic phantom are aligned with the corresponding direction laser lines of the laser positioning system, and the mark point of the cubic phantom is confirmed to coincide with the center point of the laser positioning system, so as to obtain the first positioning deviation of the cubic phantom relative to the laser positioning system;

[0052] S3: The mechanical arm drives the treatment bed plate to move the cubic phantom to the center point of the image-guided radiotherapy system; the cubic phantom is photographed using the image-guided radiotherapy system, the mark point of the cubic phantom is confirmed to be located at the center of the obtained image, and the image registration software is used to perform registration calculation on the obtained image, so as to obtain the second position deviation of the cubic phantom relative to the image-guided radiotherapy system;

[0053] S4: The mechanical arm drives the treatment bed plate to move the cubic phantom to the center point of the treatment position beam; the position of the mark point of the cubic phantom is corrected according to the first positioning deviation and the second positioning deviation;

[0054] S5: The coordinates of the current mark point of the cubic phantom are calculated, and the coordinate value is consistent with the coordinate value of the treatment position beam center point, so that the positioning accuracy of the non-isocentric treatment room radiotherapy positioning system is verified.

[0055] The beneficial effects of the present application are: the multifunctional radiotherapy verification device, positioning system and verification method can quickly realize the verification of the position deviation of the patient support system bed surface, the translation motion range of the bed surface, the center rotation range of the treatment bed plate, the accuracy of the lateral movement of the treatment bed plate, the rotation motion accuracy of the treatment bed plate, etc. under the premise of using the laser tracker, and can quickly verify the coincidence of the center point of the treatment area on the treatment bed plate and the center point of the beam port. The line width of the laser positioning system, the perpendicularity of the orthogonal laser lines and the center point position of the laser positioning system are verified. The image guided radiotherapy system image guided range, geometric position relationship, center point position and whether the axes of the two groups of X-ray beams are coplanar are quickly verified. Through the use of the multifunctional radiotherapy verification device, the complicated device adjustment process is reduced, and the system error caused by the difference in user operation is reduced. The center verification requirements in the isocenter treatment room and the non-isocenter treatment room can be met at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a structural schematic diagram of the multifunctional radiotherapy verification device of the present application.

[0057] Figure 2 is an exploded structural schematic diagram of the multifunctional radiotherapy verification device of the present application.

[0058] Figure 3 is a partial structural schematic diagram of the multifunctional radiotherapy verification device of the present application.

[0059] Figure 4 is a structural schematic diagram of the laser tracker target ball assembly in the present application.

[0060] Figure 5 is a structural schematic diagram of the cubic module in the present application.

[0061] Figure 6 is a distribution schematic diagram of the positioning holes on the body of the verification device of the present application.

[0062] Figure 7 is a distribution schematic diagram of the positioning holes on the cubic module of the present application.

[0063] Figure 8 is a structural schematic diagram of the combination of the multifunctional radiotherapy verification device of the present application.

[0064] Figure 9 is a structural schematic diagram of the combination of the multifunctional radiotherapy verification device of the present application from another angle.

[0065] Figure 10 is an exploded structural schematic diagram of the combination of the multifunctional radiotherapy verification device of the present application.

[0066] Figure 11 is a top view of the combination of the multifunctional radiotherapy verification device of the present application.

[0067] Figure 12 is Figure 11 A-A sectional view in the middle.

[0068] Figure 13 is Figure 11 B-B sectional view in the middle.

[0069] Figure 14 is a structure diagram of the multifunctional radiotherapy verification device of the present application connected with the treatment bed plate.

[0070] Figure 15 is an application structure diagram in embodiment 3 of the present application.

[0071] Figure 16 , Figure 17 is an application structure diagram of embodiment 4 of the present application.

[0072] Figure 18 , Figure 19 , Figure 20 is a structure diagram of the X-ray penetration of the cubic phantom (with tungsten metal ball inside) and the phantom bottom plate in the present application.

[0073] Figure 21 is a schematic diagram of the X negative direction detector flat panel imaging result in embodiment 5.

[0074] Figure 22 is a perspective view of the laser tracking target ball assembly in the present application.

[0075] Figure 23 is a diagram of the imaging geometric relationship between the X positive and negative direction flat panel detector and the ball tube in embodiment 5.

[0076] Figure 24 is a schematic diagram of the multifunctional radiotherapy positioning system of the present application.

[0077] Figure 25 is a top view of the cubic phantom in the present application.

[0078] Figure 26 is Figure 25 D-D sectional view in the middle.

[0079] Figure 27 is Figure 25 E-E sectional view (rotation) in the middle.

[0080] Figure 28 is Figure 25 F-F sectional view (rotation) in the middle.

[0081] In the figure: 1, support plate, 11, support plate target ball base positioning hole, 12, support plate orthogonal scale line, 121, support plate transverse scale line, 122, support plate longitudinal scale line, 13, bottom plate positioning slot hole, 14, model body bottom plate support table, 15, bottom plate fastening hole, 16, fastener, 17, clamping positioning hole;

[0082] 2, model body bottom plate, 21, target ball base positioning surface, 22, model body embedding groove, 23, model body clamping groove, 24, target ball center positioning hole;

[0083] 3, cubic model body, 31, positioning ring, 32, model body orthogonal scale line, 33, model body target ball base positioning hole, 34, model body positioning surface, 35, laser line width mark scale line, 36, tungsten metal ball;

[0084] 4, laser tracker target ball base, 41, base body, 42, target ball containing groove, 43, clamping groove, 44, magnet, 45, hole elastic stop ring, 46, base insertion column;

[0085] 5, laser tracker target ball, 6, pull claw mechanism;

[0086] 7, pull claw assembly, 71, pull claw main body, 72, locking screw handle, 73, nylon strip;

[0087] 8, clamping strip assembly, 81, positioning clamping strip, 82, positioning pin, 83, nylon stop block, 84, locking hole;

[0088] 10, treatment bed plate, 101, treatment bed plate positioning protrusion;

[0089] 100, verification device body, 200, surface positioning structure, 300, treatment room, 400, patient support system, 500, laser positioning system, 501, laser positioning system center point, 600 image guided radiotherapy system; 601, image guided radiotherapy system center point, 602, detector, 603, ball tube, 700, beam port treatment center point; 800, treatment bed plate upper treatment area center point;

[0090] 20, laser line, 30, X-ray, 40, mechanical arm. DETAILED DESCRIPTION

[0091] The various aspects of the present application will be described in detail below with specific examples and in conjunction with the accompanying drawings.

[0092] Example 1:

[0093] In Figure 1 、 Figure 2 、 Figure 3In the embodiment shown, a multifunctional radiotherapy verification device is used for fast confirmation of the center point of the space for radiotherapy, and can simultaneously realize center point verification of a laser positioning system, an image-guided radiotherapy system and a patient support system.

[0094] The multifunctional radiotherapy verification device comprises a laser tracker target ball assembly, a verification device body 100 with orthogonal graduation lines and a cubic model body 3 with orthogonal graduation lines. A plurality of target ball positioning holes are arranged on the verification device body 100 and the cubic model body 3, wherein the target ball positioning holes on the cubic model body are arranged at the center positions of each face of the cubic model body; and a center positioning structure is arranged at the center position of the orthogonal graduation lines on the verification device body 100. The center positioning structure comprises a face positioning structure 200 for XYZ three-direction face cooperation positioning with the cubic model body 3 and a target ball center positioning hole 24.

[0095] The target ball positioning holes comprise support plate target ball base positioning holes 11 arranged on the verification device body and model target ball base positioning holes 33 arranged on the cubic model body 3.

[0096] The support plate orthogonal graduation lines 12 arranged on the verification device body 100 comprise support plate transverse graduation lines 121 and support plate longitudinal graduation lines 122, and a face positioning structure for mounting the cubic model body is arranged at the orthogonal center of the support plate orthogonal graduation lines 12; wherein a target ball center positioning hole 24 is arranged at the orthogonal center position.

[0097] The verification device body 100 comprises a support plate 1 for realizing movable adjustment connection with the treatment bed plate 10, a model base plate 2 arranged on the support plate 1, a cubic model body 3 and a laser tracker target ball assembly. Specifically, equidistant treatment bed plate positioning protrusions 101 can be arranged on the treatment bed plate, so as to realize equidistant movement positioning of the verification device body and the treatment bed plate. Of course, any positioning mode can also be adopted.

[0098] The laser tracker target ball assembly comprises a laser tracker target ball base 4 and a laser tracker target ball 5 arranged on the laser tracker target ball base 4.

[0099] As Figure 5As shown, the front, rear, left, right and top of the cube body 3 are respectively provided with two sets of mutually perpendicular large scale lines, the vertical intersection point of the two sets of large scale lines is the center point of the plane where the cube body is located, the large scale line is defined as the cube orthogonal scale line 32, and a cube target ball base positioning hole 33 is arranged at the center point. Each end of each large scale line is provided with a small scale for marking the width of the laser line, which is defined as a laser line width marking scale line 35. During processing, the center point of the cube target ball base positioning hole is ensured to coincide with the large scale line, and the coincidence degree establishes the relationship between the large scale line and the laser tracker target ball measurement value. During calibration, it is checked that any laser line falls in the middle of the small scale line, so as to confirm the laser positioning line width and the laser positioning accuracy. The width of the laser line width marking scale line 35 is greater than the width of the cube orthogonal scale line 32 and is consistent with the width of the orthogonal scale line of the support plate on the calibration device body. The bottom of the cube body 3 is provided with a positioning surface mounting structure, and the positioning surface mounting structure includes the bottom surface of the cube body and a convex or recessed positioning surface arranged on the bottom surface.

[0100] Referring to Figure 1 Meanwhile, the support plate 1 is provided with one horizontal and one vertical scale line, which is defined as a support plate orthogonal scale line 12. The support plate orthogonal scale line 12 includes a support plate horizontal scale line 121 and a support plate vertical scale line 122. The width of the scale line is consistent with the small scale line spacing on the cube body 3. During laser lamp line width calibration, the support plate orthogonal scale line 12 is used to recheck the laser line width and straightness. The XZ plane laser line completely falls in the support plate horizontal scale line 121, and the YZ plane laser line completely falls in the support plate vertical scale line 122.

[0101] The support plate 1 is a metal plate, and a plurality of support plate target ball base positioning holes 11 for mounting the laser tracker target ball base 4 are arranged on the support plate 1, so as to ensure the repeated installation accuracy of the laser tracker target ball base 4. The arrangement position and number of the support plate target ball base positioning holes 11 are set according to the detection needs.

[0102] In the embodiment, the support plate 1 is a cuboid plate, and a bottom plate positioning slot hole 13 is arranged on the plate surface of the support plate 1 along the support plate orthogonal scale line 12. The bottom plate positioning slot hole 13 is recessed on the support plate 1, and the bottom plate positioning slot hole 13 penetrates the upper and lower plate surfaces of the support plate 1. A cube bottom plate support table 14 is arranged in the bottom plate positioning slot hole 13, which is used to support the cube bottom plate 2. A bottom plate fastening hole 15 is arranged on the cube bottom plate support table 14, which is used to realize the fixed connection between the cube bottom plate 2 and the cube bottom plate support table 14.

[0103] The installation and positioning of the mold body bottom plate 2 can be facilitated by the setting of the bottom plate positioning slot hole 13, the mold body bottom plate support table 14 and the bottom plate fastening hole 15.

[0104] When different sizes of cubic mold bodies 3 need to be set, the positioning and connection of cubic mold bodies 3 of different sizes can be realized by replacing the calibration device body.

[0105] The mold body bottom plate 2 is embedded in the bottom plate positioning slot hole 13 and is fastened and connected with the mold body bottom plate support table 14 through the fastener 16.

[0106] The support plate 1 is also provided with a clamping positioning hole 17 for realizing the clamping positioning of the clamping strip assembly.

[0107] The mold body bottom plate 2 is made of organic high polymer material and has good X-ray permeability.

[0108] In the embodiment, the center position of the mold body bottom plate 2 is provided with a face positioning structure, which includes a groove-shaped positioning face structure, specifically including a mold embedding groove 22 and a mold clamping groove 23.

[0109] As shown in the figure, in the embodiment, the calibration device body formed by the support plate 1 and the mold body bottom plate 2 is distributed with 12 support plate target ball pedestal positioning holes 11. Figure 6 ​​​​​

[0110] The support plate transverse scale line 121 is provided with a No. positioning hole and a No. positioning hole, wherein the No. positioning hole is arranged at the center position of the vertical intersection of the support plate transverse scale line 121 and the support plate longitudinal scale line 122, that is, at the center position of the phantom base plate 2. The No. positioning hole is the target ball center positioning hole 24.

[0111] Two groups of support plate target ball pedestal positioning holes 11 are arranged on the support plate 1 on the other side of the phantom base plate 2, which are a No. positioning hole, a No. positioning hole and a No. positioning hole, positioning hole, a No. positioning hole and a No. positioning hole, wherein the No. positioning hole and the No. positioning hole are arranged on the support plate longitudinal scale line 122.

[0112] The cubic phantom 3 is a detachable and replaceable component, and different specifications of cubic phantoms 3 can be replaced as needed.

[0113] As shown in Figure 7 , in the embodiment, the five phantom target ball pedestal positioning holes 33 of the front and rear and left and right top of the cubic phantom are defined as a No. positioning hole, a No. positioning hole, a No. positioning hole, a No. positioning hole and a No. positioning hole, wherein the No. positioning hole is coaxially arranged with the No. positioning hole.

[0114] The cubic phantom 3 cooperates with the phantom base plate 2 through a positioning surface. The bottom surface of the cubic phantom 3 and the side surface of the positioning ring 31 are both phantom positioning surfaces 34, which have high-precision dimensions and can ensure the precision of repeated assembly on the phantom base plate 2. The installation of the cubic phantom 3 and the phantom base plate 2 is performed through X, Z and Y three-direction positioning surfaces. After installation, the target ball pedestal positioning hole axes on the YZ plane, XY plane and XZ plane of the center of the cubic phantom are respectively in the same plane, and the deviation value is far lower than the position precision requirement of the laser positioning line.

[0115] The cubic phantom 3 is made of organic high molecular material and has good X-ray transmittance. A plurality of tungsten metal balls 36 are arranged inside the cubic phantom 3. Referring to Figures 25-28In this embodiment, five tungsten metal spheres are arranged inside the cubic phantom 3. When X-rays pass through the cubic phantom, the tungsten metal spheres can leave a clear image on the detector.

[0116] The laser tracker target ball base 4 is inserted into the positioning holes 33 of the five target ball bases of the phantom body, and the laser tracker target ball is installed on the laser tracker target ball base 4.

[0117] The laser tracker target ball base 4 is installed on the support plate 1 and the cubic mold 3 to ensure the repeatability of the laser tracker target ball 5 with the support plate and the cubic mold.

[0118] like Figure 4 As shown, the laser tracker target ball base 4 includes a base body 41. A target ball receiving groove 42 is provided at the bottom of the base body 41. A slot 43 is provided inside the target ball receiving groove 42. A magnetic suction component for adsorbing the laser tracker target ball 5 is provided inside the target ball receiving groove 42. The magnetic suction component includes a magnet 44 disposed inside the target ball receiving groove 42 and an elastic retaining ring 45 for the hole. The magnet 44 is limited inside the target ball receiving groove 42 by the elastic retaining ring 45 for the hole, which is located inside the slot 43. The magnet 44 provides magnetic attraction but does not directly contact the target ball. The target ball is magnetically attracted and positioned on the target ball receiving groove 42 formed by three small quadrilateral curved surfaces. The laser tracker target ball 5 is attracted inside the target ball receiving groove 42 by the magnet 44. A base insertion post 46 is provided at the bottom of the base body 41 for quick insertion and connection with the target ball base positioning hole 11 on the support plate and the target ball base positioning hole 33 on the cubic mold body.

[0119] The support plate 1 is movably connected to the treatment bed board 10 via multiple sets of pull claw mechanisms 6. The screw handles 72 on the pull claw mechanisms 6 are tightened and press against the support plate 1 and the treatment bed board to ensure their relative stability.

[0120] The pull claw mechanism 6 includes a pull claw assembly 7 and a locking strip assembly 8. The pull claw assembly 7 includes a pull claw body 71 and a locking screw handle 72 disposed on the pull claw body 71. A locking strip mounting hole 73 is provided on the pull claw body 71, and a nylon strip 73 is disposed inside the pull claw body 71. The nylon strip 73 is used for positioning and engagement with the underside of the treatment bed surface during use, and also has a shock-absorbing function, ensuring the stability of the entire device during use. The pull claw body 71 has a U-shaped structure and is arranged laterally.

[0121] See Figure 14In use, the pull claw assembly 7 is used in cooperation with the clamping strip assembly 8 connected with the treatment bed plate, the clamping strip assembly 8 comprises a positioning clamping strip 81 and a positioning pin 82 arranged on the positioning clamping strip 81, the positioning clamping strip 81 has a standard size and a repeated installation accuracy, and is used for achieving clamping positioning with the treatment bed plate. The positioning pin 82 is used for achieving clamping positioning with the support plate. Nylon stoppers 83 are arranged below both ends of the positioning clamping strip 81, the nylon stoppers 83 are provided with stopper positioning holes 84, the two nylon stoppers 83 form a U-shaped clamping structure with the positioning clamping strip 81, in use, the clamping strip is horizontally arranged above the treatment bed plate, the two nylon stoppers 83 are matched with the two sides of the treatment bed plate, at the same time, the stopper positioning holes 84 are matched with the treatment bed plate positioning protrusions 101 on the treatment bed plate to limit, achieving limiting cooperation with the treatment bed plate, and ensuring that the support plate 1 cannot be horizontally displaced relative to the treatment bed plate.

[0122] In another embodiment, the pull claw mechanism can also adopt other mechanical locking mechanisms, for example, a mechanical snap structure, which can also achieve quick locking of the support plate and the treatment bed plate, and ensure the relative stability of the support plate and the bed plate.

[0123] Referring to Figures 8-13 The multifunctional radiotherapy verification device can be widely used in various particle radiation therapy scenes, including but not limited to proton heavy ion radiation therapy and boron neutron capture therapy. The laser tracker target ball assembly can be directly arranged on the body of the verification device for use, and can also be used in cooperation with a cubic phantom. One laser tracker target ball assembly can be arranged for use, or multiple laser tracker target ball assemblies can be arranged for use. The specific arrangement can be set according to the needs.

[0124] Referring to Figure 14 FIG. 4 is a structural schematic view of the multifunctional radiotherapy verification device used in cooperation with the treatment bed plate.

[0125] The patient support system comprises a treatment bed plate 10 and a mechanical arm 40. Since the treatment bed plate 10 is an important component of the radiation therapy patient support system, it is usually made of carbon fiber material. The treatment bed plate 10 is moved by the mechanical arm in six degrees of freedom, namely, translation along the X, Y and Z directions and rotation along the X, Y and Z directions.

[0126] In use, first install the two positioning clamping strips 81 on the treatment bed plate 10, then install the support plate 1 on the positioning clamping strips and position them using the corresponding clamping positioning holes 17 and the positioning pins 82; select the desired phantom base plate 2 and insert it into the base plate positioning slot hole 13, then fasten the phantom base plate 2 to the base plate fastening hole 15 on the phantom base plate support platform 14 using the fastening member 16 to achieve the connection between the phantom base plate 2 and the support plate 1. Move the support plate along the treatment bed plate to the desired position, then clamp the pawl body 71 into the support plate and the outer side of the treatment bed plate and lock the support plate, clamping strip and treatment bed plate together from top to bottom using the locking screw handle 72 to achieve the positioning of the relative position of the support plate and the treatment bed plate. Then select the cubic phantom or directly set the laser tracker target ball assembly on the phantom base plate 2 as needed.

[0127] The support plate 1 is indirectly positioned on the treatment bed plate through the positioning clamping strips 81. The clamping strips can be selectively positioned at the desired installation position through the positioning structure on both sides of the treatment bed plate to achieve the movable installation of the support plate 1 along the bed plate. Since the patient needs to be positioned near the edge of the treatment bed plate for boron neutron capture therapy, the treatment area on the treatment bed plate is selected in the extended area at the end of the bed plate, and a head and neck support is added to the extended area later. The support plate is fastened and installed on the treatment bed plate through clamping positioning and the fastening of the four clamping pawl assemblies on both sides, which can achieve the positioning of the support plate on the treatment bed plate without repeated assembly errors. The support plate target ball base positioning hole, the phantom base plate and the cubic phantom are located in the extended treatment area of the treatment bed plate to meet the use requirements of the various verifications related to this patent.

[0128] The positioning pins 82 on the support plate 1 and the positioning clamping strips 81 cooperate to achieve the positioning of the support plate and the treatment bed plate without repeated assembly errors. Although the phantom base plate 2 and the support plate 1 are made of different materials, the laser tracker target ball on the target ball center positioning hole 24 is always located at the center point of the treatment area on the treatment bed plate during repeated disassembly of the device, as the phantom base plate 2 and the support plate are first fixed through the fastening member 16 before processing, and the fastening member 16 is not disassembled after processing.

[0129] The structural design of the laser tracker target ball base 4 ensures that the laser tracker target ball 5 has the same center and fixed axial size deviation after being installed on the laser tracker target ball base 4. The axial coordinate of the laser tracker target ball 5 after adding the deviation is the spatial coordinate value of the point on the surface of the support plate.

[0130] This multifunctional radiotherapy verification device can meet the use requirements of the patient support system test in YY / T 1763-2021 Medical Electrical Equipment Medical Light Ion Beam Equipment Performance Characteristics. ​

[0131] It can meet the requirements of laser positioning line width and laser positioning accuracy test in YY / T 1537-2017 Performance and Test Methods for Laser Positioning System for Radiotherapy.

[0132] It can meet the requirements of various tests in gold standard registration mode in YY 1650-2019 Performance and Test Methods for X-ray Image-guided Radiotherapy Equipment, including target point guidance range, accuracy of positioning correction calculation, and repeatability of positioning calibration.

[0133] Example 2:

[0134] As shown in Figure 24 A multifunctional radiotherapy positioning system includes the multifunctional radiotherapy verification device of Example 1, and further includes a patient support system 400, a laser positioning system 500, and an image-guided radiotherapy system 600. The multifunctional radiotherapy verification device is installed on the treatment bed plate 10 of the patient support system 400. The patient support system 400 includes a treatment bed plate 10 and a mechanical arm 40. The image-guided radiotherapy system 600 includes two sets of detectors 602 and two sets of tubes 603.

[0135] The laser positioning system 500 uses visible light that is not easy to diverge to form three orthogonal laser beam fans in the treatment room (see Figure 17 The three orthogonal laser beams intersect at a point, which is the center point 501 of the laser positioning system.

[0136] The image-guided radiotherapy system is composed of two sets of tubes 603 and detectors 602, in which the two tube beam center axes are coplanar and perpendicular, and the intersection point of the beam center axes is the center point 601 of the image-guided radiotherapy system.

[0137] The patient support system can realize translation of the bed surface in X, Y, and Z directions and rotation of the bed surface in X, Y, and Z directions, and the center point is the center point 800 of the treatment area on the treatment bed plate. The beam center point is usually the geometric center within the range of the particle beam.

[0138] The spatial positioning accuracy of the mechanical arm in the patient support system, the spatial positioning accuracy of the laser beam of the laser positioning system, the spatial accuracy of the tube beam in the image-guided radiotherapy system, and the installation spatial accuracy of the detector all affect the position accuracy of the center points in the treatment room.

[0139] Under the premise of using a laser tracker, the No. 1 position target ball can quickly align the center point 800 of the treatment area on the treatment bed plate with the beam port treatment center point 700;

[0140] The line width, perpendicularity of the orthogonal laser line, and the position of the center point of the laser positioning system are verified.

[0141] A rapid verification was performed on the geometric positional relationship, center point position, and whether the axes of the two X-ray beams were coplanar in the image-guided radiotherapy system.

[0142] To a certain extent, it enables rapid centering calibration of the patient support system, laser positioning system, and image-guided radiotherapy system in the treatment room, reducing the complicated device adjustment process and minimizing system errors caused by differences in user operation.

[0143] Example 3:

[0144] See Figures 15-24 Figure 400 illustrates a multifunctional radiotherapy calibration method that can simultaneously calibrate the center points of a laser positioning system, an image-guided radiotherapy system, and a patient support system. Applicable scenarios include various existing particle radiotherapy methods, including proton and heavy ion radiotherapy and boron neutron capture therapy. The treatment room of a particle radiotherapy device typically includes a laser positioning system 500, an image-guided radiotherapy system 600, and a patient support system 400 to confirm the location of the patient's tumor target.

[0145] The calibration method for this multifunctional radiotherapy system, utilizing the multifunctional radiotherapy calibration device described in Example 1, includes the following steps:

[0146] S1: Connect the calibration device body 100 to the treatment bed board 10;

[0147] S2: Select to set the number and position of the laser tracker target ball components separately according to the verification content, or select the number and position of the cubic phantom and the laser tracker target ball components;

[0148] S3: Verify the patient support system, and / or laser positioning system, and / or image-guided radiotherapy system.

[0149] Example 4:

[0150] exist Figure 15 In the illustrated embodiment, a method for verifying a patient support system includes the following steps:

[0151] Step 1: During measurement, first position the support plate 1 on the treatment bed board 10 using the positioning clip 81, and then fix it using the pull claw assemblies 7 on both sides.

[0152] Step 2: Use multi-point tracking measurement: Select the point containing on the support plate. The three non-collinear positioning holes 11 of the target ball base of the support plate are used to install the laser tracker target ball base 4 and the laser tracker target ball 5, respectively, to achieve multi-point tracking measurement. Preferably, in this embodiment, the target ball base 4 and the laser tracker target ball 5 are respectively installed in the three non-collinear positioning holes 11 of the target ball base of the support plate. , , , 、 The support plate target ball base positioning hole 11 installs the laser tracker target ball 5.

[0153] For the definition of the posture of a spatial moving object, it is usually necessary to define a point on the object and a spatial vector of the point. In actual measurement, it is often necessary to simultaneously measure three points on the surface of the object which are not collinear to determine the coordinates of a point on the object and the spatial vector of the point.

[0154] In order to eliminate the measurement error introduced by the error of one point data in the measurement process, when the device is used, the support plate 、 、 、 、 The support plate target ball base positioning hole 11 simultaneously installs five laser tracker target ball bases 4 and laser tracker target balls 5, so that even if one laser tracker target ball 5 is blocked or the data has an error from the actual value during measurement, it can be easily found and eliminated during data processing.

[0155] Step 3: Quickly check whether the position deviation of the bed surface is within the allowable range:

[0156] The mechanical arm drives the treatment bed plate to the preset point, and the laser tracker reads the coordinates of the five laser tracker target balls. The laser tracker measurement software, such as SA software, is used to automatically fit the plane formed by the five laser tracker target ball coordinates, and the laser tracker target ball coordinates at the position are taken as the reference point to fit the spatial normal vector of the plane, and the pose of the treatment bed plate is further determined.

[0157] Compare whether the pose of the treatment bed plate is consistent with the pose of the treatment bed plate at the preset point. If it is not consistent, whether it is within the system allowable deviation. If it exceeds the allowable deviation, the patient support system needs to be recalibrated.

[0158] Step 4: Confirm whether the bed surface translation motion range is consistent with the design value:

[0159] The mechanical arm drives the treatment bed plate 10 to move to the positive and negative limit positions in the X, Y, and Z directions, respectively, and the laser tracker reads the coordinates of the five laser tracker target balls. The SA software is used to automatically fit the plane formed by the five laser tracker target ball coordinates, and the laser tracker target ball coordinates at the position are taken as the center point.

[0160] The positive and negative limit values of the bed surface translation in the X, Y, and Z directions are calculated respectively. Compare with the bed surface motion range design value to confirm whether the bed surface translation motion range is consistent with the design value.

[0161] Step 5: Quickly measure the isocenter rotation range of the treatment couch board:

[0162] The mechanical arm drives the treatment couch board to the preset point, which can usually use the target ball point, and uses the laser tracker to read the coordinates of the five laser tracker target balls respectively. The SA software is used to automatically fit the plane composed of the five laser tracker target ball coordinates, and the laser tracker target ball coordinates at the position are taken as the center point.

[0163] The mechanical arm drives the treatment couch board to rotate around the preset point until the treatment couch board is close to the wall. At this time, the coordinates of the five laser tracker target balls are collected, and the rotation angle of the couch board around the center point is calculated. The isocenter rotation range of the treatment couch board is quickly measured.

[0164] Step 6: Verify the accuracy of the lateral movement of the couch board:

[0165] The mechanical arm drives the treatment couch board to the preset point, and uses the laser tracker to read the coordinates of the five laser tracker target balls respectively. The SA software is used to automatically fit the plane composed of the five laser tracker target ball coordinates, and the laser tracker target ball coordinates at the position are taken as the center point.

[0166] The mechanical arm drives the treatment couch board to move along the X, Y, and Z directions respectively, and sets the moving distance of each time to be 100mm. The coordinates of the five laser tracker target balls after each movement of the treatment couch board are measured, and the actual pose change interpolation of the center point between each movement is calculated. If the distance error of each movement is within the allowable range, the lateral movement accuracy of the couch board is verified to be qualified.

[0167] Step 7: Quickly verify the rotation motion accuracy of the treatment couch board:

[0168] The mechanical arm drives the treatment couch board to the preset point, and uses the laser tracker to read the coordinates of the five laser tracker target balls respectively. The SA software is used to automatically fit the plane composed of the five laser tracker target ball coordinates, and the laser tracker target ball coordinates at the position are taken as the reference point.

[0169] The target ball point at the position is the reference point on the couch board during the test. This point can be used when measuring the position of the treatment couch board, such as the translation range and translation accuracy test of the treatment couch board. For the treatment couch board, other four target ball points are needed to construct a fitting plane together, so as to calculate the pose of the position .

[0170] The mechanical arm drives the treatment bed plate to rotate around the treatment center point, and sets the rotation angle of each rotation to 5°, until it rotates to the rotation range limit, collects the coordinates of the 5 laser tracker target balls at that time, and calculates the deviation of the bed plate rotation angle around the center point from the program driving angle value. Quickly verify the rotation motion accuracy of the treatment bed plate.

[0171] Therefore, the verification of the bed surface position deviation of the patient support system, the bed surface translation motion range, the center rotation range of the treatment bed plate, the accuracy of the lateral movement of the treatment bed plate, the rotation motion accuracy of the treatment bed plate, etc. can be quickly realized, and the coincidence of the treatment area center point 800 on the treatment bed plate with the treatment center point 700 of the beam port can be quickly verified. Using the device to realize fast center position calibration reduces the complicated device verification process and reduces the system error caused by operator differences, and the operation is convenient and fast.

[0172] It can meet the use requirements of the patient support system test in YY / T 1763-2021 Medical Electrical Equipment Medical Light Ion Beam Equipment Performance Characteristics.

[0173] Embodiment 5:

[0174] In the embodiments shown in Figure 16 , Figure 7 , Figure 17 A laser positioning system verification method, including verification of the consistency of the center point of the laser positioning system with the center point of the cubic body, verification of the laser line width, and auxiliary verification.

[0175] The verification of the consistency of the center point of the laser positioning system with the center point of the cubic body includes the following steps:

[0176] Step 1: The mechanical arm drives the treatment bed plate to move to the preset position of the laser lamp, and installs the five laser tracker target balls in the target ball base positioning holes , , , , .

[0177] The installation of the cubic body and the body base is carried out through the X, Z, and Y three-direction positioning surfaces. After installation, the target ball base positioning hole axes on the YZ plane, XY plane, and XZ plane of the center of the cubic body and the support plate are respectively located in the same plane, and the deviation value is much lower than the position accuracy requirement of the laser positioning line.

[0178] The mechanical arm drives the treatment bed plate to move the cubic body to the positioning center 501 of the laser positioning system, and installs the laser tracker target ball base and the laser tracker target ball in the target ball base positioning holes , , , 、 At this point, fine-tune the treatment bed plate so that 、 、 At this point, fine-tune the treatment bed plate so that 、 、 At this point, fine-tune the treatment bed plate so that 、 At this point, fine-tune the treatment bed plate so that Figure 7 At this point, fine-tune the treatment bed plate so that

[0179] Step 2: Make the XOZ plane laser beam pass through the center point 501 of the laser positioning system:

[0180] Ensure that the XOZ plane laser beam coincides with the XOZ plane scale line on the cube-shaped body passing through 、 、 If they do not coincide, adjust the internal adjustment device of the laser lamp so that the laser line coincides with the XOZ plane scale line of the cube-shaped body. It is proved that the XOZ plane laser beam passes through the center point of the laser positioning system.

[0181] Step 3: Check that the YOZ plane laser beam passes through the center point of the laser positioning system:

[0182] Ensure that the YOZ plane laser beam coincides with the YOZ plane scale line on the cube-shaped body passing through 、 、 If they do not coincide, adjust the internal adjustment device of the laser lamp so that the laser line coincides with the YOZ plane scale line of the cube-shaped body. It is proved that the YOZ plane laser beam passes through the center point of the laser positioning system.

[0183] Step 4: Make the XOY plane laser beam pass through the center point of the laser positioning system:

[0184] Ensure that the XOY plane laser beam coincides with the XOY plane scale line on the cube-shaped body passing through 、 If they do not coincide, adjust the internal adjustment device of the laser lamp so that the laser line coincides with the XOY plane scale line of the cube-shaped body. It is proved that the XOY plane laser beam passes through the center point of the laser positioning system.

[0185] Confirming that the center point 501 of the laser positioning system is consistent with the center point of the cubic phantom, further illustrating that the center point of the laser positioning system is consistent with the design value. The laser positioning system verification method can meet the use requirements of the laser positioning line width and the laser positioning accuracy test in the YY / T 1537-2017 Performance and Test Method for Laser Positioning System for Radiotherapy.

[0186] The verification of the line width of the laser positioning system includes the following steps:

[0187] Step 1: Make the XOZ plane laser beam fall between the short scale lines on both sides of the long scale line:

[0188] Detect whether the XOZ plane laser beam falls completely between the short scale lines on both sides of the long scale line of the cubic phantom. The line width of the laser line should not exceed the distance between two adjacent short scale lines. If it does not meet the requirement, adjust the focus knob of the laser lamp.

[0189] Step 2: Make the YOZ plane laser beam fall completely between the short scale lines on both sides of the long scale line:

[0190] Detect whether the YOZ plane laser beam falls completely between the short scale lines on both sides of the long scale line of the cubic phantom. The line width of the laser line should not exceed the distance between two adjacent short scale lines. If it does not meet the requirement, adjust the focus knob of the laser lamp.

[0191] Step 3: Make the XOY plane laser beam fall completely between the short scale lines on both sides of the long scale line:

[0192] Detect whether the XOY plane laser beam falls completely between the short scale lines on both sides of the long scale line of the cubic phantom. The line width of the laser line should not exceed the distance between two adjacent short scale lines. If it does not meet the requirement, adjust the focus knob of the laser lamp.

[0193] The auxiliary verification steps are as follows: Figure 17 As shown in the figure, the user checks whether any one of the laser lines 20 falls in the middle of the short scale line of the cubic phantom during verification, so as to confirm the line width and the accuracy of the laser positioning. At the same time, the support plate has one horizontal and one vertical support plate orthogonal scale line, and the width of the support plate orthogonal scale line is consistent with the distance between the short scale lines on the cubic phantom. When verifying the line width of the laser lamp, the support plate orthogonal scale line is used to recheck the line width and straightness of the laser line. The XZ plane laser line completely falls in the horizontal scale line of the support plate, and the YZ plane laser line completely falls in the vertical scale line of the support plate.

[0194] Example 6:

[0195] In the examples shown in Figure 7 , 18 -23, a method for verifying an image-guided radiotherapy system includes the following steps:

[0196] Step 1: The center point (3) of the cube phantom is positioned to the center point 601 of the image-guided radiotherapy system by matching the laser tracker target ball:

[0197] The mechanical arm drives the treatment bed plate to move to the preset position of the center point of the image-guided radiotherapy system, and the position of the treatment bed plate is fine-tuned so that the coordinate value Y of the laser tracker target ball 、 、 is consistent with the Y value of the center point of the image-guided radiotherapy system; the position of the treatment bed plate is fine-tuned so that the coordinate value X of the laser tracker target ball 、 、 is consistent with the X value of the center point of the image-guided radiotherapy system; the position of the treatment bed plate is fine-tuned so that the coordinate value Z of the laser tracker target ball 、 is consistent with the Z value of the center point of the image-guided radiotherapy system. Through the above steps, the center tungsten metal ball of the cube phantom is positioned to the center point of the image-guided radiotherapy system. As shown in Figure 7 , at this time, the center point of the cube phantom coincides with the center point 601 of the image-guided radiotherapy system.

[0198] Step 2: Test and verify that the (3) tungsten metal ball is consistent with the actual center point of the image-guided radiotherapy system:

[0199] Use the exposure function of the image-guided radiotherapy system to view two X-ray images of the cube phantom in the image preview software. Check whether the (3) tungsten metal ball image is located in the center of the two images Figure 21 . If it is in the center, it means that the (3) tungsten metal ball is consistent with the actual center point of the image-guided radiotherapy system. If it is not consistent, the position of the detector panel and the ball tube needs to be adjusted.

[0200] Step 3: Test and verify that the imaging geometry between the -X direction panel detector and the ball tube conforms to the design value:

[0201] Check whether the (1) and (5) tungsten metal ball images in the -X direction panel image coincide. If they coincide, it means that the imaging geometry between the -X direction panel detector and the ball tube conforms to the design value Figure 23 . If they do not coincide, the position of the panel detector needs to be adjusted until the tungsten metal ball (1) and (5) images coincide.

[0202] Step 4: Test and verify that the imaging geometry between the +X direction panel detector and the ball tube conforms to the design value:

[0203] Check whether the (2) and (4) tungsten metal ball images in the +X direction panel image coincide. If they coincide, it means that the imaging geometry between the +X direction panel detector and the ball tube conforms to the design value Figure 23If not, the position of the flat panel detector needs to be adjusted until the images of tungsten metal balls (2) and (4) coincide.

[0204] Step 5: Confirm the target point guiding range of the image-guided radiotherapy system in the +X direction:

[0205] Under the premise that the actual position of the center point of the image-guided radiotherapy system is consistent with the design value (the theoretical position of the center point of the image-guided radiotherapy system determined when the overall treatment room is designed), the treatment bed plate is moved in the +X direction by using the moving bed through the point-by-point mode, and the exposure function of the image-guided radiotherapy system is used to view 2 X-ray photographic images of the cubic phantom in the image preview software. Image registration is performed using the image registration function, and after registration, the cubic phantom can return to the center of the image-guided radiotherapy system. The distance of the treatment bed plate moving in the +X direction is increased by 1 mm as the step size, and image registration is also performed until the image registration function cannot obtain accurate registration results. In this way, the target point guiding range of the image-guided radiotherapy system in the +X direction is confirmed.

[0206] Step 6: The target point guiding ranges in the -X, +Y, -Y, +Z, and -Z directions are sequentially confirmed as in Step 5.

[0207] Step 7: The accuracy of the position correction calculation is verified:

[0208] As in Step 5, the distance of the treatment bed plate moving after the movement is recorded, and the position correction calculation is performed using the image registration software. The deviation between the actual moving bed distance and the position correction calculation data should be within the acceptable deviation of the system design. That is, the accuracy of the position correction calculation is verified.

[0209] Step 8: The repeatability of the position calibration is verified:

[0210] Step 7 is repeated 10 times, and the deviation values of the 10 calculation results are compared. The data repeatability should be within the acceptable range of the system design. That is, the repeatability of the position calibration is verified.

[0211] As shown in Figures 18-20 , the materials used for the cubic phantom and the phantom bottom plate are easily penetrated by X-rays 30, and the built-in tungsten metal balls are difficult to penetrate by X-rays. After exposure of the image-guided radiotherapy system, photographic images are left on the detector flat panel. Figure 19 , Figure 20 is a schematic diagram of the position of the tungsten metal ball embedded in the cubic phantom and X-ray transmission. In the figure, ⑴, ⑵, ⑶, ⑷, and ⑸ are tungsten metal balls, Figure 21 is the imaging result of the X-negative direction detector flat panel. The tungsten metal ball ⑶ is located at the center of the X-ray imaging, and the images of the tungsten metal balls ⑴ and ⑸ coincide. If the images do not coincide, the position of the flat panel detector needs to be adjusted until the images of the tungsten metal balls ⑴ and ⑸ coincide. Similarly, the position of the X-positive direction detector is verified.

[0212] The cubic phantom contains embedded metal markers that are consistent with the requirements in "YY 1650-2019 Performance and Test Methods for X-ray Image-Guided Radiotherapy Equipment". This meets the various test requirements for gold registration mode in "YY 1650-2019 Performance and Test Methods for X-ray Image-Guided Radiotherapy Equipment", including target guidance range, accuracy of positioning correction calculation, and repeatability of positioning calibration.

[0213] Example 7:

[0214] See Figure 17 , Figure 20 A method for verifying the positioning accuracy of non-isocentric treatment patients is provided, which uses the multifunctional radiotherapy verification device described in Example 1 to perform position calibration on the multifunctional radiotherapy positioning system to further ensure accurate patient positioning in the clinical positioning process.

[0215] The multifunctional radiotherapy positioning system includes a patient support system 400, a laser positioning system 500, and an image-guided radiotherapy system 600. The center point 501 of the laser positioning system, the center point 601 of the image-guided radiotherapy system, and the treatment center point 700 of the beam port do not overlap. The multifunctional radiotherapy calibration device is installed on the treatment bed of the patient support system 400.

[0216] For boron neutron capture therapy (BNT) treatment rooms, the radiotherapy particles used are hyperthermic neutrons. Microcircuits are highly susceptible to dark current generation in hyperthermic neutron environments, affecting the operational stability of equipment using microcircuit modules. Therefore, the image-guided radiotherapy system commonly used in boron neutron capture therapy rooms is installed far from the beam exit, resulting in a non-isocentric treatment room, unlike other isocentric particle radiotherapy treatment rooms. The center point of the laser positioning system, the center point of the image-guided radiotherapy system, and the treatment center point of the beam exit are not at the same point in the treatment room space (see [reference]). Figure 24 ).

[0217] For non-isocentric treatment rooms, the clinical workflow for boron neutron capture therapy is as follows:

[0218] 1. The technician uses a radiotherapy positioning membrane to fix the patient to the treatment bed board 10 in the upper position;

[0219] 2. The treatment bed supports the patient's movement to the center 501 of the laser positioning system (the first laser lamp position). The technician uses the bed transfer handle to fine-tune the position and posture of the treatment bed to ensure that the marking line on the patient's positioning film is aligned with the laser lines on the three planes of the laser positioning system.

[0220] 3. The treatment couch supports the patient to move to the image-guided radiotherapy system center point 601, and the image-guided radiotherapy system generates a DR image of the current position of the patient and compares it with the image taken by the patient on the positioning CT to calculate the accurate patient positioning deviation, which is sent to the patient support system to fine-tune the spatial position of the patient, so as to ensure that the treatment target point in the human body is at the center of the image-guided radiotherapy system.

[0221] 4. The treatment couch supports the patient to move to the beam port treatment center point 700, and the patient is subjected to the corresponding angle of revolution according to the irradiation angle in the treatment plan. The beam port treatment center point 700 is also provided with a laser lamp (secondary laser lamp position).

[0222] According to the above clinical positioning workflow, the boron neutron capture therapy treatment room needs to periodically check the spatial positions of the three center points of the treatment room and check the positioning accuracy of the patient in the patient positioning process. This process is the positioning accuracy QA (quality assurance) process of the treatment system.

[0223] The center point position verification method of the laser positioning system in the treatment room is as shown in Embodiment 5; the center point verification method of the image-guided radiotherapy system is as shown in Embodiment 6, and the beam port treatment center point 700 needs to use a laser tracker to perform circle fitting on the end face of the treatment head to obtain the coordinates of the circle center, and extend the coordinates outward by 400 mm.

[0224] A verification method for the positioning accuracy of a non-isocentric treatment room, which uses the multifunctional radiotherapy verification device of Embodiment 1 to verify the positioning accuracy of the non-isocentric treatment room; the verification method comprises the following steps:

[0225] S1: Calibrate the patient treatment system, the laser positioning system and the image-guided radiotherapy system in the non-isocentric treatment room respectively in advance;

[0226] S2: The mechanical arm drives the treatment couch to move the cubic phantom to the center point of the laser positioning system; the scale lines on the cubic phantom are aligned with the corresponding direction laser lines of the laser positioning system, and it is confirmed that the mark point of the cubic phantom coincides with the center point of the laser positioning system, so as to obtain the first positioning deviation of the cubic phantom relative to the laser positioning system;

[0227] S3: The mechanical arm drives the treatment couch to move the cubic phantom to the center point of the image-guided radiotherapy system; the image-guided radiotherapy system is used to take a photograph of the cubic phantom, it is confirmed that the mark point of the cubic phantom is located at the center of the obtained image, and the image registration software is used to perform registration calculation on the obtained image to obtain the second position deviation of the cubic phantom relative to the image-guided radiotherapy system;

[0228] S4: The mechanical arm drives the treatment bed plate to move the cubic phantom to the treatment position beam center point; the first and second positioning deviations are used to correct the position of the cubic phantom marker point;

[0229] S5: The laser tracker is used to test and calculate the coordinates of the current cubic phantom marker point, which is consistent with the coordinate value of the treatment position beam center point, and the non-isocentric treatment room radiotherapy positioning system is accurate.

[0230] The above process can be used as a daily QA process for patient positioning accuracy in the combined use of various systems in the treatment room.

[0231] The multifunctional radiotherapy verification device, positioning system and verification method in the above embodiment can quickly verify the position deviation of the treatment bed plate, the movement range of the bed surface, the center rotation range of the patient support device, the accuracy of the lateral movement and rotation movement of the patient support device under the premise of using the laser tracker; the line width of the laser positioning system, the perpendicularity of the orthogonal laser lines and the center point position of the laser positioning system are verified; the image guided radiotherapy system image guided range, the accuracy of the positioning correction calculation, the geometric position relationship, the center point position, and whether the two groups of X-ray beam axes are coplanar are quickly verified. Through the use of the multifunctional radiotherapy verification device, the complicated device adjustment process is reduced, and the system error caused by the difference in user operation is reduced.

Claims

1. A multifunctional radiotherapy calibration device, characterized in that: The device includes a laser tracker target ball assembly, a calibration device body (100) with orthogonal scribe lines (12) on a support plate, and a cubic mold (3) with orthogonal scribe lines (32) on the mold body. Several target ball positioning holes are provided on the calibration device body (100) and the cubic mold (3), wherein the target ball positioning holes on the cubic mold are respectively located at the center of each face of the cubic mold. The calibration device body (100) is provided with a surface positioning structure (200) for XYZ three-direction surface mating and positioning with the cubic mold (3). A target ball center positioning hole (24) is provided at the orthogonal point of the orthogonal scribe lines (12) on the support plate. The verification device body (100) is movable and adjustable to the treatment bed board. The verification device body (100) moves relative to the treatment bed board, and the robotic arm drives the treatment bed board to move. The calibration device body is also equipped with at least three non-collinear laser tracker target ball assemblies; The cubic mold (3) has orthogonal engravings (32) on its five sides: front, back, left, right and top. The cubic mold (3) has multiple tungsten metal spheres (36) inside.

2. The multifunctional radiotherapy calibration device according to claim 1, characterized in that: Laser line width marking scale lines (35) are provided at both ends of each orthogonal scale line (32) of the mold body; the width of the laser line width marking scale line (35) is greater than the width of the orthogonal scale line (32) of the mold body and is consistent with the width of the orthogonal scale line (12) of the support plate on the body of the calibration device.

3. The multifunctional radiotherapy calibration device according to claim 2, characterized in that: The bottom of the cubic mold (3) is provided with a positioning surface mounting structure, which includes a positioning ring.

4. The multifunctional radiotherapy calibration device according to any one of claims 1 to 3, characterized in that: It also includes a pull claw mechanism (6) for adjusting the connection between the calibration device body and the treatment bed board, the pull claw mechanism (6) including a pull claw assembly (7).

5. A multifunctional radiotherapy positioning system, characterized in that: The multifunctional radiotherapy calibration device, including any one of claims 1 to 4, further includes a patient support system (400), a laser positioning system (500), and an image-guided radiotherapy system (600), wherein the multifunctional radiotherapy calibration device is mounted on the treatment bed of the patient support system (400).

6. A multifunctional radiotherapy positioning and verification method, characterized in that: The multifunctional radiotherapy calibration device according to any one of claims 1 to 4 specifically includes the following steps: S1: Connect the calibration device body to the treatment bed board; S2: Select the number and position of the cubic phantom and the laser tracker target ball assembly; S3: Verify the patient support system, laser positioning system, and image-guided radiotherapy system.

7. The multifunctional radiotherapy positioning and verification method according to claim 6, characterized in that: S21: Select at least three non-collinear support plate target ball base positioning holes, including the target ball center positioning hole, on the calibration device body, and install the laser tracker target ball assembly to calibrate the patient support system.

8. The multifunctional radiotherapy positioning and verification method according to claim 7, characterized in that: S22: Install the cubic phantom on the surface positioning structure (200) of the calibration device body (100), install the laser tracker target ball assembly on the target ball positioning holes on the YZ plane, XY plane and XZ plane of the cubic phantom respectively, and make them consistent with the theoretical coordinate values ​​of the X, Z and Y axes of the positioning center point of the laser positioning system and the center point of the image-guided radiotherapy system respectively, and calibrate the laser positioning system and the image-guided radiotherapy system.

9. The multifunctional radiotherapy positioning and verification method according to claim 6, characterized in that: The method for validating the patient support system includes the following steps: S311: Multi-point tracking measurement: Select at least 3 non-collinear support plate target ball base positioning holes on the calibration device body, including the target ball center positioning hole, and install the laser tracker target ball respectively; S312: Use a laser tracker to collect multi-point coordinate information of the treatment bed board at any position, and use the multi-point coordinate information to calculate the position and orientation of the center point of the treatment area on the treatment bed board at that position. S313: Verify the accuracy performance requirements of bed surface position deviation, bed surface movement range, patient support device center rotation range, and lateral and rotational movement of the patient support device through data calculation results.

10. The multifunctional radiotherapy positioning and verification method according to claim 6, characterized in that: The verification method for image-guided radiotherapy systems includes the following steps: S331: Install the cubic phantom on the surface positioning structure of the calibration device body, so that the axes of the target ball positioning holes on the YZ plane, XY plane, and XZ plane at the center of the cubic phantom are respectively in the same plane; S332: The robotic arm drives the treatment bed to move the cubic phantom to the positioning center of the image-guided radiotherapy system. Laser tracker target balls are installed in the target ball positioning holes on the YZ plane, XY plane, and XZ plane, respectively, and the X, Z, and Y coordinate values ​​of the target balls are made consistent with the X, Z, and Y values ​​of the center point of the laser-guided radiotherapy system. The target ball at the center of the cubic phantom is positioned to the center point of the image-guided radiotherapy system. S333: Use the exposure function of the image-guided radiotherapy system to check whether the photographic image left by the tungsten metal ball on the detector plate coincides with the X-ray imaging center; if the images do not coincide, adjust the position of the plate detector until the images coincide.

11. A multifunctional radiotherapy positioning and verification method, characterized in that: The use of the multifunctional radiotherapy calibration device as described in claim 2 specifically includes the following steps: S1: Connect the calibration device body to the treatment bed board; S2: Select the number and position of the cubic phantom and the laser tracker target ball assembly; S3: Verify the patient support system, laser positioning system, and image-guided radiotherapy system; The verification method for the laser positioning system includes the following steps: S321: Install the cubic phantom on the surface positioning structure of the calibration device body, so that the axes of the target ball positioning holes on the YZ plane, XY plane, and XZ plane passing through the center of the cubic phantom are respectively in the same plane; S322: The robotic arm drives the treatment bed board to move the cubic model to the positioning center of the laser positioning system. Laser tracker target balls are installed in the target ball positioning holes on the YZ plane, XY plane, and XZ plane respectively, and are made to coincide with the theoretical values ​​of the X, Z, and Y axes of the positioning center point of the laser positioning system respectively. S323: Verify that each laser line falls in the middle of the laser line width marking scale line to confirm the laser positioning line width and laser positioning accuracy; when verifying the laser line width, use the support plate on the verification device body to orthogonally mark the laser line width and straightness to recheck the laser line width and straightness. The XZ plane laser line falls completely within the horizontal scale line, and the YZ plane laser line falls completely within the vertical scale line. S324: Align the laser line with the XOZ, YOZ, and XOY plane scale lines of the cubic phantom to confirm that the XOZ, YOZ, and XOY plane laser beams pass through the center point of the laser positioning system respectively.

12. A method for verifying the accuracy of patient placement in a non-isocentric treatment room, characterized in that: The device utilizes the multifunctional radiotherapy calibration apparatus described in any one of claims 1 to 4 to calibrate the positioning accuracy in non-isocentric treatment rooms; the calibration method includes the following steps: S1: Pre-calibrate the patient treatment system, laser positioning system, and image-guided radiotherapy system in the non-isocentric treatment room; S2: The robotic arm moves the treatment bed board to the center point of the laser positioning system, so that the scale lines on the cube phantom are aligned with the corresponding laser lines of the laser positioning system. The marked points on the cube phantom coincide with the center point of the laser positioning system, thereby obtaining the first positioning deviation of the cube phantom relative to the laser positioning system. S3: The robotic arm moves the treatment bed to the center point of the image-guided radiotherapy system; the image-guided radiotherapy system is used to photograph the phantom, confirming that the phantom's marker point is located in the center of the obtained image, and the image registration software is used to perform registration calculations on the obtained image to obtain the second positional deviation of the phantom relative to the image-guided radiotherapy system. S4: The robotic arm moves the treatment bed board to the center point of the treatment beam; the position of the marked point on the cubic phantom is corrected according to the first and second positioning deviations; S5: Calculate the coordinates of the current cubic phantom marker point. If the coordinates are consistent with the coordinates of the beam center point of the treatment position, then the radiotherapy positioning system of the non-isocentric treatment room is accurate.

Images