Calibration image generation system and method for bed position calibration

Abstract

The present application provides a system and method for bed position calibration. The method can include acquiring one or more first images of a bed at one or more first positions in a first device, each of the one or more first images corresponding to one of the one or more first positions, wherein the bed includes a marker intersecting a first reference plane of the first device at at least two first intersection points; determining a first position at which each of the at least two first intersection points appears in each of the one or more first images; acquiring association information between the first position and an actual position of each of the at least two first intersection points; and determining one or more calibration images based on the association information and the one or more first images.

Description

Case Analysis

[0001] This application is a divisional application of Chinese application filed on September 27, 2020, application number 202080085006.7, entitled "System and method for generating calibration images for bed position calibration". This application claims priority to international patent application filed on December 11, 2019, application number PCT / CN2019 / 124645, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application generally relates to systems and methods for image-guided radiotherapy (IGRT), and more specifically, to methods and systems for generating calibration images for bed positioning calibration. Background Technology

[0003] Image-guided radiotherapy (IGRT) systems, which simultaneously employ imaging equipment (such as computed tomography (CT) equipment) and treatment equipment, are widely used in the clinical treatment of cancer and other situations. During the use of an IGRT system, the subject (e.g., the patient) can lie on a bed and move between the imaging and treatment equipment. For example, the patient can receive a scan or imaging under the imaging equipment and treatment under the treatment equipment. However, because the bed may shift as it moves between the imaging and treatment equipment, the bed position within the imaging and / or treatment equipment needs to be calibrated. Typically, bed position calibration is based on calibration images. Therefore, it is desirable to provide a system and method for generating calibration images for bed position calibration. Summary of the Invention

[0004] A first aspect of this application provides a method for calibrating the position of a hospital bed. The method can be performed by a device including at least one processor and at least one storage device. The method includes: acquiring one or more first images of a hospital bed at one or more first positions in a first device, each of the one or more first images corresponding to one of the one or more first positions, wherein the hospital bed includes markers that intersect a first reference plane of the first device at at least two first intersection points; determining a first position presented by each of the at least two first intersection points in each of the one or more first images; acquiring association information between the presented first position and the actual position of each of the at least two first intersection points; and determining one or more calibration images based on the association information and the one or more first images.

[0005] In some embodiments, the one or more first positions may include positions arranged at equal intervals along the length of the bed.

[0006] In some embodiments, the marker may include at least one of an N-shaped marker, an M-shaped marker, an S-shaped marker, a V-shaped marker, an A-shaped marker, or a W-shaped marker.

[0007] In some embodiments, obtaining the association information between the presented first position and the actual position of each of the at least two first intersections may include: obtaining a test first image of a test position of the bed in the first device, the test first image including the presentation of at least two test first intersections of the marker; determining a test first position of each of the at least two test first intersections presented in the test first image; obtaining a third image of the bed at the test position; and determining, based on the test first image and the third image, the association information between the presented test first position of the at least two test first intersections and the actual position of the at least two test first intersections in the bed.

[0008] In some embodiments, at least one of the first image, the calibration image, or the test first image is a two-dimensional image, and the third image is a three-dimensional image.

[0009] In some embodiments, the method may further include: acquiring a second image of the bed at a second position in a second device, wherein the marker intersects a second reference plane of the second device at at least two second intersection points; determining a second isocenter position of the second isocenter of the second device in the second image and a second position of each of the at least two second intersection points in the second image; and determining the difference between the position of the bed in the first device and the position of the bed in the second device based on the one or more calibration images, the presented second isocenter position, and the presented second position.

[0010] In some embodiments, the difference between the position of the bed in the first device and the position of the bed in the second device may include a difference in a first coordinate of the second position along the length direction of the bed. Determining the difference between the position of the bed in the first device and the position of the bed in the second device based on the one or more calibration images, the presented second isocenter position, and the presented second position may include: determining a reference calibration image corresponding to the second image from the one or more calibration images based on the at least two second intersection points in the second image, the reference calibration image being determined based on a reference first image obtained at a reference first position in the first device; and specifying the coordinate of the reference first position along the length direction of the bed as the first coordinate of the second position along the length direction of the bed.

[0011] In some embodiments, determining a reference calibration image from one or more calibration images based on the at least two second intersections in the second image may include: determining a calibration feature between at least two calibration intersections of each of the one or more calibration images, each of the at least two calibration intersections corresponding to one of the at least two first intersections; determining a second feature between the at least two second intersections in the second image; and determining the reference calibration image based on the calibration feature and the second feature.

[0012] In some embodiments, determining the reference calibration image based on the calibration feature and the second feature may include: identifying a calibration image having a calibration feature that matches the second feature from one or more calibration images; and designating the identified calibration image as the reference calibration image.

[0013] In some embodiments, the at least two second intersection points may include intersection point A, intersection point B, and intersection point C. The second feature may include at least one of the following: a first distance between intersection point A and intersection point B, a second distance between intersection point B and intersection point C, a ratio of the first distance to the second distance, a ratio of the second distance to the first distance, or a difference between the first distance and the second distance.

[0014] In some embodiments, the difference between the position of the bed in the first device and the position of the bed in the second device may include the difference between the position of the bed in the first device and the position of the bed in the second device in the width direction of the bed. Determining the difference between the position of the bed in the first device and the position of the bed in the second device based on the one or more calibration images, the presented second isocenter position, and the presented second position may further include: determining the reference calibration isocenter position presented by the first isocenter of the first device in the reference calibration image, and the reference calibration position presented by each of at least two reference calibration intersections in the reference calibration image; and determining the difference between the position of the bed in the first device and the position of the bed in the second device in the width direction of the bed based on the presented second isocenter position, the presented second position, the presented reference calibration position, and the presented reference calibration isocenter position.

[0015] In some embodiments, the first device may include an imaging device and the second device may include a treatment device; or the first device may include a treatment device and the second device may include an imaging device.

[0016] A second aspect of this application provides a hospital bed position calibration system. The system may include at least one storage device storing executable instructions, and, when executing the executable instructions, at least one processor communicates with at least one storage device such that the system performs operations including: acquiring one or more first images of a hospital bed at one or more first positions in a first device, each of the one or more first images corresponding to one of the one or more first positions, wherein the hospital bed includes markers that intersect a first reference plane of the first device at at least two first intersection points; determining a first position presented by each of the at least two first intersection points in each of the one or more first images; acquiring association information between the presented first position and the actual position of each of the at least two first intersection points; and determining one or more calibration images based on the association information and the one or more first images.

[0017] A third aspect of this application provides a non-transitory computer-readable medium storing at least one set of instructions. When executed by at least one processor, the at least one set of instructions causes the at least one processor to perform a method. The method includes: acquiring one or more first images of a hospital bed at one or more first locations in a first device, each of the one or more first images corresponding to one of the one or more first locations, wherein the hospital bed includes markers that intersect a first reference plane of the first device at at least two first intersection points; determining a first position of each of the at least two first intersection points presented in each of the one or more first images; acquiring association information between the presented first position and the actual position of each of the at least two first intersection points; and determining one or more calibration images based on the association information and the one or more first images.

[0018] Some of the additional features of this application can be described in the following description. Some of the additional features of this application will be apparent to those skilled in the art through study of the following description and the corresponding drawings, or through understanding of the production or operation of the embodiments. The features and implementations of this application can be realized and implemented by practicing or using various aspects of the methods, tools, and combinations set forth in the detailed examples discussed below. Attached Figure Description

[0019] This application will be further described through exemplary embodiments. These exemplary embodiments will be described in detail with reference to the accompanying drawings. The drawings are not drawn to scale. These embodiments are non-limiting exemplary embodiments, in which the same numbers in the figures denote similar structures, wherein: Figure 1 This is a schematic diagram of an exemplary medical system including a bed position calibration system according to some embodiments of this application; Figure 2 These are schematic diagrams of exemplary hardware and / or software components of a computing device according to some embodiments of this application; Figure 3 These are schematic diagrams of the hardware and / or software components of an exemplary mobile device according to some embodiments of this application; Figure 4A This is a schematic diagram illustrating an exemplary radiation delivery device according to some embodiments of this application; Figure 4B This is a schematic diagram illustrating an exemplary radiation delivery device according to some embodiments of this application; Figure 5A This is a schematic diagram of an exemplary hospital bed according to some embodiments of this application; Figure 5BThis is a schematic diagram of an exemplary hospital bed according to some embodiments of this application; Figure 5C This is a schematic diagram of an exemplary hospital bed according to some embodiments of this application; Figure 5D This is a schematic diagram of an exemplary hospital bed according to some embodiments of this application; Figure 6 This is a block diagram of an exemplary processing device according to some embodiments of this application; Figure 7 This is a flowchart illustrating an exemplary process for determining a calibration image according to some embodiments of this application; Figure 8 This is a flowchart illustrating an exemplary process for determining, according to some embodiments of the present application, the association information between the first position of each of at least two first intersections of a marker presented in a first image and the actual position of each of the at least two first intersections of the marker; Figure 9 This is a flowchart of an exemplary process for calibrating the position of a hospital bed according to some embodiments of this application; Figure 10 This is a flowchart illustrating an exemplary process for determining a reference calibration image according to some embodiments of this application; and Figure 11 This is a flowchart illustrating an exemplary process for determining the difference between the position of a hospital bed in a first device and the position of a hospital bed in a second device, according to some embodiments of this application. Detailed Implementation

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. However, those skilled in the art should understand that this application can be implemented without these details. In other instances, to avoid unnecessarily obscuring various aspects of this application, well-known methods, processes, systems, components, and / or circuits have been described at a higher level. It will be apparent to those skilled in the art that various changes can be made to the disclosed embodiments, and the general principles defined in this application can be applied to other embodiments and application scenarios without departing from the principles and scope of this application. Therefore, this application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope of the claims.

[0021] The terminology used in this application is for the purpose of describing particular exemplary embodiments only and is not restrictive. The singular forms “a,” “an,” and “the” used in this application may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and “including” as used in this specification indicate only the presence of the stated features, integers, steps, operations, components, and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, components, parts, and / or combinations thereof.

[0022] It should be understood that the terms “system,” “equipment,” “unit,” “cell,” “module,” and / or “block” are an ascending order used to distinguish different components, elements, parts, sections, or assemblies at different levels. However, these terms can be replaced with other expressions if the same purpose can be achieved.

[0023] Generally, the terms "module," "unit," or "block" used herein refer to logic embodied in hardware or firmware, or a collection of software instructions. The modules, units, or blocks described herein can be implemented as software and / or hardware and can be stored on any type of non-transitory computer-readable medium or other storage device. In some embodiments, software modules / units / blocks can be compiled and linked into an executable program. It should be understood that software modules can be invoked from other modules / units / blocks or from themselves, and / or can be invoked in response to detected events or interrupts. The software modules / units / blocks configured for execution on a computing device (e.g., such as...) Figure 2 The processor 210 shown herein may be located on a computer-readable medium, such as an optical disc, digital video disc, flash drive, disk, or any other tangible medium, or as a digital download (and may be initially stored in a compressed or installable format that requires installation, decompression, or decryption prior to execution). The software code herein may be stored, in part or in whole, in the storage device of the computing device performing the operation and applied in the operation of the computing device. Software instructions may be embedded in firmware, such as EPROM. It should also be understood that hardware modules / units / blocks may be included in connected logical components, such as gates and flip-flops, and / or may include programmable units, such as programmable gate arrays or processors. The modules / units / blocks or computing device functions described herein may be implemented as software modules / units / blocks, but may be represented in hardware or firmware. Generally, the modules / units / blocks described herein refer to logical modules / units / blocks that may be combined with other modules / units / blocks or divided into submodules / subunits / subblocks, although they are physical organization or storage devices. This description may apply to a system, an engine, or a part thereof.

[0024] It is understood that, unless the context explicitly states otherwise, when a unit, engine, module, or block is referred to as being "on," "connected," or "coupled to" another unit, engine, module, or block, it may be directly on, connected to, coupled to, or communicate with that other unit, engine, module, or block, or there may be intermediate units, engines, modules, or blocks. In this application, the term "and / or" may include any one or more of the relevant listed items or a combination thereof.

[0025] These and other features, characteristics, functions and operating methods of related structural elements, as well as component assembly and manufacturing economics, will become more apparent from the following description of the accompanying drawings, which form part of this application specification. However, it should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of this application. It should also be understood that the drawings are not drawn to scale.

[0026] This document provides systems and components for non-invasive imaging and / or treatment (e.g., for disease diagnosis, treatment, or research purposes). In some embodiments, the system may include an RT system, a computed tomography (CT) system, an emission computed tomography (ECT) system, an X-ray imaging system, a positron emission tomography (PET) system, or any combination thereof. For illustrative purposes, this application describes systems and methods for radiotherapy.

[0027] One aspect of this application relates to a bed positioning calibration system. The bed positioning calibration system may include a treatment device, an imaging device, and a bed that moves between the treatment device and the imaging device along a first direction in a first coordinate system. The bed may have at least two cross-sections perpendicular to the first direction. The bed may also include markers extending along the first direction.

[0028] In some implementations, when a subject is undergoing image-guided radiotherapy (IGRT), such as a CT scan followed by radiotherapy, the subject can receive radiotherapy in an RT device after being scanned in a CT scanner. Specifically, the subject can lie on a hospital bed during the CT scan. After the CT scan, the subject can be moved along with the bed to a specific position in the RT device to receive radiotherapy. However, due to the deformation caused by the bed movement and the accumulation of control errors, there is a certain amount of change between the positioning coordinate system of the CT device and the positioning coordinate system of the RT device, thereby affecting the efficiency of clinical operation and / or the efficacy of radiotherapy. Some embodiments of this application relate to calibration methods and systems for determining the difference between the position of the bed in the imaging device and the position of the bed in the treatment device using markers included in the bed.

[0029] Figure 1This is a schematic diagram of an exemplary bed position calibration system according to some embodiments of this application. The bed position calibration system 100 may include a radiation delivery device 110, a network 120, a terminal 130, a processing device 140, and a storage device 150. In some embodiments, two or more components of the bed position calibration system 100 may be connected to and / or communicate with each other via a wireless connection (e.g., network 120), a wired connection, or a combination thereof. The connections between the components of the bed position calibration system 100 may be different. By way of example only, the radiation delivery device 110 may be connected to the processing device 140 via the network 120 or directly. As another example, the storage device 150 may be connected to the processing device 140 via the network 120 or directly.

[0030] The radiation delivery device 110 may include an imaging device 113, a treatment device 116, a hospital bed 114, etc. The imaging device 113 may be configured to acquire images of a subject before, during, and / or after radiation therapy. Subjects may include biological subjects (e.g., humans, animals, plants, or parts thereof) and / or non-biological subjects (e.g., phantoms). For example, the imaging device may include a computed tomography (CT) device (e.g., cone-beam computed tomography (CBCT) device, fan-beam computed tomography (FBCT) device), an ultrasound imaging device, a fluoroscopic imaging device, a magnetic resonance imaging (MRI) device, a single-photon emission computed tomography (SPECT) device, a positron emission tomography (PET) device, an X-ray imaging device, etc., or any combination thereof. For illustrative purposes, a CT device is used as an exemplary imaging device 113 in this application, and this is not intended to be limiting.

[0031] In some embodiments, the imaging device 113 may include an imaging radiation source 115, a detector 112, a gantry 111, etc. The imaging radiation source 115 and the detector 112 may be mounted on the gantry 111. The imaging radiation source 115 may emit radiation toward the subject. The detector 112 may detect radiation events (e.g., X-ray photons, gamma-ray photons) emitted from the imaging area of ​​the imaging device 113. In some embodiments, the detector 112 may include one or more detector units. Detector units may include scintillation detectors (e.g., cesium iodide detectors, gadolinium fluoride detectors), gas detectors, etc. Detector units may include single-row detectors and / or multi-row detectors.

[0032] Treatment device 116 can be configured to administer radiation therapy to a subject. Treatment device 116 may include a therapeutic radiation source 117, a gantry 118, and a collimator 119. The therapeutic radiation source 117 can be configured to emit therapeutic radiation toward the subject. In some embodiments, the therapeutic radiation source 117 may include a linear accelerator (LINAC). The collimator 119 can be configured to control the shape of the therapeutic radiation produced by the therapeutic radiation source 117.

[0033] In some embodiments, the hospital bed 114 may be arranged in a specific direction (e.g., as shown in the image). Figure 1 The coordinate system 160 (with the Y-axis direction shown) moves between the treatment device 116 and the imaging device 113. The bed 114 may include markers 170 extending along a specific direction. Markers 170 with positioning features can be used to determine the movement path of the bed 114. Further description of the bed 114 and / or markers 170 can be found elsewhere in this application. See also... Figures 4A to 9 And its related descriptions.

[0034] Network 120 may include any suitable network capable of facilitating information and / or data exchange with the bed position calibration system 100. In some embodiments, one or more components of the bed position calibration system 100 (e.g., radiation delivery device 110, terminal 130, processing device 140, storage device 150, etc.) may communicate information and / or data with one or more other components of the bed position calibration system 100 via network 120. For example, processing device 140 may obtain image data from radiation delivery device 110 via network 120. As another example, processing device 140 may obtain user instructions from terminal 130 via network 120. Network 120 may be or include public networks (e.g., the Internet), private networks (e.g., local area networks (LANs)), wired networks, wireless networks (e.g., 802.11 networks, Wi-Fi networks), Frame Relay networks, virtual private networks (VPNs), satellite networks, telephone networks, routers, hubs, switches, server computers, and / or any combination thereof. For example, network 120 may include a cable network, wired network, fiber optic network, telecommunications network, intranet, wireless local area network (WLAN), metropolitan area network (MAN), public switched telephone network (PSTN), Bluetooth network, cellular network, near field communication (NFC), and any combination thereof. In some embodiments, network 120 may include one or more network access points. For example, network 120 may include wired and / or wireless network access points, such as base stations and / or internet exchange points that can be connected to network 120 to exchange data and / or information.

[0035] Terminal 130 enables user interaction between the user and the bed location calibration system 100. In some embodiments, terminal 130 may include a mobile device 131, a tablet computer 132, a laptop computer 133, etc., or any combination thereof. In some embodiments, mobile device 131 may include smart home devices, wearable devices, mobile devices, virtual reality devices, augmented reality devices, etc., or any combination thereof. By way of example only, terminal 130 may include, for example... Figure 3 The mobile devices shown are described. In some embodiments, smart home devices may include smart lighting devices, smart appliance control devices, smart monitoring devices, smart TVs, smart cameras, walkie-talkies, etc., or any combination thereof. In some embodiments, wearable devices may include bracelets, shoes, glasses, helmets, watches, clothing, backpacks, smart accessories, etc., or any combination thereof. In some embodiments, mobile devices may include mobile phones, personal digital assistants (PDAs), gaming devices, navigation devices, point-of-sale (POS) devices, laptops, tablets, desktop computers, etc., or any combination thereof. In some embodiments, virtual reality devices and / or augmented reality devices may include virtual reality helmets, virtual reality glasses, virtual reality goggles, augmented reality helmets, augmented reality glasses, augmented reality goggles, etc., or any combination thereof. For example, virtual reality devices and / or augmented reality devices may include Google Glass™, Oculus Rift™, HoloLens™, Gear VR™, etc. In some embodiments, terminal 130 may be part of processing device 140.

[0036] Processing device 140 can process information obtained from radiation delivery device 110, terminal 130, and / or storage device 150. In some embodiments, processing device 140 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processing device 140 may be local or remote. For example, processing device 140 may access information stored in radiation delivery device 110, terminal 130, and / or storage device 150 via network 120. As another example, processing device 140 may be directly connected to radiation delivery device 110, terminal 130, and / or storage device 100 to access stored information. In some embodiments, processing device 140 may be implemented on a cloud platform. By way of example only, the cloud platform may include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-tiered cloud, etc., or any combination thereof. In some embodiments, processing device 140 may be provided by, for example, Figure 2 The computing device 200 shown is implemented with one or more components.

[0037] Storage device 150 can store data, instructions, and / or any other information. In some embodiments, storage device 150 can store data obtained from terminal 130 and / or processing device 140. In some embodiments, storage device 150 can store data and / or instructions that processing device 140 can execute or be used to execute the exemplary methods described in this application. In some embodiments, storage device 150 can include mass storage devices, removable storage devices, volatile read-write memory, read-only memory (ROM), etc., or any combination thereof. Exemplary mass storage devices can include disks, optical disks, solid-state drives, etc. Exemplary removable storage devices can include flash drives, floppy disks, optical disks, memory cards, zipper disks, magnetic tapes, etc. Exemplary volatile read-write memory can include random access memory (RAM). Exemplary RAM can include dynamic random access memory (DRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), and zero-capacitance random access memory (Z-RAM), etc. Exemplary ROMs may include mask ROMs (MROMs), programmable ROMs (PROMs), erasable programmable ROMs (EPROMs), electrically erasable programmable ROMs (EEPROMs), optical disc ROMs (CD-ROMs), and digital multifunction disk ROMs, etc. In some embodiments, the storage device 150 may be implemented on a cloud platform. By way of example only, the cloud platform may include private clouds, public clouds, hybrid clouds, community clouds, distributed clouds, internal clouds, multi-tiered clouds, etc., or any combination thereof.

[0038] In some embodiments, storage device 150 may be connected to network 120 to communicate with one or more other components of bed position calibration system 100 (e.g., processing device 140, terminal 130). One or more components of bed position calibration system 100 may access data and / or instructions stored in storage device 150 via network 120. In some embodiments, storage device 150 may be directly connected to or communicate with one or more other components of bed position calibration system 100 (e.g., processing device 140, terminal 130). In some embodiments, storage device 150 may be part of processing device 140.

[0039] For illustrative purposes, Figure 1 It provides a coordinate system 160 including the X-axis, Y-axis and Z-axis. Figure 1 The X and Y axes shown can be horizontal, and the Z axis can be vertical. As shown, when viewed from the front facing the radiation delivery device 110, the positive direction of the X axis can be from the left to the right side of the bed 114; Figure 1 The positive direction of the Y-axis shown can be from the tail to the head of bed 114; Figure 1The positive direction of the Z-axis can be from the bottom to the top of the gantry 118. In some embodiments, the direction along the X-axis can be referred to as the width direction of the bed. In some embodiments, the direction along the Y-axis can be referred to as the length direction of the bed. The origin of coordinate system 160 can be located at any suitable location. For example, the origin can be located at the isocenter of the LINAC of the treatment device 116, and coordinate system 160 can be referred to as the RT coordinate system. As another example, the imaging device 113 can be a CT device. The origin of coordinate system 160 can be located at the rotation center of the gantry 111 of the CT device, and coordinate system 160 can be referred to as the CT coordinate system. For ease of description, the coordinates of an entity along the X-axis, Y-axis, and Z-axis of the coordinate system are also referred to as the X-coordinate, Y-coordinate, and Z-coordinate of the entity in the coordinate system, respectively.

[0040] It should be noted that the above description of the bed position calibration system 100 is for illustrative purposes only and is not intended to limit the scope of this application. Various changes and modifications can be made based on the description of this application by those skilled in the art. However, these changes and modifications do not depart from the scope of this application. In some embodiments, the bed position calibration system 100 may include one or more other components, and / or one or more of the aforementioned components of the bed position calibration system 100 may be omitted. Additionally or alternatively, two or more components of the bed position calibration system 100 may be integrated into a single component. Components of the bed position calibration system 100 may be implemented on two or more sub-components. In some embodiments, Figure 1 Coordinate system 160 in the diagram is an exemplary coordinate system for illustrative purposes and can be modified. For example, the axes of coordinate system 160 may differ from the axes (e.g., the X-axis, Y-axis, and Z-axis) in the example above. Furthermore, although the following description discusses determining the position of an entity by determining its coordinates in a particular coordinate system through various examples, it should be understood that the position of an entity can be determined by determining its coordinates in other coordinate systems (e.g., coordinate systems with known transformation relationships to the particular coordinate system).

[0041] Figure 2 This is a schematic diagram of exemplary hardware and / or software components of a computing device according to some embodiments of this application. The computing device 200 can be used to implement any component of the bed position calibration system 100 as described herein. For example, processing device 140 and / or terminal 130 can be implemented on the computing device 200 respectively via their hardware, software programs, firmware, or combinations thereof. Although only one such computing device is shown, for convenience, the computer functions related to the bed position calibration system 100 as described herein can be implemented in a distributed manner on many similar platforms to distribute the processing load. Figure 2As shown, computing device 200 may include processor 210, memory 220, input / output (I / O) 230 and communication port 240.

[0042] Processor 210 may execute computer instructions (e.g., program code) and perform the functions of processing device 140 according to the techniques described herein. Computer instructions may include, for example, routines, programs, objects, components, data structures, procedures, modules, and functions that perform the specific functions described herein. For example, processor 210 may process image data obtained from any other component of radiation delivery device 110, terminal 130, storage device 150, and / or bed position calibration system 100. In some embodiments, processor 210 may include one or more hardware processors, such as microcontrollers, microprocessors, reduced instruction set computers (RISC), application-specific integrated circuits (ASICs), application-specific instruction set processors (ASIPs), central processing units (CPUs), graphics processing units (GPUs), physical processing units (PPUs), microcontroller units, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), advanced RISC machines (ARMs), programmable logic devices (PLDs), any circuit or processor capable of performing one or more functions, or any combination thereof.

[0043] The memory 220 may store data obtained from one or more components of the bed position calibration system 100. In some embodiments, the memory 220 may include a mass storage device, a removable storage device, a volatile read-write memory, a read-only memory (ROM), or any combination thereof. In some embodiments, the memory 220 may store one or more programs and / or instructions to perform the exemplary methods described in this application. For example, the memory 220 may store a program executed by the processing device 140 to check for deviations in a replanning process.

[0044] I / O 230 can input and / or output signals, data, information, etc. In some embodiments, I / O 230 enables a user to interact with processing device 140. In some embodiments, I / O 230 may include input devices and output devices. Input devices may include a keyboard that can input alphanumeric and other keys, a touchscreen (e.g., with haptic or haptic feedback), voice input, eye-tracking input, a brain monitoring system, or any other similar input mechanism. Input information received through the input device may be transmitted via, for example, a bus to another component (e.g., processing device 140) for further processing. Other types of input devices may include cursor control devices, such as a mouse, trackball, or cursor arrow keys. Output devices may include a display (e.g., a liquid crystal display (LCD), a light-emitting diode (LED) based display, a flat panel display, a curved screen, a television device, a cathode ray tube (CRT), a touchscreen), a speaker, a printer, etc., or combinations thereof.

[0045] Communication port 240 can be connected to a network (e.g., network 120) to facilitate data communication. Communication port 240 can establish a connection between processing device 140 and radiation delivery device 110, terminal 130, and / or storage device 150. The connection can be a wired connection, a wireless connection, any other communication connection that enables data transmission and / or reception, and / or any combination of these connections. Wired connections can include, for example, cables, optical fibers, telephone lines, etc., or any combination thereof. Wireless connections can include, for example, Bluetooth links, Wi-Fi links, WiMAX links, WLAN links, Zigbeetm links, mobile network links (e.g., 3G, 4G, 5G), or any combination thereof. In some embodiments, communication port 240 can be and / or includes standardized communication ports, such as RS232, RS485, etc. In some embodiments, communication port 240 can be a specifically designed communication port. For example, communication port 240 can be designed according to the Medical Digital Imaging and Communication (DICOM) protocol.

[0046] Figure 3 These are schematic diagrams of exemplary hardware and / or software components of an exemplary mobile device according to some embodiments of this application. In some embodiments, terminal 130 and / or processing device 140 may be implemented on mobile device 300, respectively. Figure 3As shown, the mobile device 300 may include a communication platform 310, a display 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, I / O 350, memory 360, and storage 390. In some embodiments, any other suitable components, including but not limited to a system bus or controller (not shown), may also be included within the mobile device 300. In some embodiments, a mobile operating system 370 (e.g., iOS™, Android™, Windows Phone™) and one or more applications 380 may be loaded from storage 390 into memory 360 for execution by CPU 340. Application 380 may include a browser or any other suitable mobile application for receiving and presenting information related to the bed position calibration system 100. User interaction with the information flow may be achieved through I / O 350 and provided via network 120 to processing device 140 and / or other components of the bed position calibration system 100.

[0047] To implement the various modules, units, and functions described in this application, a computer hardware platform may be used as the hardware platform for one or more of the components described herein. A computer with user interface elements may be used to implement a personal computer (PC) or any other type of workstation or terminal device. If the computer is properly programmed, it may also be used as a server.

[0048] Figure 4A and 4B This is a schematic diagram of an exemplary radiation delivery device 110 according to some embodiments of this application. The radiation delivery device 110 may include a treatment device, an imaging device (e.g., a CT scanner), a bed 114, and a bed base 403. The treatment device may include a treatment head 401 and a gantry 118. In some embodiments, the treatment head may include a LINAC, a therapeutic radiation source, a collimator, etc., or any combination thereof. The imaging device may include a gantry 111, an X-ray source, a detector, etc., or any combination thereof. The bed base 403 may be configured to support the bed 114.

[0049] In some embodiments, a subject may be placed on bed 114 for treatment and / or imaging. Subjects may include biological subjects and / or non-biological subjects. Exemplary biological subjects may include humans, animals, plants, or parts thereof (e.g., cells, tissues, organs, etc.). In some embodiments, a subject may include a region of interest (ROI) 402. ROI 402 may include an area of ​​the subject containing at least partially malignant tissue (e.g., a tumor, a cancerous organ, or a non-cancer target for radiotherapy) and / or other tissue (e.g., tissue surrounding malignant tissue). For example, ROI 402 may include a target and / or one or more organs at risk (OARs). A target may refer to an anatomical structure that needs to be tracked and / or monitored during radiotherapy. For example, a target may be a tumor that needs to be treated with radiation, an organ with a tumor, tissue with a tumor, or any combination thereof. An OAR may include an organ (or part thereof) and / or tissue that is close to the target and not intended to receive radiation, but is at risk of radiation damage due to its proximity to the target.

[0050] In some embodiments, the hospital bed 114 can be arranged along, for example, Figure 4A The Y-axis direction in the coordinate system 404 shown moves between the treatment device and the imaging device of the radiation delivery device 110 to move the subject to different positions.

[0051] Coordinate system 404 can be with Figure 1 The coordinate system 404 is similar to the reference coordinate system 160. Coordinate system 404 may include a Y-axis, a Z-axis, and an X-axis (which are perpendicular to the plane formed by the Y-axis and Z-axis). In some embodiments, the origin of coordinate system 404 can be located at any suitable position. For example, when the subject... Figure 4A When placed in the center, the origin of coordinate system 404 can be the midpoint of the head of bed 114 (e.g., as shown in the image). Figure 4A The location coincides with the leftmost edge or leftmost side of the bed shown. In some embodiments, this location can be represented by a set of coordinates (e.g., X, Y, and Z coordinates) in coordinate system 404. In some embodiments, coordinate system 404 may also be referred to as a fixed coordinate system relative to the radiation delivery device 110. A set of coordinates (e.g., X, Y, and Z coordinates) of an entity in coordinate system 404 can represent the position of the entity relative to the radiation delivery device 110.

[0052] In some embodiments, the radiation delivery device 110 can be used to deliver radiation therapy to a subject. Typically, before the subject begins radiation therapy (e.g., a few days or weeks before treatment begins), planning images (e.g., CT images) of the subject can be acquired using an imaging device (e.g., the imaging device of the radiation delivery device 110). As used herein, a planning image can refer to an image from which a treatment plan is developed for the subject. The treatment plan can describe how radiation therapy is planned to be performed on the subject, and more specifically, how one or more beams are delivered to the subject's ROI 402 during each treatment period over a treatment duration (e.g., several days). For example, the treatment plan can provide the total dose (e.g., 0.1 Gy, 10 Gy, 50 Gy, 100 Gy, etc.) and dose distribution in the ROI 402.

[0053] Typically, in order to perform the current phase of radiotherapy, the subject can be placed in a position such as... Figure 4A The location shown is shown, and the patient is moved via bed 114 to the position shown. Figure 4B The planned location is shown. For example, bed 114 can be moved to the planned location along a planned movement path according to instructions, where the planned movement path can be as follows: Figure 4B The path shown is parallel to the Y-axis and extends a specific distance ΔY along the Y-axis. However, due to one or more factors, such as operational errors, bed 114 may move along a different path than planned and reach a different position than planned. For example, the actual path of bed 114 may be at an angle to the Y-axis, which may cause a deviation between the actual position and the planned position of bed 114 along the X-axis, and consequently, a deviation between the actual position and the planned position of ROI 402 along the X-axis. As an example only, the angle between the actual path of bed 114 and the Y-axis can be represented as A (e.g., 0.1 degrees), and the distance of the actual path along the Y-axis can be represented as D (e.g., 2100 mm). The deviation between the actual position and the planned position of ROI 402 along the X-axis (represented as DX) can be determined according to the function... Confirmed. For example, the actual distance the hospital bed 114 moves along the Y-axis may be less than or greater than a specific distance Δy, which could cause a deviation between the actual position and the planned position of ROI 402 along the Y-axis. As yet another example, due to deformation and / or displacement of the hospital bed 114, the actual position of ROI 402 may deviate from its planned position along the Z-axis.

[0054] In some implementations, for example, treatment images of the subject can be acquired in the treatment device prior to radiotherapy. The treatment images and planning images may need to be registered against a common coordinate system to identify anatomical changes in ROI 402. In some embodiments, bed 114 may include markers with positioning features (e.g., marker 170). Further description of markers can be found elsewhere in this application. See, for example, the figures. Figures 5A to 8 And its related descriptions.

[0055] Figures 5A to 5C This is a schematic diagram of an exemplary hospital bed 114 according to some embodiments of this application. Figure 5A A top view of bed 114 is shown. Figure 5B and 5C Cross-sectional and perspective views of bed 114 are shown, respectively, with patient 503 lying on bed 114. Bed 114 may be a component of a radiation delivery device (e.g., radiation delivery device 110) that includes imaging and treatment equipment. The radiation delivery device may be configured to treat and / or image patient 503.

[0056] During treatment and / or imaging, patient 503 can follow such... Figure 5C The patient 503 lies on bed 114 along the Y-axis. Bed 114 can be configured to move between imaging and treatment devices along the Y-axis to position the patient 503 in a specific location (e.g., a treatment location or an imaging location). The origin of coordinate system 501 is located anywhere, such as the midpoint of the head of bed 114 (e.g., ...). Figure 5A (The leftmost edge or leftmost side of the bed 114 in the diagram). Optionally, the origin of coordinate system 501 may move as the bed 114 moves. In some embodiments, coordinate system 501 may also be referred to as a coordinate system relative to the bed 114. A set of coordinates (e.g., X, Y, and Z coordinates) of an entity in coordinate system 501 may represent the position of the entity relative to the bed 114.

[0057] like Figure 5A As shown, the hospital bed 114 may include a marker 170 extending along the Y-axis. In some embodiments, the marker 170 may be mounted using any mounting mechanism such as glue, adhesive, etc. Figure 5AThe patient 503 is shown on the surface of the bed 114. Alternatively, a marker 170 may be mounted within the bed 114. In some embodiments, the density of the marker 170 may differ from the density of the bed 114, such that the marker 170 can be distinguished from the bed 114 in an image including the marker 170 (or a portion thereof) and the bed 114 (or a portion thereof). In some embodiments, the material of the marker 170 may be associated with the type of imaging device of the radiation delivery device. For example, if the imaging device is a CT device, the marker 170 may include a metal, such as copper, iron, aluminum, etc., or any combination thereof. As another example, if the imaging device is an MRI device, the marker 170 may include oil.

[0058] The marker 170 can have any suitable shape and / or size. In some embodiments, different portions of the marker 170 can have a uniform diameter. Optionally, the diameter of the marker 170 can be within a predetermined range such that it can be identified by the imaging device. For example, the diameter of the marker 170 can be 0.2 mm to 1 mm, 0.5 mm to 1 mm, 1 mm to 2 mm, 3 mm to 5 mm, etc. In some embodiments, the diameter of the marker 170 can be equal to 0.5 mm, 1 mm, 2 mm, 3 mm, 4 mm, etc. In some embodiments, the marker 170 can cover the field of view (FOV) of the imaging device (e.g., as shown in the image). Figure 5A (FOV shown in dashed box 505 in the figure). As used herein, “covering FOV” can refer to the length of marker 170 along the Y-axis in coordinate system 501 being equal to or greater than the length of FOV along the Y-axis. For example, if the length of FOV along the Y-axis is 900 mm, then the length of marker 170 along the Y-axis can be any value greater than 900 mm, such as 1000 mm, 1100 mm, 1200 mm, 1500 mm, etc.

[0059] In some embodiments, the marker 170 may have a specific shape such that when the bed 114 is located at a position within the imaging device 113 or the treatment device 116, a feature value of the marker corresponding to the position of the bed 114 can be determined. In some embodiments, the feature values ​​of the marker corresponding to different positions of the bed 114 may be different. In some embodiments, the marker 170 may have at least two intersections with a reference plane of the imaging device 113 or the treatment device 116. For example, the marker 170 may include an N-shaped marker, an M-shaped marker, a W-shaped marker, etc. In some alternative embodiments, the marker 170 may also have any other shape. For example, the marker 170 may include a V-shaped marker, an A-shaped marker, an S-shaped marker, etc. For illustrative purposes, an N-shaped marker will be used as an example of the marker 170. Figure 5BAs shown, for a marker 170 with an N-shape, the cross-section of the bed 114 (e.g., the reference plane of the imaging device 113) includes points A, B, and C of the marker 170. Point B lies between points A and C. As another example, the marker 170 can be a symbol or shape other than a letter. For example, the marker 170 can be along... Figure 5A The Y-direction asymmetrical non-letter shape shown has at least two intersections with the reference plane of the imaging device 113 or the treatment device 116.

[0060] It should be noted that Figures 4A to 4B and Figures 5A to 5C The examples and descriptions shown are for illustrative purposes only and are not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art based on the descriptions in this application. However, these changes and modifications do not depart from the scope of this application. Figures 4A to 5C The shapes, sizes, and / or positions of the components are illustrative and may be modified. Additionally or alternatively, coordinate systems 404 and 501 in the above examples are provided for illustrative purposes and are not intended to be limiting. By way of example only, the origin of coordinate system 501 may be located at a point other than the midpoint of the head of bed 114, for example, the midpoint of the tail of bed 114 opposite the head of bed 114 along the Y-axis, such as... Figure 5C As shown.

[0061] Figure 6 This is a block diagram of an exemplary processing apparatus 140 according to some embodiments of this application. In some embodiments, a radiation delivery apparatus (e.g., radiation delivery apparatus 110) can be used to perform radiation therapy. The radiation delivery apparatus may include a first device (e.g., treatment device 116), a second device (e.g., imaging device 113), and a bed (e.g., bed 114) containing markers (e.g., marker 170) extending in a certain direction. Figure 6 As shown, the processing device 140 may include an acquisition module 601 and a determination module 603.

[0062] In some embodiments, the acquisition module 601 may be configured to acquire one or more first images of a hospital bed at one or more first locations in a first device (e.g., an imaging device or a treatment device). Each of the one or more first images may be a two-dimensional image. Each of the one or more first images may correspond to one or more first locations in the first device. The hospital bed may include markers. A first reference plane of the first device may intersect the markers at at least two first intersection points. Each first image may include a representation of each of the at least two first intersection points. In some embodiments, the acquisition module 601 may also be configured to acquire association information between the first location represented by each of the at least two first intersection points and the actual location. In some embodiments, the acquisition module 601 may also be configured to acquire a second image of the hospital bed at a second location in a second device (e.g., an imaging device or a treatment device). The first device may be different from the second device. A second reference plane of the second device may have at least two second intersection points of the markers. In some embodiments, the acquisition module 601 may also be configured to acquire a test first image of the hospital bed at a test location in the first device. The test first image may be a two-dimensional image. The test first image may include a representation of at least two test first intersection points of the markers. In some embodiments, the acquisition module 601 may also be configured to acquire a third image of the hospital bed. The third image may be a three-dimensional image.

[0063] In some embodiments, the determining module 603 may be configured to determine one or more calibration images based on associated information and one or more first images. Each of the one or more calibration images may be a two-dimensional image. In some embodiments, the determining module 603 may also be configured to determine, based on a second image, the second isocenter position presented in the second image and the second position presented in the second image for each of at least two second intersections. The determining module 603 may also be configured to determine the difference between the position of the bed in the first device and the position of the bed in the second device based on one or more calibration images, the presented second isocenter position, and the presented second position.

[0064] In some embodiments, the determining module 603 may also be configured to determine a reference calibration image corresponding to the second image from one or more calibration images based on at least two second intersection points in the second image. The reference calibration image may be obtained at a reference first position in the first device. The determining module 603 may specify the coordinates of the reference first position along the length of the bed as the first coordinates of the second position along the length of the bed.

[0065] In some embodiments, the determining module 603 may further be configured to determine the reference calibration isocenter position presented in the reference calibration image by the first isocenter of the first device, and the reference calibration position presented in the reference calibration image by each of at least two reference calibration intersections. In some embodiments, the determining module 603 may further be configured to determine the difference in the width direction of the bed position in the first device and the bed position in the second device based on the second isocenter, the presented second position, the presented reference calibration position, and the presented reference calibration isocenter position.

[0066] In some embodiments, the determining module 603 may be configured to determine a calibration feature between at least two calibration intersections in each of one or more calibration images. The determining module 603 may determine a second feature between at least two second intersections in a second image. The determining module 603 may determine a reference calibration image based on the calibration feature and the second feature. In some embodiments, the determining module 603 may also be configured to identify a calibration image from one or more calibration images that has a calibration feature that matches the second feature. As used herein, a calibration feature matching a second feature means that the calibration feature (or a value referred to as a calibration feature value) is considered to be the same as (e.g., similar to or identical to) the second feature (or a value referred to as a second feature value). The determining module 603 may designate the identified calibration image as a reference calibration image.

[0067] It should be noted that the above description of the processing device 140 is for illustrative purposes and not intended to limit the scope of this application. For those skilled in the art, various modifications and variations in the form and details of the application of the above methods and systems can be made without departing from the principles of this application. In some embodiments, the processing device 140 may include one or more other modules and / or the aforementioned one or more modules may be omitted. Additionally or alternatively, two or more modules may be integrated into a single module and / or a module may be divided into two or more units. However, such variations and modifications also fall within the scope of this application.

[0068] Figure 7 This is a flowchart illustrating an exemplary process for determining a calibration image according to some embodiments of this application. In some embodiments, process 700 may be performed by a bed position calibration system 100. For example, process 700 may be implemented as a set of instructions (e.g., an application) stored in a storage device (e.g., storage device 150, memory 220, and / or memory 390). Processing device 140 (e.g., processor 210 of computing device 200, CPU 340 of mobile device 300, and...) Figure 6One or more modules shown can execute this set of instructions and can be accordingly instructed to execute process 700. The operation of the process shown below is for illustrative purposes only. In some embodiments, process 700 may be accomplished in combination with one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 7 The order of operations of process 700 as described below is not restrictive.

[0069] In step 710, the processing device 140 (e.g., acquisition module 601) can acquire one or more first images of the hospital bed at one or more first locations within the first device. Each of the one or more first images may correspond to one of the one or more first locations. The hospital bed may include markers (e.g., marker 170). The markers may intersect with a first reference plane of the first device at at least two first intersection points.

[0070] In some embodiments, one or more first images can be acquired by scanning a hospital bed located at one or more first positions along the length of the bed using a first device. In some embodiments, the first device may be an imaging device (e.g., imaging device 113) or a treatment device (e.g., treatment device 116). In some embodiments, the imaging device may include a CT device, such as a cone-beam computed tomography (CBCT) device, a fan-beam computed tomography (FBCT) device, a multi-slice computed tomography (MSCT) device, etc. In some embodiments, the treatment device may include a radiotherapy device, a linear accelerator, etc.

[0071] When the radiation source of the first device (e.g., a CT tube) is perpendicular (along) Figure 4A When the bed is irradiated (as shown in the Z-axis direction), each first image can be acquired. In some embodiments, the subject (e.g., the patient) can be positioned along the Z-axis direction as shown in the image. Figure 4AThe patient lies on the hospital bed along the Y-axis. By moving the hospital bed, the subject can move back and forth between a first device (e.g., imaging device 113) and a second device (e.g., treatment device 116). In some embodiments, the direction of movement of the hospital bed may be parallel (or substantially parallel) to the Y-axis. In some embodiments, the first positions may include positions arranged at equal intervals along the length of the hospital bed. For example, the interval between any two adjacent first positions along the length of the hospital bed may be 0.5 cm, 1 cm, 2 cm, 5 cm, 10 cm, etc. In some embodiments, the interval between at least two pairs of adjacent first positions in one or more first positions may be different. In some embodiments, the interval between at least two pairs of adjacent first positions in one or more first positions may be the same. For example, the interval between all pairs of adjacent first positions is the same, such that all first positions are equally spaced. As used herein, a pair of adjacent first positions refers to first positions that are adjacent to each other without any first position intervening.

[0072] The marker may intersect the first reference plane of the first device at at least two first intersection points. The first reference plane of the first device may be perpendicular to the Y-axis direction (i.e., the length direction of the bed). In some embodiments, the first device may include a radiation source, and the first reference plane may be a plane of rotation of the first device, referring to the plane in which the radiation source of the first device rotates.

[0073] In step 720, the processing device 140 (e.g., the determining module 603) can determine the first position of each of at least two first intersections in each of the first images in one or more first images.

[0074] The first position representing each first intersection point of the marker refers to the projected position of the first intersection point in the first image. The projected position of the first intersection point in the first image may refer to the position of the projection of the first intersection point onto a detector (e.g., detector 112). At least two first intersection points may be the intersection points of a first reference plane of the first device and the marker on the hospital bed. In some embodiments, for each first image, the processing device 140 may determine the first position of each of the at least two first intersection points based on the first reference plane. For example, the processing device 140 may determine the first position of each of the at least two first intersection points based on the intersection line between the first reference plane and the hospital bed.

[0075] In step 730, the processing device 140 (e.g., acquisition module 601) can acquire correlation information between the presented first position and the actual position of each of the at least two first intersection points. In some embodiments, the correlation information may include a magnification factor between the bed in space and the projection of the bed in each first image. Further description of determining the correlation information can be found elsewhere in this application (e.g., Figure 8 (and its description).

[0076] In step 740, the processing device 140 (e.g., acquisition module 601) may determine one or more calibration images based on the associated information and one or more first images.

[0077] In some embodiments, each of one or more calibration images may include a representation of the first isocenter of the first device at the calibration isocenter location, and a representation of each of at least two calibration intersections at the calibration location. Each of the at least two calibration intersections may correspond to one of the at least two first intersections. Specifically, the first isocenter of the first device may be the rotation center of the radiation source (e.g., imaging radiation source 115) of the first device (e.g., imaging device 113), or a point in space where the radiation beams intersect when the radiation source is rotating. In some embodiments, the distance between two calibration intersections in each calibration image may be the quotient of the distance between the two first intersections and associated information, wherein the two first intersections correspond to the two calibration intersections.

[0078] It should be noted that the above description of process 700 is provided for illustrative purposes only and is not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art based on the description in this application. However, these changes and modifications do not depart from the scope of this application.

[0079] Figure 8 This is a flowchart illustrating an exemplary process for determining the association information between the first position of each of at least two first intersections of a marker presented in a first image and the actual position of each of the at least two first intersections of the marker, according to some embodiments of this application. In some embodiments, process 800 may be performed by a bed position calibration system 100. For example, process 800 may be implemented as a set of instructions (e.g., an application) stored in a storage device (e.g., storage device 150, memory 220, and / or memory 390). Processing device 140 (e.g., processor 210 of computing device 200, CPU 340 of mobile device 300, and...) Figure 6One or more modules shown can execute this set of instructions and can be instructed to perform process 800 accordingly. The operation of the process shown below is for illustrative purposes only. In some embodiments, process 800 may be accomplished in combination with one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 8 The order of operations of process 800 as described below is not restrictive.

[0080] In step 810, processing device 140 (e.g., acquisition module 601) can acquire a test first image of the test position of the bed in the first device. The test first image can be a two-dimensional image. The test first image can include a representation of at least two test first intersections of markers. The at least two test first intersections of markers can be the intersections of markers (e.g., N-shaped markers) and a first reference plane of the first device. As used herein, a test position refers to a location of the bed along its length. In some embodiments, the test position can be any location along the length of the bed. In some embodiments, processing device 140 can acquire a test first image of the test position of the bed in the first device. Figure 7 One or more first images described herein are designated as test first images. The location of the obtained first image (designated as the test first image) is considered the test location. In some embodiments, a test first image may be reacquired at the test location, which is different from any of the one or more first images.

[0081] In step 820, the processing device 140 (e.g., determining module 603) can determine the test first position presented in the test first image for each of at least two test first intersections. Similar to... Figure 7 The first position presented as described herein, whereby the first test intersection point is presented can refer to the projected position of the first test intersection point in the first test image. Further description of the desired first position can be found elsewhere in this application, for example, Figure 7 Step 720 and its description are not repeated here.

[0082] In step 830, the processing device 140 (e.g., acquisition module 601) can acquire a third image (e.g., a 3D image) of the bed at the test location.

[0083] A third image can be acquired when the hospital bed is in the test position. For example, when the hospital bed (e.g., bed 114) is in the test position, a first device (e.g., imaging device 113 or treatment device 116) can acquire images of the hospital bed from different illumination angles. The processing device 140 can generate a third image of the hospital bed based on the images acquired from the different illumination angles. The third image may include at least two intersections of a marker (e.g., an N-shaped marker) with a first reference plane of the first device at the test position (i.e., at least two test first intersections of the marker), such as intersections a, b, and c. The processing device 140 can determine the actual positions (i.e., spatial positions) of the at least two intersections based on the third image.

[0084] In step 840, the processing device 140 (e.g., the determining module 603) can determine, based on the first and third test images, association information between the test first positions presented by at least two test first intersection points and the actual positions of the at least two test first intersection points in the hospital bed. In some embodiments, the association information may include a magnification factor between the hospital bed in space (e.g., a marker in the hospital bed) and the projection of the hospital bed in the first test image (e.g., the projection of the marker). For example, if the actual distance between intersection points a and b in the third image is ab, and the projected distance between intersection points a and b in the first test image is ab... Then the associated information can be represented as ab / ab.

[0085] It should be noted that the above description of process 800 is provided for illustrative purposes only and is not intended to limit the scope of this application. Various changes and modifications can be made by those skilled in the art based on the description in this application. However, these changes and modifications do not depart from the scope of this application.

[0086] Figure 9 This is a flowchart of an exemplary process for calibrating the position of a hospital bed according to some embodiments of this application. In some embodiments, process 900 may be performed by a hospital bed position calibration system 100. For example, process 900 may be implemented as a set of instructions (e.g., an application) stored in a storage device (e.g., storage device 150, memory 220, and / or memory 390). Processing device 140 (e.g., processor 210 of computing device 200, CPU 340 of mobile device 300, and...) Figure 6 One or more modules shown can execute this set of instructions and can be instructed to perform process 900 accordingly. The operation of the process shown below is for illustrative purposes only. In some embodiments, process 900 may be accomplished in combination with one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 9The order of operations of process 900 as described below is not restrictive.

[0087] In step 910, the processing device 140 (e.g., the determining module 603) can acquire one or more calibration images corresponding to one or more first images of the bed at one or more first positions in the first device.

[0088] Each of one or more first images may be acquired at one of one of one or more first locations. The bed may include markers (e.g., marker 170). The first reference plane of the first device may have at least two first intersections of the markers.

[0089] Each calibration image may include association information between the first position presented by each of at least two first intersection points and the actual position of each of the at least two first intersection points. In some embodiments, the association information may include a magnification factor between the bed in space and the projection of the bed in the calibration image. Further description of one or more first images and calibration images can be found elsewhere in this application. See, for example, Figure 7 And its description.

[0090] In step 920, the processing device 140 (e.g., acquisition module 601) may acquire a second image of the bed at a second position within the second device. In some embodiments, the second image may be a three-dimensional image. The second reference plane of the second device may intersect the marker at at least two second intersection points of the marker.

[0091] Before performing step 920, the processing device 140 may move the hospital bed from the first device to the second device. In some embodiments, the first device may include an imaging device (e.g., a CT scanner), and the second device may include a treatment device (e.g., a radiotherapy device). In some embodiments, the first device may include a treatment device, and the second device may include an imaging device. The hospital bed may move between the imaging device and the treatment device.

[0092] As used herein, the second position refers to the position of the bed where a radiation source of the second device (e.g., the therapeutic radiation source 117 of the treatment device) irradiates the patient. For example, when the second device is a treatment device, a patient (e.g., patient 503) can lie on the bed to receive treatment. The radiation source of the treatment device can irradiate the patient's lesion area (e.g., lesion area 502) to achieve the purpose of treatment. When the patient's lesion area is irradiated by the radiation source of the treatment device, the corresponding position of the bed can be the second position. In some embodiments, the second position can be set according to the default settings of the second device (or the bed position calibration system 100) or preset by the user or operator.

[0093] In some embodiments, a second image can be acquired when the bed is perpendicularly irradiated by the radiation source of the second device. In some embodiments, the second image can be acquired using an additional radiation source mounted on the second device. As used herein, the second reference plane can be the plane of rotation of the second device, referring to the plane in which the radiation source of the second device rotates. The second reference plane of the second device can be perpendicular to the Y-axis direction (i.e., the length direction of the bed). In some embodiments, the second device can be an MRI device. As used herein, the second reference plane of the second device can be a plane perpendicular to the Y-axis direction and including the isocenter of the MRI device.

[0094] In step 930, the processing device 140 (e.g., the determination module 603) can determine the second isocenter position of the second device in the second image and the second position of each of the at least two second intersection points in the second image.

[0095] As used herein, the second isocenter of the second device (e.g., denoted as O) refers to the mechanical center of the second device. Specifically, the second isocenter O of the second device may be the rotation center of the radiation source (e.g., therapeutic radiation source 117) of the second device (e.g., treatment device 116), or a point in space where the radiation beams intersect when the radiation source is rotating. The presented second isocenter position refers to the projected position of the second isocenter of the second device in the second image. In some embodiments, the presented second isocenter position may be located at the center of the second image. In some embodiments, a second Cartesian coordinate system may be established based on a specific point in the second image as the origin. The presented second isocenter position may refer to the coordinates of the second isocenter in a second rectangular coordinate system. In some embodiments, the processing device 140 may determine the presented second isocenter position corresponding to the second image by, for example, a computer program based on Huffman transform. The processing device 140 may determine the presented second isocenter position by determining the radiation field center of the second image. In some embodiments, the processing device 140 may determine the presented second isocenter position corresponding to the second image based on historical data already acquired and stored in a storage device (e.g., storage device 150). For example, at least two historical second images can be stored in a storage device. Before storing each of the at least two historical second images in the storage device, the processing device 140 can determine the second isocenter position (e.g., the center of the radiation field) of the corresponding historical presentation. The processing device 140 can match the second image with the historical second images. The processing device 140 can determine the second isocenter position of the historical presentation of the historical second image that matches the second image as the second isocenter position of the presentation in the second image. As used herein, matching the second image with the historical second image means that the position of the bed and the angle of the gantry are the same when the two images are acquired.

[0096] As used herein, the second position of the second intersection point of the marker refers to the projected position of the second intersection point in the second image. The projected position of the second intersection point in the second image may refer to the position of the projection of the second intersection point onto a detector (e.g., a detector in treatment device 116). In some embodiments, at least two second intersection points may be the intersection of the second reference plane of the second device and the marker on the bed. The second isocenter O of the second device may be the rotation center of the second device 116 on the second reference plane. That is, at least two second intersection points and the second isocenter of the second device may both be on the second reference plane. In some embodiments, for each second image, processing device 140 may determine, based on the second reference plane, the second isocenter position of the second isocenter O of the second device and the second position of each of the at least two second intersection points. For example, processing device 140 may determine the second position of each of the at least two second intersection points based on the line of intersection between the second reference plane and the bed. In some embodiments, in the second image, the second isocenter position of the second isocenter O of the second device and the second position of each of the at least two second intersection points may lie on the same line.

[0097] In step 940, the processing device 140 (e.g., the determination module 603) can determine the difference between the position of the bed in the first device and the position of the bed in the second device based on one or more calibration images, the presented second isocentric position, and the presented second position.

[0098] As used herein, the difference between the position of the bed in the first device and the position of the bed in the second device refers to the relationship between the positions of the bed in the first device and the positions of the bed in the second device. In some embodiments, the difference between the position of the bed in the first device and the position of the bed in the second device may include at least one of the following: a positional difference in the X-axis direction (i.e., the width direction of the bed), a positional difference in the Y-axis direction (i.e., the length direction of the bed), or a positional difference in the Z-axis direction (i.e., the vertical direction of the bed). In some embodiments, the difference between the position of the bed in the first device and the position of the bed in the second device may include a difference in the first coordinate of a second position along the length direction of the bed, and a difference between the position of the bed in the first device and the position of the bed in the second device along the width direction of the bed.

[0099] In some embodiments, processing device 140 may determine a reference calibration image relative to the second image from one or more calibration images based on at least two second intersection points in the second image. As used herein, a calibration image is considered to correspond to the second image if at least one particular feature (or a value referred to as a calibration feature value) of the calibration image (e.g., the reference calibration image) is considered to be identical to a feature (or a value referred to as a second feature value) of the corresponding second image. In some embodiments, feature values ​​of an image (e.g., the calibration image, the second image) may be evaluated based on the representation of a marker or a portion thereof (e.g., one or more points of a marker) in the image. The reference calibration image may be obtained at a reference first position. Processing device 140 may further specify the coordinates of the reference first position along a direction of the bed (e.g., the length direction, i.e., the Y-axis direction) as the first coordinates of the second position along that direction (e.g., the length direction of the bed). Further description of determining the reference calibration image can be found elsewhere in this application (e.g., Figure 10 (and its description).

[0100] In some embodiments, the processing device 140 may determine the reference calibration isocenter position presented in the reference calibration image as a first isocenter of the first device, and the reference calibration position presented in the reference calibration image as a reference calibration intersection of at least two reference calibration intersections. The processing device 140 may also determine the difference in the position of the bed in the first device and the position of the bed in the second device along the width direction (i.e., the X-axis) of the bed, based on the second isocenter, the presented second position, the presented reference calibration position, and the presented reference calibration isocenter position. Further related descriptions can be found elsewhere in this application (e.g., Figure 11 (and its description).

[0101] In some embodiments, the difference between the position of the bed in the first device and the position of the bed in the second device along the width direction of the bed may include the physical (actual) deviation of the position of the bed in the first device and the second device in the X-axis direction.

[0102] It should be noted that the above description of process 900 is for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make various changes and modifications based on the description in this application. However, these changes and modifications do not depart from the scope of this application.

[0103] Figure 10This is a flowchart illustrating an exemplary process for determining a reference calibration image according to some embodiments of this application. In some embodiments, process 1000 may be performed by a bed position calibration system 100. For example, process 1000 may be implemented as a set of instructions (e.g., an application) stored in a storage device (e.g., storage device 150, memory 220, and / or memory 390). Processing device 140 (e.g., processor 210 of computing device 200, CPU 340 of mobile device 300, and...) Figure 6 One or more modules shown can execute this set of instructions and can be accordingly instructed to execute process 1000. The operation of the process shown below is for illustrative purposes only. In some embodiments, process 1000 may be accomplished in combination with one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 10 The order of operations of process 1000 as described below is not restrictive.

[0104] In step 1010, the processing device 140 (e.g., the determination module 603) can determine the calibration features between at least two calibration intersections for each of one or more calibration images. Each of the at least two calibration intersections corresponds to one of the at least two first intersections.

[0105] As used herein, a calibration feature refers to the calibration feature value of at least two calibration intersections in a calibration image. For illustrative purposes, it is assumed that at least two calibration intersections in a calibration image may include A. B and C Three intersection points. In the calibration image, point B... Located at point A and point C Between. The calibration location presented by one or more calibration intersections can be one or more calibration intersections (e.g., point A). B and C The location (representation) of a calibration feature in the calibration image. In some embodiments, a calibration feature may refer to the calibration relationship between one or more calibration intersections, for example, point A. and point B Spatial relationship between them, point B and point C Spatial relationships, etc. In some embodiments, the calibration relationship between one or more calibration intersections may be represented by calibration feature values. In some embodiments, calibration features may include points A determined based on their respective calibration positions in the calibration image. and point B The third distance between them (e.g., denoted as A) B Point B is determined based on its respective calibration position in the calibration image. and point C The fourth distance between them (e.g., denoted as B) C The ratio of the third distance to the fourth distance (e.g., denoted as A). B / B C The ratio of the fourth distance to the third distance (e.g., denoted as B) C / A B ( ), the difference between the third and fourth distances, etc., or any combination thereof.

[0106] In step 1020, the processing device 140 (e.g., the determining module 603) can determine a second feature between at least two second intersection points in the second image. For illustrative purposes, it is assumed that the at least two second intersection points in the second image may include three intersection points A, B, and C. In the second image, point B is located between point A and point C. The second position presented by one or more second intersection points can be the position (presentation) of one or more second intersection points (e.g., points A, B, and C) in the second image. In some embodiments, the second feature may refer to a second relationship between one or more second intersection points, such as the spatial relationship between points A and B, the spatial relationship between points B and C, etc. In some embodiments, the second relationship between one or more second intersection points may be represented by a second feature value. In some embodiments, the second feature may include a first distance (e.g., denoted as AB) between points A and B determined based on their respective second positions in the second image, a second distance (e.g., denoted as BC) between points B and C determined based on their respective second positions in the second image, a ratio of the first distance to the second distance (e.g., denoted as AB / BC), a ratio of the second distance to the first distance (e.g., denoted as BC / AB), a difference between the first distance and the second distance, or any combination thereof.

[0107] It should be noted that when the distance between points A and C is a fixed distance, the distance AC between points A and C cannot be used to determine the second feature. For example, when the marker is an N-shaped marker (e.g., as... Figure 5A When the marker 170 is shown, since the two lateral lines of the N-shaped marker 170 are parallel, the distance between the two lateral lines is fixed regardless of the location of the bed along the length of the bed 114, that is, the distance between points A and C is fixed, and cannot be used to determine the second feature. As another example, when the marker is a W-shaped marker (such as...), Figure 5DAs shown, the distance between the two outermost lines changes as the position of the bed 114 changes along the length of the bed 114, that is, the distance between points A and C changes, which can be used to determine the second feature.

[0108] In step 1030, the processing device 140 (e.g., the determination module 603) may determine a reference calibration image based on the calibration feature and the second feature. In some embodiments, the processing device 140 may identify a calibration image having a calibration feature that matches the second feature from one or more calibration images. The processing device 140 may designate the identified calibration image as the reference calibration image.

[0109] As used herein, a calibration feature matching a second feature means that a calibration feature (or its value, referred to as a calibration feature value) is considered to be the same as (e.g., similar or identical to) a second feature (or its value, referred to as a second feature value). In some embodiments, processing device 140 can identify from one or more calibration images a calibration image whose calibration feature matches the second feature. For example, if the ratio AB / BC of the first distance to the second distance of at least two second intersection points in a second image is 0.4, then processing device 140 can identify from one or more calibration images a ratio A of the third distance to the fourth distance of at least two calibration intersection points. B / B C The calibration image is 0.4. For example, if the first distance AB between points A and B in the second image is 15 cm, then the processing device 140 can identify point A from at least two calibration intersections in one or more calibration images. and B The third distance A between them B A calibration image at 15 cm.

[0110] In some embodiments, when there is no calibration image with the same calibration feature as the second feature among one or more calibration images, the processing device 140 can identify the calibration image with the calibration feature that is closest to or most similar to the second feature among one or more calibration images. For example, if the ratio AB / BC of the first distance to the second distance of at least two second intersection points in the second image is 0.4, and there is no third distance to fourth distance ratio A of at least two calibration intersection points in one or more calibration images. B / B C Given a calibration image with a distance of 0.4, the processing device 140 can identify from one or more calibration images a calibration image whose ratio of the third distance to the fourth distance at at least two calibration intersections is closest to 0.4 (e.g., 0.38). For example, if the first distance AB between points A and B in the second image is 15 cm, and point A is not present in one or more calibration images among their at least two calibration intersections... and B The third distance A between them B For a 15 cm calibration image, the processing device 140 can identify point A from at least two calibration intersections in one or more calibration images. and B The third distance A between them B The calibration image closest to 15 cm (e.g., 15.2 cm).

[0111] It should be noted that the above description of process 1000 is for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make various changes and modifications based on the description in this application. However, these changes and modifications do not depart from the scope of this application.

[0112] Figure 11 This is a flowchart illustrating an exemplary process for determining the difference between the position of a hospital bed in a first device and the position of a hospital bed in a second device, according to some embodiments of this application. In some embodiments, process 1100 may be performed by a hospital bed position calibration system 100. For example, process 1100 may be implemented as a set of instructions (e.g., an application) stored in a storage device (e.g., storage device 150, memory 220, and / or memory 390). Processing device 140 (e.g., processor 210 of computing device 200, CPU 340 of mobile device 300, and...) Figure 6 One or more modules shown can execute this set of instructions and can be accordingly instructed to execute process 1100. The operation of the process shown below is for illustrative purposes only. In some embodiments, process 1100 may be accomplished in combination with one or more additional operations not described and / or one or more operations not discussed. Additionally, Figure 11 The order of operations of process 1100 as described below is not restrictive.

[0113] In step 1110, the processing device 140 (e.g., the determination module 603) may determine a reference calibration image corresponding to the second image from one or more calibration images based on at least two second intersection points in the second image. The reference calibration image may be determined based on a reference first image. The reference first image may be obtained at a reference first location in the first device. In some embodiments, the reference calibration image may be determined based on association information and the reference first image.

[0114] In step 1120, the processing device 140 (e.g., the determining module 603) can designate the coordinates of the first reference position along the length of the bed as the first coordinates of the second position along the length of the bed.

[0115] In some embodiments, since the reference calibration image matches the second image, the position of the bed in the second device along the Y-axis direction when the second image is acquired in the second device can be the same as the position of the bed in the first device along the Y-axis direction when the first image corresponding to the reference calibration image is acquired in the first device. The processing device 140 can specify the coordinates of the bed in the length direction (i.e., the Y-axis coordinates of the reference first position) when the reference first image is acquired as the first coordinates of the second position along the length direction (i.e., the Y-axis coordinates of the second position). For example, with one side of the bed (e.g., as...) Figure 4A The midpoint of the leftmost edge or leftmost side of the bed 114 shown is used as the origin of the coordinate system (e.g., coordinate system 404) in the imaging device. The coordinate of the bed in the Y-axis direction can be 50 cm, which means that the reference first position of the bed is 50 cm away from the origin in the Y-axis direction. Therefore, in the same coordinate system, the Y-axis coordinate (i.e., the first coordinate) of the second position corresponding to the second image can also be 50 cm.

[0116] In step 1130, the processing device 140 (e.g., the determination module 603) can determine the reference calibration isocenter position of the first isocenter of the first device in the reference calibration image, and the reference calibration position of the reference calibration intersection of each of at least two reference calibration intersections in the reference calibration image.

[0117] In some embodiments, processing device 140 may determine the reference calibration isocenter position in a manner similar to the determination of the second isocenter position described in step 930. In some alternative embodiments, after determining the calibration isocenter position corresponding to each of one or more calibration images, processing device 140 may store the calibration isocenter position corresponding to each of the one or more calibration images in a storage device (e.g., storage device 150). After determining a reference calibration image that matches the second image, processing device 140 may directly retrieve the reference calibration isocenter position corresponding to the reference calibration image from the storage device.

[0118] In some embodiments, processing device 140 may determine the reference calibration position in a manner similar to the determination of the second position described in step 930. In other embodiments, after determining the calibration position corresponding to at least two calibration intersections for each of one or more calibration images, processing device 140 may store the calibration position corresponding to each of the one or more calibration images in a storage device (e.g., storage device 150). After determining the reference calibration image that matches the second image, processing device 140 may directly retrieve the reference calibration position corresponding to the reference calibration image from the storage device.

[0119] In step 1140, the processing device 140 (e.g., the determination module 603) can determine the difference in the width direction of the bed's position in the first device and the bed's position in the second device based on the second isocenter position (e.g., the second isocenter position determined in step 930), the presented second position, the presented reference calibration position, and the presented reference calibration isocenter position.

[0120] After determining the reference calibration isocenter position in the reference calibration image and the reference calibration position presented by at least two reference calibration intersections, the processing device 140 can determine the difference between the position of the bed in the first device and the position of the bed in the second device along the width direction of the bed. In some embodiments, the difference between the position of the bed in the first device and the position of the bed in the second device along the width direction of the bed may include the relative relationship between the reference calibration isocenter position presented in the reference calibration image and the second isocenter position presented in the second image. For example, the processing device 140 can determine, based on the reference calibration image, the presented reference calibration isocenter position and any presented reference calibration position (e.g., point B). The processing device 140 can determine the distance L between the second isocenter position and the corresponding second position (e.g., corresponding to point B) based on the second image. The distance l between point B). The difference between the two distances (i.e., distance L and distance l) can be considered as the difference between the position of the bed in the first device and the position of the bed in the second device, that is, the deviation of the position of the bed in the first device and the second device in the X-axis direction.

[0121] It should be noted that the above description of process 1100 is for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make various changes and modifications based on the description in this application. However, these changes and modifications do not depart from the scope of this application.

[0122] The basic concepts have been described above. Obviously, for those skilled in the art who have read this application, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore, such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this application.

[0123] Furthermore, this application uses specific terms to describe its embodiments. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be appropriately combined.

[0124] Furthermore, those skilled in the art will understand that aspects of this application can be described and illustrated through several patentable types or situations, including any new and useful combination of processes, machines, products, or substances, or any new and useful improvements thereof. Therefore, aspects of this application can be fully implemented in hardware, fully implemented in software (including firmware, resident software, microcode, etc.), or combinations thereof, and can be implemented in all software and hardware as referred to herein as “units,” “modules,” or “systems.” Furthermore, aspects of this application can take the form of computer program products implemented on one or more computer-readable media, having computer-readable program code embodied thereon.

[0125] A computer-readable signal medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. Such propagated signals can take many forms, including electromagnetic, optical, and any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, device, or apparatus to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable signal medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, RF, and any combination of the above.

[0126] Computer program code used to operate on various aspects of this application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, Jade, Emerald, C++, C#, VB.NET, Python, etc.; traditional programming languages ​​such as the "C" programming language, Visual Basic, Fortran2103, Perl, Cobol2102, PHP, ABAP; dynamic programming languages ​​such as Python, Ruby, and Groovy; or other programming languages. The program code may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or wide area network (WAN), or may be connected to an external computer (e.g., using an internet service provider via the internet), or in a cloud computing environment, or provided as a service, such as Software as a Service (SaaS).

[0127] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this application are not intended to limit the order of the processes and methods of this application. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. Rather, the claims are intended to cover all modifications and equivalent combinations that conform to the substance and scope of the embodiments of this application. For example, although the implementation of the various components described above can be embodied in a hardware device, it can also be implemented solely as a software solution, such as an installation on an existing server or mobile device.

[0128] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, the method of the present application should not be construed as reflecting an intention that the claimed object to be scanned requires more features than expressly recited in each claim. Rather, the subject of the invention should possess fewer features than in any single embodiment described above.

[0129] In some embodiments, numbers representing quantities or characteristics used to describe and claim certain embodiments of this application should be understood to be modified in certain circumstances by the terms "approximately," "approximately," or "substantially." For example, "approximately," "approximately," or "substantially" may represent a variation of ±1%, ±5%, ±10%, or ±20% of the value described, unless otherwise stated. Accordingly, in some embodiments, numerical parameters used in the specification and claims are approximate values ​​that may be varied depending on the desired characteristics of individual embodiments. In some embodiments, numerical parameters are taken into account for specified significant digits and employ a general method of digit reservation. Although numerical domains and parameters used to confirm their breadth of range are approximate values ​​in some embodiments of this application, in specific embodiments, such values ​​are set as precisely as feasible.

[0130] Every patent, patent application, patent application publication, and other material cited herein, such as articles, books, specifications, publications, documents, articles, and / or the like, is incorporated herein in its entirety for all purposes, except for any related prosecution history, anything inconsistent with or conflicting with this document, or anything that limits the broadest scope of the claims currently or hereafter applicable to this document.

[0131] Finally, it should be understood that the embodiments described in this application are merely illustrative of the principles of the embodiments of this application. Other modifications may also fall within the scope of this application. Therefore, alternative configurations of the embodiments of this application are considered as examples and not limitations, and are regarded as consistent with the teachings of this application. Accordingly, the embodiments of this application are not limited to the embodiments explicitly described and illustrated in this application.

Claims

1. A method for generating calibration images for calibrating bed position, the method being performed by a device including at least one processor and at least one storage device, the method comprising: Acquire one or more first images of a hospital bed at one or more first positions in a first device, each of the one or more first images corresponding to one of the one or more first positions, wherein the hospital bed includes a marker that intersects with a first reference plane of the first device at at least two first intersection points, the first reference plane being perpendicular to the length direction of the hospital bed; Determine the first position of each of the at least two first intersection points in each of the first images in one or more first images; Obtaining the association information between the presented first position and the actual position of each of the at least two first intersection points includes: A test first image of the test position of the hospital bed in the first device is obtained, the test first image including the presentation of at least two test first intersections of the marker, the at least two test first intersections being the intersections of the marker and the first reference plane when the hospital bed is in the test position; Determine the test first position of each of the at least two test first intersections in the test first image; A third image of the hospital bed at the test location is acquired. The third image is a three-dimensional image generated by the first device based on images acquired from different illumination angles. The third image includes the at least two test first intersection points. Based on the third image, determine the actual spatial location of the at least two test first intersection points; Based on the test first position presented in the test first image and the actual positions of the at least two test first intersection points determined in the third image, the associated information is determined; and Based on the associated information and the one or more first images, one or more calibration images are determined.

2. The method according to claim 1, characterized in that, At least one of the first image, the calibration image, or the test first image is a two-dimensional image.

3. The method according to claim 1, further comprising: Acquire a second image of the hospital bed at a second position in the second device, wherein the marker intersects the second reference plane of the second device at at least two second intersection points, and the second reference plane is perpendicular to the length direction of the hospital bed; Determine the second isocenter position of the second device in the second image and the second position of each of the at least two second intersection points in the second image; and Based on the one or more calibration images, the presented second isocenter position, and the presented second position, the difference between the position of the bed in the first device and the position of the bed in the second device is determined.

4. The method according to claim 3, characterized in that, The difference between the position of the bed in the first device and the position of the bed in the second device includes the difference in a first coordinate of the second position along the length direction of the bed; and The step of determining the difference between the position of the bed in the first device and the position of the bed in the second device based on the one or more calibration images, the presented second isocenter position, and the presented second position includes: Based on the at least two second intersection points in the second image, a reference calibration image corresponding to the second image is determined from one or more calibration images, the reference calibration image being determined based on a reference first image obtained at a reference first position in the first device; and The coordinates of the reference first position along the length of the bed are designated as the first coordinates of the second position along the length of the bed.

5. The method according to claim 6, characterized in that, Determining a reference calibration image from one or more calibration images based on the at least two second intersection points in the second image includes: Determine the calibration features between at least two calibration intersections for each of the one or more calibration images, wherein each of the at least two calibration intersections corresponds to one of the at least two first intersections; Determine the second feature between the at least two second intersection points in the second image; and The reference calibration image is determined based on the calibration feature and the second feature.

6. The method according to claim 5, characterized in that, Determining the reference calibration image based on the calibration feature and the second feature includes: From the one or more calibration images, identify a calibration image having a calibration feature that matches the second feature; and The identified calibration image is designated as the reference calibration image.

7. The method according to claim 4, characterized in that, The difference between the position of the bed in the first device and the position of the bed in the second device includes the difference between the positions of the bed in the first device and the positions of the bed in the second device in the direction of bed width; and The method of determining the difference between the position of the bed in the first device and the position of the bed in the second device based on the one or more calibration images, the presented second isocenter position, and the presented second position further includes: Determine the reference calibration isocenter position presented by the first isocenter of the first device in the reference calibration image, and the reference calibration position presented by each of at least two reference calibration intersections in the reference calibration image; and Based on the presented second isocenter position, the presented second position, the presented reference calibration position, and the presented reference calibration isocenter position, the difference between the position of the bed in the first device and the position of the bed in the second device in the width direction of the bed is determined.

8. The method according to claim 1, characterized in that, Each of the one or more calibration images includes the representation of the first isocenter of the first device at the calibration isocenter position, and the representation of each of the at least two calibration intersections at the calibration position. Each of the at least two calibration intersections corresponds to one of the at least two first intersections; The first isocenter of the first device is the rotation center of the radiation source of the first device, or the point in space where the radiation beams intersect when the radiation source is rotating and releasing the wire; The distance between two calibration intersections in each calibration image is the quotient of the distance between the corresponding two first intersections and the associated information.

9. A calibration image generation system for calibrating hospital bed position, comprising: At least one storage device storing executable instructions, and When executing executable instructions, at least one processor communicates with at least one storage device, causing the system to perform operations including: Acquire one or more first images of a hospital bed at one or more first positions in a first device, each of the one or more first images corresponding to one of the one or more first positions, wherein the hospital bed includes a marker that intersects with a first reference plane of the first device at at least two first intersection points, the first reference plane being perpendicular to the length direction of the hospital bed; Determine the first position of each of the at least two first intersection points in each of the first images in one or more first images; Obtaining the association information between the presented first position and the actual position of each of the at least two first intersection points includes: A test first image of the test position of the hospital bed in the first device is obtained, the test first image including the presentation of at least two test first intersections of the marker, the at least two test first intersections being the intersections of the marker and the first reference plane when the hospital bed is in the test position; Determine the test first position of each of the at least two test first intersections in the test first image; A third image of the hospital bed at the test location is acquired. The third image is a three-dimensional image generated by the first device based on images acquired from different illumination angles. The third image includes the at least two test first intersection points. Based on the third image, determine the actual spatial location of the at least two test first intersection points; Based on the test first position presented in the test first image and the actual positions of the at least two test first intersection points determined in the third image, the associated information is determined; and Based on the associated information and the one or more first images, one or more calibration images are determined.

10. A non-transitory computer-readable medium comprising at least one set of instructions for generating calibration images for bed position calibration, wherein, When executed by one or more processors of a computing device, the at least one set of instructions causes the computing device to perform a method, the method comprising: Acquire one or more first images of a hospital bed at one or more first positions in a first device, each of the one or more first images corresponding to one of the one or more first positions, wherein the hospital bed includes a marker that intersects with a first reference plane of the first device at at least two first intersection points, the first reference plane being perpendicular to the length direction of the hospital bed; Determine the first position of each of the at least two first intersection points in each of the first images in one or more first images; Obtaining the association information between the presented first position and the actual position of each of the at least two first intersection points includes: A test first image of the test position of the hospital bed in the first device is obtained, the test first image including the presentation of at least two test first intersections of the marker, the at least two test first intersections being the intersections of the marker and the first reference plane when the hospital bed is in the test position; Determine the test first position of each of the at least two test first intersections in the test first image; A third image of the hospital bed at the test location is acquired. The third image is a three-dimensional image generated by the first device based on images acquired from different illumination angles. The third image includes the at least two test first intersection points. Based on the third image, determine the actual spatial location of the at least two test first intersection points; Based on the test first position presented in the test first image and the actual positions of the at least two test first intersection points determined in the third image, the associated information is determined; and Based on the associated information and the one or more first images, one or more calibration images are determined.

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