A treatment couch positioning system and method

Abstract

This application discloses a treatment bed positioning system and method. The positioning system includes a bed board body, a measurement module, a data transmission module, a control module, and an execution module. By setting the measurement module on the bed board body, the tilt angle of the bed board body relative to the horizontal plane can be acquired in real time and transmitted to the control module via the data transmission module. The control module calculates the vertical displacement deviation of the treatment area caused by the deformation of the bed board body due to the patient's weight, based on a preset algorithm and the position of the center of the treatment area on the bed board body, and generates a position compensation amount. The control module drives the execution module to adjust the posture of the bed board body in a direction perpendicular to the bed board body based on the position compensation amount. Therefore, the treatment bed positioning system of this application can improve positioning accuracy and maintain the stability and reliability of the positioning system without increasing hardware complexity.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a treatment bed positioning system and positioning method. Background Technology

[0002] Currently, treatment beds generally suffer from low positioning accuracy during actual radiotherapy, failing to meet the demands of high-precision radiotherapy. The main reason is that existing treatment bed positioning systems mostly rely on open-loop control of motion mechanisms or single-position coding feedback, which can only reflect the overall commanded displacement of the treatment bed and cannot sense or compensate for the actual structural deformation of the bed board under the patient's load. Specifically, when a patient is placed on the bed board, the weight causes longitudinal deformation, resulting in the tumor's actual spatial position deviating from the isocenter of the medical linear accelerator. However, existing systems cannot acquire the local deformation state of the bed board, nor can they calculate the true angle and displacement deviation of the tumor area, thus lacking the ability to identify and correct positioning errors caused by local deformation.

[0003] In addition, traditional positioning methods usually rely on the overall displacement of the treatment bed as the basis for positioning, ignoring the possible posture differences in different areas of the bed board. They also cannot dynamically correct the local posture of the tumor area, resulting in positioning deviations. Moreover, in order to verify the accuracy of positioning, clinicians often need to confirm it through secondary imaging exposure (such as CBCT). This not only increases the patient's radiation dose but also prolongs the treatment time, leading to low radiotherapy efficacy. Summary of the Invention

[0004] This application aims to at least solve one of the aforementioned technical problems existing in the prior art. Therefore, the purpose of this application is to provide a treatment bed positioning system and method that can solve the problems of existing treatment bed positioning systems failing to sense and compensate for the deformation of the bed board under patient load, having measurement blind spots, and not considering the influence of temperature on deformation, thus resulting in low positioning accuracy.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: A treatment bed positioning system for adjusting the position of the patient during radiotherapy, comprising: The bed board itself is used to support the patient; A measurement module is installed on the bed board body to measure the tilt angle of the bed board body relative to the horizontal plane in real time, so as to obtain the tilt angle data. A data transmission module, which is connected to the measurement module, is used to transmit the tilt angle data; A control module, connected to the data transmission module, is used to receive the tilt angle data, calculate the position compensation amount, and issue a positioning adjustment command based on the position compensation amount. An execution module, which is connected to both the control module and the bed board body, is used to receive the positioning adjustment command and drive the bed board body to perform posture adjustment.

[0006] According to some embodiments of this application, the treatment bed positioning system further includes a moving module, which is disposed on the bed board body and is capable of moving along the length direction of the bed board body, and the measuring module is disposed on the moving module.

[0007] According to some embodiments of this application, the moving module includes a guide rail and a slider. The guide rail is arranged along the length direction of the bed board body, and the slider is disposed on the guide rail. The guide rail is one of a linear guide rail, a flexible guide rail, a magnetic levitation guide rail, and a pneumatic guide rail.

[0008] According to some embodiments of this application, the measurement module further includes a temperature compensation module, which is used to compensate and correct the tilt angle data.

[0009] According to some embodiments of this application, there are several measuring modules that are evenly distributed along the length of the bed board body.

[0010] According to some embodiments of this application, the treatment bed positioning system further includes a synchronous acquisition module and a data fusion module. The synchronous acquisition module is connected to the measurement module and is used to simultaneously acquire the tilt angle data measured by several measurement modules. The data fusion module is connected to the synchronous acquisition module and is used to fuse the tilt angle data acquired by several measurement modules. The data transmission module is connected to the data fusion module and is used to transmit the fused data to the control module.

[0011] According to some embodiments of this application, the control module further includes a machine learning module and an online update module for calculating the position compensation amount.

[0012] A method for positioning a treatment bed, employing any one of the treatment bed positioning systems described above, comprising: The measurement module measures the tilt angle of the bed board body relative to the horizontal plane in real time to monitor the positional changes of the treatment area on the bed board body. The data transmission module acquires the tilt angle data measured by the measurement module and transmits the tilt angle data to the control module; Based on the tilt angle data and the position of the center of the treatment area on the bed board body, the control module uses a preset algorithm to calculate the position compensation amount of the center of the treatment area in the direction perpendicular to the surface of the bed board body. Based on the position compensation amount, the control module sends a corresponding positioning adjustment command to the execution module and drives the execution module to adjust the posture of the bed board body to the target positioning posture.

[0013] According to some embodiments of this application, when the control module issues a corresponding positioning adjustment command to the execution module, the control module uses a control algorithm to issue the corresponding positioning adjustment command to the execution module; wherein, the control algorithm is any one of PID control algorithm, fuzzy control algorithm, adaptive control algorithm, predictive control algorithm and neural network algorithm.

[0014] According to some embodiments of this application, when the control algorithm is a PID control algorithm, the control period is 5ms to 20ms.

[0015] The beneficial effects of this application are at least: This application, by setting a measuring module on the bed board body, can acquire the tilt angle of the center position of the treatment area relative to the horizontal plane in real time. This data is transmitted to the control module via a data transmission module. The control module, based on a preset algorithm and the position of the center of the treatment area on the bed board body, calculates the vertical displacement deviation of the treatment area caused by the patient's weight-induced deformation of the bed board body, and generates a position compensation amount. The control module then drives the execution module to adjust the posture of the bed board body along a direction perpendicular to the bed board body based on the position compensation amount. Therefore, this application can improve positioning accuracy and maintain the stability and reliability of the positioning system without increasing hardware complexity. Furthermore, by setting a movement module to move the measuring module along the direction of the bed board body, this application enables continuous measurement, avoiding measurement blind spots caused by a fixed position of the measuring module. A temperature compensation module is also included to correct the tilt angle data, ensuring the accuracy of the position compensation amount and further improving positioning accuracy.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the connection of a treatment bed positioning system according to this application.

[0018] Figure 2 This is a flowchart of a treatment bed placement method according to this application.

[0019] Figure 3 This is a schematic diagram showing the connection between the bed board body, the measuring module, and the moving module in Example 1 of this application.

[0020] Figure 4 This is a flowchart of the placement method according to Embodiment 1 of this application.

[0021] Figure 5 This is a flowchart of the placement method according to Embodiment 2 of this application.

[0022] Figure 6 This is a flowchart of the placement method according to Embodiment 3 of this application.

[0023] Figure label: 100. Bed board body; 200. Measuring module; 300. Moving module; 310. Guide rail; 320. Slider. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0025] In the description of this application, it should be understood that if directional descriptions are involved, such as up, down, front, back, left, right, etc., indicating the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0026] In the description of this application, if words such as several, greater than, less than, exceeding, above, below, or within appear, "several" means one or more, "more than" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the number itself, and "above," "below," "within," etc. are understood to include the number itself.

[0027] In the description of this application, the use of terms such as "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0028] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0029] Reference Figures 1 to 6 The following are specific embodiments of this application.

[0030] Depend on Figure 1As shown, this application provides a treatment bed positioning system for adjusting the position of the patient during radiotherapy, including a bed board body 100, a measurement module 200, a data transmission module, a control module, and an execution module. The bed board body 100 supports the patient. The measurement module 200 is mounted on the bed board body 100 and measures the tilt angle of the bed board body 100 relative to the horizontal plane in real time. The data transmission module is connected to the measurement module 200 and transmits the tilt angle data measured by the measurement module 200. The control module is connected to the data transmission module and receives the tilt angle data, calculates the positioning compensation amount, and issues a positioning adjustment command based on the positioning compensation amount. The execution module is connected to both the control module and the bed board body 100, and receives the positioning adjustment command and drives the bed board body 100 to adjust its posture.

[0031] Specifically, the treatment bed of this application can be used to adjust the position of the tumor area in a patient during radiotherapy, enabling precise positioning of the patient. Of course, the treatment bed of this application can also be used to adjust the position of the patient in other radiotherapy procedures; this application does not impose specific limitations on this application.

[0032] In some embodiments, the control module further includes a machine learning module and an online update module to achieve accurate calculation of the position compensation amount, specifically including: The measurement module 200 collects measurement data and actual position deviation data for different patients and different positioning positions, and the control module establishes a training database.

[0033] The machine learning module uses a neural network model. The input to the neural network model is the tilt angle data measured by the measurement module, along with pre-entered patient weight and tumor location data. The output is the location compensation amount. The training algorithm uses backpropagation with a learning rate of 0.001.

[0034] The control module continuously receives new data during actual operation and updates and optimizes the neural network model online.

[0035] The online update module uses an incremental learning algorithm, with a model update time of less than 1 second, ensuring that it does not affect the control process of real-time positioning.

[0036] The control module uses a trained machine learning model to calculate the optimal position compensation based on real-time measurement data, and generates corresponding positioning adjustment commands to the execution module to adjust the positioning posture of the bed board body 100.

[0037] The machine learning module adopts a GPU-based hardware acceleration architecture, equipped with an NVIDIA Tesla V100 graphics card, with a training speed of 10 TFLOPS, and can run on neural network models built with TensorFlow or PyTorch frameworks.

[0038] In some embodiments, the sampling frequency of the data acquisition module is 100Hz to ensure timely and continuous transmission of tilt angle data to the control module. The storage capacity of the data acquisition module is 1TB, which can store a large amount of raw measurement data for a long time, supporting treatment process traceability, system performance evaluation, and continuous optimization of machine learning models.

[0039] In some embodiments, the measurement module 200 is at least one of an electronic level, a fiber optic level, a MEMS level, and a laser level.

[0040] In some embodiments, the data transmission module uses at least one of EtherCAT, PROFINET, Modbus TCP, and CAN bus as its transmission protocol.

[0041] In some embodiments, the execution module is at least one of an electric actuator, an electro-hydraulic system, a servo motor with transmission mechanism, or a multi-axis robot.

[0042] Depend on Figure 2 As shown, this application also provides a method for positioning a treatment bed, which employs the treatment bed positioning system of this application, including: S100, Measuring the tilt angle of the bed board body relative to the horizontal plane: When the patient is on the bed board body, the measurement module 200 measures the tilt angle of the bed board body relative to the horizontal plane in real time; at the same time, it can also monitor the positional changes of the treatment area on the bed board body.

[0043] S200, Acquire tilt angle data: The data transmission module acquires the tilt angle data of the bed board body 100 relative to the horizontal plane collected in real time by the measurement module 200, and transmits the tilt angle data to the control module.

[0044] S300. Calculate position compensation based on tilt angle data: The control module calculates the position compensation of the center of the area to be treated in the direction perpendicular to the surface of the bed board body based on the tilt angle data and the position of the center of the area to be treated on the bed board body body using a preset algorithm.

[0045] S400 Adjusting the posture of the bed board body based on the position compensation amount: Based on the position compensation amount, the control module sends a corresponding positioning adjustment command to the execution module and drives the execution module to adjust the posture of the bed board body 100 to the target positioning posture.

[0046] Specifically, the posture of the bed board body 100 is adjusted in the direction perpendicular to the bed board body 100 according to the position compensation amount. Since the patient's own weight will cause a certain degree of deformation of the bed board body 100, this deformation will cause a displacement deviation of the center of the treatment area in the vertical direction. By setting a measuring module on the bed board body 100, the tilt angle data of the bed board body 100 relative to the horizontal plane can be measured to determine the actual tilt angle. The control module calculates the position compensation amount of the treatment area according to the measured tilt angle data, and the control execution module drives the bed board body to adjust in real time, further improving the positioning accuracy.

[0047] In some embodiments, when the control module issues a corresponding positioning adjustment command to the execution module, the control module uses a control algorithm to issue the corresponding positioning adjustment command to the execution module. The control algorithm can be any one of PID control algorithm, fuzzy control algorithm, adaptive control algorithm, predictive control algorithm, and neural network algorithm.

[0048] Example 1 Depend on Figure 3 As shown, the treatment bed positioning system in this embodiment includes a bed board body 100, a measurement module 200, a movement module 300, a data transmission module, a control module, and an execution module. The movement module 300 is mounted on the bed board body 100 and can move along the length of the bed board body 100. The measurement module 200 is mounted on the movement module 300, and the movement module 300 drives the measurement module 200 to move back and forth along the length of the bed board body 100.

[0049] In some embodiments, the moving module 300 includes a guide rail 310 and a slider 320. The guide rail 310 is arranged along the length direction of the bed plate body 100, and the slider 320 is disposed on the guide rail 310 and is used to support the measuring module. The guide rail 310 is at least one of a linear guide rail, a flexible guide rail, a magnetic levitation guide rail, and a pneumatic guide rail.

[0050] Furthermore, the guide rail 310 has a movement accuracy of ±1mm, ensuring the accuracy of the position of the measuring bed plate body 100. The measurement module 200 has an acquisition accuracy of ±0.001° and a sampling frequency of 100Hz, used to continuously and stably acquire tilt angle data. The guide rail 310 is made of aluminum alloy, has a length of 1800mm, and its surface is hardened. The slider 320 is mounted on the guide rail 310 via a linear bearing. The coefficient of friction of the linear bearing is less than 0.01, and the straightness error is ≤0.1mm / m.

[0051] The measurement module 200 uses an electronic level with a measurement range of ±10°, a measurement accuracy of ±0.001°, and a response time of 10ms.

[0052] The control module is a digital signal processor (DSP processor) with a control cycle of 5ms to 20ms, preferably 10ms. The position control accuracy is ±0.1mm.

[0053] In some embodiments, the bed board body 100 is made of carbon fiber composite material, with a length of 2000 mm, a width of 600 mm, and a thickness of 50 mm, ensuring load-bearing rigidity and patient coverage.

[0054] Depend on Figure 4 As shown, the placement method in this embodiment is as follows: S100. When the patient is on the bed board body 100, according to the preset center position information of the treatment area, the measurement module 200 moves along the length direction of the bed board body 100 with the slider 320 to the position corresponding to the center of the treatment area in the length direction of the bed board body. The measurement module 200 collects the tilt angle data of the bed board body 100 relative to the horizontal plane at this position.

[0055] S200: The data transmission module acquires the tilt angle data of the bed board body 100 relative to the horizontal plane collected in real time by the measurement module 200, and transmits the tilt angle data to the control module via the EtherCAT industrial Ethernet protocol.

[0056] The data transmission module has a transmission rate of 100Mbps and a communication latency of less than 1μs, ensuring real-time data transmission.

[0057] S300: The control module calculates the position compensation amount using a preset algorithm based on the tilt angle data.

[0058] The formula for calculating the position compensation based on the tilt angle data is as follows: Δz = L × sin(θ); Where Δz is the position compensation amount of the bed board body 100 along the direction perpendicular to itself. L is the distance from the measurement module 200 to the center position of the area to be treated, and θ is the detected tilt angle data.

[0059] S400. Based on the position compensation amount, the control module sends a corresponding positioning adjustment command to the execution module and drives the execution module to adjust the posture of the bed board body 100 to the target positioning posture.

[0060] Specifically, when the control module sends the corresponding positioning adjustment command to the execution module, the PID control algorithm is used to control the execution component to execute the command, with a control cycle of 10ms, to ensure the stability and accuracy of the compensation, thereby achieving precise positioning of the area to be treated.

[0061] The movable level in this embodiment, compared to the fixed level in the prior art, can perform continuous measurements along the length of the bed board body 100. When the patient is too short or too long, or adopts an unconventional positioning, the area to be treated may fall within the measurement blind zone of the fixed level. However, the level in this embodiment can be moved to the vicinity of the center of the area to be treated for measurement, improving the accuracy of the detection. In addition, this application only requires one movable level to cover the entire length of the bed board body 100, which can reduce the number of cable connections and interfaces, and improve the operational reliability of the positioning system.

[0062] Example 2 The treatment bed positioning system in this embodiment includes a bed board body 100, a measurement module 200, a data transmission module, a control module, and an execution module. The measurement module 200 is located along the length of the bed board body 100, specifically, the bed board body 100 extends from the head end to the tail end, and in this embodiment, the measurement module 200 is located 50mm from the tail end. The measurement module 200 is fixed to the bed board body 100 with bolts.

[0063] The measurement module 200 in this embodiment includes a fiber optic level and a temperature compensation module (not shown). The fiber optic level operates in a temperature range of 0–50°C and a humidity range of 20–80%RH, with a measurement range of ±5°, a measurement accuracy of ±0.0005°, and a sampling frequency of 200Hz, ensuring measurement accuracy and real-time performance. The temperature compensation module acquires the temperature of the environment in which the measurement module is located and compensates for and corrects the tilt angle data based on the ambient temperature, further ensuring the measurement accuracy of the fiber optic level. The fiber optic level can be replaced with a MEMS level.

[0064] Depend on Figure 5 As shown, the placement method in this embodiment is as follows: S100 When the patient is on the bed board body 100, the fiber optic level measures the tilt angle data at a distance of 50mm from the end of the bed board body 100 in real time.

[0065] S200: The data transmission module acquires the tilt angle data of the bed board body 100 relative to the horizontal plane collected in real time by the measurement module 200, and after correction by the temperature compensation module, transmits the corrected tilt angle data to the control module.

[0066] The temperature compensation module obtains the temperature of the environment in which the measurement module is located, takes the ambient temperature into account according to the temperature compensation algorithm, calculates the temperature correction amount, and corrects the tilt angle data measured by the fiber optic level. The corrected value is then transmitted to the control module for the next step of operation.

[0067] S300: The control module calculates the position compensation amount using a preset algorithm based on the corrected tilt angle data. The position compensation amount is used to adjust the posture of the bed board body to the target positioning posture.

[0068] The tilt angle of the tumor site is calculated based on the corrected tilt angle data. The calculation formula is as follows: θ (x) = θ end × (1 - x / L1); Where θ(x) is the tilt angle along the length of the bed board body at a distance x from the end of the bed board body (100), i.e., the tilt angle at the center of the treatment area. end The corrected tilt angle data output by the measurement module is shown, where x is the distance from the center of the treatment area to the end of the bed board body; and L1 is the length of the bed board body 100.

[0069] The geometric calculations are performed using an FPGA chip at a frequency of 1MHz, ensuring real-time performance and accuracy. The FPGA chip also stores the calculated model parameters, including the bed plate length and material properties.

[0070] Position compensation calculation: Based on the tilt angle θ(x) of the center position of the area to be treated, calculate the position compensation of the bed board body 100. The calculation formula is as follows: Δz1= x t × sinθ(x); Where, x t Δz1 is the distance from the center of the treatment area to the fiber optic level. Δz1 is the positional compensation amount of the bed board body 100 along a direction perpendicular to itself.

[0071] S400. Based on the position compensation amount, the control module sends a corresponding positioning adjustment command to the execution module and drives the execution module to adjust the posture of the bed board body 100 to the target positioning posture.

[0072] In this embodiment, a level is installed near the end of the bed board body, and a temperature compensation module is configured. The temperature compensation module obtains the temperature of the environment in which the measurement module is located, and corrects the tilt angle data measured by the fiber optic level. It comprehensively considers the influence of mechanical deformation caused by the patient's own weight and deformation caused by temperature changes on the positioning posture of the bed board body, which can more accurately reflect the actual displacement of the treatment area in the vertical direction, and calculate the position compensation amount based on the corrected tilt angle data, further improving the positioning accuracy.

[0073] Example 3 The treatment bed positioning system in this embodiment includes a bed board body 100, a measurement module 200, a data transmission module, an execution module, a synchronous acquisition module (not shown), a data fusion module (not shown), and a control module. Several measurement modules 200 are provided and evenly distributed along the length of the bed board body 100. The synchronous acquisition module is connected to each measurement module to simultaneously acquire tilt angle data measured by several measurement modules. The data fusion module is connected to the synchronous acquisition module to fuse the tilt angle data acquired by the several measurement modules. The data transmission module is connected to the data fusion module to transmit the fused data to the control module.

[0074] The measurement module 200 is a MEMS level with a measurement accuracy of ±0.002°, dimensions of 10mm×10mm×5mm, and power consumption of less than 100mW.

[0075] In some embodiments, three MEMS levels are provided, with distances of 500mm, 1000mm, and 1500mm from the end of the bed board body 100, respectively. Each MEMS level can independently measure the angle value at its location, and the MEMS level is fixed to the bed board body 100 by bolts.

[0076] The synchronous acquisition module uses a field-programmable gate array (FPGA) to synchronously acquire multi-channel tilt angle signals at a sampling frequency of 100 Hz. The time synchronization deviation between channels is less than 1 microsecond (μs), ensuring that the multi-point attitude data are aligned in the time domain.

[0077] The data fusion module uses a digital signal processor (DSP) to implement the data fusion algorithm, and its processing capability meets the 1GFLOPS requirement, ensuring the ability to process data in real time.

[0078] Depend on Figure 6 As shown, the placement method in this embodiment is as follows: S100 When the patient is on the bed board body 100, three MEMS level instruments simultaneously and in real time measure the tilt angle data of the position, with a sampling frequency of 100Hz, and ensure the time consistency of the data through synchronous triggering.

[0079] S200: The data transmission module acquires the tilt angle data of the bed board body 100 relative to the horizontal plane collected in real time by the measurement module 200, and transmits the tilt angle data to the control module.

[0080] S300: The control module calculates the position compensation amount using a preset algorithm based on the tilt angle data. The position compensation amount is used to adjust the posture of the bed board body to the target positioning posture.

[0081] First, in the data fusion processing module, a weighted average algorithm is used to fuse the tilt angle data of the three MEMS levels. The calculation formula is as follows: θ f = w1×θ1+ w2×θ2+ w3×θ3; Where, θ f Here are the reference tilt angle values ​​for the tumor location after data fusion, where θ1, θ2, and θ3 are the tilt angle data measured by three MEMS level gauges, and w1, w2, and w3 are weighting coefficients. The calculation formula is as follows: w i = 1 / |x i - x t1 |; Among them, w i Let x be a weighting coefficient at a certain point, where the bed board body 100 extends along its length from the head end to the tail end. i x is the distance from the MEMS level to the head of the bed plate body at a distance of 100 mm. t1 This is the distance between the center of the area to be treated and the MEMS level.

[0082] A rectangular coordinate system is constructed with the bed board body as the origin, where the length direction of the bed board body 100 is the X-axis, the direction perpendicular to the bed board body 100 is the Z-axis, and the width direction of the bed board body 100 is the Y-axis. The system is based on the tilt angle data and position of three MEMS levels: (x...) 1， θ1), (x 2， θ2), (x 3， θ3), The tilt angle distribution function θ(Y) of the bed board body is constructed using cubic spline interpolation. The position of the center of the treatment area on the bed board body 100 is set as Y. t The final tilt angle θ(Y) of the area to be treated is obtained from the distribution function. t Based on the obtained final tilt angle value, the position compensation amount is calculated. Specifically, this includes: Δz2=Y t *sinθ(Y t ); Wherein, Δz2 is the position compensation amount of the bed board body 100 along the direction perpendicular to itself.

[0083] S400. Based on the position compensation amount, the control module sends a corresponding positioning adjustment command to the execution module and drives the execution module to adjust the posture of the bed board body 100 to the target positioning posture.

[0084] In this embodiment, multiple levels are evenly spaced on the bed board body, and a synchronous acquisition module and a data fusion module are provided to ensure the uniformity of the data collected by each level, and to collect multi-point spatial distribution information and calculate the tilt angle data of the area to be treated, thereby further improving the accuracy of the calculation of position compensation and improving the positioning accuracy.

[0085] This application discloses a treatment bed positioning system and method. By setting a measurement module on the bed board body, the tilt angle of the center of the treatment area relative to the horizontal plane can be acquired in real time and transmitted to the control module via a data transmission module. The control module calculates the vertical displacement deviation in the treatment area caused by the deformation of the bed board body due to the patient's own weight based on a preset algorithm and the position of the treatment area on the bed board body, and generates a position compensation amount. The control module drives the execution module to adjust the posture of the bed board body in the direction perpendicular to the bed board body according to the position compensation amount, so that it converts the deviation of the position compensation amount into a positioning adjustment command. Without increasing hardware complexity, the positioning accuracy is further improved, and the stability and reliability of the positioning system are maintained. In addition, this application can realize dynamic adjustment of the local posture of the treatment area. The adjustment is based on actual deformation and data, ensuring that the corrected positioning can meet the accuracy requirements. This avoids the need to confirm positioning accuracy through secondary image exposure, reduces patient radiation dose, shortens treatment time, and improves radiation efficiency.

[0086] In the description of this specification, the use of terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0087] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A treatment bed positioning system for adjusting the position of the patient during radiotherapy, characterized in that, include: The bed board itself is used to support the patient; A measurement module is installed on the bed board body to measure the tilt angle of the bed board body relative to the horizontal plane in real time, so as to obtain tilt angle data. A data transmission module, which is connected to the measurement module, is used to transmit the tilt angle data; A control module, connected to the data transmission module, is used to receive the tilt angle data, calculate the position compensation amount, and issue a positioning adjustment command based on the position compensation amount. An execution module, which is connected to both the control module and the bed board body, is used to receive the positioning adjustment command and drive the bed board body to perform posture adjustment.

2. The treatment bed positioning system according to claim 1, characterized in that, The treatment bed positioning system also includes a moving module, which is located on the bed board body and can move along the length of the bed board body. The measuring module is located on the moving module.

3. The treatment bed positioning system according to claim 2, characterized in that, The moving module includes a guide rail and a slider. The guide rail is arranged along the length of the bed board body, and the slider is disposed on the guide rail. The guide rail is one of the following: linear guide rail, flexible guide rail, magnetic levitation guide rail, and pneumatic guide rail.

4. The treatment bed positioning system according to claim 1, characterized in that, The measurement module also includes a temperature compensation module, which is used to compensate and correct the tilt angle data.

5. The treatment bed positioning system according to claim 1, characterized in that, The measuring modules are numerous and evenly distributed along the length of the bed board body.

6. The treatment bed positioning system according to claim 5, characterized in that, The treatment bed positioning system further includes a synchronous acquisition module and a data fusion module. The synchronous acquisition module is connected to the measurement module and is used to simultaneously acquire the tilt angle data measured by several measurement modules. The data fusion module is connected to the synchronous acquisition module and is used to fuse the tilt angle data acquired by several measurement modules. The data transmission module is connected to the data fusion module and is used to transmit the fused data to the control module.

7. The treatment bed positioning system according to claim 1, characterized in that, The control module also includes a machine learning module and an online update module for calculating the position compensation amount.

8. A method for positioning a treatment bed, characterized in that, A treatment bed positioning system according to any one of claims 1 to 7, comprising: The measurement module measures the tilt angle of the bed board body relative to the horizontal plane in real time to monitor the positional changes of the treatment area on the bed board body. The data transmission module acquires the tilt angle data measured by the measurement module and transmits the tilt angle data to the control module; Based on the tilt angle data and the position of the center of the treatment area on the bed board body, the control module uses a preset algorithm to calculate the position compensation amount of the center of the treatment area in the direction perpendicular to the surface of the bed board body. Based on the position compensation amount, the control module sends a corresponding positioning adjustment command to the execution module and drives the execution module to adjust the posture of the bed board body to the target positioning posture.

9. A method for positioning a treatment bed according to claim 8, characterized in that, When the control module sends a corresponding positioning adjustment command to the execution module, the control module uses a control algorithm to send the corresponding positioning adjustment command to the execution module; wherein, the control algorithm is any one of PID control algorithm, fuzzy control algorithm, adaptive control algorithm, predictive control algorithm and neural network algorithm.

10. A method for positioning a treatment bed according to claim 9, characterized in that, When the control algorithm is a PID control algorithm, the control period is 5ms to 20ms.

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