Systems and methods for diagnosis and treatment

Abstract

A method may include acquiring a first image including a target point and a first reference point, the target point corresponding to at least one body part of a subject, and the first reference point corresponding to a first mark disposed on a treatment bed of a medical device; determining a first spatial position of the first mark, the first spatial position corresponding to a first working position of the treatment bed; determining a first spatial position of at least one body part of the subject based on the first image and the first spatial position of the first mark; determining a second spatial position of the first mark, the second spatial position corresponding to a second working position of the treatment bed; and determining a second spatial position of at least one body part of the subject based on the second spatial position of the first mark and the first spatial position of the at least one body part of the subject. In some embodiments, the method may further include adjusting the second working position of the treatment bed based on the second spatial position of the at least one body part of the subject.

Description

[0001] This application is a divisional application of the invention application with the international filing date of December 13, 2017, the entry date into the Chinese national phase of December 6, 2018, the national application number of 201780035162.0, and the invention title of "Systems and methods for diagnosis and treatment". Technical Field

[0002] This application generally relates to medical diagnostic and treatment systems, and more specifically, to methods and systems for locating at least one site of a subject during a medical procedure. Background Technology

[0003] Various imaging techniques are widely used in medical diagnosis, radiotherapy planning, surgical planning, and other medical procedures, such as X-ray imaging, magnetic resonance imaging (MRI), computed tomography (CT), and positron emission tomography (PET). Typically, a treatment bed is used to support and / or transfer the subject to be examined to the scanning area of ​​the imaging and / or treatment equipment. In some embodiments, the treatment bed carrying the subject (e.g., a patient) may descend or deflect during the medical procedure. For example, in multimodal imaging, the treatment bed may descend as it moves along the longitudinal direction of the bed to the scanning area of ​​the multimodal imaging equipment, resulting in poor image quality and inaccurate image fusion. As another example, during diagnosis and treatment, the treatment bed may descend as it moves from the imaging equipment to the treatment equipment, leading to inaccurate localization of target points (e.g., anatomical points). Additionally, when using conventional fan-beam CT for IGRT, the treatment bed needs to be moved between the treatment position and the CT imaging position. This is an inherent disadvantage compared to in-situ CBCT, where imaging is performed at the treatment position. Any errors incurred during the movement of the treatment bed from one position to another become additional errors to all other imaging errors. Therefore, this application aims to provide a mapping system from an image coordinate system to a treatment coordinate system, so as to accurately determine the spatial location of at least one part of the subject during a medical procedure. Summary of the Invention

[0004] According to one aspect of this application, a method is provided for determining the spatial position of at least one body part of a subject during a medical procedure. The method can be implemented on at least one machine, each machine including at least one processor and a memory. The method may include acquiring a first image including a target point and a first reference point, the target point corresponding to at least one body part of the subject, and the first reference point corresponding to a first marker on a treatment bed disposed on the medical device; determining a first spatial position of the first marker, the first spatial position corresponding to a first working position of the treatment bed; determining a first spatial position of at least one body part of the subject based on the first image and the first spatial position of the first marker; determining a second spatial position of the first marker, the second spatial position corresponding to a second working position of the treatment bed; determining a second spatial position of at least one body part of the subject based on the second spatial position of the first marker and the first spatial position of the at least one body part of the subject; and adjusting the second working position of the treatment bed based on the second spatial position of the at least one body part of the subject.

[0005] In some embodiments, the first mark may include at least one of a radiometric detection mark or a radiooptical detection mark.

[0006] In some embodiments, the first mark may be detected by at least one of a photoelectric sensor, a laser interferometer, or a camera.

[0007] In some embodiments, the first marker may be disposed within the treatment bed.

[0008] In some embodiments, determining the first spatial location of at least one part of the subject based on the first image may further include: determining first transformation data associated with a first coordinate system and a second coordinate system, wherein the first coordinate system is applied to the first image and the second coordinate system is applied to the medical device; and determining the first spatial location of at least one part of the subject based on the first spatial location of the first marker and the first transformation data.

[0009] In some embodiments, determining the second spatial position of the first marker may further include: determining the first displacement of the first marker according to a laser triangulation algorithm when the treatment bed of the medical device moves from the first working position to the second working position; and determining the second spatial position of the first marker according to the first displacement of the first marker.

[0010] In some embodiments, determining the second spatial position of the first marker may further include: determining the first spatial position of the second marker, wherein the second marker is disposed on a treatment bed of a medical device associated with the first marker; determining the second spatial position of the second marker; and determining the second spatial position of the first marker based on the first spatial position of the first marker, the first spatial position of the second marker, and the second spatial position of the second marker.

[0011] In some embodiments, determining the second spatial location of the second marker may further include: acquiring a second image, the second image including a second reference point corresponding to the second marker; and determining the second spatial location of the second marker based on the second image.

[0012] In some embodiments, determining the second spatial position of the second mark based on the second image may further include: determining second transformation data related to a third coordinate system and a second coordinate system, wherein the third coordinate system is applied to the second image and the second coordinate system is applied to the medical device; and determining the second spatial position of the second mark based on the second transformation data.

[0013] In some embodiments, determining the second spatial position of the second marker may include: determining the second displacement of the second marker according to a laser triangulation algorithm when the treatment bed of the medical device moves from the first working position to the second working position; and determining the second spatial position of the second marker according to the second displacement of the second marker and the first spatial position of the second marker.

[0014] In some embodiments, the second mark may include at least a portion of the treatment bed.

[0015] In some embodiments, the second mark can be detected by at least one of a photoelectric sensor, a laser interferometer, or a camera.

[0016] In some embodiments, the second mark may include an optical detection mark.

[0017] In some embodiments, the second mark may be disposed at the bottom of the treatment bed.

[0018] According to one aspect of this application, a system is provided for determining the spatial position of at least one body part of a subject during a medical procedure. The system may include a computer-readable storage medium storing executable instructions; and at least one processor communicating with the computer-readable storage medium. When the executable instructions are executed, the executable instructions instruct the system to perform a method. The method may include: acquiring a first image including a target point and a first reference point, the target point corresponding to at least one body part of the subject, and the first reference point corresponding to a first marker disposed on a treatment bed of a medical device; determining a first spatial position of the first marker, the first spatial position corresponding to a first working position of the treatment bed; determining a first spatial position of at least one body part of the subject based on the first image and the first spatial position of the first marker; determining a second spatial position of the first marker, the second spatial position corresponding to a second working position of the treatment bed; determining a second spatial position of at least one body part of the subject based on the second spatial position of the first marker and the first spatial position of the at least one body part of the subject; and adjusting the second working position of the treatment bed based on the second spatial position of the at least one body part of the subject.

[0019] According to another aspect of this application, a non-transitory computer-readable medium is provided. The non-transitory computer-readable medium may include executable instructions. When executed by at least one processor, the instructions instruct the at least one processor to perform a method. The method may include: acquiring a first image including a target point and a first reference point, the target point corresponding to at least one body part of a subject, and the first reference point corresponding to a first marker disposed on a treatment bed of a medical device; determining a first spatial position of the first marker, the first spatial position corresponding to a first working position of the treatment bed; determining a first spatial position of at least one body part of the subject based on the first image and the first spatial position of the first marker; determining a second spatial position of the first marker, the second spatial position corresponding to a second working position of the treatment bed; determining a second spatial position of at least one body part of the subject based on the second spatial position of the first marker and the first spatial position of at least one body part of the subject; and adjusting the second working position of the treatment bed based on the second spatial position of at least one body part of the subject.

[0020] Some of the additional features of this application will be described in the following description. These additional features will be apparent to those skilled in the art upon examination of the following description and accompanying drawings, or upon understanding the production or operation of the embodiments. The features of this application can be implemented and achieved through the practice or use of various methods, means, and combinations thereof relating to the specific embodiments described below. Attached Figure Description

[0021] This application will be further described in conjunction with exemplary embodiments. These exemplary embodiments will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same symbols denote the same structures, wherein: Figure 1 These are schematic diagrams of exemplary diagnostic and treatment systems according to some embodiments of this application; Figure 2 This is a side view of an exemplary RT-CT device and related components shown according to some embodiments of this application; Figure 3 These are schematic diagrams of exemplary hardware and / or software components of an exemplary computing device on which a processing engine is implemented, according to some embodiments of this application; Figure 4 These are schematic diagrams of exemplary hardware and / or software components of an exemplary mobile device on which a terminal is implemented, according to some embodiments of this application; Figure 5 This is a block diagram of an exemplary processing engine according to some embodiments of this application; Figure 6 This is a flowchart illustrating an exemplary process for determining the spatial location of at least one part of a subject at a treatment location, according to some embodiments of this application; Figure 7 This is a flowchart illustrating an exemplary process for determining the spatial location of at least one part of a subject at an imaging location, according to some embodiments of this application; and Figure 8 This is a flowchart illustrating an exemplary process for determining the spatial location of a marker at a treatment location, according to some embodiments of this application. Detailed Implementation

[0022] 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 cases, to avoid unnecessarily obscuring some aspects of this application, well-known methods, procedures, systems, components, and / or circuits are described in a highly generalized manner. Various modifications to the embodiments disclosed in this application will be obvious to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this application. Therefore, this application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the patent scope of this application.

[0023] The terminology used herein is for describing specific exemplary embodiments only and does not limit the scope of this application. The singular forms “a,” “an,” and “the” used herein may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that, as in this specification, the terms “comprising,” “including,” and / or “comprising” indicate only the presence of the stated feature, integral, step, operation, component, and / or part, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, components, parts, and / or combinations thereof.

[0024] It should be understood that the terms “system,” “engine,” “unit,” “module,” and / or “block” used herein are one way to distinguish different components, elements, parts, sections, or components at different levels in ascending order. However, these terms may be replaced by other expressions if they can achieve the same purpose as such terms.

[0025] Generally, the terms "module," "unit," or "block" as 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 called from other modules / units / blocks or from themselves, and / or in response to detected events or interrupts. This is used in computing devices (e.g., Figure 3 Software modules / units / blocks executing on the processor 310 shown herein may be provided on computer-readable media, such as optical discs, digital video discs, flash drives, magneto-optical discs, or any other tangible media, or as digital downloads (and may initially be stored in a compressed or installable format, requiring installation, decompression, or decryption before execution). The software code herein may be stored, in part or in part, in the storage device of the computing device used to perform the operations and applied to 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 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 also be presented as hardware or firmware. Generally, the modules / units / blocks described herein refer to logical modules / units / blocks that can be combined with other modules / units / blocks without regard to their physical organization or storage, or logical modules / units / blocks that are broken down into sub-modules / sub-units / sub-blocks. The above description may apply to a system, an engine, or parts thereof.

[0026] It should be understood that when a unit, engine, module, or block is referred to as "connected," "connected to," or "coupled to" another unit, engine, module, or block, it can be directly connected, unless the context explicitly states otherwise; there may be a connection or coupling to, or between, and communication with, other units, engines, modules, or blocks, or between them, or with intermediate units, engines, modules, or blocks. In this application, the term "and / or" can include any one or more of the relevant listed items or a combination thereof.

[0027] 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 the 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 to scale.

[0028] This document provides systems and components for medical diagnosis and / or treatment. In some embodiments, the medical system may include a diagnostic system. The diagnostic system may include a multimodal imaging system. Multimodal imaging systems may include, for example, computed tomography-positron emission tomography (CT-PET) systems, computed tomography-positron emission tomography-magnetic resonance imaging (CT-MRI) systems, X-ray imaging-magnetic resonance imaging (X-ray-MRI) systems, positron emission tomography-X-ray imaging (PET-X-ray) systems, single-photon emission computed tomography-magnetic resonance imaging (SPECT-MRI) systems, digital subtraction angiography-magnetic resonance imaging (DSA-MRI) systems, and combinations thereof. In some embodiments, the medical system may include a diagnostic and treatment system. The diagnostic and treatment system may include a treatment planning system (TPS), an image-guided radiotherapy (IGRT) system, and the like. By way of example only, an image-guided radiotherapy (IGRT) system may include a CT-guided radiotherapy system, an MRI-guided radiotherapy system, and the like.

[0029] This application relates to a system and method for determining the spatial position of at least one site of a subject to be treated during a radiotherapy procedure. The spatial position of at least one site of the subject to be treated can be determined based on the spatial position of markers disposed on a treatment bed supporting the subject. According to this application, a mapping from an image coordinate system to a treatment coordinate system can be obtained by using one or more markers. One or more markers can be disposed on the treatment bed and / or the subject to be treated. For example, a first spatial position of the markers can be determined when the treatment bed is in the position of an imaging device. The first spatial position of at least one site of the subject to be treated can be determined based on a radiographic image acquired from the imaging device. A second spatial position of the markers can be determined when the treatment bed moves from the imaging device position to the treatment device position. The second spatial position of at least one site of the subject to be treated can then be determined based on the second spatial position of the first markers, the first spatial position of the first markers, and the first spatial position of at least one site of the subject to be treated.

[0030] It should be noted that the diagnostic and treatment system 100 described below is for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make a number of changes, alterations, and / or modifications based on the guidance of this application. These changes, alterations, and / or modifications do not depart from the scope of this application.

[0031] Figure 1 This is a schematic diagram of an exemplary diagnostic and treatment system 100 according to some embodiments of this application. As shown, the diagnostic and treatment system 100 may include an image-guided radiotherapy (IGRT) device 110, a processing device 120, a memory 130, one or more terminals 140, and a network 150. In some embodiments, the IGRT device 110, processing device 120, memory 130, and / or terminal 140 may be connected to and / or communicate with each other via a wireless connection (e.g., network 150), a wired connection, or a combination thereof. The connections between components in the diagnostic and treatment system 100 may vary. This is merely an example. Figure 1 As shown, IGRT device 110 can be connected to processing device 120 via network 150. Alternatively, IGRT device 110 can be directly connected to processing device 120. For example, as... Figure 1 As shown, the memory 130 can be connected to the processing device 120 via network 150, or directly to the processing device 120. For example, as... Figure 1 As shown, terminal 140 can be connected to processing device 120 via network 150, or directly connected to processing device 120.

[0032] The IGRT device 110 may be a multimodal (e.g., bimodal) device to acquire medical images associated with at least one site of a subject and to perform radiation therapy on at least one site of the subject. The medical images may be computed tomography (CT) images, magnetic resonance imaging (MRI) images, ultrasound images, etc., or combinations thereof. In some embodiments, the medical images may be two-dimensional (2D) images, three-dimensional (3D) images, four-dimensional (4D) images, etc., or combinations thereof. The subject may be biological or non-biological. For example, the subject may include a patient, an artificial object, etc. As another example, the subject may include a specific site, organ, and / or tissue of a patient. For example, the subject may include the head, neck, chest, heart, stomach, blood vessels, soft tissue, tumor, nodule, etc., or combinations thereof.

[0033] In some embodiments, the IGRT device 110 may include an imaging device 112, a treatment device 114, and a treatment bed 116. The imaging device 112 may be configured to provide medical images for determining at least one site (e.g., anatomical point) of a subject. Exemplary imaging devices may include, for example, CT equipment, cone-beam CT equipment, PET equipment, volumetric CT equipment, MRI equipment, etc., or combinations thereof. The treatment device 114 may be configured to perform radiotherapy on at least one site of the subject based on medical images and other information. Exemplary treatment devices may include linear accelerators, X-ray therapy equipment, etc. The treatment bed 116 may be configured to support and / or move at least one site of the subject to a scanning area, such as that of the imaging device 112 and / or the treatment device 114. For example, the treatment bed 116 may be moved to transfer at least one site of the subject from the imaging device 112 to the treatment device 114. In some embodiments, the treatment bed 116 may be configured with at least one marker. The at least one marker may be optically, radiologically, or a combination thereof detected. The at least one marker may be configured to determine the position of at least one site of the subject in the image and / or space. In some embodiments, the imaging device 112 and the treatment device 114 may share the treatment bed 116 during image-guided radiotherapy (IGRT).

[0034] In some embodiments, the imaging device 112 and the treatment device 114 may be separate from each other. In some embodiments, the imaging device 112 may be coupled to the treatment device 114. The imaging device 112 and the treatment device 114 may share the same aperture for accommodating a subject to be imaged and / or treated. The treatment bed 116 may be configured to transfer the subject to be imaged and / or treated to a detection area within the aperture. The treatment bed 116 may include motion components configured to move the treatment bed 116 in various directions. For example, the motion components may move the treatment bed 116 longitudinally. As another example, the motion components may raise the treatment bed 116 in the vertical direction. Further description of at least a portion of the IGRT device 110 (e.g., imaging device 112, treatment device 114, treatment bed 116) can be found in U.S. Application No. 20170189719 entitled "RADIATION THERAPYPOSITIONING SYSTEM", U.S. Application No. 20170189720 entitled "RADIATION THERAPY SYSTEM", and / or U.S. Application No. 20170189724 entitled "RADIATION THERAPY SYSTEM", the contents of which are incorporated herein by reference. In some embodiments, the IGRT device 110 may also include a positioning device. The positioning device may be configured to determine the position of at least one component of the IGRT device 110, for example, the position of a marker set on the treatment bed 116 or in the treatment bed 116.

[0035] Processing device 120 can process data and / or information obtained from IGRT device 110, memory 130, and / or terminal 140. For example, processing device 120 can reconstruct images related to at least one site (e.g., a tumor) of a subject based on projection data acquired by IGRT device 110 (e.g., imaging device 112). As another example, processing device 120 can determine the spatial location of at least one site (e.g., a tumor) of a subject based on images related to at least one site. Yet another example, processing device 120 can determine a treatment plan based on the spatial location of at least one site (e.g., a tumor) of a subject. In some embodiments, processing device 120 can be a single server or a group of servers. The server group can be centralized or distributed. In some embodiments, processing device 120 can be local or remote. For example, processing device 120 can access information and / or data from IGRT device 110, memory 130, and / or terminal 140 via network 150. For example, processing device 120 can be directly connected to IGRT device 110, terminal 140, and / or memory 130 to access information and / or data. In some embodiments, processing device 120 can be implemented on a cloud platform. For example, the cloud platform may include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud cloud, multi-cloud, etc., or combinations thereof. In some embodiments, processing device 120 can be implemented on a cloud platform. Figure 2 It is implemented on a computing device 200 with one or more of the aforementioned components.

[0036] Memory 130 may store data, instructions, and / or any other information. In some embodiments, memory 130 may store data obtained from IGRT device 110, processing device 120, and / or terminal 140. In some embodiments, memory 130 may store data and / or instructions used by processing device 120 to perform the exemplary methods of this application. In some embodiments, storage device 130 may include mass storage devices, removable storage devices, volatile read-write memory, read-only memory (ROM), etc., or any combination thereof. Exemplary mass storage devices may include disks, optical disks, solid-state drives, etc. Exemplary removable storage devices may include flash drives, floppy disks, optical disks, memory cards, compact disks, magnetic tapes, etc. Exemplary volatile read-write memory may include random access memory (RAM). Exemplary RAM may include dynamic random access memory (DRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), static random access memory (SRAM), thyristor random access memory (T-RAM), and zero-capacitance random access memory (Z-RAM), etc. Exemplary read-only memories may include mask read-only memories (MROMs), programmable read-only memories (PROMs), erasable programmable read-only memories (PEROMs), electrically erasable programmable read-only memories (EEPROMs), optical disc read-only memories (CD-ROMs), and digital multifunction disk read-only memories, etc. In some embodiments, memory 130 may be implemented on a cloud platform such as those described elsewhere in this application.

[0037] In some embodiments, the memory 130 may be connected to a network 150 to communicate with one or more other components of the diagnostic and treatment system 100 (e.g., processing device 120, terminal 140, etc.). One or more components of the diagnostic and treatment system 100 may access data or instructions stored in the memory 130 via the network 150. In some embodiments, the memory 130 may be part of the processing device 120.

[0038] Terminal 140 can connect to and / or communicate with IGRT device 110, processing device 120, and / or memory 130. For example, terminal 140 can obtain processed images from processing device 120. Alternatively, terminal 140 can obtain image data acquired from IGRT device 110 and send the image data to processing engine 120 for processing. In some embodiments, terminal 140 may include mobile device 140-1, tablet computer 140-2, laptop computer 140-N, etc., or any combination thereof. For example, mobile device 140-1 may include mobile phone, personal digital assistant (PDA), gaming device, navigation device, point-of-sale (POS) device, laptop computer, tablet computer, desktop computer, etc., or any combination thereof. In some embodiments, terminal 140 may include input devices, output devices, etc. Input devices may include alphanumeric and other keys that can be input via a keyboard, touchscreen (e.g., with haptic or haptic feedback), voice input, eye-tracking input, brain monitoring system, or any other similar input mechanism. Input information received through the input device may be sent to processing device 120 via, for example, a bus, 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, speakers, printer, or combinations thereof. In some embodiments, terminal 140 may be part of processing device 120.

[0039] Network 150 may include any suitable network capable of facilitating information and / or data exchange between the diagnostic and treatment system 100. In some embodiments, one or more components of the diagnostic and treatment system 100 (e.g., IGRT device 110, processing device 120, memory 130, terminal 140, etc.) may communicate information and / or data with one or more other components of the diagnostic and treatment system 100 via network 150. For example, processing device 120 may obtain image data from IGRT device 110 via network 150. As another example, processing device 120 may obtain user instructions from terminal 140 via network 150. Network 150 may be and / or include public networks (e.g., the Internet), private networks (e.g., local area networks (LANs), wide area networks (WANs), etc.), wired networks (e.g., Ethernet networks), wireless networks (e.g., 802.11 networks, Wi-Fi networks, etc.), cellular networks (e.g., Long Term Evolution (LTE) networks), Frame Relay networks, Virtual Private Networks (VPNs), satellite networks, telephone networks, routers, hubs, service computers, and / or any combination thereof. For example, network 150 may include fiber optic networks, wired networks, telecommunications networks, intranets, wireless local area networks (WLANs), metropolitan area networks (MANs), public switched telephone networks (PSTNs), Bluetooth. TM Network, Purple BeeTM Networks, near field communication (NFC) networks, and any combination thereof. In some embodiments, network 150 may include one or more network access points. For example, network 150 may include wired and / or wireless network access points, such as base stations and / or internet exchange points, through which one or more components of the diagnostic and treatment system 100 may connect to network 150 to exchange data and / or information.

[0040] The description is intended to illustrate the purpose and does not limit the scope of this application. Many alternatives, modifications, and variations will be apparent to those skilled in the art. The features, structures, methods, and other features of the exemplary embodiments described herein can be combined in various ways to obtain other and / or alternative exemplary embodiments. For example, memory 130 may be a data storage device for cloud computing platforms, including, for example, public clouds, private clouds, community clouds, and hybrid clouds. However, such changes and modifications do not depart from the scope of this application.

[0041] Figure 2 This is a side view of an exemplary RT-CT device 200 and related components according to some embodiments of this application. The RT-CT device 200 may be as follows: Figure 1 The exemplary IGRT device 110 is shown. The RT-CT device 200 may include a CT device 220, an RT device 240, a treatment bed 260, and a positioning device 280.

[0042] CT device 220 can acquire CT images associated with at least one part of a subject by scanning at least one part of the subject. In some embodiments, CT device 220 may include a radiation source, a detector, etc. The radiation source, for example, an X-ray tube, can emit a radiation beam. The detector can detect the radiation beam emitted from the radiation source and generate a signal (e.g., an electronic signal, a digital signal, etc.). A CT image can be generated based on the signal (e.g., an electronic signal, a digital signal, etc.). In some embodiments, the CT image can be used to identify at least one part of the subject, classify at least one part of the subject, diagnose at least one part of the subject, and determine the spatial location of at least one part of the subject. For example, the spatial location of at least one part of the subject can be determined based on the location of at least one part of the subject in the CT image. In some embodiments, the location of at least one part of the subject in the CT image may be related to one or more imaging parameters (also called mapping parameters) of CT device 220. As used herein, the imaging parameters of CT device 220 can be used to convert the coordinates of points in the CT image (e.g., target points corresponding to at least one part of the subject) into spatial coordinates. The imaging parameters of the CT device 220 may include the distance from the radiation source of the CT device 220 to the detector, the pixel size of the detector, and the projection position of the radiation source on the detector.

[0043] The RT device 240 can be used for treatment, such as performing radiation therapy on at least one site of a determined subject based on CT images. The RT device 240 may include a cyclotron, an induction accelerator, a linear accelerator (LINAC), etc. In some embodiments, the CT device 220 and the RT device 240 may be arranged opposite or adjacent to each other, such as... Figure 2 As shown. CT device 220 and RT device 240 may have the same axis of rotation. Specifically, CT device 220 may be connected to RT device 240. In some embodiments, CT device 220 and RT device 240 may be disposed separately from each other. In some embodiments, CT device 220 and RT device 240 may be mounted and / or fixed to the ground. In some embodiments, CT device 220 and / or RT device 240 may be movable. For example, CT device 220 and / or RT device 240 may be moved by using movable devices (e.g., trolleys or wheels) mounted on CT device 220 and / or RT device 240.

[0044] Treatment bed 260 can be configured to support and / or move at least one part of a subject. Treatment bed 260 can be moved from a first position to a second position. For example, at least one part of a subject can be moved from the location of CT equipment 220 to the location of RT equipment 240 by moving treatment bed 260. In some embodiments, treatment bed 260 can be moved using a movable device (e.g., a trolley or wheels) mounted on it.

[0045] The treatment bed 260 may include a tabletop 261, a support assembly 263, or a combination thereof. The support assembly 263 may support the tabletop 261. In some embodiments, the tabletop 261 may be movable along the longitudinal direction of the treatment bed 260, such that at least one part of the subject may be moved to, for example, the scanning area of ​​a CT device 220 and / or the treatment position of an RT device 240.

[0046] The treatment bed 260 may also include markers. These markers may include radiometric markers, optically detectable markers, or both radiometric and optically detectable markers. As used herein, a radiometric marker refers to a marker that can be penetrated and / or detected by radiation (e.g., X-rays, gamma rays, etc.). An optically detectable marker refers to a marker that can reflect light. A radiometric and optically detectable marker refers to a marker that can be penetrated and / or detected by radiation (e.g., X-rays, gamma rays, etc.) and reflects light. In some embodiments, the treatment bed 260 may include one or more groups of markers (e.g., a first group of markers including first marker 262-1, first marker 262-2, ..., first marker 262-N, and / or a second group of markers including second marker 264-1, second marker 264-2, ..., second marker 264-N). In some embodiments, the markers in the first group may be radiometric markers that can be detected by radiation (e.g., X-rays, gamma rays, etc.). The markers in the second group may be optically detectable markers that can be detected by visible light. In some embodiments, at least a portion of the treatment bed may be designated as optically detectable markers. For example, at least a portion of the treatment bed may be marked by, for example, a specific symbol (e.g., a circle).

[0047] The markings may include specifications defined by one or more parameters, including shape, size, color, material, etc., or combinations thereof. Shapes may include spheres, ellipses, cubes, lines, or other shapes. Materials may include metallic materials, resin materials, ceramic materials, etc. In some embodiments, the density of the material may be greater than that of water. In some embodiments, the markings in the first or second group may have different specifications, such that each marking in the first or second group can be distinguished from each other. For example, first marking 262-1 and first marking 262-2 may have spherical and cubic shapes, respectively, such that first marking 262-1 can be distinguished from first marking 262-2.

[0048] Markings can be positioned at appropriate locations on the treatment bed 260. In some embodiments, a first set of markings and a second set of markings can be positioned within the tabletop 261. The markings in the first and / or second sets can be arranged in multiple rows along the longitudinal direction of the treatment bed 260 within the tabletop 261. Each row of the multiple rows of markings may include at least one marking. In some embodiments, a row of markings in the first set and a row of markings in the second set can be arranged adjacent to each other. In some embodiments, the first set of markings can be positioned within the tabletop 261. The second set of markings can be positioned at the bottom of the tabletop 261, on one side of the tabletop 261, or at any other location on the treatment bed 260 (e.g., the base of the treatment bed 260), a location detectable by, for example, a positioning device 280.

[0049] The positioning device 280 can be configured to locate components of the RT-CT device 200 (e.g., markers, treatment bed 260, etc.) by acquiring data related to the movement and / or position of components (e.g., markers, treatment bed 260, etc.). The data related to the movement and / or position of components in the RT-CT device 200 can be used to estimate the spatial position of the components in the RT-CT device 200. The data related to the movement and / or position of components in the RT-CT device 200 (e.g., markers, treatment bed 260, etc.) may include movement data (e.g., velocity, displacement, acceleration, etc.), image data (e.g., images), or other data related to the position of components of the RT-CT device 200 (e.g., markers, treatment bed 260, etc.).

[0050] Positioning device 280 may include sensors, cameras, rangefinders, or combinations thereof. Exemplary sensors may include velocity sensors, accelerometers, displacement sensors, or combinations thereof. Exemplary rangefinders may include laser rangefinders, ultrasonic rangefinders, electromagnetic rangefinders, etc. Exemplary cameras may include photoelectric sensors, such as charge-coupled device (CCD) photoelectric sensors, CMOS photoelectric sensors, etc. Sensors (e.g., velocity sensors, accelerometers, displacement sensors, etc.) may acquire motion data related to components of RT-CT device 200 (e.g., markers, treatment bed 260, etc.). Cameras may acquire optical images of components of RT-CT device 200 (e.g., markers, treatment bed 260, etc.).

[0051] The positioning device 280 can be positioned at an appropriate location within the accommodating space of the RT-CT device 200. In some embodiments, the positioning device 280 can be coupled to the treatment bed 260. For example, sensors (e.g., velocity sensors, acceleration sensors, displacement sensors, etc.) can be coupled to markers (e.g., first markers 262-1, 262-2, 262-3, ..., 262-N, second markers 264-1, 264-2, ..., and / or 264-N). In some embodiments, the positioning device 280 can be positioned at a relevant location on the treatment bed 260. For example, a camera can be positioned at the base of the RT device 240.

[0052] In some embodiments, for example, the spatial location of components of the RT-CT device 200 or at least one part of the subject can be defined by a coordinate system. Exemplary coordinate systems may include a spatial rectangular coordinate system, a spherical coordinate system, a camera coordinate system, etc., or combinations thereof. The origin of the coordinate system can be varied. In some embodiments, the origin of the coordinate system may be set at the isocenter of the CT device 220, the isocenter of the RT device 240, or any other suitable location. As used herein, the isocenter of the CT device 220 (or RT device 240) may refer to the intersection of the rotation axis of the CT device 220 (or RT device 240), the central axis of the radiation source of the CT device 220 (or RT device 240), and the rotation axis of the treatment bed 260. In some embodiments, components of the RT-CT device 200 (e.g., the CT device 220, the RT device 240, the treatment bed 260, and / or the positioning device 280) may share a coordinate system, as shown in Figure 200. For example, the coordinate system may have an X-axis, a Y-axis, and a Z-axis. In some embodiments, the Y-axis may be parallel to the longitudinal axis of the treatment bed 260. The Z-axis and Y-axis may lie in a vertical plane, and the X-axis and Y-axis may lie in a horizontal plane. In some embodiments, the CT device 220 may be assigned a first coordinate system, and the RT device 240 may be assigned a second coordinate system. The first coordinate system and the second coordinate system can be converted to each other based on, for example, the positional relationship between the first origin of the first coordinate system and the second origin of the second coordinate system.

[0053] The description is intended to illustrate and does not limit the scope of this application. Many alternatives, modifications, and changes will be apparent to those skilled in the art. The features, structures, methods, and other features of the exemplary embodiments described herein can be combined in various ways to obtain other and / or alternative exemplary embodiments. For example, the RT-CT device 200 may also include imaging devices, such as PET devices, MRI devices, etc. As another example, the positioning device 280 may be assigned a third coordinate system.

[0054] Figure 3 These are schematic diagrams illustrating exemplary hardware and / or software components of an exemplary computing device 300 on which processing device 120 is implemented, according to some embodiments of this application. Figure 3 As shown, the computing device 300 may include a processor 310, a memory 320, an input / output (I / O) 330, and a communication port 340.

[0055] Processor 310 can execute computer instructions (e.g., program code) and perform the functions of processing device 120 according to the techniques described herein. Computer instructions may include, for example, routines, programs, subjects, components, data structures, procedures, and modules to perform the specific functions described herein. For example, processor 310 can process image data obtained from IGRT device 110, memory 130, terminal 140, and / or any other component of diagnostic and treatment system 100. In some embodiments, processor 310 may include one or more hardware processors, such as microcontrollers, microprocessors, reduced instruction set computing (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 circuitry or processor capable of performing one or more functions, etc., or any combination thereof.

[0056] For illustrative purposes only, only one processor is described in computing device 300. However, it should be noted that computing device 300 of this disclosure may also include multiple processors, and the operations and / or method steps performed by one processor described in this disclosure may also be performed jointly or individually by multiple processors. For example, if the processor of computing device 300 in this disclosure performs operations A and B, it should be understood that operations A and B may also be performed jointly or individually by two or more different processors in computing device 300 (e.g., a first processor performs operation A and a second processor performs operation B, or a first processor and a second processor jointly perform operations A and B).

[0057] Memory 320 can store data / information obtained from IGRT device 110, memory 130, terminal 140, and / or any other component of diagnostic and treatment system 100. In some embodiments, memory 320 may include mass storage, removable storage, volatile read-write storage, read-only storage (ROM), etc., or any combination thereof. For example, mass storage may include disks, optical disks, solid-state drives, etc. Removable storage may include flash drives, floppy disks, optical disks, memory cards, compact disks, and magnetic tapes, etc. Volatile read-write storage may include random access memory (RAM). RAM may include dynamic RAM (DRAM), double-rate synchronous dynamic RAM (DDR SDRAM), static RAM (SRAM), thyristor RAM (T-RAM), and zero-capacitance RAM (Z-RAM), etc. ROM may include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (PEROM), electrically erasable programmable ROM (EEPROM), optical disc ROM (CD-ROM), and digital universal disk ROM, etc. In some embodiments, memory 320 may store one or more programs and / or instructions to perform the exemplary methods described in this disclosure. For example, memory 320 may store a program for processing device 120 to determine a target flip angle plan.

[0058] I / O 330 can input and / or output signals, data, information, etc. In some embodiments, I / O 330 enables a user to interact with processing device 120. In some embodiments, I / O 330 may include input devices and output devices. Exemplary input devices may include a keyboard, mouse, touchscreen, microphone, etc., or any combination thereof. Exemplary output devices may include a display device, speaker, printer, projector, etc., or any combination thereof. Exemplary display devices may include a liquid crystal display (LCD), a light-emitting diode (LED) based display, a flat panel display, a curved display, a television device, a cathode ray tube (CRT), etc., or any combination thereof.

[0059] Communication port 340 can be connected to a network (e.g., network 150) to facilitate data communication. Communication port 340 can establish a connection between processing device 120 and IGRT device 110, storage device 130, and / or terminal 140. 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, fiber optic cables, telephone lines, etc., or any combination thereof. Wireless connections can include, for example, Bluetooth. TM Link, Wi-Fi TMThe communication port 340 may be a WiMax link, a WLAN link, a ZigBee link, a mobile network link (e.g., 3G, 4G, 5G, etc.), or a combination thereof. In some embodiments, the communication port 340 may be and / or include standardized communication ports such as RS232, RS485, etc. In some embodiments, the communication port 340 may be a specially designed communication port. For example, the communication port 340 may be designed according to the Digital Imaging and Medical Communications (DICOM) protocol.

[0060] Figure 4 These are schematic diagrams illustrating exemplary hardware and / or software components of an exemplary mobile device 400 on which a terminal 140 is implemented, according to some embodiments of this application. Figure 4 As shown, the mobile device 400 may include a communication platform 410, a display 420, a graphics processing unit (GPU) 430, a central processing unit (CPU) 440, I / O 450, memory 460, and storage 490. 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 400. In some embodiments, a mobile operating system 470 (e.g., iOS™, Android™, Windows Phone™, etc.) and one or more applications 480 may be downloaded from storage 490 to memory 460 for execution by CPU 440. Application 480 may include a browser or any other suitable mobile application for receiving and presenting information related to image processing or other information from processing device 120. User interaction with the information flow may be achieved through I / O 450 and provided to processing device 120 and / or other components of diagnostic and treatment system 100 via network 150.

[0061] To implement the various modules, units, and functions described in this application, a computer hardware platform can be used as the hardware platform for one or more of the elements described herein. A computer with a user interface element can be used to implement a personal computer (PC) or any other type of workstation or terminal device. If properly programmed, the computer can also be used as a server.

[0062] Figure 5 This is a block diagram of an exemplary processing device 120 according to some embodiments of this application. The processing device 120 may include an acquisition module 502, a control module 504, a processing module 506, and a storage module 508. At least a portion of the processing device 120 may be configured as follows: Figure 3 The computing device shown or such Figure 4 This is implemented on the mobile device shown.

[0063] The acquisition module 502 can acquire data. In some embodiments, data can be acquired from the IGRT device 110, memory 130, and / or terminal 140. In some embodiments, the data may include image data (e.g., radiographic images, optical images, etc.), motion or position data (e.g., velocity, displacement, spatial position, etc.) associated with components in the IGRT device 110, instructions, etc., or combinations thereof. Instructions may be executed by the processor of the processing device 120 to perform the exemplary methods of the treatment bed described herein. In some embodiments, the acquired data may be sent to the processing module 506 for further processing or stored in the storage module 508.

[0064] Control module 504 can, for example, control the operation of acquisition module 502, processing module 506, and / or storage module 508 by generating one or more control parameters. For example, control module 504 can control processing module 506 to determine the spatial location of at least one site of the subject and / or components of the IGRT device 110. As another example, control module 504 can control acquisition module 502 to acquire image data (e.g., radiographic images, optical images, etc.) from imaging device 112 of the IGRT device 110. In some embodiments, control module 504 can receive real-time commands or queries for predetermined instructions provided by a user (e.g., a physician) to control the operation of one or more of acquisition module 502 and / or processing module 506. For example, control module 504 can adjust acquisition module 502 and / or processing module 506 to generate image data (e.g., images) based on real-time commands and / or predetermined instructions. In some embodiments, control module 504 can communicate with one or more other modules of processing device 120 to exchange information and / or data.

[0065] Processing module 506 can process data provided by various modules of processing device 120. In some embodiments, processing module 506 can process radiographic images associated with at least one site of the subject to determine the spatial location of at least one site of the subject. In some embodiments, processing module 506 can determine the spatial location of components of IGRT device 110 (e.g., treatment bed 116, markers, etc.) based on data related to the movement or location of components of IGRT device 110 acquired by positioning device 280.

[0066] Storage module 508 can store information. Information may include programs, software, algorithms, data, text, numbers, images, and other information. For example, information may include image data (e.g., radiographic images, optical images, etc.), motion or position data (e.g., velocity, displacement, acceleration, spatial position, etc.) related to components of IGRT device 110 (e.g., treatment bed 116), instructions, etc., or combinations thereof. In some embodiments, storage module 508 may store processor-executable programs and / or instructions of processing device 120 to acquire data and determine the spatial position of at least one site of the subject.

[0067] In some embodiments, Figure 5 One or more modules shown may be implemented in at least a portion of the diagnostic and treatment system 100, such as Figure 1 As shown. For example, the acquisition module 502, control module 504, processing module 506, and / or storage module 508 can be integrated into a console (not shown). Through the console, the user can set parameters for scanning the subject, controlling the imaging process, controlling parameters used to reconstruct the image, etc. In some embodiments, the console can be implemented via processing device 120 and / or terminal 140.

[0068] Figure 6 This is a flowchart of an exemplary process 600 for determining the spatial location of at least one part of a subject at a treatment location, according to some embodiments of this application. In some embodiments, Figure 6 One or more operations of the process 600 shown can be performed in Figure 1 The diagnostic and treatment system 100 shown is implemented. For example, Figure 6 The process 600 shown can be stored in memory 130 as instructions and processed by processing device 120 (e.g., as shown in the image). Figure 3 The processor 310 of the computing device 300 shown, such as Figure 4 The GPU 430 or CPU 440 of the mobile device 400 shown is invoked and / or executed.

[0069] In step 602, a first image associated with at least one site of the subject and a first marker can be acquired, the first image corresponding to a first working position of the treatment bed. Operation 602 can be performed by the acquisition module 502. When the treatment bed is in the first working position (e.g., the position of the CT device 220), the first image can be acquired by the imaging device (e.g., the CT device 220) of a medical device (e.g., the RT-CT device 200) by scanning at least one site of the subject. The first image may include radiographic images, such as CT images, MR images, X-ray images, PET images, etc., or combinations thereof.

[0070] In some embodiments, the first marker may include a radiometric detection marker capable of passing radiometric detection. In some embodiments, the first marker may include a radiometric optical detection marker as described elsewhere in this application. See also Figure 2 And its description.

[0071] The first marker (e.g., first marker 262-1, first marker 262-2, first marker 262-3, ..., first marker 262-N) may be represented as a reference point in the first image. At least one part of the subject may be represented as a target point in the first image. As used herein, the term "point" in the first image may refer to a region in the first image comprising one or more pixels or voxels. The location of the reference point corresponding to the first marker and the target point corresponding to at least one part of the subject in the first image may be represented by a first coordinate system applied to the first image. For example, the location of the first reference point or target point in the first image may be represented by the coordinates of a pixel or a voxel located at the center of the first reference point or subject point.

[0072] In step 604, a first spatial location of the first marker can be determined. In some embodiments, operation 604 may be performed by the acquisition module 502 or the processing module. As used herein, when the treatment bed is in a first working position (e.g., the location of the imaging device 112), the first spatial location may refer to the location of the subject in space (e.g., the space where the medical device is located) (e.g., first marker 262-1, first marker 262-2, ..., first marker 262-N, at least one site of the subject, etc.).

[0073] The first spatial position of the first marker can be represented by a second coordinate system, which is applied to components of a medical device (e.g., RT-CT device 200), such as CT device 220, RT device 240, etc. For example, the first spatial position of the first marker can be represented by three-dimensional coordinates corresponding to the second coordinate system. The origin of the second coordinate system can be varied. For example, the origin can be the isocenter point of the imaging device (e.g., CT device 220) within the medical device (e.g., RT-CT device 200). Another example is the isocenter point of the treatment device (e.g., RT device 240) within the medical device (e.g., RT-CT device 200). Yet another example is that the origin of the second coordinate system can be set at any suitable location within the accommodating space of the medical device (e.g., RT-CT device 200). In some embodiments, the second coordinate system can be set by a user via terminal 140 or according to the default settings of the diagnostic and treatment system 100.

[0074] In some embodiments, the first spatial position of the first marker can be determined based on the distance and direction from the first marker on the treatment bed to the origin of a second coordinate system (e.g., the isocenter point of an imaging device (e.g., CT device 220)). In some other embodiments, the distance and direction from the first marker to the origin of the second coordinate system can be obtained from previous measurements. For example, information about the distance and direction from the first marker to the origin of the second coordinate system can be retrieved from a memory (e.g., memory 130, storage module 508, etc.). In some embodiments, the first spatial position of the first marker can be obtained directly from previous measurements. For example, information about the first spatial position (e.g., three-dimensional coordinates) can be retrieved from a memory (e.g., memory 130, storage module 508, etc.).

[0075] In some embodiments, determining the first spatial location of the first marker may include determining and / or identifying the first marker in the first image based on a first reference point. For example, a treatment bed may be configured with multiple markers of different specifications (e.g., shape, material, etc.) (e.g., first marker 262-1, first marker 262-2, ..., first marker 262-N). The first marker among the multiple markers can be identified based on the first reference point in the first image and the specifications of the first marker. Then, the first spatial location of the first marker can be determined.

[0076] In step 606, a first spatial position of at least one part of the subject can be determined based on the first image. Operation 606 can be performed by processing module 506. In some embodiments, the first spatial position of at least one part of the subject can be represented by a second coordinate system, which is applied to a medical device, or components of a medical device (e.g., RT-CT device 200) (e.g., CT device 220, RT device 240, etc.). For example, the first spatial position of at least one part of the subject can be represented by three-dimensional coordinates corresponding to the second coordinate system.

[0077] In some embodiments, according to such Figure 7In process 700, the first spatial position of at least one part of the subject can be determined based on a first transformation between a first coordinate system and a second coordinate system. For example, based on the first transformation between the first and second coordinate systems, the coordinates of a target point corresponding to at least one part of the subject can be transformed into three-dimensional coordinates of at least one part of the subject. As another example, the spatial positional relationship between the first marker and at least one part of the subject is related to the positional relationship between a reference point corresponding to the first marker and a target point corresponding to at least one part of the subject represented in the first image. Furthermore, the spatial positional relationship between the first marker and at least one part of the subject can be determined by transforming the positional relationship between the reference point and the target point based on the first transformation between the first and second coordinate systems. Then, the first spatial position of at least one part of the subject can be determined based on the spatial positional relationship between the first marker, at least one part of the subject, and the first spatial position of the first marker.

[0078] In step 608, a second spatial position of the first marker can be determined. Operation 608 can be performed by processing module 506. As used herein, when the treatment bed is in a second working position (e.g., the position where treatment device 116 is located), the second spatial position can refer to the position of the subject in space (e.g., the space where the medical device is located) (e.g., the first marker, at least one body part of the subject, etc.). In some embodiments, the second spatial position of the first marker can be represented by a second coordinate system applied to the medical device.

[0079] In some embodiments, the second spatial location of the first marker can be determined based on the location of the first marker (e.g., from a positioning device). Figure 2The first mark-related data acquired by the positioning device 280 (shown) is used to determine the location. In some embodiments, the first mark-related data may include an optical image of the first mark acquired from the positioning device (e.g., a camera). The second spatial position of the first mark can be determined based on an optical image and a second transformation between a third coordinate system applied to the positioning device and a fourth coordinate system applied to the optical image of the first mark. The second transformation between the third coordinate system applied to the positioning device and the fourth coordinate system applied to the optical image may include transformation data (e.g., a transformation equation or algorithm) determined according to camera calibration. The camera calibration can be obtained from previous measurements. For example, the camera calibration information can be retrieved in a memory (e.g., memory 130, storage module 508, etc.). The second spatial position of the first mark determined according to the second transformation between the third and fourth coordinate systems can be represented by the third coordinate system. Then, the second spatial position of the first mark represented by the second coordinate system can be determined based on a third transformation between the third and second coordinate systems. The third transformation can be obtained from previous measurements. For example, the information of the third transformation can be retrieved in a memory (e.g., memory 130, storage module 508, etc.).

[0080] In some embodiments, the data related to the first marker may include movement data of the first marker detected by a positioning device (e.g., a displacement sensor, velocity sensor, accelerometer, rangefinder (e.g., laser interferometer, ultrasonic rangefinder, etc.)). The movement data of the first marker may include, for example, the displacement of the first marker, the velocity of the first marker, the acceleration of the first marker, the direction of movement of the first marker, etc. As used herein, the displacement of the first marker may refer to the change in position in space when the treatment bed moves from a first working position to a second working position. The second spatial position of the first marker can be determined based on the displacement of the first marker. In some embodiments, the displacement of the first marker can be obtained directly from the positioning device. In some embodiments, it can be... The processing module 506 determines the displacement of the first marker based on other motion data (e.g., the velocity of the first marker, the acceleration of the first marker, the direction of motion of the first marker, etc.). For example, the acceleration of the first marker can be acquired by a positioning device (e.g., an accelerometer). The processing module 506 can process the acceleration of the first marker by performing a double integral to determine the displacement of the first marker. Alternatively, the displacement of the first marker can be determined using a laser triangulation algorithm. Specifically, the positioning device (e.g., a laser interferometer) emits a laser towards the treatment bed, and the treatment bed reflects the laser back to the positioning device (e.g., the laser interferometer). The displacement of the first marker is determined using a laser triangulation algorithm based on the reflected and emitted laser light.

[0081] In some embodiments, the second spatial position of the first marker can be determined based on a second marker disposed in a treatment bed associated with the first marker. In some embodiments, the first spatial position of the second marker can be obtained from previous measurements. For example, information related to the first spatial position of the second marker can be retrieved from a memory (e.g., memory 130, storage module 508, etc.). The second spatial position of the second marker can be determined based on data related to the movement and / or position of the second marker. Then, it can be combined with... Figure 8 The second spatial position of the first mark is determined based on the second spatial position of the second mark, the first spatial position of the first mark, and the first spatial position of the second mark.

[0082] In operation 610, the second spatial position of at least one part of the subject can be determined based on the second spatial position of the first marker and the first spatial position of at least one part of the subject. Operation 610 can be performed by processing module 506. In some embodiments, the positional relationship between the first marker and at least one part of the subject may remain unchanged when the treatment bed moves from a first working position to a second working position. The positional relationship can be determined based on the first spatial position of the first marker and the first spatial position of at least one part of the subject determined in operations 604 and 606, respectively. The second spatial position of at least one part of the subject can be determined based on the second spatial position of the first marker determined in operation 608 and the positional relationship between at least one part of the subject and the first marker.

[0083] In step 612, the second working position of the treatment bed can be adjusted based on the second spatial position of at least one site of the subject. Operation 612 can be performed by the processing module 506. In some embodiments, the second working position of the treatment bed can be adjusted so that at least one site of the subject is aligned with the isocenter point of the treatment device (e.g., RT device 240) of the medical device (e.g., RT-CT device 200). For example, when the treatment bed moves from the first working position to the second working position (e.g., from the imaging device to the treatment device), the treatment bed may deflect or lower. The lowering of the treatment bed can be in the vertical direction (e.g., relative to the first spatial position of at least one site of the subject and the second spatial position of at least one site of the subject) Figure 2 The treatment bed can be correlated with the difference on the Z-axis (as shown in the diagram). The treatment bed can be positioned vertically (e.g., as shown in the diagram) between a first spatial position of at least one body part of the subject and a second spatial position of at least one body part of the subject. Figure 2 The difference on the Z-axis (as shown) is used to raise or lower the subject's position. In this way, at least one part of the subject can be aligned with the isocenter of the treatment device (e.g., RT device 240).

[0084] It should be noted that the foregoing is provided for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make various modifications and changes based on the description in this application. However, these modifications and changes will not depart from the scope of this application. For example, operation 604 may be unnecessary. As another example, operations 602 and 604 may be performed simultaneously.

[0085] Figure 7 This is a flowchart of an exemplary process 700 for determining the spatial location of at least one part of a subject at an imaging location, according to some embodiments of this application. In some embodiments, Figure 7 One or more operations of process 700 shown can be performed Figure 1 This is implemented in the diagnostic and treatment system 100 shown. For example, Figure 7 The process 700 shown can be stored in memory 130 as instructions and processed by processing device 120 (e.g., as...). Figure 3 The processor 310 of the computing device 300 shown, such as Figure 4 The GPU 430 or CPU 440 of the mobile device 400 shown is invoked and / or executed. The operation 606 can be performed according to the process 700.

[0086] In step 702, transformation data relating a first coordinate system and a second coordinate system can be determined, the first coordinate system applied to radiographic images and the second coordinate system applied to a medical device (e.g., RT-CT device 200). Step 702 can be performed by processing module 506. The medical device (e.g., RT-CT device 200) can be configured to acquire medical images and perform radiotherapy. The medical device (e.g., RT-CT device 200) may include imaging devices (e.g., CT device 220) and treatment devices (e.g., RT device 240) as described elsewhere in this application. For example, Figure 2 and its description. Combined Figure 6 As shown in 602 and described herein, radiological images can be obtained from medical devices (e.g., CT equipment 220).

[0087] The first and second coordinate systems can be set by the user via terminal 140 or according to the default settings of the diagnostic and treatment system 100. Information about the first and second coordinate systems can be retrieved from memory (e.g., memory 130, storage module 508, etc.). For example, the origin of the first coordinate system and / or the origin of the second coordinate system can be automatically set at the center of the radiographic image and the isocenter of the medical device. Alternatively, the origin of the first coordinate system and / or the origin of the second coordinate system can be set by the user at any suitable location.

[0088] Transformation data can be used to perform a transformation between a first coordinate system and a second coordinate system. Specifically, the transformation between the first and second coordinate systems includes a transformation between the spatial coordinates of a target (e.g., a first marker, at least one site of the subject) defined by the second coordinate system and the coordinates of a point in a radiographic image defined by the first coordinate system. Transformation data relating to the first and second coordinate systems can include a transformation relationship between them. In some embodiments, for example, this transformation relationship can be represented by a transformation equation or algorithm. The transformation relationship (e.g., a transformation equation or algorithm) can be defined by one or more imaging parameters (also called mapping parameters) associated with an imaging device (e.g., CT device 220) of a medical device as described elsewhere in this application. For example, imaging parameters associated with the imaging device can include the distance from the radiation source of the imaging device to the detector of the imaging device, the pixel size of the detector in the imaging device, the projection position of the radiation source on the detector of the imaging device, etc. Furthermore, the first marker and / or at least one site of the subject can be projected onto a plane corresponding to the radiographic image (also called a projection plane). The projected position of the first marker and / or at least one part of the subject on the projection plane corresponding to the radiographic image is related to the imaging parameters of the imaging device, the first spatial position of the first marker, and / or at least one part of the subject. Therefore, the first spatial position of at least one part of the subject can be determined based on the imaging parameters associated with the imaging device.

[0089] In some embodiments, imaging parameters can be determined by calibrating the imaging device according to a calibration model. Exemplary calibration models may include pinhole camera models, dual-plane correction models, Faugeras correction models, etc., or combinations thereof. In some embodiments, the imaging parameters may be obtained from memory 130, storage module 508, terminal 140, or any other external memory.

[0090] In step 704, the spatial location of at least one body part of the subject can be determined based on the transformation data. Operation 704 can be performed by processing module 506. The spatial location of at least one body part of the subject can be represented by second coordinates corresponding to a second coordinate system. At least one body part of the subject can be represented as a target point in a radiographic image. As used herein, the term "point" can refer to a region comprising one or more pixels or voxels in a radiographic image. The location of the target point in the radiographic image can be represented by first coordinates corresponding to a first coordinate system. The second coordinates of at least one body part of the subject are determined by transforming the first coordinates of the target point according to the transformation data.

[0091] In some embodiments, the radiographic image may include reference points corresponding to markers (e.g., first marker 262-1, first marker 262-2, first marker 262-3, ..., and / or first marker 262-N) as described elsewhere in this application. See also Figure 2 And its description. The spatial position of the marker is determined in conjunction with the description of operation 604. The spatial position of at least one part of the subject can be determined based on the spatial position of the marker and the transformation data. Furthermore, the spatial positional relationship between at least one part of the subject and the marker can be determined based on the transformation data, the positional relationship between the target point corresponding to at least one part of the subject and the reference point corresponding to the marker. Then, the spatial position of at least one part of the subject can be determined based on the spatial position of the marker and the spatial positional relationship between at least one part of the subject and the marker.

[0092] It should be noted that the foregoing is provided for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can make various modifications and changes based on the description in this application. However, these modifications and changes will not depart from the scope of this application. For example, process 700 may include establishing a first coordinate system and / or a second coordinate system.

[0093] Figure 8 This is a flowchart illustrating an exemplary process 800 for determining the spatial location of a marker at a treatment location, according to some embodiments of this application. In some embodiments, Figure 8 One or more operations of process 800 shown can be performed Figure 1 This is implemented in the diagnostic and treatment system 100 shown. For example, Figure 8 The process 800 shown can be stored in memory 130 as instructions and processed by processing device 120 (e.g., such as...). Figure 3 The processor 310 of the computing device 300 shown, such as Figure 4 The GPU 430 or CPU 440 of the mobile device 400 shown is invoked and / or executed.

[0094] In step 802, when the treatment bed is in the first working position, a first spatial position of the second marker is determined. Operation 802 can be performed by the processing module 506. In some embodiments, the second marker (e.g., second marker 264-1, second marker 264-2, ..., second marker 264-N) may include, for example... Figure 2 The optical detection mark. The first working position may correspond to the position of the imaging device (e.g., CT device 220) in a medical device (e.g., RT-CT 200).

[0095] In some embodiments, the first spatial location of the second marker can be obtained from previous measurements. For example, information about the first spatial location of the second marker can be retrieved from memory (e.g., memory 130, storage module 508, etc.). As disclosed elsewhere, the first spatial location of the second marker can be represented by a second coordinate system applied to an imaging device (e.g., CT device 220) or a therapeutic device (e.g., RT device 240). See also Figure 2 and Figure 6 And its description. For example, the first spatial position of the second marker can be represented by a first three-dimensional coordinate corresponding to the second coordinate system.

[0096] In operation 804, when the treatment bed is in the second working position, a second spatial position of the second marker is determined. Operation 804 may be performed by processing module 506. In some embodiments, the second working position may correspond to the position of the treatment device (e.g., RT device 240) within a medical device (e.g., RT-CT 200). As described elsewhere in this disclosure, the second spatial position of the second marker may be represented by a second coordinate system applied to the imaging device (e.g., CT device 220) or the treatment device (e.g., RT device 240). See also... Figure 2 And its description. For example, the second spatial position of the second marker can be represented by a second three-dimensional coordinate corresponding to the second coordinate system.

[0097] In some embodiments, the second spatial position of the second marker can be determined from a positioning device (e.g., such as...). Figure 2The second spatial position of the second marker is determined based on data associated with the second marker acquired by the positioning device 280 shown. In some embodiments, the data associated with the second marker may include an optical image associated with the second marker acquired by the positioning device (e.g., a camera). The second spatial position of the second marker can be determined based on the optical image and first transformation data (e.g., a first transformation equation or algorithm) between a third coordinate system applied to the positioning device and a fourth coordinate system applied to the optical image. The first transformation data (e.g., a first transformation equation or algorithm) between the third coordinate system applied to the positioning device and the fourth coordinate system applied to the optical image can be determined based on camera calibration. The camera calibration can be obtained from previous measurements. For example, information related to the camera calibration can be retrieved from a memory (e.g., memory 130, storage module 508, etc.). The second spatial position of the second marker determined according to the first transformation data can be represented by a third coordinate system. For example, the second spatial position of the second marker determined according to the first transformation data can be represented by a second three-dimensional coordinate corresponding to the third coordinate system. Then, a first three-dimensional coordinate corresponding to the second coordinate system can be determined based on the second transformation data between the second and third coordinate systems. The second transformation data can be obtained from previous measurements. For example, information related to the second transformation data can be retrieved from a memory (e.g., memory 130, storage module 508, etc.).

[0098] In some embodiments, the data related to the second marker may include movement data of the second marker detected by a positioning device (e.g., a displacement sensor, velocity sensor, accelerometer, rangefinder (e.g., laser interferometer, ultrasonic rangefinder, etc.)). The movement data of the second marker may include the displacement of the second marker, the velocity of the second marker, the acceleration of the second marker, the direction of movement of the second marker, etc. As used herein, the displacement of the second marker may refer to the change in position in space when the treatment bed moves from a first working position to a second working position. The second spatial position of the second marker can be determined based on the displacement of the second marker. In some embodiments, the displacement of the second marker can be obtained directly from the positioning device. In some embodiments, the displacement of the second marker can be determined by the processing module 506 based on other movement data (e.g., the velocity of the second marker, the acceleration of the second marker, the direction of movement of the second marker). For example, the acceleration of the second marker can be obtained by the positioning device (e.g., an accelerometer). The processing module 506 can process the acceleration of the second marker by performing a double integral to determine the displacement of the second marker. As another example, the displacement of the second marker can be determined using a laser triangulation algorithm. Specifically, a positioning device (e.g., a laser interferometer) emits a laser beam toward a treatment bed, which can then reflect the laser beam back to the positioning device (e.g., the laser interferometer). The displacement of the treatment bed can be determined using laser triangulation algorithms based on the reflected and emitted laser beams.

[0099] In step 806, the second spatial position of the first marker can be determined based on the first spatial position of the first marker, the first spatial position of the second marker, and the second spatial position of the second marker. Operation 806 can be executed by processing module 506. The first spatial position of the first marker can be combined with... Figure 6 The operation 604 is determined. In some embodiments, the positional relationship between the first mark and the second mark can be determined based on the first spatial position of the first mark and the first spatial position of the second mark. When the treatment bed moves from the first working position to the second working position, the positional relationship between the first mark and the second mark may remain unchanged. The second spatial position of the first mark can be determined based on the second spatial position of the second mark and the positional relationship between the first mark and the second mark.

[0100] It should be noted that the above is provided for illustrative purposes only and is not intended to limit the scope of this application. Various modifications and changes can be made by those skilled in the art based on the description in this application. However, these modifications and changes will not depart from the scope of this application. For example, operation 802 may be unnecessary. The spatial relationship between the first and second marks can then be obtained and / or determined based on previous measurements. For example, information regarding the spatial relationship between the first and second marks can be retrieved from a memory (e.g., memory 130, storage module 508, etc.).

[0101] 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 can make various modifications, improvements, and corrections to this application. These modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0102] 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.

[0103] 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. Accordingly, aspects of this application can be implemented entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. All of the above hardware or software can be referred to as a "unit," "module," or "system." Furthermore, aspects of this application can be embodied in the form of computer program products, wherein one or more computer-readable media include computer-readable program code.

[0104] 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. The propagated signal may take various forms, including electromagnetic, optical, and other suitable combinations thereof. A computer-readable signal medium may 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 may be propagated through any suitable medium, including radio, cable, fiber optic cable, RF, or similar media, or any combination of the above media.

[0105] The computer program code required for all aspects of this application can be written in any combination of one or more programming languages, including subject-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, or similar conventional programming languages ​​such as the "C" programming language, Visual Basic, Fortran2103, Perl, COBOL 2102, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby, and Groovy, or other programming languages. The program code can run entirely on the user's computer, or as a standalone software package on the user's computer, or partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can connect to the user's computer via any network, such as a local area network (LAN) or wide area network (WAN), or connect to an external computer (e.g., via the Internet), or in a cloud computing environment, or as a service such as Software as a Service (SaaS).

[0106] Furthermore, unless expressly stated in the claims, the order of the processing elements or sequences, the use of numbers and letters, or other names are not intended to limit the order of the processes and methods of this application. Although various examples have been discussed in the foregoing applications to illustrate embodiments 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 embodiments of the claims. Rather, the claims aim to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments of this application. For example, while the implementation of the various components described above can be embodied in a hardware device, it can also be implemented as a software-only solution, such as an installation on an existing server or mobile device.

[0107] Similarly, it is understood that in the foregoing description of embodiments of the present invention, various features may sometimes be presented in a single embodiment, figure, or description in order to simplify the description of multiple embodiments. However, the method of this application should not be construed as reflecting an intention to require more features than expressly recited in each claim for the claimed subject material to be scanned. Rather, the subject of the invention should possess fewer features than in any single embodiment described above.

[0108] In some embodiments, the quantities, properties, etc., used to describe and claim certain embodiments of this application should be understood to be modified in some cases by the terms "about," "approximately," or "substantially." Unless otherwise stated, "about," "approximately," or "substantially" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0109] Every patent, patent application, publication of a patent application, and other material, such as articles, books, specifications, publications, documents, articles, and / or similar items, cited herein are incorporated herein by reference in their entirety. For all purposes, except for any history of prosecution documents relating to it, any identical or any other material inconsistent with or conflicting with this document may have a limiting effect on the broadest claims relating to this document now or thereafter. For example, in the description, definition, and / or use of terms associated with any included material, and in the absence of any inconsistency or conflict with this document, the terms, descriptions, definitions, and / or uses in this document shall prevail.

[0110] 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 in this application.

Claims

1. A method executed on a computing device, the computing device having at least one processor, at least one computer-readable storage medium, and a communication port connected to a medical device including a treatment bed, characterized in that, The method includes: Acquire a first image including a target point and a first reference point, wherein the target point corresponds to at least one site of the subject and the first reference point corresponds to a first mark set on a treatment bed on the medical device; Determine the first spatial position of the first mark, the first spatial position corresponding to the first working position of the treatment bed; Based on the first image and the first spatial location of the first mark, determine the first spatial location of the at least one part of the subject; Determine the second spatial position of the first mark, the second spatial position corresponding to the second working position of the treatment bed; Based on the second spatial location of the first marker and the first spatial location of at least one body part of the subject, determine the second spatial location of the at least one body part of the subject; and The second working position of the treatment bed is adjusted according to the second spatial position of at least one part of the subject.

2. The method according to claim 1, characterized in that, The first mark includes at least one of radiological detection mark or radiooptical detection mark.

3. The method according to claim 1, characterized in that, The first marker is placed inside the treatment bed.

4. The method according to claim 1, characterized in that, Determining the first spatial location of at least one part of the subject based on the first image includes: Determine first transformation data related to a first coordinate system and a second coordinate system, wherein the first coordinate system is applied to the first image and the second coordinate system is applied to the medical device; and Based on the first spatial location of the first marker and the first transformation data, the first spatial location of at least one part of the subject is determined.

5. The method according to claim 1, characterized in that, Determining the second spatial location of the first marker further includes: When the treatment bed of the medical device moves from the first working position to the second working position, the first displacement of the first marker is determined according to the laser triangulation algorithm; and The second spatial position of the first mark is determined based on the first displacement of the first mark.

6. The method according to claim 1, characterized in that, Determining the second spatial location of the first marker further includes: Determine a first spatial location for a second marker, the second marker being positioned on the treatment bed of the medical device associated with the first marker; Determine the second spatial location of the second marker; and The second spatial position of the first mark is determined based on the first spatial position of the first mark, the first spatial position of the second mark, and the second spatial position of the second mark.

7. The method according to claim 6, characterized in that, Determining the second spatial location of the second marker further includes: Acquire a second image including a second reference point, the second reference point corresponding to the second marker; and The second spatial location of the second mark is determined based on the second image.

8. The method according to claim 6, characterized in that, Determining the second spatial location of the second mark includes: When the treatment bed of the medical device moves from the first working position to the second working position, the second displacement of the second mark is determined according to the laser triangulation algorithm; and The second spatial position of the second mark is determined based on the second displacement of the second mark and the first spatial position of the second mark.

9. A system for a medical device, said medical device comprising a treatment bed having a tabletop, characterized in that, The system includes: A computer-readable storage medium storing executable instructions; and At least one processor, which communicates with the computer-readable storage medium, instructs the system to perform a method, including: when executing the executable instructions. Acquire a first image including a target point and a first reference point, wherein the target point corresponds to at least one part of the subject and the first reference point corresponds to a first mark set on the treatment bed of the medical device; Determine the first spatial position of the first marker, which corresponds to the first working position of the treatment bed; Based on the first image and the first spatial location of the first mark, determine the first spatial location of the at least one part of the subject; Determine the second spatial position of the first mark, the second spatial position corresponding to the second working position of the treatment bed; Based on the second spatial location of the first marker and the first spatial location of at least one body part of the subject, determine the second spatial location of the at least one body part of the subject; and The second working position of the treatment bed is adjusted according to the second spatial position of at least one part of the subject.

10. A non-transitory computer-readable medium, characterized in that, The non-transitory computer-readable medium includes: At least one processor-executable instruction, the instruction instructing the at least one processor to implement a method, comprising: Acquire a first image including a target point and a first reference point, wherein the target point corresponds to at least one part of the subject and the first reference point corresponds to a first mark set on the treatment bed of the medical device; Determine a first spatial position of the first mark, the first spatial position corresponding to a first working position of the treatment bed; Based on the first image and the first spatial location of the first mark, determine the first spatial location of the at least one part of the subject; Determine the second spatial position of the first mark, the second spatial position corresponding to the second working position of the treatment bed; Based on the second spatial location of the first marker and the first spatial location of at least one body part of the subject, determine the second spatial location of the at least one body part of the subject; and The second working position of the treatment bed is adjusted according to the second spatial position of at least one part of the subject.

Images