Target region tracking method and device, computer device and storage medium

Abstract

The application provides a target region tracking method and device, computer equipment and a storage medium, and is applied to the technical field of radiotherapy equipment. The method determines a motion compensation amount corresponding to a target region according to current position data and predicted trajectory data; decomposes the motion compensation amount to obtain a first motion compensation amount and a second motion compensation amount; determines a first movement control amount of a treatment head adjustment mechanism in a first direction according to the first motion compensation amount; determines a second movement control amount of multiple leaves in a second direction according to the second motion compensation amount; and determines a joint control command according to the first movement control amount and the second movement control amount. The compensation amount distribution scheme can avoid the beam geometry risk when the multi-leaf collimator bears the head and foot direction motion alone, and also retains the advantages of the multi-leaf collimator in fast aperture translation and boundary correction in the front-back, left-right or beam eye view transverse direction, so that clear and executable real-time target region collaborative tracking is realized.

Description

Technical Field

[0001] This application relates to the field of radiotherapy equipment technology, and more specifically, to a target tracking method, device, computer equipment, and storage medium. Background Technology

[0002] In treatment scenarios involving respiratory or other physiological movements, such as those affecting the chest and abdomen, the target area's location changes over time. If the treatment beam is delivered according to the static plan, it may lead to issues such as missed irradiation of the target area, additional irradiation of normal tissues, and dose distribution deviating from the planned dose, thus affecting the treatment outcome.

[0003] Current radiotherapy systems typically employ the following methods to handle target motion: First, gated therapy, which involves firing the beam only when the target area is within a permissible range and stopping when it exceeds this range. Its advantage is relatively simple control logic, but its disadvantages include reduced treatment efficiency and inability to fully utilize the dose consistency advantage of continuous tracking. Second, treatment bed compensation, which involves changing the relative position of the target area and the beam by moving the patient or patient support system. However, rapid reciprocating motion of the treatment bed can lead to issues related to patient motion consistency, comfort, inertia, and safety control. Third, treatment head compensation, which involves changing the position or direction of the treatment beam centerline by translating or oscillating the treatment head. If the treatment head has only one primary degree of freedom, or its velocity, acceleration, and travel range are limited, it is difficult to independently compensate for three-dimensional target motion. Fourth, multi-leaf collimator compensation, which involves changing the aperture of the radiation field by varying the position of the multi-leaf collimator blades, allowing the radiation field to follow the target projection. Its advantage is that it does not require significant movement of the treatment head or treatment bed, but its disadvantages include limitations in tracking effectiveness due to blade velocity, acceleration, travel, minimum opening size, and deliverable aperture. Summary of the Invention

[0004] In view of this, this application provides a target area tracking method, apparatus, computer device, and storage medium.

[0005] Specifically, this application is implemented through the following technical solution: In a first aspect, embodiments of this application provide a target tracking method applied to a radiotherapy device having a treatment head adjustment mechanism and a multi-leaf collimator, comprising: Obtain the current tracking information of the target area of ​​the target user, wherein the current tracking information includes the current location data of the target area and the predicted trajectory data for future time periods; Based on the current position data and the predicted trajectory data, determine the motion compensation amount of the current position of the target area relative to the predicted position at the next control moment; The motion compensation amount is decomposed to obtain a first motion compensation amount in a first direction and a second motion compensation amount in a second direction; wherein the first direction is the direction from the head to the feet of the target user on the treatment bed, and the second direction is the direction orthogonal to the first direction; Based on the first motion compensation amount, a first movement control amount of the treatment head adjustment mechanism in the first direction is determined; and based on the second motion compensation amount, a second movement control amount of the plurality of blades in the multi-leaf collimator in the second direction is determined; Based on the first movement control amount and the second movement control amount, a joint control command is determined to control the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator.

[0006] In one optional embodiment, the treatment head adjustment mechanism is a single-degree-of-freedom adjustment mechanism, and the movement direction of the treatment head adjustment mechanism matches the first direction; The collimator angle is fixed so that the continuous movement direction of the blades in the multi-leaf collimator is the second direction; The treatment head adjustment mechanism is either a treatment head translation configuration or a treatment head swing configuration.

[0007] In an optional implementation, before determining a joint control command for controlling the treatment head adjustment mechanism and the plurality of blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount, the method further includes: Based on the first movement control quantity, it is determined whether the movement process of the treatment head adjustment mechanism satisfies the first constraint condition; wherein the first constraint condition includes: the movement range, speed range, and acceleration range of the treatment head adjustment mechanism; And based on the second movement control quantity, determine whether the movement process of the multiple blades of the multi-leaf collimator satisfies the second constraint condition; wherein the second constraint condition includes: blade position, velocity, minimum opening and aperture delivery range; The step of determining a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount includes: When both the first constraint and the second constraint are satisfied, a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator is determined based on the first movement control amount and the second movement control amount.

[0008] In one optional implementation, the method further includes: When the movement process of the treatment head adjustment mechanism does not meet the first constraint condition, the first movement control quantity is corrected in the first direction to generate a corrected first movement control quantity; and / or, when the movement process of the multiple blades of the multi-leaf collimator does not meet the second constraint condition, the second movement control quantity is corrected in the second direction to generate a corrected second movement control quantity. Based on the modified first movement control amount and the modified second movement control amount, a joint control command is determined to control the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator.

[0009] In an optional implementation, before determining a joint control command for controlling the treatment head adjustment mechanism and the plurality of blades in the multi-leaf collimator, the method further includes: The modified first motion control quantity and the modified second motion control quantity are converted to the world coordinate system corresponding to the motion compensation quantity and synthesized to generate the current compensation quantity; The residual error is determined using the motion compensation amount and the current compensation amount; The step of determining a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the modified first movement control amount and the modified second movement control amount includes: When the residual error is determined to be less than or equal to the set error threshold, a joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator is determined based on the corrected first movement control amount and the corrected second movement control amount.

[0010] In one optional implementation, the method further includes: When the residual error is determined to be greater than the set error threshold, a feedback signal is output to indicate that the treatment head adjustment mechanism and the multi-leaf collimator should not be executed, as well as a beam holding signal.

[0011] In one optional implementation, the method further includes: During the beam holding period indicated by the beam holding signal, real-time tracking information of the target area is continuously acquired, and the movement control amount corresponding to the treatment head adjustment mechanism and the multi-leaf collimator is continuously determined based on the real-time tracking information of the target area. When the beam exit condition is determined to be met based on the movement control amounts corresponding to the treatment head adjustment mechanism and the multi-leaf collimator, a signal allowing beam exit to be restored is output; wherein the beam exit condition includes: the treatment head adjustment mechanism and the multi-leaf collimator satisfy the first constraint condition and the second constraint condition, respectively, and the residual error is less than or equal to the error threshold.

[0012] Secondly, embodiments of this application also provide a target tracking device, applied to a radiotherapy apparatus having a treatment head adjustment mechanism and a multi-leaf collimator, the device comprising: The acquisition module is used to acquire the current tracking information of the target area of ​​the target user, wherein the current tracking information includes the current location data of the target area and the predicted trajectory data for future time periods; The first determining module is used to determine the motion compensation amount of the current position of the target area relative to the predicted position at the next control moment based on the current position data and the predicted trajectory data. The decomposition module is used to decompose the motion compensation amount to obtain a first motion compensation amount in a first direction and a second motion compensation amount in a second direction; wherein the first direction is the direction from the head to the feet of the target user on the treatment bed, and the second direction is a direction orthogonal to the first direction; The second determining module is used to determine a first movement control amount of the treatment head adjustment mechanism in the first direction based on the first motion compensation amount; and to determine a second movement control amount of the plurality of blades in the multi-leaf collimator in the second direction based on the second motion compensation amount. The third determining module is used to determine a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount.

[0013] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described target tracking method.

[0014] This application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described target tracking method.

[0015] The method provided in this application, after decomposing the motion compensation amount into a first motion compensation amount and a second motion compensation amount, determines a first movement control amount of the treatment head adjustment mechanism in a first direction based on the first motion compensation amount; and determines a second movement control amount of multiple blades in the multi-leaf collimator in a second direction based on the second motion compensation amount, that is, allocating the motion compensation amount in the first direction (i.e., the head-to-foot direction) to the treatment head, so that the beam centerline moves with the target area, and the relative position of the beam center and the target area remains consistent; and allocates the motion compensation amount in the second direction (the orthogonal direction of the head-to-foot direction) to the multi-leaf collimator to ensure the accuracy of target area tracking. It is evident that the above-mentioned motion compensation scheme of this application can avoid the beam geometry risk during head-to-foot movement solely borne by the multi-leaf collimator, while retaining the advantages of the multi-leaf collimator in rapid aperture translation and boundary correction in the front-back, left-right, or beam-eye view lateral directions, thereby achieving clear and executable real-time target area collaborative tracking, ensuring the effectiveness of the radiotherapy equipment. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a target area tracking method according to an exemplary embodiment of this application; Figure 2 This is a schematic diagram of the beam geometry in the original posture in a target tracking method according to an exemplary embodiment of this application; Figure 3 This is a schematic diagram of the beam geometry during tracking using a first-type compensation scheme in a target tracking method according to an exemplary embodiment of this application; Figure 4 This is a schematic diagram of the beam geometry during the second type of compensation scheme tracking in a target area tracking method according to an exemplary embodiment of this application; Figure 5 This is a schematic diagram of the beam geometry during target tracking using a third type of compensation scheme, as illustrated in an exemplary embodiment of this application. Figure 6 This is a schematic diagram of the beam geometry during target tracking using a fourth type of compensation scheme, as illustrated in an exemplary embodiment of this application. Figure 7 This is a schematic diagram illustrating the decomposition of target motion components and coordinate mapping in a target tracking method according to an exemplary embodiment of this application; Figure 8 This is a schematic diagram of MLC aperture translation within the eye view in an exemplary embodiment of the present application, illustrating a target tracking method. Figure 9 This is a flowchart illustrating a target area tracking method in another exemplary embodiment of this application; Figure 10 This is a schematic diagram of a target tracking device shown in an exemplary embodiment of this application; Figure 11 This is a schematic diagram of the structure of a computer device provided in this application. Detailed Implementation

[0017] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed above.

[0018] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the foregoing are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0019] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0020] To facilitate understanding of this embodiment, a target region tracking method disclosed in this application will first be described in detail. The execution subject of the target region tracking method provided in this application embodiment is generally a computer device with a certain computing power. This computer device includes, for example, a terminal device, a server, or other processing devices. The terminal device can be a user equipment (UE), a mobile device, a user terminal, a computing device, an embedded device, etc. In some possible implementations, the target region tracking method can be implemented by the processor calling computer-readable instructions stored in memory.

[0021] Research on various related schemes revealed the following problems: For example, tracking schemes using multi-leaf collimators typically convert the overall motion of the target area in the beam eye view into aperture translation, easily overlooking the more advantageous geometric relationship when head-to-foot motion is handled by the treatment bundle centerline; treatment head compensation schemes usually emphasize the tracking capability of the treatment head itself, failing to fully utilize the rapid adjustment capability of the multi-leaf collimator for orthogonal components, aperture boundaries, and shape correction; treatment bed and multi-leaf collimator component sharing schemes require moving the patient support device, failing to address the issue of reducing rapid patient movement; treatment head swing and multi-leaf collimator combination schemes typically remain at the level of parallel combination of position correction and shape correction, without fixedly allocating the patient's head-to-foot direction to the treatment head or the orthogonal component to the multi-leaf collimator; multi-leaf collimator trolley or collimator lateral movement schemes add lateral movement degrees of freedom within the collimator, without providing a control structure for the treatment head to handle the head-to-foot direction component, etc.

[0022] The study also found that treatment head compensation and multi-leaf collimator compensation each have their applicable boundaries in related technologies. Treatment head translation can change the relative geometric relationship between the treatment beam centerline and the target area, making it suitable for compensating for large or low-frequency motion in a specific main direction. In another device configuration, treatment head oscillation can also produce an equivalent beam center displacement. Multi-leaf collimators, on the other hand, have fast blade motion response and are suitable for aperture translation, boundary correction, and shape adjustment in the beam eye view. Considering that assigning all target area motion in all directions to the multi-leaf collimator would be easily limited by blade speed, blade stroke, blade width, aperture deliverability, and beam geometry consistency, further research is needed.

[0023] Therefore, this application proposes a joint compensation scheme for the treatment head and the multi-leaf collimator. Furthermore, this application sets the motion compensation in the user's head-to-foot direction to be implemented by the treatment head, while the motion compensation in the other direction orthogonal to the head-to-foot direction is implemented by the multi-leaf collimator. Using this setup, clear-boundary, executable real-time target area collaborative tracking is achieved. This method does not simply drive the treatment head and multi-leaf collimator simultaneously, nor does it arbitrarily select two orthogonal directions for separate compensation. Instead, it employs a fixed-direction division of labor within a world coordinate system constructed with the patient as the reference. Specifically, it extracts the head-to-foot direction component of the target area motion and allocates the head-to-foot direction motion compensation to the treatment head, causing the beam centerline to translate with the head-to-foot direction motion of the target area; and it extracts the component orthogonal to the head-to-foot direction that is suitable for compensation by the multi-leaf collimator aperture translation, and allocates this orthogonal component to the translation of the multi-leaf collimator blades, causing a corresponding offset in the beam eye view to achieve more accurate target area tracking.

[0024] The target tracking method provided in this application is applied to a radiotherapy device with a treatment head adjustment mechanism and a multi-leaf collimator. The treatment head and the multi-leaf collimator work together to track and compensate for target movement. The treatment head adjustment mechanism is configured as either a controlled translation mechanism (i.e., treatment head translation configuration) or a controlled oscillation mechanism (i.e., treatment head oscillation configuration) depending on the device configuration. The multi-leaf collimator can change the aperture of the radiation field by translating the blades.

[0025] Optionally, the treatment head adjustment mechanism is a movement mechanism with limited degrees of freedom, such as a single-degree-of-freedom adjustment mechanism, and the movement direction of the treatment head adjustment mechanism matches the first direction; the collimator angle is fixed to make the continuous movement direction of the blades in the multi-leaf collimator the second direction. The first direction is the direction from the head to the feet of the target user on the treatment bed (i.e., the head-to-foot direction), and the second direction is a direction orthogonal to the first direction.

[0026] In this application, in the preferred translation configuration, the treatment head compensation axis can be the treatment head translation direction arranged along the patient's head-to-foot direction or equivalently corresponding to the patient's head-to-foot direction after calibration; in the optional swing configuration, the treatment head compensation axis can be the equivalent head-to-foot direction bundle center offset direction generated by the swing of the treatment head. This application employs constrained treatment head translation, which means that the motion used for real-time tracking compensation on the treatment head side is limited to a single principal translational degree of freedom along the patient's head-to-foot direction or equivalently corresponding to the head-to-foot direction after calibration, rather than a scenario where a multi-degree-of-freedom robotic arm performs omnidirectional tracking of the three-dimensional target area motion. Furthermore, in this application, the multi-leaf collimator compensation direction is the aperture offset direction formed by the translation of the multi-leaf collimator blades, or the bundle eye view aperture translation direction formed by the coordinated movement of the multi-leaf collimator blade group.

[0027] The head-to-foot direction mentioned in this application refers to the direction from the patient's head to their feet in the patient coordinate system. It is not the same as the direction of movement of the multi-leaf collimator blades, nor is it the same as the direction obtained by the principal axis, secondary axis, or any orthogonal axis of the eye-view.

[0028] For specific implementation, please refer to Figure 1 The diagram shows a flowchart of a target tracking method provided in an embodiment of this application. The method proposed in this application includes steps S101 to S105, wherein: S101. Obtain the current tracking information of the target area of ​​the target user, wherein the current tracking information includes the current location data of the target area and the predicted trajectory data for future time periods.

[0029] The target user can obtain current tracking information of the target area for a patient located on a radiotherapy device. This current tracking information includes the current location data of the target area and predicted trajectory data for future time periods. The predicted trajectory data includes predicted positions at multiple future time points. The current tracking information can be data detected and output in real time by the tracking system. This application does not specifically limit the process for determining the target area tracking information.

[0030] S102. Based on the current position data and the predicted trajectory data, determine the motion compensation amount of the current position of the target area relative to the predicted position at the next control moment.

[0031] During implementation, the deviation between the predicted position at the next control moment and the current position data can be calculated to obtain the motion compensation amount of the current position of the target area relative to the predicted position at the next control moment. The current position data and predicted trajectory data can be data in a world coordinate system. The world coordinate system can be a patient coordinate system constructed with the target user (i.e., the patient) as the reference, such as a coordinate system constructed with the patient's head-to-toe (SI) direction, front-to-back (AP) direction, and left-to-right (LR) direction as coordinate axes after the patient lies supine on the treatment bed; or it can be the tracking coordinate system of the treatment system, etc.

[0032] S103. Decompose the motion compensation amount to obtain a first motion compensation amount in a first direction and a second motion compensation amount in a second direction; wherein the first direction is the direction from the head to the feet of the target user on the treatment bed, and the second direction is the direction orthogonal to the first direction.

[0033] The motion compensation amount is decomposed into a first motion compensation amount in a first direction and a second motion compensation amount in a second direction. In this application, the orthogonal component on the multi-leaf collimator side (i.e., the second motion compensation amount) is the aperture translation requirement obtained by projecting it onto the chord view or the multi-leaf collimator coordinate system after determining the head-to-toe direction component (i.e., the first motion compensation component). The first direction is the direction from the head to the feet of the target user on the treatment bed (i.e., the head-to-toe direction), and the second direction is the orthogonal direction of the first direction. As shown in the following formula (1): (1) in The motion vector is the determined motion compensation amount; The projection scalar of the motion vector in the head-to-feet direction is the first motion compensation quantity; The component orthogonal to the head-to-feet direction is the second motion compensation. This is the unit vector representing the user's head and feet orientation.

[0034] For example, the motion compensation amount in the head-to-foot direction is the first motion compensation amount; the motion component orthogonal to the head-to-foot direction is the second compensation component, which may include the motion compensation amount in the front-to-back direction, the motion compensation amount in the left-to-right direction, or its projection component in the current cycloid view.

[0035] This application prioritizes assigning the head-to-foot direction component of patient tracking to the treatment head adjustment mechanism, primarily based on the varying impacts of different compensation methods on beam geometry during head-to-foot tracking. See [link to relevant documentation]. Figures 2 to 6 A schematic diagram of the geometric analysis of the head-to-foot target area tracking beam is shown. The side view in the beam plane including the head-to-foot direction illustrates the four types of compensation methods for head-to-foot tracking and the original attitude comparison, which is used to intuitively illustrate the differences between the following schemes.

[0036] exist Figure 2 The diagram shows the beam geometry in the original orientation, where the multi-leaf collimator (MLC) blades focus on the beam target. SI represents the patient's head-to-foot orientation, ① represents the treatment head / source, ② represents the multi-leaf collimator, ③ represents the beam centerline, ④ represents the field boundary, ⑤ represents the target reference (isocentric) plane, and ⑥ represents the original target position.

[0037] exist Figure 3 The diagram illustrates the beam geometry during tracking using the first type of compensation scheme (i.e., the MLC translation-only compensation scheme). This involves a linear overall translation of the multi-leaf collimator, a change in the focal point of each leaf, while the beam center position remains constant regardless of target area movement. Here, ⑦ represents the target area's position after head-to-toe tracking. Figure 4 The diagram illustrates the beam geometry during tracking using the second type of compensation scheme (i.e., the MLC arc-line translation compensation scheme), where the multi-leaf collimator moves along an arc, the focal point of each leaf remains essentially constant, and the beam center position does not shift with the target area. Figure 5 The diagram shows the beam geometry when tracking using the third type of compensation scheme (i.e., the compensation scheme for the treatment head oscillation), where the treatment head oscillates around a predetermined axis, the beam direction changes, and the oscillation center is not at the target point but brings about a change in the distance from the source to the target center, where ⑧ represents the oscillation center.

[0038] exist Figure 6The diagram illustrates the beam geometry during tracking using the fourth type of compensation scheme (i.e., a compensation scheme involving overall translation of the treatment head). This involves the treatment head undergoing a linear overall translation, with the treatment head, beam centerline, and multi-leaf collimator translating synchronously with the head-to-feet direction (i.e., the beam centerline translates with the target area, and the geometry remains constant). This is a preferred embodiment of this application. In the preferred translation configuration of this application, the treatment head translation axis is arranged along the patient's head-to-feet direction, or, after installation and calibration, equivalently corresponds to the patient's head-to-feet direction. For a ring-shaped gantry or similar device rotating around the patient's longitudinal axis, the patient's head-to-feet direction can be parallel to the gantry rotation axis or the bore axis. Therefore, this direction remains constant regardless of the angle during gantry rotation. When the treatment head translates linearly along this single axis, a beam center displacement corresponding to the patient's head-to-feet direction can be generated at different gantry angles, without needing to change the definition of the treatment head compensation axis by varying the gantry angle.

[0039] like Figure 3 As shown, the first type of compensation scheme involves a linear overall translation of the multi-leaf collimator. This scheme only moves the aperture of the multi-leaf collimator; the beam centerline itself does not move with the head-to-feet direction of the target area. For head-to-feet direction displacement, this scheme will change the focusing relationship of the multi-leaf collimator blades, and the rays may obliquely pass through the blades, thus affecting the blade blocking effect and beam boundary quality. At the same time, the distance from the source to the target center and the position of the target area relative to the beam dose profile may also change. Analysis shows that this scheme is not suitable as a preferred scheme for tracking large head-to-feet direction displacements. It should be noted that the linear overall translation of the multi-leaf collimator mentioned in the first type here is a comparative scheme in which the head-to-feet direction displacement is handled by the multi-leaf collimator or collimator components, which is different from the preferred scheme proposed in this application where the multi-leaf collimator only performs beam-eye view aperture translation on the component orthogonal to the head-to-feet direction.

[0040] like Figure 4 As shown, the second type of compensation scheme involves moving the multi-leaf collimator or related collimator components along an arc. This scheme can maintain the focusing relationship of the blades to a certain extent, but the beam centerline still does not shift linearly with the target area, and the distance from the source to the target center and the relative dose profile position of the target area will still change. This scheme is closer to the idea of ​​changing the beam direction through a collimator or beam shaping component, and it is not considered a preferred implementation method for head-to-feet direction tracking in this application.

[0041] like Figure 5 As shown, the third type of compensation scheme involves the treatment head oscillating around a predetermined axis. This scheme allows the beam centerline to form an equivalent head-to-foot displacement in the isocenter plane or the target reference plane. Compared to moving a multi-leaf collimator along an arc, oscillating the treatment head can directly change the beam direction, and can draw on existing experience with gimbaled or tilting head treatment systems. However, since oscillating the treatment head introduces a limited change in beam angle and may cause changes in the distance from the target center, it can be considered an optional implementation rather than the optimal one.

[0042] like Figure 6 As shown, the fourth type of compensation scheme is the linear overall translation of the treatment head. This scheme allows the treatment head, beam centerline, and multi-leaf collimator to translate synchronously with the head-to-foot direction. For head-to-foot direction compensation, the beam centerline moves with the target area, making it easier to maintain consistency in the relative position of the beam center and the target area. Under ideal geometry, when the treatment head, beam centerline, and multi-leaf collimator are translated as a whole along the head-to-foot direction, the relative geometric relationship between the source and the reference point / reference plane of the follow-up target area, the leaf focusing relationship, and the beam divergence geometry remain consistent in the follow-up coordinate system. In actual equipment, installation errors, calibration errors, and structural flexibility can be corrected through geometric calibration and closed-loop feedback. Therefore, linear translation of the treatment head can be considered a preferred implementation of the head-to-foot direction tracking method in this application.

[0043] Considering that longitudinal tracking of the treatment bed, under the ideal rigid body assumption, can have a similar geometric effect to linear translation of the treatment head, but it requires dynamic patient movement and is easily affected by factors such as patient weight, non-rigid patient motion, relative displacement between the patient's body and the patient's body during acceleration and deceleration, and patient comfort. Therefore, this application excludes longitudinal motion of the treatment bed as a family of alternatives to the treatment head actuator, and also does not consider it as the primary solution for real-time head-to-foot direction tracking.

[0044] Based on the above analysis, this application adopts the following beam geometry division of labor: the head-to-foot direction component is undertaken by the constrained linear translation of the treatment head; when the device structure does not support linear translation of the treatment head but supports restricted oscillation, the oscillation of the treatment head can generate an equivalent head-to-foot direction displacement; while the component orthogonal to the head-to-foot direction and projectable onto the transverse plane of the beam-eye view is undertaken by the aperture translation formed by the multi-leaf collimator blades. This configuration avoids the beam geometry risks associated with head-to-foot movement caused solely by the multi-leaf collimator, while retaining the advantages of the multi-leaf collimator in rapid aperture translation and boundary correction in the front-back, left-right, or transverse directions of the beam-eye view.

[0045] S104. Based on the first motion compensation amount, determine the first movement control amount of the treatment head adjustment mechanism in the first direction; and based on the second motion compensation amount, determine the second movement control amount of the plurality of blades in the multi-leaf collimator in the second direction.

[0046] The first movement control quantity is the control quantity on the axial coordinate of the treatment head adjustment mechanism, and the second movement control quantity is the control quantity on the coordinate system of the multi-leaf collimator mechanism.

[0047] When the treatment head adjustment mechanism is a treatment head translation configuration, the first movement control quantity of the treatment head adjustment mechanism in the first direction can be determined based on the calibration coefficient between the first direction displacement of the world coordinate system and the motion axis of the treatment head adjustment mechanism, and the first motion compensation quantity. The first movement control quantity includes translation distance and translation direction.

[0048] For example, in the translational configuration of the treatment head, the entire treatment head is rigidly translated along the head-to-foot direction, and the target translation amount of the treatment head is linearly calibrated with the head-to-foot direction component, as shown in the following formula (2): (2) in The translation amount, or translation distance, is the target translation amount for the treatment head. This is a calibration coefficient for the displacement of the target area in the head-to-foot direction (i.e., the first direction) to the translation of the treatment head. Under ideal geometry... ,Right now If there are deviations in installation ratio, beam geometry amplification, or axial calibration, It can be obtained through system calibration. Alternatively, a calibration function can be used. This is indicated to cover possible nonlinear calibration residuals, where This represents the calibration function.

[0049] When the treatment head adjustment mechanism is in a treatment head swing configuration, a first movement control amount of the treatment head adjustment mechanism in a first direction is determined based on the first motion compensation amount and the effective distance from the swing center of the treatment head adjustment mechanism to the isocenter plane. The first movement control amount includes the swing angle and the swing direction.

[0050] For example, in the treatment head swing configuration, the treatment head swing angle It can be determined according to the following formula (3): (3) Under small angle conditions, it can also be approximated as: (4) in The effective distance from the swing center to the isocenter plane or the target area reference plane.

[0051] The oscillation conversion is used for oscillating configuration equipment and is a substitute for the translation conversion mentioned above; simultaneous execution on the same equipment is not required. It can also be implemented using a calibration function. The calibration function can include the distance from the swing center to the reference plane, the source axis distance, the target depth, or other geometric parameters.

[0052] The second movement control quantity is determined according to the following process: the second motion compensation quantity is projected onto the eye view to obtain the aperture offset of the multi-leaf collimator; based on the aperture offset of the multi-leaf collimator, the second movement control quantity of multiple blades in the multi-leaf collimator is determined, wherein the second movement control quantity includes the movement direction and movement position of the blades.

[0053] During implementation, orthogonal components That is, the second motion compensation amount, after being projected onto the current frame angle, collimator angle, and beam eye view direction, yields the multi-leaf collimator aperture offset. ,like The component decomposition, coordinate mapping, and preferred aperture translation can be found in [reference needed]. Figure 7 and Figure 8 As shown, Figure 7 A schematic diagram of target area motion component decomposition and coordinate mapping is shown. Figure 8 A schematic diagram of the MLC aperture translation within the beam eye view (BEV) is shown.

[0054] in, The projection relationship from the world coordinate system (such as the patient coordinate system or the treatment system tracking coordinate system built with the patient as the reference) to the eye-view coordinates includes at least the following steps: (1) transformation from the patient coordinates or treatment system tracking coordinates to the treatment head coordinates or the fixed coordinate system of the International Electrotechnical Commission (IEC); (2) determining the eye-view direction based on the current gantry angle, collimator angle, treatment bed angle, and target user positioning parameters; (3) projecting onto the isocenter plane, target area reference plane, or multi-leaf collimator calibration plane; (4) converting to the direction, sign, and scale of the multi-leaf collimator blade coordinates. This projection only retains the lateral component of the eye-view that can be expressed by aperture translation; if If the depth component is included in the current beam direction, then this depth component is not compensated by the multi-leaf collimator aperture translation, but is included in the residual error or dose error assessment as a residual term that cannot be compensated by aperture translation.

[0055] To match the actual movement of the blade, this application decomposes the aperture offset under the eye view into a continuous component along the blade movement direction and a discrete component across the blade direction, as shown in the following formula (5): (5) in, This indicates the direction in which the blade can move forward and backward continuously. This indicates the direction of the cross-blade arrangement. Continuous aperture offset along the blade direction can be achieved by synchronous translation of the left and right blades, as shown below:

[0056]

[0057] in, and This indicates the movement position of the left and right blades. and For the first The planned position of the blade (i.e., the current position). For the first The continuous aperture translation of the blade along the blade's direction of motion. This assumes the left and right blades are aligned using the same sign and a unified eye view blade coordinate system (i.e., the left and right blade positions are expressed using the same coordinate axis and positive direction); if the local mechanism extension coordinates of each left and right blade group are used, the corresponding signs are obtained from the equipment coordinate system. The translation of the rigid body aperture for each participating blade pair... Same (equal to) When correcting the boundary of each leaf It can change according to the blade number.

[0058] The offset across the blade direction cannot be achieved by simply adding the same pair of blades together. Instead, it is approximated by selecting adjacent pairs of blades, adjusting the opening range, or rearranging the blade boundaries. Errors caused by blade width, blade projection spacing, and discrete rearrangement are included in the residual error. For apertures requiring shape correction, It can be calculated leaf by leaf based on the location of the leaf and the target area projection boundary.

[0059] In a preferred embodiment, see Figure 7 As shown, the world coordinate system set in the figure includes the SI head-to-foot direction and the AP (representing the forward-backward direction) - LR (representing the left-right direction) orthogonal plane, which can decompose the target area motion vector d into and .in Figure 7 and Figure 8 middle, Indicates the target area. Represents the target area motion vector. Indicates the head-to-toe component (The treatment head is moved to compensate). Orthogonal components , Planned aperture, Tracking aperture, Continuous translation component along the blade (This configuration is the only tracking translation, with no quantized residuals.) The aperture edge quantization residue caused by the blade width (shape residue, does not affect the tracking direction). The depth component along the beam axis (cannot be compensated by the aperture, and residual error is included).

[0060] See Figure 8 As shown, the collimator angle is fixed to direct the blade movement direction. Perpendicular to the head-to-toe direction SI of the target user, that is, the blade movement direction is the second direction, so as to use the blade to achieve motion compensation for positional deviations in the second direction. This is due to the head-to-toe direction compensation component. The orthogonal component has been borne by the treatment head. and Orthogonal, the component in the SI direction after projection onto the eyelet view is zero, and the portion that can be compensated for by aperture translation can fall on the transverse axis (i.e., the T-axis) of the eyelet view, which is orthogonal to the head-to-feet direction SI; when When parallel to the T-axis, the required aperture translation of the multi-leaf collimator is a purely continuous translation along the blade direction, i.e. , No cross-blade discretization residue is generated in the tracking direction, and blade width quantization only affects the aperture edge shape without affecting the tracking translation. Figure 8 The solid line of the circular hole indicates the planned diameter, and the dashed line of the circular hole indicates the diameter after tracking.

[0061] Furthermore, after the target user's head-to-toe orientation is calibrated, it is approximately parallel to the gantry rotation axis (bore axis), and this parallel relationship is not altered during treatment by rotating the treatment bed or rolling the patient (or such changes have already been made). In a configuration with (compensation), when the multi-leaf collimator rotates around the axis with the treatment head, The perpendicular relationship with the head-to-toe direction SI remains unchanged at all gantry angles. Therefore, a single fixed collimator angle can ensure that the orthogonal component is continuously tracked by the blades through translation at all gantry angles, without needing to change the collimator angle due to random gantry angles. In one embodiment of the radiotherapy equipment, this fixed collimator angle can be 0 degrees. In other equipment configurations (such as those with non-zero treatment bed angles, non-standard collimator zero positions, or installation deviations), it can be determined through calibration. The collimator angle setting rule in this application differs from the existing scheme of aligning the blades according to the direction of the maximum target area movement amplitude. Instead, it fixes the alignment of the blades according to the orthogonal direction of the patient's head-to-toe direction to achieve the distribution of movement compensation in different directions.

[0062] The above description The two-component form can be used to cover general cases where the collimator angle is not the preferred setting described above.

[0063] S105. Based on the first movement control amount and the second movement control amount, determine a joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator.

[0064] Furthermore, based on the first and second movement control quantities, a joint control command can be determined to control the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator. For example, the joint control command can be used to control the treatment head and blades to move to a specific position according to a determined movement speed, acceleration, etc.; or when the treatment head adjustment mechanism is in an oscillating configuration, the treatment head can be controlled to oscillate.

[0065] This application, after decomposing the motion compensation amount into a first motion compensation amount and a second motion compensation amount, determines a first movement control amount of the treatment head adjustment mechanism in the first direction based on the first motion compensation amount; and determines a second movement control amount of multiple blades in the multi-leaf collimator in the second direction based on the second motion compensation amount. That is, the motion compensation amount in the first direction (i.e., the head-to-foot direction) is allocated to the treatment head, so that the beam centerline moves with the target area, and the relative position of the beam center and the target area remains consistent; and the motion compensation amount in the second direction (the orthogonal direction to the head-to-foot direction) is allocated to the multi-leaf collimator to ensure the accuracy of target area tracking. It is evident that the above-mentioned settings of this application can avoid the beam geometry risk during head-to-foot movement being solely borne by the multi-leaf collimator, while retaining the advantages of the multi-leaf collimator in rapid aperture translation and boundary correction in the front-back, left-right, or beam-eye view lateral directions. This achieves clear and executable real-time target area collaborative tracking, ensuring the effectiveness of the radiotherapy equipment.

[0066] Optionally, before determining the joint control command for controlling the treatment head adjustment mechanism and the plurality of blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount, the method further includes: Based on the first movement control amount, it is determined whether the movement process of the treatment head adjustment mechanism satisfies the first constraint condition; wherein the first constraint condition includes: the movement range, speed range, and acceleration range of the treatment head adjustment mechanism; and based on the second movement control amount, it is determined whether the movement process of the multiple blades of the multi-leaf collimator satisfies the second constraint condition; wherein the second constraint condition includes: blade position, speed, minimum opening, and aperture delivery range.

[0067] Before generating the joint control command, the feasibility of the first and second movement control variables can be verified. For example, the controller can determine in each control cycle whether the first movement control variable of the treatment head and the second movement control variable of the multi-leaf collimator meet the mechanism reachability conditions.

[0068] For example, in a translational configuration, the first movement control variable can be used to determine whether the movement of the treatment head adjustment mechanism exceeds its movement range, and whether the movement speed and acceleration exceed the mechanism's speed threshold and acceleration threshold, respectively. If it is determined that the movement range, speed threshold, and acceleration threshold are not exceeded, the first constraint condition is satisfied. In a swing configuration, the first movement control variable can be used to determine whether the movement of the treatment head adjustment mechanism exceeds its swing angle range, and whether the swing angular velocity and angular acceleration exceed the mechanism's angular velocity threshold and angular acceleration threshold, respectively. Similarly, if it is determined that the swing angle range, angular velocity threshold, and angular acceleration threshold are not exceeded, the first constraint condition is satisfied.

[0069] Furthermore, based on the second movement control quantity, it can be determined whether the movement process of multiple blades of the multi-leaf collimator satisfies the second constraint condition; for example, whether the blade position exceeds the blade range, whether the movement speed exceeds the set speed threshold, etc.; if not, it is determined that the second constraint condition is satisfied.

[0070] When both the first constraint and the second constraint are satisfied, a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator is determined based on the first movement control amount and the second movement control amount.

[0071] In another optional implementation, when both the first and second constraints are satisfied, the first and second movement control quantities can be converted to the world coordinate system corresponding to the motion compensation quantity and synthesized to generate the current compensation quantity; and the difference between the motion compensation quantity and the current compensation quantity can be determined to determine the residual error. It can then be determined whether the residual error is less than or equal to a set error threshold. If so, a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator is determined based on the first and second movement control quantities. Conversely, if the residual error is greater than the set error threshold, it indicates a large error and a poor current motion compensation scheme. Therefore, a feedback signal indicating that the treatment head adjustment mechanism and the multi-leaf collimator should not execute, as well as a beam holding signal, are output to stop the treatment head from outputting the beam, thereby avoiding damage to the patient.

[0072] The above process enables the constraint judgment of the movement process of the treatment head adjustment mechanism and the multi-leaf collimator, so as to ensure the normal execution of target tracking.

[0073] Optionally, the method further includes: when the movement process of the treatment head adjustment mechanism does not meet the first constraint condition, correcting the first movement control quantity in a first direction to generate a corrected first movement control quantity; and / or, when the movement process of the multiple blades of the multi-leaf collimator does not meet the second constraint condition, correcting the second movement control quantity in a second direction to generate a corrected second movement control quantity; and determining a joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator based on the corrected first movement control quantity and the corrected second movement control quantity.

[0074] During implementation, when the movement of the treatment head adjustment mechanism does not meet the first constraint condition, the first movement control quantity is modified in the first direction while maintaining the division of labor, and a modified first movement control quantity is generated. For example, for the head-to-foot direction control quantity that exceeds the movement range, speed or acceleration limit of the treatment head, the upper limit or correction is made in the treatment head's own compensation direction, and the closest executable treatment head control quantity is taken as the modified first movement control quantity.

[0075] Similarly, when the movement of multiple blades in the multi-leaf collimator does not satisfy the second constraint condition, the second movement control quantity is corrected in the second direction while maintaining the division of labor, generating a corrected second movement control quantity. For example, for orthogonal apertures exceeding the blade travel, minimum opening, or delivery range, the corrected quantity is adjusted to the closest delivery aperture, resulting in the corrected second movement control quantity. This allows for the subsequent determination of the joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the corrected first and second movement control quantities.

[0076] Optionally, before determining the joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator, the method further includes: The modified first motion control quantity and the modified second motion control quantity are converted to the world coordinate system corresponding to the motion compensation quantity and synthesized to generate the current compensation quantity; The residual error is determined using the motion compensation amount and the current compensation amount; The step of determining a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the modified first movement control amount and the modified second movement control amount includes: When the residual error is determined to be less than or equal to the set error threshold, a joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator is determined based on the corrected first movement control amount and the corrected second movement control amount.

[0077] Optionally, the method further includes: when it is determined that the residual error is greater than a set error threshold, outputting a feedback signal indicating that the treatment head adjustment mechanism and the multi-leaf collimator should not perform, as well as a beam holding signal.

[0078] After generating the corrected first and second movement control variables, and before determining the joint control command, the corrected first and second movement control variables can be converted to the world coordinate system corresponding to the motion compensation variable and synthesized to generate the current compensation variable; then the deviation between the motion compensation variable and the current compensation variable is determined, and this deviation can reflect the compensation error of the current compensation scheme.

[0079] When the residual error is less than or equal to the set error threshold, it indicates that the compensation error of the current compensation scheme is within the set error threshold range. Therefore, based on the corrected first and second movement control quantities, a joint control command can be determined to control the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator, thereby achieving the tracking and compensation of target area movement using the treatment head adjustment mechanism and the multi-leaf collimator. In this case, the output signal allows or sustains beam output.

[0080] Conversely, when the residual error is greater than the set error threshold, it indicates that the compensation error of the current compensation scheme exceeds the set error threshold range, and the deviation of the current compensation scheme is large. Therefore, a feedback signal is output to indicate that the treatment head adjustment mechanism and the multi-leaf collimator do not perform, as well as a beam hold signal, to ensure the safety of the target user.

[0081] Optionally, the method further includes: continuously acquiring real-time tracking information of the target area during the beam holding period indicated by the beam holding signal, and continuously determining the movement control amounts corresponding to the treatment head adjustment mechanism and the multi-leaf collimator based on the real-time tracking information of the target area; and outputting a signal allowing beam recovery when the beam exit condition is met based on the movement control amounts corresponding to the treatment head adjustment mechanism and the multi-leaf collimator, wherein the beam exit condition includes: the treatment head adjustment mechanism and the multi-leaf collimator satisfying a first constraint condition and a second constraint condition, respectively, and the residual error being less than or equal to the error threshold.

[0082] Beam holding refers to temporarily shutting down the radiation beam; beam recovery refers to allowing the beam to exit again after the recovery conditions are met.

[0083] During the beam maintenance period, this application can continuously track the target area in real time, and when the beam exit conditions are met, that is, when the movement compensation amount of the treatment head adjustment mechanism meets the first constraint condition, the movement compensation amount of the multi-leaf collimator blades meets the second constraint condition, and the residual error is less than or equal to the error threshold, it outputs a signal that allows beam exit to be restored so as to perform beam recovery operation.

[0084] It is evident that when the control parameters of the treatment head or the multi-leaf collimator are unexecutable, or when the total residual error exceeds the threshold, this application outputs a beam hold signal to ensure patient safety. During the beam hold period, the controller continues to update the target positions of the treatment head and the multi-leaf collimator based on the current or predicted target position. When both parameters meet the execution constraints again and the residual error returns to within the allowable range, a beam recovery signal is output to restore the normal operation of the radiotherapy equipment.

[0085] See Figure 9 As shown, combined with Figure 9The method of this application is illustrated by example. Here, the input information used in this solution is first illustrated by example. For instance, input information can be acquired in each control cycle for subsequent target area tracking. The input information includes, but is not limited to: the current or predicted position of the target area; the target area movement speed or predicted trajectory; coordinate conversion parameters such as the current gantry angle, collimator angle, treatment bed angle, or bed position, as well as the current position of the treatment head; the current position of the multi-leaf collimator blades; the position, speed, and acceleration limits of the configured treatment head translation or swing mechanism; the position, speed, acceleration, minimum opening, and deliverable aperture limits of the multi-leaf collimator blades; and the planned aperture or the reference aperture corresponding to the current control point. The treatment bed angle or bed position is only used for coordinate conversion and is not part of the real-time compensation actuator.

[0086] Using the above input information, the target area tracking method proposed in this application is executed. The method includes the following steps: 1. Obtain the current and predicted location of the target area.

[0087] The predicted location is determined based on predicted trajectory data for a future time period.

[0088] 2. Determine the amount of exercise compensation.

[0089] The target area motion is converted into compensation demand, which yields the motion compensation amount.

[0090] 3. Decompose to obtain the head-to-foot component of the patient. and orthogonal components .

[0091] Here, the motion compensation is decomposed into head-to-foot components. (i.e., the first motion compensation quantity) and orthogonal components (i.e., the second motion compensation amount).

[0092] 4. Calculate the treatment head control volume based on the equipment configuration: convert the translation configuration into the treatment head translation volume. Or, the swing configuration can be converted into the treatment head swing angle. .

[0093] 5. Orthogonal components Projecting onto the eye view, the aperture displacement of the multi-leaf collimator is obtained. .

[0094] 6. Based on the planned aperture and the aperture displacement of the multi-leaf collimator. Calculate the target position of each blade of the multi-leaf collimator.

[0095] 7. Whether the treatment head control volume meets the constraints.

[0096] Check whether the treatment head control quantity meets the first constraint condition, such as whether the treatment head control quantity (i.e., the first movement control quantity) meets the position, velocity, and acceleration constraints. If yes, proceed directly to step 9. If not, limit or correct the treatment head control quantity, and then proceed to step 9.

[0097] 8. Whether the blade position is deliverable.

[0098] Check whether the blades of the multi-leaf collimator meet the second constraint conditions, such as whether the second movement control variable meets the blade motion constraint and the aperture delivery constraint. If yes, proceed directly to step 9. If not, correct to a delivery aperture and then proceed to step 9.

[0099] 9. Calculate the residual error after joint compensation. Then determine whether the residual error meets the threshold, that is, whether the residual error is less than or equal to the set error threshold. If yes, proceed to step 10. If no, proceed to step 11.

[0100] 10. Output treatment head control commands, multi-leaf collimator control commands, and allow beam output status.

[0101] If the control quantity is achievable and the residual error meets the threshold, then the output controls the combined control command of the treatment head adjustment device and the multi-leaf collimator, as well as the allowed beam output state.

[0102] 11. Output executable approximate control quantities, and output degraded tracking, beam hold, or beam termination status.

[0103] If any control quantity fails to meet the constraint or the residual error exceeds the threshold, the control treatment head adjustment device and multi-leaf collimator will not perform compensation operations; or, a degraded tracking status will be output, such as reducing the output beam; or, the output beam current can be maintained or stopped.

[0104] In radiotherapy equipment that simultaneously incorporates a treatment head adjustment mechanism and a multi-leaf collimator, this application does not rely on rapid movement of the treatment bed, nor does it entirely depend on the multi-leaf collimator to handle two-dimensional target area movement. Instead, it establishes a fixed division of labor based on the head-to-foot direction and orthogonal direction in the patient coordinate system. For example, in the treatment head translation configuration, the head-to-foot direction component can be compensated by the treatment head translation, and in the optional treatment head swing configuration, the head-to-foot direction component can be converted into an equivalent beam center displacement. The orthogonal component is compensated by the multi-leaf collimator blade aperture translation, outputting corresponding treatment head control quantities, multi-leaf collimator control quantities, residual errors, and beam current allowable states, thereby achieving clear and executable real-time collaborative target area tracking.

[0105] Corresponding to the aforementioned embodiments of the target tracking method, this application also provides embodiments of the target tracking device. Figure 10This is a schematic diagram of the target tracking device provided in this application. The target tracking device is applied to a radiotherapy device with a treatment head adjustment mechanism and a multi-leaf collimator, and specifically includes: The acquisition module 501 is used to acquire the current tracking information of the target area of ​​the target user, wherein the current tracking information includes the current location data of the target area and the predicted trajectory data for the future time period; The first determining module 502 is used to determine the motion compensation amount of the current position of the target area relative to the predicted position at the next control moment based on the current position data and the predicted trajectory data. The decomposition module 503 is used to decompose the motion compensation amount to obtain a first motion compensation amount in a first direction and a second motion compensation amount in a second direction; wherein the first direction is the direction from the head to the feet of the target user on the treatment bed, and the second direction is the direction orthogonal to the first direction; The second determining module 504 is used to determine, based on the first motion compensation amount, a first movement control amount of the treatment head adjustment mechanism in the first direction; and to determine, based on the second motion compensation amount, a second movement control amount of the plurality of blades in the multi-leaf collimator in the second direction. The third determining module 505 is used to determine a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount.

[0106] In one optional embodiment, the treatment head adjustment mechanism is a single-degree-of-freedom adjustment mechanism, and the movement direction of the treatment head adjustment mechanism matches the first direction; The collimator angle is fixed so that the continuous movement direction of the blades in the multi-leaf collimator is the second direction; The treatment head adjustment mechanism is either a treatment head translation configuration or a treatment head swing configuration.

[0107] In an optional implementation, before determining the joint control command for controlling the treatment head adjustment mechanism and the plurality of blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount, the third determining module 505 is further configured to: Based on the first movement control quantity, it is determined whether the movement process of the treatment head adjustment mechanism satisfies the first constraint condition; wherein the first constraint condition includes: the movement range, speed range, and acceleration range of the treatment head adjustment mechanism; And based on the second movement control quantity, determine whether the movement process of the multiple blades of the multi-leaf collimator satisfies the second constraint condition; wherein the second constraint condition includes: blade position, velocity, minimum opening and aperture delivery range; When the third determining module 505 determines the joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount, it is used to: When both the first constraint and the second constraint are satisfied, a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator is determined based on the first movement control amount and the second movement control amount.

[0108] In an optional implementation, the third determining module 505 is further configured to: When the movement process of the treatment head adjustment mechanism does not meet the first constraint condition, the first movement control quantity is corrected in the first direction to generate a corrected first movement control quantity; and / or, when the movement process of the multiple blades of the multi-leaf collimator does not meet the second constraint condition, the second movement control quantity is corrected in the second direction to generate a corrected second movement control quantity. Based on the modified first movement control amount and the modified second movement control amount, a joint control command is determined to control the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator.

[0109] In an optional implementation, before determining the joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator, the third determining module 505 is further configured to: The modified first motion control quantity and the modified second motion control quantity are converted to the world coordinate system corresponding to the motion compensation quantity and synthesized to generate the current compensation quantity; The residual error is determined using the motion compensation amount and the current compensation amount; When the third determining module 505 determines the joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the modified first movement control amount and the modified second movement control amount, it is used to: determine the joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the modified first movement control amount and the modified second movement control amount when it is determined that the residual error is less than or equal to the set error threshold.

[0110] In an optional implementation, the third determining module 505 is further configured to: when determining that the residual error is greater than a set error threshold, output a feedback signal indicating that the treatment head adjustment mechanism and the multi-leaf collimator should not perform, as well as a beam holding signal.

[0111] In an optional embodiment, the device is further configured to continuously acquire real-time tracking information of the target region during the beam holding period indicated by the beam holding signal, and continuously determine the movement control amounts corresponding to the treatment head adjustment mechanism and the multi-leaf collimator based on the real-time tracking information of the target region; when it is determined that the beam exit condition is met based on the movement control amounts corresponding to the treatment head adjustment mechanism and the multi-leaf collimator, a signal allowing beam exit to be restored is output; wherein the beam exit condition includes: the treatment head adjustment mechanism and the multi-leaf collimator respectively satisfy a first constraint condition and a second constraint condition, and the residual error is less than or equal to the error threshold.

[0112] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0113] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0114] This application also provides a computer-readable storage medium storing a computer program that can be used to execute the target tracking method described in the above embodiments.

[0115] This application also provides a computer device, see [link to relevant documentation] Figure 11 The diagram shown illustrates the structure of the computer device provided in this application. At the hardware level, the computer device includes a processor, an internal bus, a network interface, memory, and non-volatile memory, and may also include other hardware required for various operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to implement the target area tracking method described in the above embodiments. Of course, besides software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution entity of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0116] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs) containing computer-usable program code. The form of a computer program product implemented on ROM, optical memory, etc.

[0117] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the functions specified in one or more boxes. In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0120] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0121] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, and optical disc read-only memory (CD). ROM, digital multifunction optical disc (DVD) or other optical storage, magnetic cassette tape, magnetic magnetic disk storage or other magnetic storage devices or any other non-transferable medium, may be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0122] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0123] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0124] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0125] The embodiments of the subject matter and functional operation described in this specification can be implemented in: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or combinations thereof. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier for execution by a data processing apparatus or for controlling the operation of a data processing apparatus. Alternatively or additionally, the program instructions may be encoded on artificially generated propagation signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information and transmit it to a suitable receiving device for execution by the data processing apparatus. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or combinations thereof.

[0126] The processing and logic flow described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output. The processing and logic flow can also be executed by dedicated logic circuitry—such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the device can also be implemented as dedicated logic circuitry.

[0127] Suitable computers for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both. However, a computer is not required to have such devices. Furthermore, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0128] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CDs. ROM and DVD ROM disk. The processor and memory can be supplemented by or integrated into dedicated logic circuitry.

[0129] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0130] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0131] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions described herein may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0132] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A target area tracking method, characterized in that, The method, applied to a radiotherapy apparatus having a treatment head adjustment mechanism and a multi-leaf collimator, comprises: Obtain the current tracking information of the target area of ​​the target user, wherein the current tracking information includes the current location data of the target area and the predicted trajectory data for future time periods; Based on the current position data and the predicted trajectory data, determine the motion compensation amount of the current position of the target area relative to the predicted position at the next control moment; The motion compensation amount is decomposed to obtain a first motion compensation amount in a first direction and a second motion compensation amount in a second direction; wherein the first direction is the direction from the head to the feet of the target user on the treatment bed, and the second direction is the direction orthogonal to the first direction; Based on the first motion compensation amount, a first movement control amount of the treatment head adjustment mechanism in the first direction is determined; and based on the second motion compensation amount, a second movement control amount of the plurality of blades in the multi-leaf collimator in the second direction is determined; Based on the first movement control amount and the second movement control amount, a joint control command is determined to control the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator.

2. The method according to claim 1, characterized in that, The treatment head adjustment mechanism is a single-degree-of-freedom adjustment mechanism, and the movement direction of the treatment head adjustment mechanism matches the first direction; The collimator angle is fixed so that the continuous movement direction of the blades in the multi-leaf collimator is the second direction; The treatment head adjustment mechanism is either a treatment head translation configuration or a treatment head swing configuration.

3. The method according to claim 1, characterized in that, Before determining a joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount, the method further includes: Based on the first movement control quantity, it is determined whether the movement process of the treatment head adjustment mechanism satisfies the first constraint condition; wherein the first constraint condition includes: the movement range, speed range, and acceleration range of the treatment head adjustment mechanism; And based on the second movement control quantity, determine whether the movement process of the multiple blades of the multi-leaf collimator satisfies the second constraint condition; wherein the second constraint condition includes: blade position, velocity, minimum opening and aperture delivery range; The step of determining a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount includes: When both the first constraint and the second constraint are satisfied, a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator is determined based on the first movement control amount and the second movement control amount.

4. The method according to claim 3, characterized in that, The method further includes: When the movement process of the treatment head adjustment mechanism does not meet the first constraint condition, the first movement control quantity is corrected in the first direction to generate a corrected first movement control quantity; and / or, when the movement process of the multiple blades of the multi-leaf collimator does not meet the second constraint condition, the second movement control quantity is corrected in the second direction to generate a corrected second movement control quantity. Based on the modified first movement control amount and the modified second movement control amount, a joint control command is determined to control the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator.

5. The method according to claim 4, characterized in that, Before determining the joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator, the method further includes: The modified first motion control quantity and the modified second motion control quantity are converted to the world coordinate system corresponding to the motion compensation quantity and synthesized to generate the current compensation quantity; The residual error is determined using the motion compensation amount and the current compensation amount; The step of determining a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the modified first movement control amount and the modified second movement control amount includes: When the residual error is determined to be less than or equal to the set error threshold, a joint control command for controlling the treatment head adjustment mechanism and the multiple blades in the multi-leaf collimator is determined based on the corrected first movement control amount and the corrected second movement control amount.

6. The method according to claim 5, characterized in that, The method further includes: When the residual error is determined to be greater than the set error threshold, a feedback signal is output to indicate that the treatment head adjustment mechanism and the multi-leaf collimator should not be executed, as well as a beam holding signal.

7. The method according to claim 6, characterized in that, The method further includes: During the beam holding period indicated by the beam holding signal, real-time tracking information of the target area is continuously acquired, and the movement control amount corresponding to the treatment head adjustment mechanism and the multi-leaf collimator is continuously determined based on the real-time tracking information of the target area. When the beam exit condition is determined to be met based on the movement control amounts corresponding to the treatment head adjustment mechanism and the multi-leaf collimator, a signal allowing beam exit to be restored is output; wherein the beam exit condition includes: the treatment head adjustment mechanism and the multi-leaf collimator satisfy the first constraint condition and the second constraint condition, respectively, and the residual error is less than or equal to the error threshold.

8. A target area tracking device, characterized in that, A radiotherapy apparatus having a treatment head adjustment mechanism and a multi-leaf collimator, the apparatus comprising: The acquisition module is used to acquire the current tracking information of the target area of ​​the target user, wherein the current tracking information includes the current location data of the target area and the predicted trajectory data for future time periods; The first determining module is used to determine the motion compensation amount of the current position of the target area relative to the predicted position at the next control moment based on the current position data and the predicted trajectory data. The decomposition module is used to decompose the motion compensation amount to obtain a first motion compensation amount in a first direction and a second motion compensation amount in a second direction; wherein the first direction is the direction from the head to the feet of the target user on the treatment bed, and the second direction is a direction orthogonal to the first direction; The second determining module is used to determine a first movement control amount of the treatment head adjustment mechanism in the first direction based on the first motion compensation amount; and to determine a second movement control amount of the plurality of blades in the multi-leaf collimator in the second direction based on the second motion compensation amount. The third determining module is used to determine a joint control command for controlling the treatment head adjustment mechanism and multiple blades in the multi-leaf collimator based on the first movement control amount and the second movement control amount.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-7.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor performs the steps of the method according to any one of claims 1-7.

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