Radiotherapy laser positioning system and method

Abstract

The present application belongs to the field of medical devices, and provides a radiotherapy laser positioning system and method, the system comprising a human body curved surface longitudinal axis laser lamp, a longitudinal axis laser lamp, a transverse axis laser lamp, a first camera, a second camera, a third camera and a computer device, the computer device being used for identifying images taken by the first camera, the second camera and the third camera using neural learning technology, calculating the intersection point coordinates of the laser lines irradiated on the patient and the patient surface marker coordinates, and calculating the coordinate difference; when the coordinate difference is less than a preset value, a prompt of accurate positioning is given; when the coordinate difference is greater than the preset value, a prompt of continuing positioning is given, and the intersection point coordinates of the laser lines irradiated on the patient, the patient surface marker coordinates and the coordinate difference between the two are displayed. The radiotherapy laser positioning system and method provided by the present application supervise and monitor the accuracy and precision of the positioning of the patient before radiotherapy.

Description

Technical Field

[0001] This invention relates to radiotherapy equipment, and more particularly to a radiotherapy laser positioning system and method. Background Technology

[0002] Tumor radiotherapy is a treatment method that uses high-energy rays or particles to kill cancer cells or prevent their growth. It can be divided into (1) Diagnosis and evaluation stage: The location, size and spread of the tumor are determined by imaging examinations (such as CT, MRI, PET-CT, etc.), and a personalized treatment plan is formulated according to the patient's overall health and cancer type. (2) Simulation and localization stage: Before the formal start of radiotherapy, the doctor will arrange a special imaging scan called simulation and localization; first, a thermoplastic fixation membrane (also known as a body membrane) that fits the patient's body is prepared, and the tumor area is determined by laser localization and CT scan; this step helps to accurately locate the tumor area and prepare for designing the best irradiation path to minimize the impact on the surrounding normal tissues. (3) Treatment plan: The radiation physicist will use computer software to plan the radiation dose distribution map based on the data obtained from the simulation. This plan takes into account the balance between the treatment effect to be achieved and the possible side effects. (4) Treatment execution: The patient arrives at the hospital at the scheduled time to receive treatment. Each treatment session usually lasts from a few minutes to half an hour, but the preparation time and the actual irradiation time may vary.

[0003] During the treatment execution phase, the patient lies on the radiotherapy bed, and the body membrane, customized for the patient during the simulation positioning phase, is attached to the patient before laser positioning is performed. The laser positioning lamp consists of three laser lamps. One laser lamp, called the human body curved longitudinal axis laser beam laser lamp, is installed on the wall above the center of the gantry (or mounted on the ceiling). Its function is to correct the longitudinal axis of the human body, and the relationship between it and the midline of the human body is used to determine whether the human body is lying upright. On the left and right walls of the gantry, there are two dual-line laser lamps that emit longitudinal and transverse axes respectively. Their longitudinal and transverse axes intersect to form a cross, and the longitudinal and transverse axes on both sides are on the same plane. The intersection of the laser lines of the three laser lamps is the rotation center, that is, the center of the target area for isocentric treatment. The longitudinal axis of the body surface can correct whether the cross section of the human body is on the same plane, and the transverse axis can correct whether the coronal plane of the human body is on the same plane. In radiotherapy, the laser positioning lamp beam is used to correct the positioning. When using accelerator electron beam irradiation technology to treat tumors, during gantry-zero irradiation, position the patient as required, align the reference center on the skin (body membrane) surface, rotate the aperture to align the shape and direction of the conformal lead mold with the direction of the radiation field drawn on the skin (body membrane) surface, then raise the bed until the transverse laser positioning line passes through the center of the radiation field on the body surface. At this point, the center of the radiation field on the body surface coincides with the intersection of the three laser positioning lines, and treatment can begin. During gantry-non-zero irradiation, first rotate the machine to the treatment angle required by the doctor, then move the bed back and forth to allow the transverse laser positioning line to pass through the reference center of the radiation field on the body surface. Slowly raise the bed to allow the transverse laser positioning line to pass through the reference center of the radiation field on the body surface, then move the bed left and right until the three laser positioning lines pass through the reference center point of the radiation field on the body surface. Rotate the aperture to align the shape and direction of the conformal lead mold with the edge line drawn on the skin surface, and treatment can begin. When using isocentric fixed-angle irradiation to treat tumors, position the patient as required, move the bed so that the crosshairs of the three laser lights align with the three crosshair marks on the patient's body surface, and then rotate the aperture to the specified angle according to the positioning requirements to begin treatment.

[0004] As can be seen from the above process, regardless of the irradiation technology used to treat tumors, laser positioning is required before treatment. During laser positioning, the therapist needs to move the bed up, down, left, and right to ensure that the intersection of the three laser lamps coincides with the center of the radiation field, or that the crosshairs of the three laser lamps align with three cross-shaped marks on the patient's body surface. The laser positioning system is an effective and indispensable tool for ensuring the repeatability of radiotherapy positioning and improving the accuracy of radiotherapy. Laser positioning is used for radiotherapy positioning; only after positioning can the tumor target area be accurately placed at the isocenter of the accelerator. Therefore, the consistency and accuracy of positioning are crucial to treatment. Thus, it is necessary to supervise and monitor the consistency and accuracy of positioning before the start of radiotherapy.

[0005] Currently, there is no publicly available technology for supervising and monitoring laser positioning before radiotherapy. CN115382114A discloses a quality control device for laser positioning systems in radiotherapy equipment and CT reconstruction systems. The laser positioning system for radiotherapy equipment is an improvement on the accuracy detection of coronal plane laser line displacement and the detection of horizontal and transverse plane overlap, rather than the supervision and monitoring of laser positioning before treatment. CN219167548U discloses a laser positioning device for medical equipment and radiotherapy equipment. It is an adjustment of the medical laser positioning device from two or three directions to achieve multi-angle adjustment in more than three directions, and is also not the supervision and monitoring of laser positioning. CN114712734A discloses a radiotherapy radiation imaging device. It uses a camera terminal to capture images of the target object and instructs an image processing terminal to analyze the three-dimensional body model of the target object image and the body parts requiring radiotherapy treatment. It determines the radiation projection direction corresponding to the body parts for radiotherapy treatment and then instructs the radiation projection terminal to adjust its own direction of projecting radiation to the body parts, increasing the incident penetration of radiation in the body parts. This is also not the supervision and control of laser positioning. CN 109908486A discloses a position monitoring method for radiotherapy systems. This method does not use a thermoplastic fixation membrane but directly employs three-dimensional laser scanning technology to scan the patient and acquire three-dimensional data. It utilizes GPU acceleration and parallel processing technology to improve computational efficiency, allowing the entire positioning process to be completed within tens of seconds. However, this method directly uses three-dimensional laser scanning to locate the patient's tumor position. Subsequent treatments still require precise positioning of the patient on the radiotherapy bed, which is difficult to perform manually, thus limiting the widespread application of this technology. CN103736208A discloses an infrared positioning automatic positioning system for radiotherapy. This system uses an infrared positioning unit to monitor the patient's coordinates in various situations. The infrared positioning unit moves with the patient, providing real-time monitoring of the patient's position. This system provides real-time monitoring of the patient's position during radiotherapy, rather than pre-treatment positioning monitoring.

[0006] Therefore, there is an urgent need for a radiotherapy laser positioning system and method to monitor the accuracy and precision of positioning before the start of radiotherapy. Summary of the Invention

[0007] The purpose of this invention is to provide a radiotherapy laser positioning system and method to monitor the accuracy and precision of patient positioning before radiotherapy.

[0008] To solve the above-mentioned technical problems, the radiotherapy laser positioning system and method provided by this invention are implemented as follows:

[0009] This invention provides a radiotherapy laser positioning system, comprising a human body curved longitudinal axis laser lamp, a longitudinal axis laser lamp, a transverse axis laser lamp, a first camera, a second camera, a third camera, and a computer device; the first camera is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the human body curved longitudinal axis laser lamp; the second camera is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the longitudinal axis laser lamp; the third camera is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the transverse axis laser lamp; the computer device is used to use neural learning technology to identify the images captured by the first, second, and third cameras, calculate the coordinates of the intersection point of the laser beam illuminating the patient and the coordinates of the patient's surface markers, and calculate the coordinate difference; when the coordinate difference is less than a preset value, a prompt for accurate positioning is issued; when the coordinate difference is greater than the preset value, a prompt to continue positioning is issued, and the coordinates of the intersection point of the laser beam illuminating the patient, the coordinates of the patient's surface markers, and the coordinate difference between the two are displayed.

[0010] This invention installs a camera in the existing three-dimensional radiotherapy laser system to capture images of the intersection point of the three laser lines and the center of the radiation field during positioning, or whether the crosshairs of the three laser lights are aligned with three crosshair marks on the patient's body surface. The image recognition system identifies and calculates the coordinates of the intersection point of the three laser lines and the center of the radiation field, or the coordinates of the intersection point of the three laser lights and the intersection point of the three crosshair marks on the patient's body surface, and calculates the coordinate difference. If the coordinate difference is less than a preset value, it indicates accurate positioning; if the coordinate difference is greater than the preset value, it prompts repositioning and displays the coordinates of the laser line intersection point on the patient, the coordinates of the patient's body surface marks, and the coordinate difference between the two. The therapist then repositions the patient based on the laser line intersection point coordinates, the patient's body surface mark coordinates, and the coordinate difference.

[0011] Optionally, the first, second, and third cameras are telephoto cameras that can magnify the object being photographed. They are fixed on a gimbal, which can rotate horizontally at any angle from 0 to 360 degrees and tilt up and down by 90 degrees.

[0012] Considering the location of the laser lamp in the radiotherapy room, the camera is set as a telephoto camera, which can clearly magnify and capture the laser line and the markings on the patient's body surface at a distance; the pan-tilt head angle can be set to any angle from 0 to 360 degrees, and it can tilt up and down and rotate 90 degrees to cope with various complex conditions and patient positioning during the treatment process.

[0013] Optionally, the human body curved longitudinal axis laser light is installed on the wall above the center of the radiotherapy equipment gantry. The first camera is installed on the wall where the human body curved longitudinal axis laser light is located. When the horizontal and vertical angles of the first camera's pan-tilt head are both zero, the camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the human body curved longitudinal axis laser light. Alternatively, the longitudinal axis laser light and the transverse axis laser light are installed on the side walls of the radiotherapy equipment gantry or on the laser positioner. The second camera and the third camera are respectively installed on the laser positioner where the longitudinal axis laser light and the transverse axis laser light are located or on the wall behind the laser positioner. When the horizontal and vertical angles of the pan-tilt heads of the second camera and the third camera are both zero, the second camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the longitudinal axis laser light, and the third camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the transverse axis laser light.

[0014] Optionally, the first camera is mounted directly above the vertical axis laser light on the human body surface, the second camera is mounted directly above the vertical axis laser light, and the third camera is mounted directly above the horizontal axis laser light.

[0015] The above further specifies the installation positions of the camera and laser light. The best installation position of the camera is close to the laser light emission source, either above or below the emission source. In order to ensure that the current radiotherapy laser positioning equipment does not need to be moved or modified, this invention provides a specific installation embodiment for easy implementation.

[0016] Optionally, the computer device includes: an image recognition module: used to recognize images captured by the first camera, the second camera, and the third camera using neural learning technology, and to identify laser line intersections and patient surface markings;

[0017] The calculation module is used to calculate the coordinates of the intersection point of the laser lines irradiating the patient and the coordinates of the marks on the patient's body surface, and to calculate the coordinate difference. When the coordinate difference is greater than a preset value, the module is notified to issue a prompt to continue positioning and to display the coordinates of the intersection point of the laser lines irradiating the patient, the coordinates of the marks on the patient's body surface, and the coordinate difference between the two. When the coordinate difference is less than the preset value, the module is notified to issue a prompt to ensure accurate positioning.

[0018] Display module: Used to issue prompts to continue positioning or to issue prompts that the positioning is accurate.

[0019] Optionally, the computer device further includes an image integration module: after recognizing the image captured by the camera, it integrates the image into a frontal plan view of the patient lying on the treatment bed, and marks the coordinates of the laser line intersection point and the coordinates of the patient's body surface mark, as well as the coordinate difference between the two, on the frontal plan view of the patient lying on the treatment bed.

[0020] Display module: used to display a frontal plan view of the patient lying on the treatment bed synthesized by the image integration module. The plan view is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface markings, as well as the difference between the two coordinates.

[0021] The image integration module combines the captured images, and the computer device stores the accurately positioned image in its memory to preserve the data for future reference.

[0022] Optionally, after recognizing the image captured by the camera, the computer device integrates the image into a frontal plan view of the patient lying on the treatment bed. The frontal plan view of the patient lying on the treatment bed is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface markings, as well as the coordinate difference between the two.

[0023] Images captured by three cameras are integrated to form a frontal plan view of the patient lying on the treatment bed. The center point of this frontal plan view is the center of the patient's surface marker. When there is only one surface marker (accelerator electron beam irradiation technology), the center of the plan view is the surface marker. The plan view is marked with the coordinates of the laser line intersection point and the coordinates of the patient's surface marker, as well as the difference between the two coordinates. This helps the therapist provide the direction and distance for moving the treatment bed, improving the efficiency of manual positioning.

[0024] This invention also provides a method for positioning a radiotherapy laser. After positioning the patient, the method includes the following steps: a camera captures images of the laser beam irradiating the patient and the markings on the patient's body surface, and sends the images to a computer device; the computer device uses neural learning technology to recognize the images, calculates the coordinates of the intersection point of the laser beam irradiating the patient and the coordinates of the markings on the patient's body surface, and calculates the coordinate difference; when the coordinate difference is less than a preset value, a prompt indicating accurate positioning is issued; when the coordinate difference is greater than the preset value, a prompt to continue positioning is issued, and the therapist repositions the patient based on the coordinates of the laser beam intersection point, the coordinates of the markings on the patient's body surface, and the coordinate difference.

[0025] Optionally, when the computer device cannot recognize the image captured by the camera, it sends a command to the camera to adjust the shooting angle and focus and retake the image, and the camera retakes the image according to the command.

[0026] Optionally, after the computer device issues a prompt indicating that the positioning is accurate, the computer device stores the image of the accurate positioning captured by the camera.

[0027] Optionally, after recognizing the image captured by the camera, the computer device integrates the image into a frontal plan view of the patient lying on the treatment bed. The frontal plan view of the patient lying on the treatment bed is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface markings, as well as the coordinate difference between the two.

[0028] The present invention has the following beneficial effects:

[0029] (1) This invention displays the coordinates of the intersection of the laser lines irradiating the patient, the coordinates of the patient's surface markings, and the coordinate difference between the two, providing a positioning reference for the therapist. Since the existing 3-point laser positioning system uses laser guidance and fully manual adjustment for positioning, the radiotherapy patient support platform is a multi-degree-of-freedom adjustment mode. The position adjustment of the 3 points is coupled, and when a certain point is manually adjusted, the other two points will move accordingly, so the manual adjustment efficiency is low. This invention provides a positioning reference with coordinate difference, which improves the efficiency of manual positioning.

[0030] (2) In the prior art, the laser light sources of radiotherapy equipment are located on the side walls (two locations) and the top (one location) of the radiotherapy room, and the emission position and optical path are fixed. When positioning, close-range vertical observation is required, and the observer's head can easily block the laser, making it difficult to achieve the best observation position. The present invention uses a camera to take pictures for observation, and the angle can be adjusted arbitrarily to select the best position for shooting. There is no obstruction from the observer's head, which improves the accuracy of positioning.

[0031] (3) In the prior art, the "cross" positioning mark on the body membrane of radiotherapy patients is generally manually marked by the radiotherapy physician during the initial positioning process. It lacks scale markings and is not standardized, which increases the difficulty of positioning and is prone to positioning errors. The present invention uses a camera to take pictures and observe. The telephoto lens adjusts the focal length and shooting angle through computer equipment, resulting in clear pictures and reducing the difficulty of positioning.

[0032] (4) Existing technologies using manual positioning are heavily influenced by human factors. Treatment begins as soon as positioning is deemed complete, without any quality control process. Historical files of positioning results are not stored, making it impossible to trace the results afterward and easily leading to disputes. This invention stores accurately positioned images and retains historical files, enabling traceability afterward. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the radiotherapy laser positioning system of the present invention;

[0034] Figure 2 yes Figure 1 Schematic diagram of the laser positioning system for radiotherapy in the A-direction;

[0035] Figure 3 yes Figure 1Schematic diagram of the mid-B direction radiotherapy laser positioning system;

[0036] Figure 4 This is a three-dimensional view of the radiotherapy laser positioning system of the present invention;

[0037] Figure 5 This is a schematic diagram of the computer equipment in the radiotherapy laser positioning system of the present invention;

[0038] Figure 6 This is a flowchart of the radiotherapy laser positioning method of the present invention;

[0039] Figure reference numerals: 1-Longitudinal axis laser light for human body surface, 2-Longitudinal axis laser light, 3-Horizontal axis laser light, 4-First camera, 5-Second camera, 6-Third camera, 7-Laser locator, 8-Medical equipment providing radiation beam, 9-Treatment bed. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the following embodiments provide a more detailed description of the invention. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0041] like Figures 1-5 As shown, the treatment room for radiotherapy of tumors includes a laser positioner 7, a medical device 8 providing a radiation beam, and a treatment bed 9. The laser positioner 7 is used to fix the laser lamp. The treatment bed is located in front of the medical device providing the radiation beam. When treatment begins, the treatment bed is moved forward to the irradiation area of ​​the medical device providing the radiation beam. The radiotherapy laser positioning system provided by this invention includes a longitudinal axis laser lamp 1, a longitudinal axis laser lamp 2, a transverse axis laser lamp 3, a first camera 4, a second camera 5, a third camera 6, and computer equipment. The longitudinal axis laser lamp 2 and the transverse axis laser lamp 3 are mounted on the laser positioner. The computer equipment is installed in a computer room next to the treatment room and is network-connected to the first camera 4, the second camera 5, and the third camera 6, allowing for convenient operation and viewing by the therapist.

[0042] The first camera 4 is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the laser lamp along the longitudinal axis of the human body surface.

[0043] The second camera 5 is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the laser lamp along the longitudinal axis.

[0044] The third camera 6 is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the transverse axis laser lamp;

[0045] The optimal installation positions for the first, second, and third cameras are above or below the laser light, which maximizes the ability of the cameras to capture images from the direction of the laser beam.

[0046] A computer device is used to identify images captured by the first camera, the second camera, and the third camera using neural learning technology, calculate the coordinates of the intersection point of the laser lines irradiating the patient and the coordinates of the markings on the patient's body surface, and calculate the coordinate difference; when the coordinate difference is less than a preset value, it issues a prompt indicating accurate positioning; when the coordinate difference is greater than the preset value, it issues a prompt to continue positioning, and displays the coordinates of the intersection point of the laser lines irradiating the patient, the coordinates of the markings on the patient's body surface, and the coordinate difference between the two.

[0047] The computer device includes a storage module 100, a processor 200, and an image recognition module 210 and a calculation module 220 stored in the memory and capable of running on the processor. When the processor on the computer device executes the program, it performs the following steps: adjusting the focal length of the camera's telephoto lens and adjusting the pitch and rotation angles of the gimbal; acquiring a clear image captured by the camera containing a body membrane positioning marker and a laser positioning marker; calculating the coordinates of the body membrane positioning marker and the laser positioning marker in the image and the deviation between the two markers; comparing the obtained deviation information between the two markers with a preset value to obtain a comparison result; when the comparison result does not meet the requirements, assisting the physician to continue positioning through voice or image prompts; when the comparison result meets the requirements, capturing an image of the accurate positioning as a historical file. The preset value is set to 0.5 mm in this invention. Those skilled in the art can determine the preset value based on the patient's specific condition and treatment plan; this invention does not impose any limitations.

[0048] This invention uses the center points of the body membrane positioning markers and laser positioning markers in the image obtained by the camera as key points, and as the regression targets of the convolutional neural network to obtain the offsets of the center points of the body membrane positioning markers and laser positioning markers relative to the entire image: (x,y) and (x',y'), which are displayed on the monitor, and the deviation between the two is calculated: (Δx, Δy). When the deviation is less than a preset value, accurate positioning is considered to be completed; the radiation oncologist adjusts the body position according to the calculation results on the monitor to achieve accurate positioning.

[0049] When using accelerator electron beam irradiation to treat tumors, the body membrane positioning markers are the center of the surface radiation field, and the intersection of the three laser positioning lamps should coincide with the center of the surface radiation field. When using isocentric angle irradiation to treat tumors, the body membrane positioning markers are three surface cross marks, and the intersection of the laser lines of the three laser positioning lamps should coincide with the surface cross marks. This three-point laser positioning system uses laser guidance and fully manual adjustment for positioning. The radiotherapy patient support platform has a multi-degree-of-freedom adjustment mode, and the position adjustment of the three points is coupled. When manually adjusting one point, it will cause the other two points to move accordingly. Therefore, this invention provides the center points of three body membrane positioning marks and three laser positioning marks: (x1, y1), (x1', y1'), (x2, y3), (x2', y2'), (x3, y3), (x3', y3'), and coordinate differences (Δx1, Δy1), (Δx2, Δy2), and (Δx3, Δy3). The therapist moves the treatment bed according to the body membrane positioning marks, the laser positioning marks, and the coordinate differences between them, thereby improving positioning efficiency.

[0050] This invention provides embodiments of computer devices:

[0051] Computer device embodiment 1: The computer device includes: an image recognition module 210: used to recognize images captured by the first camera 4, the second camera 5 and the third camera 6 using neural learning technology, and to identify the laser line intersections and patient surface markings;

[0052] Calculation module 220: used to calculate the coordinates of the intersection point of the laser line irradiating the patient and the coordinates of the patient's surface mark, and calculate the coordinate difference. When the coordinate difference is greater than a preset value, it notifies the display module to issue a prompt to continue positioning, and displays the coordinates of the intersection point of the laser line irradiating the patient, the coordinates of the patient's surface mark, and the coordinate difference between the two. When the coordinate difference is less than the preset value, it notifies the display module to issue a prompt to ensure accurate positioning.

[0053] Display module 300: Used to issue prompts to continue positioning or to issue prompts that the positioning is accurate.

[0054] Computer device embodiment 2: Based on embodiment 1, the computer device further includes an image integration module 230: used to integrate the image captured by the camera into a frontal plan view of the patient lying on the treatment bed after recognizing the image. The frontal plan view of the patient lying on the treatment bed is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface mark, as well as the coordinate difference between the two.

[0055] The display module 300 is used to display a frontal plan view of the patient lying on the treatment bed, synthesized by the image integration module. The plan view is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface markings, as well as the difference between the two coordinates.

[0056] Images captured by three cameras are integrated to form a frontal plan view of the patient lying on the treatment bed. The center point of this frontal plan view is the center of the patient's surface marker. When there is only one surface marker, the center of the plan view is the surface marker. The plan view is marked with the coordinates of the laser line intersection point and the coordinates of the patient's surface marker, as well as the difference between the two coordinates. This helps the therapist provide the direction and distance for moving the treatment bed, improving the efficiency of manual positioning.

[0057] Computer device embodiment 2: Based on embodiment 1 or embodiment 2, the computer module further includes: a storage module 100, used to store the image that the image recognition module has accurately identified and positioned.

[0058] The present invention provides a first embodiment of a camera. The present invention sets the first camera 4, the second camera 5 and the third camera 6 to be telephoto cameras, which can magnify and capture the object being photographed. They are fixed on a gimbal, which can rotate at any angle from 0 to 360 degrees horizontally and rotate 90 degrees vertically.

[0059] The camera is set to a telephoto lens, which can clearly magnify and capture laser lines and markings on the patient's body surface at a distance; the pan-tilt angle can be set to any angle from 0 to 360 degrees to cope with various complex conditions and patient positioning during treatment.

[0060] This invention provides a second embodiment of the camera installation. The human body curved longitudinal axis laser light is installed on the wall above the center of the radiotherapy equipment gantry. The first camera is installed on the wall where the human body curved longitudinal axis laser light is located. When the horizontal and vertical angles of the first camera's pan-tilt head are both zero, the camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the human body curved longitudinal axis laser light. Alternatively, the longitudinal axis laser light and the transverse axis laser light are installed on the side walls of the radiotherapy equipment gantry or on laser positioners. The second camera and the third camera are respectively installed on the laser positioners where the longitudinal axis laser light and the transverse axis laser light are located, or on the wall behind the laser positioners. When the horizontal and vertical angles of the pan-tilt heads of the second and third cameras are both zero, the second camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the longitudinal axis laser light, and the third camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the transverse axis laser light.

[0061] The present invention provides a third embodiment of the camera, which is based on the first and second embodiments of the camera. The first camera 4 is installed directly above the vertical axis laser light 1 of the human body curved surface, the second camera 5 is installed directly above the vertical axis laser light 2, and the third camera 6 is installed directly above the horizontal axis laser light 3.

[0062] This invention also provides a method for positioning radiotherapy lasers, such as... Figure 6 As shown, the steps include:

[0063] S1: After positioning the patient, the camera captures images of the laser beams shining on the patient and the markings on the patient's skin.

[0064] S2: Send the image to a computer device;

[0065] S3: The computer device uses neural learning technology to recognize the image; if it cannot recognize the image, it executes step S5.

[0066] S4: Calculate the coordinates of the intersection point of the laser lines irradiating the patient and the coordinates of the patient's surface markers, and calculate the coordinate difference; when the coordinate difference is less than a preset value, issue a prompt indicating accurate positioning; when the coordinate difference is greater than the preset value, issue a prompt to continue positioning, and the therapist repositions the patient based on the coordinates of the laser line intersection point, the coordinates of the patient's surface markers, and the coordinate difference.

[0067] S5: When the computer device cannot recognize the image captured by the camera, it sends an instruction to the camera to adjust the shooting angle and focus and re-capture the image, and the camera re-captures the image according to the instruction.

[0068] S6: After the computer device issues a prompt indicating that the positioning is accurate, the computer device stores the image of the accurate positioning captured by the camera.

[0069] S7: After recognizing the image captured by the camera, the image is integrated into a frontal plan view of the patient lying on the treatment bed. The frontal plan view of the patient lying on the treatment bed is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface mark, as well as the difference between the two coordinates; this step is performed after step S4.

[0070] S8: The display module displays a frontal plan view of the patient lying on the treatment bed, synthesized by the image integration module. The plan view is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface markings, as well as the difference between the two coordinates.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A radiotherapy laser positioning system, characterized in that, The system includes a human body curved longitudinal axis laser light, a longitudinal axis laser light, a transverse axis laser light, a first camera, a second camera, a third camera, and a computer device. The first camera is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the human body curved longitudinal axis laser light. The second camera is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the longitudinal axis laser light. The third camera is used to capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the transverse axis laser light. The computer device is used to use neural learning technology to identify the images captured by the first, second, and third cameras, calculate the coordinates of the intersection points of the laser beams illuminating the patient and the coordinates of the markings on the patient's body surface, and calculate the coordinate difference. When the coordinate difference is less than a preset value, a prompt indicating accurate positioning is issued; when the coordinate difference is greater than the preset value, a prompt to continue positioning is issued, and the coordinates of the intersection point of the laser lines irradiating the patient, the coordinates of the markings on the patient's body surface, and the coordinate difference between the two are displayed.

2. The radiotherapy laser positioning system according to claim 1, characterized in that, The first, second, and third cameras are telephoto cameras that can magnify the object being photographed. They are fixed on a gimbal, which can rotate horizontally at any angle from 0 to 360 degrees and tilt up and down by 90 degrees.

3. The radiotherapy laser positioning system according to claim 1 or 2, characterized in that, The human body curved longitudinal axis laser light is installed on the wall above the center of the radiotherapy equipment gantry. The first camera is installed on the wall where the human body curved longitudinal axis laser light is located. When the horizontal and vertical angles of the first camera's pan-tilt head are both zero, the camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the human body curved longitudinal axis laser light. The longitudinal axis laser light and the transverse axis laser light are installed on the side walls of the radiotherapy equipment gantry or on the laser positioner. The second camera and the third camera are respectively installed on the laser positioner where the longitudinal axis laser light and the transverse axis laser light are located or on the wall behind the laser positioner. When the horizontal and vertical angles of the pan-tilt heads of the second camera and the third camera are both zero, the second camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the longitudinal axis laser light, and the third camera can capture images of the laser beam illuminating the patient's body on the treatment bed from the beam direction of the transverse axis laser light.

4. The radiotherapy laser positioning system according to claim 3, characterized in that, The first camera is installed directly above the vertical axis laser light on the human body surface, the second camera is installed directly above the vertical axis laser light, and the third camera is installed directly above the horizontal axis laser light.

5. The radiotherapy laser positioning system according to claim 1, characterized in that, The computer device includes: an image recognition module: used to recognize images captured by the first camera, the second camera and the third camera using neural learning technology, and to identify laser line intersections and patient surface markings; The calculation module is used to calculate the coordinates of the intersection point of the laser lines irradiating the patient and the coordinates of the marks on the patient's body surface, and to calculate the coordinate difference. When the coordinate difference is greater than a preset value, the module is notified to issue a prompt to continue positioning and to display the coordinates of the intersection point of the laser lines irradiating the patient, the coordinates of the marks on the patient's body surface, and the coordinate difference between the two. When the coordinate difference is less than the preset value, the module is notified to issue a prompt to ensure accurate positioning. Display module: Used to issue prompts to continue positioning or to issue prompts that the positioning is accurate.

6. The radiotherapy laser positioning system according to claim 5, characterized in that, The computer device also includes an image integration module: after recognizing the image captured by the camera, it integrates the image into a frontal plan view of the patient lying on the treatment bed, and marks the coordinates of the laser line intersection point and the coordinates of the patient's body surface mark, as well as the difference between the two coordinates, on the frontal plan view of the patient lying on the treatment bed. Display module: used to display a frontal plan view of the patient lying on the treatment bed synthesized by the image integration module. The plan view is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface markings, as well as the difference between the two coordinates.

7. A method for laser positioning in radiotherapy, characterized in that, after positioning the patient, The procedure includes the following steps: a camera captures images of the laser beams illuminating the patient and the markings on the patient's body surface, and sends the images to a computer device; the computer device uses neural learning technology to recognize the images, calculates the coordinates of the intersection point of the laser beams illuminating the patient and the coordinates of the markings on the patient's body surface, and calculates the coordinate difference; when the coordinate difference is less than a preset value, a prompt indicating accurate positioning is issued; when the coordinate difference is greater than the preset value, a prompt to continue positioning is issued, and the therapist repositions the patient based on the coordinates of the laser beam intersection point, the coordinates of the markings on the patient's body surface, and the coordinate difference.

8. The radiotherapy laser positioning method according to claim 7, characterized in that, When the computer device cannot recognize the image captured by the camera, it sends a command to the camera to adjust the shooting angle and focus and retake the image, and the camera retakes the image according to the command.

9. The radiotherapy laser positioning method according to claim 7 or 8, characterized in that, After the computer device issues a prompt indicating that the positioning is accurate, the computer device stores the image of the accurate positioning captured by the camera.

10. The radiotherapy laser positioning method according to claim 7, characterized in that, After recognizing the image captured by the camera, the computer device integrates the image into a frontal plan view of the patient lying on the treatment bed. The frontal plan view of the patient lying on the treatment bed is marked with the coordinates of the laser line intersection point and the coordinates of the patient's body surface mark, as well as the difference between the two coordinates.

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