Based on 3D body surface dynamic position monitoring system

Abstract

The utility model relates to a 3D body surface dynamic position monitoring system, which includes a binocular camera, a structured light projector and an image processing computer. The structured light projector is used to project structured light onto the patient's body surface on the positioning bed, and the binocular camera is connected to the image processing computer. The utility model can solve the problem of non-radiation, non-invasive and rapid acquisition of the patient's body surface image, can effectively save the positioning time when the patient is positioned for treatment, reduce the positioning error, and monitor the changes of the patient's body surface in real time during radiotherapy, so that medical professionals can adjust the patient's position in time to ensure the implementation of accurate treatment.

Description

Technical Field

[0001] The utility model relates to the medical field, in particular to a 3D body surface dynamic position monitoring system. Background Art

[0002] Gamma Knife is a surgical radiotherapy device. The accuracy of the patient's positioning during treatment has a key impact on the treatment effect. The image-guided technology CBCT (cone beam CT) and MRI currently introduced in Gamma Knife can directly reflect the internal situation of the tumor and can further accurately locate the tumor. However, monitoring takes a long time, and both fluoroscopic images and CBCT will bring additional radiation doses to patients, and the patient's positioning cannot be monitored in real time during treatment.

[0003] Therefore, it is necessary to provide a non-radiation, non-invasive system for real-time monitoring of the patient's position information during treatment for the clinical application of Gamma Knife. Compared with the traditional binocular camera, the structure-based binocular camera can solve the problem of poor image reconstruction effect due to the lack of surface texture features of the imaged object. Utility Model Content

[0004] In order to solve the above-mentioned technical problems existing in the background technology, the utility model provides a 3D body surface dynamic position monitoring system, which can solve the problem of rapid acquisition of patient surface images without radiation and invasion, can effectively save positioning time and reduce positioning errors when positioning patients for treatment, and can monitor changes in the patient's body surface in real time during radiotherapy, so that medical professionals can adjust the patient's position in time to ensure the implementation of precise treatment.

[0005] The technical solution of the utility model is: the utility model is a 3D body surface dynamic position monitoring system, which is special in that: the 3D body surface dynamic position monitoring system includes a binocular camera, a structured light projector and an image processing computer, the structured light projector is used to project structured light onto the patient's body surface on the positioning bed, and the binocular camera is connected to the image processing computer.

[0006] Furthermore, the binocular camera includes a left camera and a right camera, and the left camera and the right camera simultaneously and synchronously collect image information of the patient and the positioning bed.

[0007] The utility model provides a 3D body surface dynamic position monitoring system, which is composed of a binocular camera combined with a structured light projector and an image processing computer. The structured light projector projects structured light onto the patient's body surface to increase the texture features of the patient's body surface. The binocular camera uses two left and right cameras to capture multiple marking points mapped on the patient's body surface and multiple marking points on the treatment positioning bed in real time, and establishes the patient's real-time 3D body surface contour and position information in the image processing computer. The utility model can solve the problem of non-radiation, non-invasive and rapid acquisition of the patient's body surface image, can effectively save the positioning time and reduce the positioning error when positioning the patient for treatment, and can monitor the changes in the patient's body surface in real time during radiotherapy, so that medical professionals can adjust the patient's position in time to ensure the implementation of accurate treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a structural schematic diagram of the utility model;

[0009] Figure 2 This is a schematic diagram of the application principle of the binocular camera of the utility model;

[0010] Figure 3 It is an application flow chart of the utility model.

[0011] The following are the descriptions of the reference numerals:

[0012] 1. Structured light projector; 2. Image processing computer; 3. Binocular camera; 4. Imaging area of ​​the left camera; 5. Imaging area of ​​the right camera; 6. Patient. DETAILED DESCRIPTION

[0013] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0014] See also Figure 1 The structure of the specific embodiment of the 3D body surface dynamic position monitoring system of the utility model includes a binocular camera 3, a structured light projector 1 and an image processing computer 2. The structured light projector is used to project structured light onto the body surface of the patient 6 on the positioning bed, and the binocular camera 3 is connected to the image processing computer 2. The binocular camera 3 includes a left camera and a right camera, and the left camera and the right camera simultaneously and synchronously collect image information of the patient 6 and the positioning bed. As shown in the figure, 4 is the imaging area of ​​the left camera, and 5 is the imaging area of ​​the right camera.

[0015] The method of using the patient position real-time monitoring system based on the 3D camera dynamic body surface of the utility model is as follows:

[0016] 1) The structured light projector projects structured light onto the patient's body surface on the positioning bed, covering the patient's entire body and the carbon fiber positioning bed, increasing the texture features of the patient's body surface and the positioning bed surface;

[0017] For step 1), the specific process is:

[0018] 1.1) The plane formed by the reflective markers pre-marked on the patient's body surface at rigid positions, such as clavicle and sternocostal area, is used as the reference point, and is fixed to the treatment bed plane by a fixing device as the initial position and posture;

[0019] 1.2) The structured light projector projects structured light onto the patient's body surface on the positioning bed, locates the patient's initial position and posture through CBCT, and obtains the three-dimensional contour data in the initial state, which is used as a reference image for subsequent calculations.

[0020] 2) The two lenses of the binocular camera simultaneously and synchronously collect image information of the patient and the positioning bed, and obtain the pixel difference between the left and right cameras imaging the corresponding points of the same imaging object to obtain depth information, and transmit the obtained pixel information to the image processing computer in real time;

[0021] For step 2), the specific process is:

[0022] 2.1) See Figure 2 , the image acquisition computer controls the binocular camera to collect human body surface data at a frequency of 60 Hz. Based on the built-in algorithm of the binocular camera, the depth information of the body surface contour points is calculated according to the ranging information of the structured light, and the patient's body surface contour model is generated in real time. The specific calculation of the Z-direction depth information is expressed as:

[0023]

[0024] f represents the focal length of the camera, x is the x-distance of the spatial object, x1 is the left parallax, xr is the right parallax, and z is the depth information of the object to be determined;

[0025] 2.2) The patient's body surface contour data obtained in step 2.1) is transmitted to an image processing computer via TCP protocol;

[0026] 2.3) The contour model obtained in step 2.2) is stored in the memory buffer of the image processing computer.

[0027] 3) After the image processing computer obtains the pixel information transmitted by the binocular camera, the specific processing steps are as follows:

[0028] 3.1) The image processing software uniformly downsamples the obtained pixel information to improve the computing efficiency; specifically:

[0029] The image processing software uniformly downsamples the obtained pixel information to improve the calculation efficiency, which is expressed as:

[0030]

[0031] X cetroid ,y cetroid , z cetroid It is represented as the center of mass, xi, yi, zi are the m points in the voxel.

[0032] The camera-based 3D reconstruction algorithm is used to obtain the patient's 3D body surface position information. The patient's body surface marker points and the positioning bed's marker points are compared with the position information of the patient's positioning CT to monitor the patient's positioning and resetting information in real time.

[0033] 3.2) Then, the patient's body surface markers and the positioning bed's markers are compared with the position information of the patient's positioning CT to monitor the patient's positioning and repositioning information in real time, specifically:

[0034] The image processing computer reads the data coordinates in the memory buffer in real time, performs real-time calculations based on the position coordinates of the reference image, and obtains the patient's three-axis displacement deviation and angle deviation;

[0035] The calculation process can be expressed as:

[0036]

[0037] Among them, R'(α) is the rotation matrix around the x-axis, R'(β) is the rotation matrix around the y-axis, R'(γ) is the rotation matrix around the z-axis, and R'(d) is the translation matrix around the xyz axis; [x, y, z] is the coordinate position of a point in the space of the reference image, [x m ,y m ,z m ] is the patient’s real-time coordinate position.

[0038] The technical contents not specifically described in the present utility model and the above embodiments are the same as the prior art.

[0039] The above are only specific implementation methods disclosed in the present utility model, but the protection scope of the present utility model is not limited thereto. The protection scope of the present utility model shall be based on the protection scope of the claims.

Claims

1. A 3D body surface dynamic position monitoring system, characterized by: The 3D body surface dynamic position monitoring system comprises a binocular camera, a structured light projector and an image processing computer. The structured light projector is used to project structured light onto the patient's body surface on the positioning bed, and the binocular camera is connected to the image processing computer.

2. The 3D body surface dynamic position monitoring system according to claim 1, characterized in that: The binocular camera includes a left camera and a right camera, and the left camera and the right camera simultaneously and synchronously collect image information of the patient and the positioning bed.

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