Radiation therapy system

Abstract

This application provides a radiotherapy system, relating to the field of medical technology, for meeting the need to avoid normal tissue surrounding the target area during radiotherapy. The radiotherapy system includes: a TPS (Transmission Positioning System) device, a control device, and a radiotherapy device; the control device is connected to both the TPS device and the radiotherapy device; the radiotherapy device includes a gantry and a treatment head mounted on the gantry. The treatment head includes: a source body with a radiation source on its surface along its central axis; a shield with a primary collimation channel penetrating the shield; and a drive assembly for driving the source body and the shield to move synchronously relative to each other. The TPS device is used to generate a treatment plan; the control device is used to control the rotation of the radiotherapy device gantry based on the treatment plan and to control the start or stop of beam emission from the treatment head.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a radiotherapy system. Background Technology

[0002] Stereotactic gamma therapy is an effective method for treating tumors. A stereotactic gamma therapy system (also known as a "gamma knife") can focus gamma rays, achieving a high focal-to-skin ratio.

[0003] When performing treatment with a gamma-ray stereotactic radiotherapy system, collimators of different sizes are typically used to conform the rays arriving at different locations within the target area into approximate "spheres" (also called target points) of different diameters. These target points are then used to fill the target area, and by assigning different weights to these target points, the dose field formed by the superposition of all target points within the target area can cover the target area as much as possible.

[0004] However, as the requirements for the precision of radiotherapy continue to increase, this method of filling with targets cannot effectively meet the need to avoid normal tissues around the target area during radiotherapy. Utility Model Content

[0005] This application provides a treatment plan generation method, a radiotherapy control method, a system, and an apparatus to meet the need to avoid normal tissues around the target area during radiotherapy.

[0006] In a first aspect, this application provides a treatment plan generation method applied to a radiotherapy system. The radiotherapy system includes a radiotherapy device, which includes a gantry and a treatment head mounted on the gantry.

[0007] The treatment plan generation method includes: acquiring respiratory cycle information, multiple surface optical images, and multiple images including the target area during the target subject's breathing process. The respiratory cycle information includes the duration and respiratory rate of a single breath. The surface optical images reflect the target subject's surface features. The images including the target area reflect the target area's location. Based on the respiratory cycle information, multiple surface optical images, and multiple images including the target area, a respiratory motion model of the target subject is established. The respiratory motion model characterizes the changes in the target subject's surface features and / or target area location during the respiratory cycle. Prescribed dose information for the target area is acquired, including the radiation dose to different regions of the target area. A treatment plan is generated based on the respiratory motion model and the prescribed dose information, enabling the control device to control the gantry rotation and the start or stop the treatment head from emitting the beam based on the treatment plan.

[0008] In some embodiments, based on a respiratory motion model, surface feature information and target area location information of the target object at different times during the respiratory cycle are obtained.

[0009] In some embodiments, the treatment plan includes treatment periods and non-treatment periods. During the target subject's breathing process, the treatment period includes the time when the target subject's target point coincides with the isocenter of the radiation therapy device. The non-treatment period includes the time when the target subject's target point does not coincide with the isocenter of the radiation therapy device.

[0010] In some embodiments, the imaging also includes information on the location of the target's organs at risk. Based on a respiratory motion model, information on the positional changes of the target's organs at risk during the respiratory cycle can also be obtained. The treatment plan includes treatment periods and non-treatment periods. During the target's respiratory process, the treatment period includes the time when the beam path from the treatment head does not pass through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target's target point. The non-treatment period includes the time when the target's target point deviates from the isocenter of the radiotherapy equipment, and the time when the beam path from the treatment head passes through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target's target point.

[0011] In some embodiments, the treatment period is the time from when the target subject's breathing reaches its end to when breathing ceases. The non-treatment period is the time from when the target subject's breathing begins to when it reaches its end.

[0012] In some embodiments, the treatment period includes multiple sub-treatment periods, and the paths of the treatment head rotation in the multiple sub-treatment periods do not overlap. Within a sub-treatment period, the radian of the treatment head rotation is denoted as αi, i = 1, 2, 3, ..., n, and the sum of αi is equal to 360°.

[0013] Secondly, this application provides a radiotherapy control method applied to a radiotherapy system. The radiotherapy system includes a radiotherapy device, which includes a gantry and a treatment head mounted on the gantry. The radiotherapy control method includes: acquiring a treatment plan. The treatment plan includes a respiratory motion model of the target subject. The respiratory motion model is used to characterize the changes in the target subject's surface features and target location during the respiratory cycle. Based on the changes in the target subject's surface features and target location during the respiratory cycle, the gantry is rotated, and the treatment head is controlled to start or stop emitting a beam.

[0014] In some embodiments, the treatment plan includes treatment periods and non-treatment periods. During the target subject's breathing, the treatment period includes the time when the target subject's target point coincides with the isocenter of the radiotherapy device. The non-treatment period includes the time when the target subject's target point deviates from the isocenter of the radiotherapy device.

[0015] Based on the target's surface characteristics and the changes in target location during the respiratory cycle, the gantry rotation is controlled, and the treatment head is controlled to start or stop emitting the beam, including: controlling the treatment head to emit the beam when the target point of the target coincides with the isocenter of the radiotherapy equipment; and controlling the treatment head to stop emitting the beam when the target point of the target deviates from the isocenter of the radiotherapy equipment.

[0016] In some embodiments, the treatment plan further includes treatment periods, non-treatment periods, and information on the location of the target's organs at risk. During the target's respiration, treatment periods include times when the beam path from the treatment head does not pass through organs at risk, and the isocenter of the radiotherapy device coincides with the target's target. Non-treatment periods include times when the target's target deviates from the isocenter of the radiotherapy device, and times when the beam path from the treatment head passes through organs at risk, and the isocenter of the radiotherapy device coincides with the target's target.

[0017] Based on the target's surface characteristics and the changes in target location during the respiratory cycle, the gantry rotation is controlled, and the treatment head is controlled to begin or stop firing the beam. This includes: controlling the treatment head to fire the beam when the beam path does not pass through an organ at risk and the isocenter of the radiotherapy equipment coincides with the target's target point; and controlling the treatment head to stop firing the beam when the target's target point deviates from the radiotherapy equipment's isocenter, or when the beam path passes through an organ at risk and the isocenter of the radiotherapy equipment coincides with the target's target point.

[0018] Thirdly, this application provides a radiotherapy system, comprising: a TPS device for performing any of the possible treatment plan generation methods as described in the first aspect; a control device for performing any of the possible radiotherapy control methods as described in the second aspect; and a radiotherapy device. The radiotherapy device includes: a gantry and a treatment head mounted on the gantry.

[0019] In some embodiments, the treatment head includes: a source carrier having multiple radiation sources arranged in a single row along its central axis; a shield having multiple primary collimation channels penetrating the shield, each primary collimation channel being opposite to and corresponding to one of the radiation sources, allowing rays emitted from the multiple radiation sources to pass through the corresponding primary collimation channels and be focused at the same point; and a drive assembly for driving the source carrier and the shield to move synchronously relative to each other.

[0020] In some embodiments, when the driving assembly drives the source carrier and the shield to move synchronously relative to each other until the multiple radiation sources are aligned with the central axis of the multiple primary collimation channels, the rays emitted by the multiple radiation sources can pass through the corresponding primary collimation channels and be focused at the same point, thus emitting a beam from the treatment head. When the driving assembly drives the source carrier and the shield to move synchronously relative to each other until the multiple radiation sources deviate from the central axis of the multiple primary collimation channels, the rays emitted by the multiple radiation sources are shielded by the shield, and the treatment head stops emitting a beam.

[0021] In some embodiments, the drive assembly includes a transmission gear pair. The transmission gear pair includes: a first gear disposed on the source carrier and a second gear disposed on the shield.

[0022] In some embodiments, the treatment head further includes: a shielding housing, in which the source carrier and the shielding body are disposed, the shielding housing having multiple through holes corresponding one-to-one with the primary collimation channel, allowing rays from multiple radiation sources to pass through the through holes; and a secondary collimator, disposed outside the shielding housing and movable relative to the shielding housing, the secondary collimator including multiple sets of secondary collimation channels with different apertures, the secondary collimation channels being able to communicate with the primary collimation channel so that rays from multiple radiation sources can pass through the secondary collimation channel and be focused at the same point.

[0023] In some embodiments, the radiotherapy apparatus further includes a dose acquisition device, located on the gantry and disposed opposite to the treatment head, for receiving a beam emitted from the treatment head that passes through the target object and generating beam characteristic information to monitor the total dose irradiated to the treatment isocenter during radiotherapy. The beam characteristic information includes the dose intensity of the received beam and the position of the dose acquisition device when the beam is received.

[0024] Fourthly, this application provides an electronic device comprising: a processor; and a memory configured to store processor-executable instructions. The processor is configured to execute instructions to implement any possible treatment plan generation method as described in the first aspect, or any possible radiotherapy control method as described in the second aspect.

[0025] Fifthly, this application provides a non-volatile storage medium storing a computer program, which, when read and executed, implements any possible treatment plan generation method as described in the first aspect, or any possible radiotherapy control method as described in the second aspect.

[0026] In a sixth aspect, this application provides a computer program product comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform any of the possible treatment plan generation methods in the first aspect, or any of the possible radiotherapy control methods in the second aspect.

[0027] These or other aspects of this application will become more readily apparent in the following description.

[0028] The technical solution provided in this application brings at least the following beneficial effects:

[0029] In this application, a respiratory motion model of the target object can be accurately established based on the target object's respiratory cycle information, multiple surface optical images, and multiple images including the target area. This model accurately reflects the changes in the target object's surface features and / or the target area's location during the respiratory cycle. Furthermore, based on the respiratory motion model, a treatment plan adapted to the target object's respiratory motion can be generated. This allows the control device to control the gantry rotation and the start or stop of the treatment head emitting the beam, enabling targeted treatment of the target object's target area and supporting precise beam projection onto the target object's target area, thus improving treatment accuracy.

[0030] Furthermore, the image of the target area can also include information on the location of organs at risk surrounding the target area. When establishing a respiratory motion model, the changes in the location of organs at risk during the respiratory cycle can also be established. Thus, based on the respiratory motion model, information on the positional changes of organs at risk within the respiratory cycle can be obtained. During radiotherapy, irradiation of normal tissues surrounding the target area and organs at risk can be avoided, thereby achieving better therapeutic effects while minimizing the radiation dose to organs at risk.

[0031] Furthermore, the total arc of the treatment head rotation during each sub-treatment period can be 360°, which can achieve 360° coverage of the target area through staggered irradiation, thus achieving better treatment results.

[0032] Furthermore, the radiotherapy equipment is equipped with a source carrier, a shield, and a drive assembly. The control equipment can control the drive assembly to drive the source carrier and the shield to move synchronously relative to each other, thereby achieving the switching of the radiation source within milliseconds. This improves the response speed of switching the radiation source, allows the beam energy irradiated to the target object to decay rapidly, avoids damage to the normal tissue of the target object, reduces the dose of residual beam irradiated to the target object when switching the radiation source, and reduces the inaccuracy of residual dose during irradiation.

[0033] Furthermore, the secondary collimator in the radiotherapy equipment includes multiple sets of secondary collimation channels with different apertures, which can support switching between different secondary collimation channels to form different irradiation fields at the isocenter of the beam emitted by the treatment head, thereby achieving precise treatment of the target area of ​​the target object.

[0034] Furthermore, a dose acquisition device is installed opposite the treatment head on the radiotherapy equipment. This device receives the normal beam emitted by the treatment head during the treatment period and the residual beam emitted during non-treatment periods, generating beam characteristic information to monitor the total dose irradiated to the treatment isocenter during radiotherapy. This allows for comparison between the total dose irradiated to the treatment isocenter and the expected dose indicated by the prescription dose information during radiotherapy. This facilitates updating the prescription dose for the target area during radiotherapy, avoiding the problem of reduced dose accuracy caused by frequent switching of radiation beams, and improving the safety of misaligned irradiation treatment. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0036] Figure 1 A flowchart illustrating a treatment plan generation method provided in this application embodiment;

[0037] Figure 2 A schematic flowchart of a radiotherapy control method provided in an embodiment of this application;

[0038] Figure 3 A schematic diagram of an irradiation process provided for an embodiment of this application;

[0039] Figure 4 A schematic diagram illustrating yet another irradiation process provided in an embodiment of this application;

[0040] Figure 5 A schematic diagram illustrating yet another irradiation process provided in an embodiment of this application;

[0041] Figure 6 This is a schematic diagram of the structure of a radiotherapy system provided in an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of the structure of a treatment plan generation device provided in an embodiment of this application;

[0043] Figure 8 This is a schematic diagram of the structure of a radiotherapy control device provided in an embodiment of this application;

[0044] Figure 9 This is a schematic diagram of the structure of a treatment head provided in an embodiment of this application;

[0045] Figure 10 A schematic diagram illustrating yet another irradiation process provided in an embodiment of this application;

[0046] Figure 11 A schematic diagram illustrating a dose acquisition process provided in an embodiment of this application;

[0047] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0048] Figure 13 This is a schematic diagram of the structure of another electronic device provided in an embodiment of this application. Detailed Implementation

[0049] The treatment plan generation method, radiotherapy control method, system, and equipment provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0050] Furthermore, the terms “comprising” and “having”, and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0051] It should be noted that in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0052] The term "and / or" as used in this application includes using either one of two methods or using both methods simultaneously.

[0053] The terms “first,” “second,” and “third,” etc., used in the specification and drawings of this application are used to distinguish different objects, not to describe a specific order of objects, nor to indicate or imply relative importance or to implicitly specify the number of technical features indicated.

[0054] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0055] The following describes the implementation scenarios of a treatment plan generation method, radiotherapy control method, system, and device provided in the embodiments of this application.

[0056] Stereotactic gamma radiation therapy is an effective method for treating tumors. A stereotactic gamma radiation therapy system (also known as a "Gamma Knife") can focus gamma rays, delivering a high dose of radiation to the target area at the focal point, while the surrounding healthy tissue receives a lower dose, achieving a high focal-to-skin ratio.

[0057] When performing treatment with a gamma-ray stereotactic radiotherapy system, collimators of different sizes are typically used to conform the rays arriving at different locations within the target area into approximate "spheres" (also called target points) of different diameters. These target points are then used to fill the target area, and by assigning different weights to these target points, the dose field formed by the superposition of all target points within the target area can cover the target area as much as possible.

[0058] However, as the requirements for the precision of radiotherapy continue to increase, this method of filling with targets cannot effectively meet the need to avoid normal tissues around the target area during radiotherapy.

[0059] In the treatment plan generation method of the first aspect of this application:

[0060] To improve the accuracy of radiotherapy and meet the need to avoid normal tissues around the target area during radiotherapy, this application provides a treatment plan generation method for use in a radiotherapy system.

[0061] The radiotherapy system includes a radiotherapy unit. The radiotherapy unit includes a gantry and a treatment head mounted on the gantry.

[0062] The treatment plan generation method includes: acquiring respiratory cycle information, multiple surface optical images, and multiple images including the target area during the target subject's breathing process. The respiratory cycle information includes the duration and respiratory rate of a single breath. The surface optical images reflect the target subject's surface features. The images including the target area reflect the target area's location. Based on the respiratory cycle information, multiple surface optical images, and multiple images including the target area, a respiratory motion model of the target subject is established. The respiratory motion model characterizes the changes in the target subject's surface features and / or target area location during the respiratory cycle. Prescription dose information for the target area is acquired, including the radiation dose to different regions of the target area. A treatment plan is generated based on the respiratory motion model and prescription dose information, enabling the control device to control the gantry rotation and the start or stop the treatment head from emitting the beam based on the treatment plan.

[0063] Based on this, this application can accurately establish a respiratory motion model of the target object based on the target object's respiratory cycle information, multiple surface optical images, and multiple images including the target area, to accurately reflect the changes in the target object's surface features and / or target area location during the respiratory cycle. Furthermore, based on the respiratory motion model, a treatment plan adapted to the target object's respiratory motion can be generated, enabling the control device to control the gantry rotation and the start or stop of beam emission from the treatment head according to the treatment plan, achieving targeted treatment of the target object's target area, supporting precise beam projection onto the target object's target area, and improving treatment accuracy.

[0064] like Figure 1 The diagram shown is a flowchart illustrating a treatment plan generation method provided in an embodiment of this application. The treatment plan generation method includes steps S101-S104.

[0065] S101. During the breathing process of the target object, acquire respiratory cycle information of the target object, multiple optical images of the body surface, and multiple images including the target area.

[0066] The respiratory cycle information includes the duration and frequency of a single respiratory action of the target subject.

[0067] Given that the duration of a target subject's breathing behavior typically fluctuates between 3 and 5 seconds under normal circumstances, and different breathing behaviors may last for varying durations, it is difficult to accurately establish the target subject's respiratory cycle, and consequently, to accurately establish a respiratory motion model. Therefore, before radiotherapy, breathing training can be conducted on the target subject to reduce the deviation in duration between different breathing behaviors, ensuring that the duration of different breathing behaviors is as similar as possible during radiotherapy, and that the breathing rate remains constant. This allows for an accurate establishment of the target subject's respiratory motion model, improving the quality of radiotherapy.

[0068] It should be noted that the implementation of the treatment plan generation method in this embodiment is based on prior breathing training of the target subject. That is, breathing training is performed on the target subject before S101 is executed. Based on this, the duration of a single breath of the target subject included in the aforementioned respiratory cycle information can accurately reflect the duration of the target subject's respiratory cycle. In other words, during the target subject's breathing process, the respiratory cycle of the target subject can be accurately determined based on the obtained duration of a single breath of the target subject.

[0069] Optical images of the body surface are used to reflect the surface features of a target object. An optical image of the body surface refers to a three-dimensional image obtained by imaging the surface of a target object using optical principles and related imaging techniques. It includes information such as the object's body contour and posture.

[0070] During the breathing process of the target object, an optical image of the target object's body surface can be generated at each of multiple consecutive moments, resulting in multiple optical images of the body surface. These multiple optical images record the surface feature information of the target object at each of the multiple consecutive moments.

[0071] Images including the target area are used to reflect the target location information of the object. These images, including the target area, can be images obtained from imaging examinations of the target object, including information such as the location and shape of the tumor or lesion. Alternatively, the images including the target area may also include information such as the location of organs at risk surrounding the target area.

[0072] During the target's breathing process, an image including the target area can be generated at each of multiple consecutive time points, resulting in multiple images including the target area. Using these multiple images including the target area, the target area location information of the target at each of the multiple consecutive time points is recorded.

[0073] Optionally, the image including the target area can be a three-dimensional image, such as a magnetic resonance (MR) image, a computed tomography (CT) image, or a positron emission tomography (PET) image.

[0074] S102. Based on respiratory cycle information, multiple surface optical images, and multiple images including the target area of ​​the target object, establish a respiratory motion model of the target object.

[0075] The respiratory motion model is used to characterize the changes in the surface features and / or target area location of the target object during the respiratory cycle. Based on the respiratory motion model, information on the surface features and target area location of the target object at different times during the respiratory cycle can be obtained.

[0076] For example, based on respiratory cycle information and multiple optical images of the body surface, the body surface features corresponding to each moment within the respiratory cycle of the target object can be determined, and a motion model of the body surface features within the respiratory cycle can be established to characterize the changes in the body surface features of the target object within the respiratory cycle. Furthermore, based on multiple images including the target area of ​​the target object, the target area position corresponding to each moment within the respiratory cycle of the target object can be added to the motion model of the body surface features within the respiratory cycle, thereby establishing a respiratory motion model of the target object.

[0077] For example, based on respiratory cycle information and multiple images including the target area of ​​the target object, the target area position at each moment within the respiratory cycle can be determined, and a target area position motion model within the respiratory cycle can be established to characterize the change of the target object's target area position within the respiratory cycle. Furthermore, based on multiple body surface optical images, body surface features corresponding to each moment within the respiratory cycle of the target object can be added to the target area position motion model within the respiratory cycle to establish a respiratory motion model of the target object.

[0078] If the target area is located on the surface of the target subject's body, i.e., on the skin, a respiratory motion model can be used to characterize the changes in the target subject's surface features during the respiratory cycle. Thus, by using a respiratory motion model, the surface features of the target subject at the target area location at each moment within the respiratory cycle can be determined, facilitating the determination of the appropriate time period for irradiation treatment of the target area within the respiratory cycle, supporting accurate treatment planning. Alternatively, a respiratory motion model can be used to characterize the changes in the target area location of the target subject during the respiratory cycle. Thus, by using a respiratory motion model, the target area location of the target subject at each moment within the respiratory cycle can be determined, facilitating the determination of the appropriate time period for irradiation treatment of the target area within the respiratory cycle, supporting accurate treatment planning.

[0079] If the target area is located within the body of the target individual, a respiratory motion model of the target individual can be used to characterize the changes in the target individual's body surface features and the target area location during the respiratory cycle. Thus, through the respiratory motion model, the body surface features and target area location of the target individual at each moment can be determined, facilitating the determination of the time period for irradiation therapy of the target area within the respiratory cycle and supporting the accurate formulation of treatment plans.

[0080] S103. Obtain the prescription dose information for the target area.

[0081] The prescription dose information includes the radiation dose for different regions of the target area. Different regions of the target area can correspond to different radiation doses. The radiation dose is the amount of radiation energy that the target area needs to receive.

[0082] S104. Generate a treatment plan based on the respiratory motion model and prescription dosage information, so that the control device controls the gantry rotation based on the treatment plan and controls the treatment head to start or stop emitting beams.

[0083] Considering that the target area of ​​the subject will move repeatedly with the subject's breathing, while the isocenter of the beam emitted by the radiotherapy equipment remains fixed, the target area of ​​the subject moves relative to the isocenter during the process of receiving radiotherapy on the radiotherapy equipment.

[0084] In this situation, if the target area is continuously treated with Gamma Knife, the repeated movement of the target area will cause surrounding normal tissue to enter the irradiation zone while some of the target area leaves the irradiation zone, making it difficult to achieve complete coverage of the target area. If the target area is expanded outward to achieve complete coverage, the stereotactic irradiation feature of Gamma Knife cannot achieve the sharp dose gradient effect inside and outside the target area, which can easily damage the surrounding normal tissue.

[0085] In some embodiments, considering that the respiratory movements of the target object enter a stable phase at the end of the respiratory cycle, the target area of ​​the target object also ceases to move repeatedly and remains stable before the end of the respiratory cycle. In this case, the target area of ​​the target object can receive irradiation stably, achieving a better therapeutic effect.

[0086] Based on this, a respiratory motion model is used to determine the stable range of the target area's position from the end of the respiratory cycle to its conclusion. This stable range within the respiratory cycle is defined as the treatment period. In other words, the treatment period is the time during which the target's target point coincides with the isocenter of the radiotherapy equipment during the target's respiration. Furthermore, other periods within the respiratory cycle can be designated as non-treatment periods. That is, the non-treatment periods are the times during which the target's target point does not coincide with the isocenter of the radiotherapy equipment during the target's respiration. Therefore, the treatment period is the time from the end of the target's respiration to its conclusion, while the non-treatment period is the time from the start of the target's respiration to its conclusion. During the treatment period, the target's target area position remains essentially unchanged, stably positioned at the isocenter of the radiation beam emitted by the radiotherapy equipment, thus achieving a better therapeutic effect and avoiding damage to surrounding normal tissues.

[0087] Furthermore, the treatment plan can include multiple sub-treatment periods. Different sub-treatment periods occur within different respiratory cycles. That is, each time the target subject performs a breath, a sub-treatment period is set within the respiratory cycle of that breath. Moreover, the rotation paths of the treatment head in multiple sub-treatment periods do not overlap. Within a sub-treatment period, the rotation path of the treatment head, i.e., the arc the treatment head rotates through under the random frame, is denoted as αi. i = 1, 2, 3, ..., n. n is the same as the number of sub-treatment periods. Thus, when the total arc of the treatment head rotation within each sub-treatment period is 360°, i.e., the sum of all αi equals 360°, staggered irradiation can achieve 360° coverage of the target area, resulting in better treatment efficacy.

[0088] In some embodiments, the treatment period in the treatment plan may include multiple sub-treatment periods, determined by the target subject's respiratory rate. The treatment frequency applied to the target area based on these multiple sub-treatment periods corresponds to the target subject's respiratory rate.

[0089] In some embodiments, considering the presence of organs at risk around the target area, during staggered irradiation in conjunction with the target's respiratory movements, it is necessary to avoid irradiating these organs and minimize their dose. Therefore, the image including the target area may also include location information of organs at risk surrounding the target area. When establishing a respiratory motion model, the changes in the location of organs at risk during the respiratory cycle can also be established. Thus, based on the respiratory motion model, it is also possible to obtain information on the positional changes of organs at risk within the respiratory cycle.

[0090] Based on this, a respiratory motion model is used to determine the stable range of the target area before the end of the respiratory cycle, and the location of the organs at risk when the target area is within this stable range. This allows for the determination of the rotation path of the treatment head when the beam passes through the organs at risk and irradiates the stable range. The corresponding rotation path segments within the aforementioned sub-treatment periods are then removed. Therefore, the treatment period in the treatment plan is the time during the target's breathing process where the beam path from the treatment head does not pass through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target's target point. The non-treatment periods in the treatment plan are the times when the target's target point deviates from the isocenter of the radiotherapy equipment, and the times when the beam path from the treatment head passes through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target's target point. In this way, within the treatment period, the target's target area remains essentially unchanged, stably positioned within the isocenter of the beam emitted by the radiotherapy equipment, and irradiation of surrounding normal tissues and organs at risk is avoided, thus achieving a better therapeutic effect.

[0091] In one possible approach, the method for generating the treatment plan may also include: determining the irradiation dose to the target area of ​​the subject during the treatment period based on a respiratory motion model and prescription dose information, and generating a complete treatment plan.

[0092] In the second aspect of this application, the method for controlling radiation therapy:

[0093] To improve the accuracy of radiotherapy and meet the need to avoid normal tissues around the target area during radiotherapy, this application provides a radiotherapy control method applied to a radiotherapy system.

[0094] The radiotherapy system includes: a radiotherapy device. The radiotherapy device includes a gantry and a treatment head mounted on the gantry.

[0095] This radiotherapy control method includes: acquiring a treatment plan. The treatment plan includes a respiratory motion model of the target subject. The respiratory motion model is used to characterize changes in the target subject's surface features and target location during the respiratory cycle. Based on the changes in the target subject's surface features and target location during the respiratory cycle, the gantry rotation is controlled, and the treatment head is controlled to begin or stop emitting the beam.

[0096] like Figure 2 The diagram shown is a flowchart illustrating a radiotherapy control method provided in an embodiment of this application. The radiotherapy control method includes steps S201-S202.

[0097] S201. Obtain a treatment plan.

[0098] The treatment plan includes a respiratory motion model of the target subject. This model is used to characterize changes in the target subject's surface features and target area location during the respiratory cycle.

[0099] It should be understood that the method for generating treatment plans can be referred to in the specific descriptions in S101-S104 above, and will not be repeated here.

[0100] S202. Based on the changes in the target object's surface characteristics and target area location during the respiratory cycle, control the rotation of the gantry and control the start or stop of the treatment head emitting the beam.

[0101] In some embodiments, the treatment plan includes treatment periods and non-treatment periods. During the target subject's breathing, the treatment period includes the time when the target subject's target point coincides with the isocenter of the radiotherapy device. The non-treatment period includes the time when the target subject's target point deviates from the isocenter of the radiotherapy device.

[0102] In this case, based on the changes in the target's surface characteristics and target location during the respiratory cycle, the gantry rotation is controlled, and the treatment head is controlled to start or stop emitting beams. When the target point of the target coincides with the isocenter of the radiotherapy equipment, the treatment head is controlled to start emitting beams, and when the target point of the target deviates from the isocenter of the radiotherapy equipment, the treatment head is controlled to stop emitting beams, thereby achieving misaligned irradiation of the target area.

[0103] For example, such as Figure 3 The diagram shown illustrates an irradiation process according to an embodiment of this application. During the rotation of the control frame, the target area of ​​the target object can repeatedly move between its upper and lower limit positions in accordance with the target object's breathing behavior. Furthermore, the target area position can be adjusted at different rotation angles. Figure 3The correct position is shown, at which point the target area of ​​the object coincides with the isocenter of the radiotherapy equipment, allowing the treatment head to begin emitting the beam. Furthermore, during the rotation of the gantry, if the target area of ​​the object deviates from the correct position at other rotation angles, the treatment head can be controlled to stop emitting the beam.

[0104] In one possible approach, at the start of radiotherapy, the control gantry positions the treatment head at 0 degrees and monitors changes in the target's surface features and target location. When the target's point aligns with the isocenter of the radiotherapy equipment, the control gantry rotates the treatment head and begins emitting a beam. Subsequently, the control gantry continuously rotates the treatment head, and when the target's point deviates from the isocenter of the radiotherapy equipment, the treatment head stops emitting a beam. During radiotherapy, the control gantry continues to rotate without stopping, and when the target's point again aligns with the isocenter of the radiotherapy equipment, the treatment head begins emitting a beam.

[0105] During the first respiratory cycle of radiotherapy, the angle of rotation of the treatment head driven by the gantry during the treatment period from the end of the respiratory cycle to the end of the treatment phase is recorded as β1, and the angle of rotation of the treatment head driven by the gantry during the non-treatment period of the same respiratory cycle is recorded as β2. β1 and β2 can be considered as one irradiation cycle. After the first irradiation cycle, the gantry rotates the treatment head to the starting position of angle β2 of that irradiation cycle. Subsequently, during the treatment period of the second respiratory cycle, the treatment head is controlled to start emitting a beam. Thus, within the range of angle β2 in the first irradiation cycle, the target area is irradiated again at an angle identical to angle β1. This process is repeated until uniform irradiation of the target area is achieved at various angles through this staggered irradiation method. In this way, by combining the high-speed switching of the treatment head with the rotational movement of the gantry, the position of the target area can be followed, effectively supporting precise radiotherapy.

[0106] For example, such as Figure 4 The figure shown is a schematic diagram of another irradiation process provided in the embodiment of this application. As shown in (a), (b), (c) and (d) in the figure, as the radiotherapy process proceeds, the target area of ​​the object can be irradiated at different angles until uniform irradiation of the target area of ​​the object is formed at all angles.

[0107] Optionally, during radiotherapy, changes in the target subject's surface features and target location during the respiratory cycle can be identified. If the target subject's current surface features match those at the end of the respiratory cycle, the target's target point is determined to coincide with the isocenter of the radiotherapy equipment. Alternatively, if both the target subject's current surface features and target location match those at the end of the respiratory cycle, the target's target point is determined to coincide with the isocenter of the radiotherapy equipment. Otherwise, the target's target point is determined not to coincide with the isocenter of the radiotherapy equipment.

[0108] In some embodiments, during the target's respiration, the treatment period includes the time when the beam path from the treatment head does not pass through an organ at risk and the isocenter of the radiotherapy device coincides with the target's target. The non-treatment period includes the time when the target's target deviates from the isocenter of the radiotherapy device, and the time when the beam path from the treatment head passes through an organ at risk and the isocenter of the radiotherapy device coincides with the target's target.

[0109] For example, such as Figure 5 The diagram shown is a schematic representation of another irradiation process provided in an embodiment of this application. Figure 5 In this case, the organs at risk are located on one side of the target area of ​​the target patient, and the target area of ​​the target patient is at the isocenter of the radiotherapy equipment. Figure 5 The dotted line in the diagram represents the beam path that passes through the organ at risk before irradiating the target area. In this situation, the treatment head is controlled to stop emitting the beam and avoid the organ at risk. Figure 5 The solid line in the diagram represents the beam path that reaches the target area without passing through organs at risk. In this case, the treatment head begins to emit the beam, performing irradiation treatment on the target area.

[0110] In this scenario, based on the target's surface characteristics and the changes in the target area's location during the respiratory cycle, the gantry rotation is controlled, and the treatment head's beam emission is controlled to begin or cease. The control device can control the treatment head to emit the beam when the beam path does not pass through organs of danger and the isocenter of the radiotherapy equipment coincides with the target's target point. Furthermore, when the target's target point deviates from the radiotherapy equipment's isocenter, or when the treatment head's beam path passes through organs of danger and the isocenter of the radiotherapy equipment coincides with the target's target point, the control device can stop the treatment head from emitting the beam. Thus, when an organ of danger exists between the treatment head's location and the target's target area during arc irradiation, the treatment head can be shut off, avoiding the organ of danger and reducing the radiation dose received by that organ.

[0111] For example, it can identify changes in the target's surface features, target area location, and organ-at-risk location during the respiratory cycle. If the target's current surface features match those at the end of the respiratory cycle, and the organ-at-risk location is not in the beam path of the treatment head, then the target's target point is determined to coincide with the isocenter of the radiotherapy equipment. Alternatively, if the target's current surface features match those at the end of the respiratory cycle, the organ-at-risk location is not in the beam path of the treatment head, and the target's current target area location matches those at the end of the respiratory cycle, then the target's target point is determined to coincide with the isocenter of the radiotherapy equipment. Conversely, if these conditions are not met, then the target's target point is determined not to coincide with the isocenter of the radiotherapy equipment.

[0112] In the radiotherapy system of the third aspect of this application:

[0113] In combination with the above Figure 1 The treatment plan generation method shown above, and the above Figure 2 The illustrated radiotherapy control method is followed by an embodiment of a radiotherapy system provided in this application. The radiotherapy system includes: a TPS device for executing the treatment planning generation method as described above, a control device for executing the radiotherapy control method as described above, and a radiotherapy device. The radiotherapy device includes: a gantry and a treatment head mounted on the gantry.

[0114] In the radiotherapy system of this application, the TPS device can acquire respiratory cycle information, multiple surface optical images, and multiple images including the target area during the target subject's breathing process. The respiratory cycle information includes the duration and respiratory rate of a single breath. The surface optical images reflect the target subject's surface features. The images including the target area reflect the target area's location. Furthermore, the TPS device can establish a respiratory motion model of the target subject based on the respiratory cycle information, multiple surface optical images, and multiple images including the target area. The respiratory motion model characterizes the changes in the target subject's surface features and / or target area location during the respiratory cycle. Subsequently, the TPS device can generate a treatment plan based on the respiratory motion model and prescribed dose information, enabling the control device to control the gantry rotation and the start or stop of beam emission from the treatment head based on the treatment plan.

[0115] Thus, in this embodiment of the application, the TPS device can accurately establish a respiratory motion model of the target object based on the target object's respiratory cycle information, multiple surface optical images, and multiple images including the target area, to accurately reflect the changes in the target object's surface features and / or target area location during the respiratory cycle. Furthermore, the TPS device can generate a treatment plan adapted to the target object's respiratory motion based on the respiratory motion model, enabling the control device to control the gantry rotation and the start or stop of beam emission from the treatment head based on the treatment plan, achieving targeted treatment of the target object's target area, supporting precise beam projection onto the target object's target area, and improving treatment accuracy.

[0116] like Figure 6 The diagram shown is a structural schematic of a radiotherapy system provided in an embodiment of this application. Figure 6 The radiotherapy system 300 shown includes a TPS device 301, a control device 302, and a radiotherapy device 303. The control device 302 can be connected to both the TPS device 301 and the radiotherapy device 303.

[0117] TPS equipment:

[0118] In some embodiments, the TPS device 301 is used to perform the above. Figure 1 The treatment plan generation method shown involves acquiring respiratory cycle information, multiple surface optical images, and multiple images including the target area during the target's breathing process. Based on the respiratory cycle information, multiple surface optical images, and multiple images including the target's target area, a respiratory motion model of the target is established. A treatment plan is then generated based on the respiratory motion model and prescription dosage information, so that the control device 302 controls the gantry rotation based on the treatment plan and controls the treatment head to start or stop emitting beams.

[0119] Thus, in this embodiment, the TPS device 301 can accurately establish a respiratory motion model of the target object based on the target object's respiratory cycle information, multiple surface optical images, and multiple images including the target area, to accurately reflect the changes in the target object's surface features and / or target area location during the respiratory cycle. Furthermore, the TPS device 301 can generate a treatment plan adapted to the target object's respiratory motion based on the respiratory motion model, enabling the control device 302 to control the gantry rotation based on the treatment plan and control the treatment head to start or stop emitting beams, achieving targeted treatment of the target object's target area, supporting precise beam projection onto the target object's target area, and improving treatment accuracy.

[0120] In some embodiments, to facilitate the development of treatment plans for the target subject, in S102 above, the TPS device 301 can process multiple surface optical images of the target subject and multiple images including the target area through a radiotherapy planning system to accurately locate the surface feature information of the target subject at each moment during the respiratory cycle, as well as information such as the target area location, structure, boundary, morphology, and distribution characteristics. Furthermore, the TPS device 301 can establish a respiratory motion model of the target subject.

[0121] In some embodiments, in S103, the TPS device 301 can accurately determine the prescription dose information of the target area through calculation and superposition using a radiotherapy planning system. Alternatively, the prescription dose information of the target area can also be manually set within the TPS device 301. The TPS device 301 can read the manually set prescription dose information of the target area when needed.

[0122] In some embodiments, the TPS device 301 can be divided into functional modules according to the above-described treatment plan generation method example. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0123] For example, when implementing TPS device 301 in the form of software functional modules, Figure 7 A schematic diagram of a treatment plan generation device is shown. This treatment plan generation device 40 can be applied to the TPS device 301 to implement any of the possible treatment plan generation methods involved in the above embodiments. Figure 7 As shown, the treatment plan generation device 40 may include an acquisition unit 401 and a processing unit 402.

[0124] Acquisition unit 401 is used to acquire respiratory cycle information, multiple surface optical images, and multiple images including the target area of ​​the target object during its breathing process. The respiratory cycle information includes the duration and respiratory rate of a single breath. The surface optical images reflect the surface features of the target object. The images including the target area reflect the target area location information. Processing unit 402 is used to establish a respiratory motion model of the target object based on the respiratory cycle information, multiple surface optical images, and multiple images including the target area. The respiratory motion model characterizes the changes in the surface features and / or target area location of the target object during the respiratory cycle. Acquisition unit 401 is also used to acquire prescription dose information for the target area, wherein the prescription dose information includes the radiation dose of different regions of the target area. Processing unit 402 is also used to generate a treatment plan based on the respiratory motion model and prescription dose information, so that the control device controls the gantry rotation based on the treatment plan and controls the treatment head to start or stop emitting the beam.

[0125] In some embodiments, based on a respiratory motion model, surface feature information and target area location information of the target object at different times during the respiratory cycle are obtained.

[0126] In some embodiments, the treatment plan includes treatment periods and non-treatment periods. During the target subject's breathing process, the treatment period includes the time when the target subject's target point coincides with the isocenter of the radiation therapy device. The non-treatment period includes the time when the target subject's target point does not coincide with the isocenter of the radiation therapy device.

[0127] In some embodiments, the imaging also includes information on the location of the target's organs at risk. Based on a respiratory motion model, information on the positional changes of the target's organs at risk during the respiratory cycle can also be obtained. The treatment plan includes treatment periods and non-treatment periods. During the target's respiratory process, the treatment period includes the time when the beam path from the treatment head does not pass through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target's target point. The non-treatment period includes the time when the target's target point deviates from the isocenter of the radiotherapy equipment, and the time when the beam path from the treatment head passes through the organs at risk, and the isocenter of the radiotherapy equipment coincides with the target's target point.

[0128] In some embodiments, the treatment period is the time from when the target subject's breathing reaches its end to when breathing ceases. The non-treatment period is the time from when the target subject's breathing begins to when it reaches its end.

[0129] In some embodiments, the treatment period includes multiple sub-treatment periods, and the paths of the treatment head rotation in the multiple sub-treatment periods do not overlap. Within a sub-treatment period, the radian of the treatment head rotation is denoted as αi, i = 1, 2, 3, ..., n, and the sum of αi is equal to 360°.

[0130] Control equipment:

[0131] In some embodiments, the control device 302 is used to perform the above. Figure 2 The radiotherapy control method shown controls the radiotherapy device 303 to execute the treatment plan, namely, controlling the gantry rotation and controlling the treatment head to start or stop emitting the beam based on the changes in the target body surface characteristics and target area position during the respiratory cycle.

[0132] In some embodiments, after the TPS device 301 generates a treatment plan based on the respiratory motion model and prescription dosage information, it can send the generated treatment plan to the control device 302. Correspondingly, the control device 302 can receive the treatment plan from the TPS device 301. Further, the control device 302 can parse the treatment plan, determine the respiratory motion model of the target object, and control parameters related to treatment and non-treatment periods, etc., and thereby, based on the parsed information, control the gantry rotation and control the treatment head to start or stop emitting the beam according to the changes in the target object's body surface characteristics and target area position during the respiratory cycle.

[0133] In some embodiments, the control device 302 can be divided into functional modules according to the above-described radiotherapy control method example. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0134] For example, when the control device 302 is implemented in the form of software functional modules, Figure 8 A schematic diagram of a radiotherapy control device is shown. This radiotherapy control device 50 can be applied to the control equipment 302 to implement any of the possible radiotherapy control methods involved in the above embodiments. Figure 8 As shown, the radiotherapy control device 50 may include an acquisition unit 501 and a control unit 502.

[0135] Acquisition unit 501 is used to acquire a treatment plan. The treatment plan includes a respiratory motion model of the target subject. The respiratory motion model is used to characterize the changes in the target subject's body surface features and target area location during the respiratory cycle. Control unit 502 is used to control the rotation of the gantry and to control the start or stop of beam emission from the treatment head based on the changes in the target subject's body surface features and target area location during the respiratory cycle.

[0136] In some embodiments, the treatment plan includes treatment periods and non-treatment periods. During the target subject's breathing, the treatment period includes the time when the target subject's target point coincides with the isocenter of the radiotherapy device. The non-treatment period includes the time when the target subject's target point deviates from the isocenter of the radiotherapy device.

[0137] The control unit 502 is specifically used to: control the treatment head to emit a beam when the target point of the target object coincides with the isocenter of the radiotherapy equipment; and control the treatment head to stop emitting a beam when the target point of the target object deviates from the isocenter of the radiotherapy equipment.

[0138] In some embodiments, the treatment plan further includes treatment periods, non-treatment periods, and information on the location of the target's organs at risk. During the target's respiration, treatment periods include times when the beam path from the treatment head does not pass through organs at risk, and the isocenter of the radiotherapy device coincides with the target's target. Non-treatment periods include times when the target's target deviates from the isocenter of the radiotherapy device, and times when the beam path from the treatment head passes through organs at risk, and the isocenter of the radiotherapy device coincides with the target's target.

[0139] The control unit 502 is specifically used to: control the beam emitted by the treatment head when the beam path does not pass through an organ at risk and the isocenter of the radiotherapy equipment coincides with the target point of the target object; and control the treatment head to stop firing the beam when the target point of the target object deviates from the isocenter of the radiotherapy equipment, or when the beam path emitted by the treatment head passes through an organ at risk and the isocenter of the radiotherapy equipment coincides with the target point of the target object.

[0140] Radiotherapy equipment:

[0141] In some embodiments, the radiotherapy device 303 is used to emit a beam to the target area of ​​a target object, specifically including a gantry and a treatment head mounted on the gantry. The gantry is rotatable to drive the treatment head to rotate. Thus, considering that the position of the target area of ​​the target object is relatively stable at the end of the respiratory cycle, but moves repeatedly in other phases of the respiratory cycle, the gantry can drive the treatment head to rotate, thereby achieving arc irradiation of the target area of ​​the target object from different angles at the end of different respiratory cycles.

[0142] In some embodiments, the treatment head may include a source carrier, a shield, and a drive assembly.

[0143] On the source carrier, along the central axis of the source carrier, there are multiple radioactive sources arranged in a single row in a straight line on the surface of the source carrier.

[0144] The shielding body has multiple primary collimation channels that penetrate the shielding body. These primary collimation channels are arranged opposite to and correspond one-to-one with multiple radiation sources on the surface of the source carrier. The rays emitted by the multiple radiation sources can pass through the corresponding primary collimation channels and be focused on the same point. That is, one primary collimation channel is arranged corresponding to one radiation source. Furthermore, the rays emitted by one radiation source pass through the corresponding primary collimation channel and irradiate the focal point.

[0145] The drive component is used to drive the synchronous relative movement of the source carrier and the shield. This allows for the switching of the radiation source using synchronous relative movement of the source carrier and the shield, improving the response speed of the switching, reducing the dose of residual beam irradiated to the target object during switching, and minimizing the inaccuracy of residual dose during irradiation.

[0146] For example, when the drive assembly drives the source carrier and the shield to move synchronously relative to each other so that multiple radiation sources are aligned with the central axis of multiple primary collimation channels, the rays emitted by the multiple radiation sources can pass through the corresponding primary collimation channels and be focused at the same point. In this case, the treatment head can emit a beam to perform irradiation therapy on the target area of ​​the object.

[0147] For example, when the drive assembly drives the source carrier and the shield to move synchronously relative to each other until multiple radiation sources deviate from the central axis of multiple primary collimation channels, the rays emitted by the multiple radiation sources are shielded by the shield. In this case, the treatment head stops emitting beams and ceases to perform irradiation treatment on the target area.

[0148] Based on this, when the control device 302 needs to control the treatment head to switch from emitting beams to stopping emitting beams, the control device 302 can control the drive component to drive the source body and the shield to move synchronously relative to each other, so that multiple radiation sources deviate from the central axis of multiple primary collimation channels, thereby achieving rapid shutdown of the gamma radiation source, thereby shielding the beam irradiating the target object within milliseconds, causing the beam energy irradiating the target object to decay rapidly, and avoiding damage to the normal tissue of the target object.

[0149] In some embodiments, the drive assembly includes a transmission gear pair. The transmission gear pair includes a first gear disposed on the source carrier and a second gear disposed on the shield. Alternatively, the speed ratio of the first gear and the second gear may be 1:1.

[0150] Optionally, in this transmission gear pair, the first gear can be the driving gear and the second gear can be the driven gear. Alternatively, the first gear can be the driven gear and the second gear can be the driving gear.

[0151] For example, such as Figure 9The diagram shown is a structural schematic of a treatment head provided in an embodiment of this application. Synchronous relative motion between the source body and the shield body is achieved by rotating the transmission gear pair of the drive component. Figure 9 As shown in (a), when the radiation source is located on the central axis of the primary collimation channel, the radiation can pass through the primary collimation channel and reach the focal point. Figure 9 As shown in (b), when the radiation source deviates from the central axis of the primary collimation channel, the radiation cannot pass through the primary collimation channel to reach the focal point.

[0152] Furthermore, such as Figure 10 The diagram shown is a schematic representation of another irradiation process provided in an embodiment of this application. Figure 10 In this case, the organs at risk are located on one side of the target area of ​​the target patient, and the target area of ​​the target patient is at the isocenter of the radiotherapy equipment. Figure 10 The dashed line in the diagram represents the beam path that passes through the organ at risk and irradiates the target area of ​​the object. In this case, the control device 302 can control the drive assembly to drive the transmission gear pair to rotate, causing the radiation source to deviate from the central axis of the primary collimation channel, thereby controlling the treatment head to stop emitting the beam and avoid the organ at risk. Figure 10 The solid line in the diagram represents the beam path that reaches the target area without passing through organs at risk. In this case, the control device 302 can control the drive assembly to drive the transmission gear pair to rotate, so that the radiation source is on the central axis of the primary collimation channel, thereby controlling the treatment head to start emitting the beam and perform irradiation treatment on the target area.

[0153] In some embodiments, the treatment head may further include a shielding housing and a secondary collimator.

[0154] The source carrier and shield of the treatment head can be housed within a shielded enclosure. The shielded enclosure can have multiple through-holes corresponding one-to-one with the primary collimation channel. Rays from multiple radiation sources mounted on the source carrier can pass through these through-holes. That is, the rays emitted by each radiation source can pass through the through-hole via the corresponding primary collimation channel mounted on the shield.

[0155] The secondary collimator is located outside the shielding enclosure and is movable relative to the enclosure. Furthermore, the secondary collimator includes multiple sets of secondary collimation channels with different apertures. These secondary collimation channels can communicate with the primary collimation channels, allowing rays from multiple radiation sources to pass through and be focused at the same point. Thus, the control device 302 can switch between different secondary collimation channels by controlling the radiotherapy device 303, forming different irradiation fields at the isocenter of the beam emitted from the treatment head, achieving precise treatment of the target area.

[0156] In some embodiments, the radiotherapy device 303 further includes a dose acquisition device. The dose acquisition device is located on the gantry and positioned opposite the treatment head, for receiving the beam emitted from the treatment head that passes through the target object, and generating beam characteristic information to monitor the total dose irradiated to the treatment isocenter during radiotherapy. The beam characteristic information includes the dose intensity of the received beam and the position of the dose acquisition device when the beam is received.

[0157] For example, such as Figure 11 The diagram illustrates a dose acquisition process according to an embodiment of this application. During the treatment period, the normal beam irradiates the target area at the isocenter and passes through the target body to irradiate the irradiation position on the dose acquisition device during the treatment period. Thus, the dose acquisition device can receive the normal beam emitted from the treatment head that passes through the target body during the treatment period and record the total dose irradiated to the treatment isocenter during the treatment period. Furthermore, during the process of the control device 302 controlling the radiation source of the radiotherapy device 303 to switch from on to off, the residual beam during the switching process can pass through the target body to irradiate the irradiation position on the dose acquisition device outside the treatment period. Thus, the dose acquisition device can receive the residual beam that passes through the target body outside the treatment period and record the total dose irradiated to the normal body of the target body outside the treatment period.

[0158] This allows for a comparison between the total dose irradiated to the treatment isocenter and the expected dose indicated by the prescription dose information during radiotherapy. This facilitates updating the prescription dose for the target area during radiotherapy, avoiding the problem of reduced irradiation dose accuracy caused by frequent switching of radiation, and improving the safety of misaligned irradiation treatment.

[0159] In the electronic device of the fourth aspect of this utility model:

[0160] When using integrated units, Figure 12 A schematic diagram of an electronic device is shown. This electronic device 60 can be a treatment plan generation apparatus to implement any of the possible treatment plan generation methods involved in the above embodiments. Alternatively, the electronic device 60 can be a radiotherapy control apparatus to implement any of the possible radiotherapy control methods involved in the above embodiments. Figure 12 As shown, the electronic device 60 may include a processing module 601 and a communication module 602. The processing module 601 can be used to control and manage the actions of the electronic device 60. The communication module 602 can be used to support communication between the electronic device 60 and other entities. Optionally, as... Figure 12 As shown, the electronic device 60 may also include a storage module 603 for storing the program code and data of the electronic device 60.

[0161] The processing module 601 can be a processor or a controller. The communication module 602 can be a transceiver, transceiver circuit, or communication interface, etc. The storage module 603 can be a memory.

[0162] When the processing module 601 is a processor, the communication module 602 is a transceiver, and the storage module 603 is a memory, the processor, transceiver, and memory can be connected via a bus.

[0163] In some embodiments, when the electronic device 60 serves as a treatment plan generation apparatus to implement any of the possible treatment plan generation methods described in the above embodiments, the electronic device 60 may include a TPS client and a TPS server. The TPS server may run a Treatment Planning System (TPS). This TPS system provides functions for developing, optimizing, and evaluating treatment plans.

[0164] The TPS client can be at least one of the following devices: smartphone, smartwatch, desktop computer, laptop, virtual reality terminal, augmented reality terminal, wireless terminal, and laptop computer. For example, in some embodiments, a user can trigger the TPS server to execute an adaptive treatment plan optimization process by running a radiotherapy planning system on the TPS server through the TPS client, and then display the optimized treatment plan. This effectively saves user time and provides a more intuitive presentation of the optimized treatment plan, allowing users to evaluate it.

[0165] The TPS server can be a standalone physical server, a server cluster consisting of multiple physical servers, a distributed file system, or at least one of the following cloud servers providing basic cloud computing services: cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks, and big data or artificial intelligence platforms. This disclosure does not limit the specific type of TPS server. In some embodiments, the number of TPS servers can be more or fewer, and this disclosure does not limit the number of TPS servers. Of course, the TPS server can also include other functions to provide more comprehensive and diverse services. In some embodiments, the TPS server is used to provide background services for the TPS client, such as performing an adaptive treatment plan optimization process.

[0166] In some embodiments, when the electronic device 60 serves as a radiotherapy control device to implement any of the possible radiotherapy control methods involved in the above embodiments, the electronic device 60 may include a host computer and a slave computer. The host computer is used to interact with the user, and the slave computer is used to control the movement of each moving part in the radiotherapy device 303. The host computer may be at least one of devices such as smartphones, smartwatches, desktop computers, laptops, virtual reality terminals, augmented reality terminals, wireless terminals, and laptop computers, and / or server devices. The slave computer may be a control device such as a programmable logic controller (PLC).

[0167] In the non-volatile storage medium of the fifth aspect of this utility model:

[0168] The non-volatile storage medium stores a computer program that, when read and executed, implements any of the possible treatment plan generation methods or any of the possible radiotherapy control methods described in the above embodiments.

[0169] In the computer program product of the fifth aspect of this utility model:

[0170] The computer program product includes computer instructions that, when executed on an electronic device, cause the electronic device to perform any of the possible treatment plan generation methods or any of the possible radiotherapy control methods described in the above embodiments.

[0171] In one embodiment, Figure 13 A schematic diagram of the structure of yet another electronic device is shown. For example... Figure 13 As shown, the electronic device 70 includes a computing unit 701, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. The RAM 703 can also store various programs and data required for the operation of the electronic device 70. The computing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0172] Multiple components in electronic device 70 are connected to input / output interface 705, including: input unit 706, such as keyboard, mouse, etc.; output unit 707, such as various types of monitors, speakers, etc.; storage unit 708, such as disk, optical disk, etc.; and communication unit 709, such as network card, modem, wireless transceiver, etc. Communication unit 709 allows electronic device 70 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0173] The computing unit 701 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Examples of computing unit 701 include, but are not limited to, a central processing unit, a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors, and any suitable processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above, such as treatment plan generation methods or radiotherapy control methods. For example, in one embodiment, the treatment plan generation method can be implemented as a computer software program tangibly included in a machine-readable medium, such as storage unit 708. As another example, in one embodiment, the radiotherapy control method can be implemented as a computer software program tangibly included in a machine-readable medium, such as storage unit 708.

[0174] In one embodiment, part or all of the computer program can be loaded and / or installed via ROM 702 and / or communication unit 709. Figure 13 The illustrated electronic device 70. When a computer program is loaded into RAM 703 and executed by computing unit 701, one or more steps of the treatment plan generation method described above, or one or more steps of the radiotherapy control method described above, can be performed. Alternatively, in other embodiments, computing unit 701 can be configured to perform the treatment plan generation method or the radiotherapy control method by any other suitable means (e.g., by means of firmware).

[0175] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays, application-specific integrated circuits (ASICs), application-specific standard parts (ASSPs), systems-on-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0176] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0177] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory, optical fibers, portable compact disk read-only memory, optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0178] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user, such as a cathode ray tube (CRT) or liquid crystal display (LCD) monitor; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0179] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0180] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0181] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0182] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0183] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0184] The units described as separate components may or may not be physically separate. 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0185] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid state disks (SSDs)).

[0186] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A radiotherapy system, characterized by, include: The device comprises a TPS device, a control device, and a radiotherapy device; the control device is connected to the TPS device and the radiotherapy device respectively. The radiotherapy equipment includes a gantry and a treatment head mounted on the gantry. The treatment head includes: a source carrier with a radiation source on its surface along its central axis; a shield with a primary collimation channel penetrating the shield; and a drive assembly for driving the source carrier and the shield to move synchronously relative to each other. TPS devices are used to generate treatment plans; A control device for controlling the rotation of the gantry of the radiotherapy equipment based on the treatment plan, and controlling the treatment head of the radiotherapy equipment to start or stop emitting a beam.

2. The radiotherapy system according to claim 1, characterized in that, The number of radiation sources is multiple, and the multiple radiation sources are arranged in a straight line in a single row on the surface of the source carrier; the number of primary collimation channels is multiple, and the multiple primary collimation channels are arranged opposite to the multiple radiation sources and correspond one-to-one, so that the rays emitted by the multiple radiation sources can pass through the corresponding multiple primary collimation channels and be focused on the same point.

3. The radiotherapy system according to claim 2, characterized in that, When the driving component drives the source carrier and the shield to move synchronously relative to each other until the multiple radiation sources are on the central axis of the multiple primary collimation channels, the rays emitted by the multiple radiation sources can pass through the corresponding multiple primary collimation channels and be focused on the same point, and the treatment hair emits a beam. When the drive assembly drives the source carrier and the shield to move synchronously relative to each other until the multiple radiation sources deviate from the central axis of the multiple primary collimation channels, the rays emitted by the multiple radiation sources are shielded by the shield, and the treatment head stops emitting beams.

4. The radiotherapy system of claim 1, wherein, The drive assembly includes a transmission gear pair; The transmission gear pair includes: a first gear disposed on the source carrier and a second gear disposed on the shield.

5. The radiotherapy system of claim 4, wherein, The speed ratio between the first gear on the source carrier and the second gear on the shield is 1:

1.

6. The radiotherapy system of claim 2, wherein, The treatment head also includes: The shielding enclosure contains the source carrier and the shielding body. The shielding enclosure has multiple through holes that correspond one-to-one with the primary collimation channel, allowing the rays from the multiple radiation sources to pass through the through holes.

7. The radiotherapy system of claim 6, wherein, The treatment head also includes: The secondary collimator is disposed outside the shielding box and is movable relative to the shielding box. The secondary collimator includes multiple sets of secondary collimation channels with different apertures. The secondary collimation channels can communicate with the primary collimation channels so that the rays from multiple radiation sources can pass through the secondary collimation channels and be focused on the same point.

8. The radiotherapy system of claim 1, wherein, The radiotherapy equipment also includes: A dose acquisition device, located on the gantry and positioned opposite the treatment head, is used to receive the beam emitted from the treatment head that passes through the target object and generate beam characteristic information to monitor the total dose irradiated to the treatment isocenter during radiotherapy. The beam characteristic information includes the dose intensity of the received beam and the position of the dose acquisition device when the beam is received.

9. The radiotherapy system of claim 1, wherein, The treatment head includes: A source carrier, along the central axis of the source carrier, has multiple radiation sources arranged in a single row in a straight line on its surface; The shield is provided with multiple primary collimation channels that penetrate the shield. The multiple primary collimation channels are arranged opposite to and correspond one-to-one with the multiple radiation sources. The rays emitted by the multiple radiation sources can pass through the corresponding multiple primary collimation channels and be focused on the same point. A driving component is used to drive the source carrier and the shield to move synchronously relative to each other. The shielding enclosure contains the source carrier and the shielding body. The shielding enclosure has multiple through holes that correspond one-to-one with the primary collimation channel, allowing the rays from the multiple radiation sources to pass through the through holes. The secondary collimator is disposed outside the shielding box and is movable relative to the shielding box. The secondary collimator includes multiple sets of secondary collimation channels with different apertures. The secondary collimation channels can communicate with the primary collimation channels so that the rays from multiple radiation sources can pass through the secondary collimation channels and be focused on the same point.

10. The radiotherapy system of claim 9, wherein, The radiotherapy equipment also includes: A dose acquisition device, located on the gantry and positioned opposite the treatment head, is used to receive the beam emitted from the treatment head that passes through the target object and generate beam characteristic information to monitor the total dose irradiated to the treatment isocenter during radiotherapy. The beam characteristic information includes the dose intensity of the received beam and the position of the dose acquisition device when the beam is received.

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