Patient positioning system for use in radiation therapy

Abstract

To provide a patient positioning system used for a radiation therapy.SOLUTION: A system of the present invention includes a processing device and a storage device. The processing device loads a program from the storage device, and executes a control module, a positioning room module, and a treatment room module. The control module acquires treatment plan data. The positioning room module calculates a second support point displacement of the fulcrum by image positioning (image registration) on the basis of an inclination angle, a rotation angle, a target displacement, an original target point cloud, and a reference displacement. The treatment room module drives a machine device and moves a table of the treatment room so that the fulcrum becomes the second support point displacement relative to a beam emission port.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to Taiwan Patent Application No. 112102560, filed on January 19, 2023, the entirety of which is incorporated herein by reference.

[0002] The present disclosure relates generally to the field of radiation therapy, and more particularly to patient positioning systems for use in radiation therapy. [Background technology]

[0003] In the field of radiation therapy (including treatments such as boron neutron capture therapy (BNCT)), a patient may need to be irradiated in various positions. Thus, the table on which the patient lies during such radiation therapy can not only rotate in a horizontal plane, but also tilt vertically. Currently, patient positioning systems for radiation therapy use as input data computed tomography (CT) images acquired from the patient in a supine position prior to radiation therapy. Based on this, image monitoring and analysis of the patient's surface features are performed to determine the position of the patient's affected area (i.e., to know the relative spatial position of the irradiation target). If the patient needs to be irradiated in different positions, the position of the patient's affected area (i.e., the irradiation target) will necessarily change with respect to the supine position, since the patient table may have various tilt or rotation angles in order to irradiate the patient accurately. However, there is currently no suitable solution for positioning the patient in various positions. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of the above problems, there is a need for a patient positioning system for use in radiation therapy that takes into account the rotation and tilt angles of the patient table to more accurately position the irradiation target. [Means for solving the problem]

[0005] An embodiment of the present disclosure provides a patient positioning system for use in radiation therapy. The system includes a processing device and a storage device. The processing device loads a program from the storage device to execute a control module, a positioning room module, and a treatment room module. The control module obtains treatment planning data. The treatment planning data includes a tilt angle, a rotation angle, a target displacement, and an original target point cloud of an irradiation target. The positioning room module calculates a second support point displacement of a fulcrum by image registration based on the tilt angle, the rotation angle, the target displacement, the original target point cloud, and the reference displacement. When the arrangement of the treatment room table matches the treatment planning data, the second support point displacement becomes a displacement of the fulcrum with respect to the beam exit of the fulcrum. The treatment room table and a machine are connected at a fulcrum. The treatment room module drives the machine device to move the treatment room table so that the fulcrum becomes the second support point displacement with respect to the beam exit. When the arrangement of the treatment room table matches the treatment planning data, the treatment room table is tilted at a tilt angle and rotated at a rotation angle, and the irradiation target on the treatment room table is a target displacement with respect to the beam exit port.

[0006] In one embodiment, the positioning room module further calculates a tilted target point cloud based on the tilt angle and the original target point cloud. The positioning room module further obtains a first imaging point cloud of an irradiation target on a table of the positioning room. The first imaging point cloud is imaged by a first set of camera devices when the table of the positioning room is tilted at the tilt angle. The positioning room module further determines a first offset by performing image registration on the tilted target point cloud and the first imaging point cloud. The positioning room module further calculates a first support point displacement of the support point based on the first offset, the target displacement, and the reference displacement. The first support point displacement is a displacement of the support point relative to the beam exit when the table of the treatment room is tilted at the tilt angle and does not rotate. The positioning room module further calculates a second support point displacement based on the rotation angle and the first support point displacement.

[0007] In one embodiment, the treatment room module further drives a mechanical device to move the treatment room table such that the support point is a first support point displacement relative to the beam exit. The treatment room module further obtains a second imaging point cloud of an irradiation target on the treatment room table. The second imaging point cloud is imaged by a second set of camera devices when the treatment room table is tilted at a tilt angle. The treatment room module further determines a second offset by performing image registration on the tilt target point cloud and the second imaging point cloud. The treatment room module further calibrates the second support point displacement based on the rotation angle and the second offset.

[0008] In one embodiment, the treatment room module further obtains a fourth imaged point cloud of a calibration target on the treatment room table. The fourth imaged point cloud is imaged by a second set of camera devices. The treatment room module further calibrates parameter settings of the second set of camera devices by performing image registration with the fourth imaged point cloud and the calibration target point cloud. A second set of laser emitters is attached to the second set of camera devices. When the second set of camera devices images the fourth imaged point cloud, laser beams emitted from the second set of laser emitters are aligned with corresponding crosshairs on the calibration target.

[0009] In one embodiment, the positioning room module further calculates a transformed target point cloud based on the tilt angle, the rotation angle and the original target point cloud. The positioning room module further obtains a third imaged point cloud of the irradiation target on the positioning room platform. The third imaged point cloud is imaged by the first set of camera devices when the positioning room platform is tilted at the tilt angle and rotated at the rotation angle. The positioning room module further determines a third offset by performing image registration on the transformed target point cloud and the third imaged point cloud. The positioning room module further calculates a second support point displacement based on the third offset, the target displacement and the reference displacement.

[0010] In one embodiment, the positioning room module further obtains a fifth imaged point cloud of a calibration target on a platform of the positioning room. The fifth imaged point cloud is imaged by a first set of camera devices. The positioning room module further calibrates parameter settings of the first set of camera devices by performing image registration with the fifth imaged point cloud and the calibration target point cloud. A first set of laser emitters is attached to the first set of camera devices. When the first set of camera devices images the fifth imaged point cloud, laser beams emitted from the first set of laser emitters are aligned with corresponding crosshairs on the calibration target.

[0011] In one embodiment, the treatment room module further drives a mechanical device to move the treatment room table such that a calibration object on the treatment room table is at a target displacement relative to the beam exit. The treatment room module further obtains a third support point displacement of the support point relative to the beam exit. The treatment room module further calculates a reference displacement of the support point relative to the calibration object based on the third support point displacement and the target displacement.

[0012] In one embodiment, the treatment room module further drives an irradiation device to irradiate an irradiation target on the patient table. Effect of the Invention

[0013] The patient positioning system provided in the present disclosure allows for more efficient and accurate delivery of radiation to the patient area in a radiation therapy setting by incorporating consideration and adjustment of the tilt and rotation angles of the patient table / chair and radiation direction. [Brief description of the drawings]

[0014] The present disclosure can be more fully understood by reading the following detailed description and examples with reference to the accompanying drawings. In addition, it should be understood that in the flow diagrams of the present disclosure, the order of execution of each block can be changed, and / or some of the blocks can be changed, eliminated, or combined.

[0015] [Figure 1] FIG. 1 is a hardware architecture diagram of a patient positioning system for use in radiation therapy according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 illustrates a software architecture diagram of a patient positioning system according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 is a schematic diagram of an exemplary hardware configuration of a positioning chamber according to one embodiment of the present disclosure. [Figure 4] FIG. 1 is a schematic diagram of an exemplary hardware configuration of a treatment room according to one embodiment of the present disclosure. [Diagram 5] 1A-1C are top views of calibration targets for the positioning chamber calibration process and the treatment chamber calibration process according to an embodiment of the present disclosure. [Figure 6] FIG. 13 is a flow diagram of a positioning process of the positioning chamber of the first aspect according to an embodiment of the present disclosure. [Figure 7] FIG. 13 is a flow diagram of a treatment room positioning process according to one embodiment of the present disclosure. [Figure 8]FIG. 13 is a flow diagram of a positioning process of the positioning chamber of the second aspect according to another embodiment of the present disclosure. [Figure 9] FIG. 1 is a flow diagram of a camera parameter calibration process according to one embodiment of the present disclosure. [Figure 10] FIG. 13 is a flow diagram of a positioning chamber calibration process according to one embodiment of the present disclosure. [Figure 11] FIG. 13 is a flow diagram of a spatial calibration process according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] The following description is made for the purpose of illustrating the general principles of the invention and is not to be taken in a limiting sense, the scope of the invention being determined with reference to the appended claims.

[0017] In the following embodiments, the same reference numbers represent the same or similar elements or components.

[0018] Ordination terms used in the claims, such as "first," "second," "third," etc., are used for convenience of description only and do not imply any antecedent relationship between one another.

[0019] First, a general introduction of the positioning room, treatment room, and control room required for the patient positioning system provided in the present disclosure for radiation therapy will be provided. It should be noted that in this specification, terms such as "positioning room", "treatment room", and "control room" do not necessarily refer to a specific space, but may refer to a combination of hardware and software configurations. It is not intended to limit the space in which these combinations are located. In various embodiments, the positioning room, treatment room, and control room may be in the same room or in different rooms. In one embodiment, the positioning room and treatment room can share a hardware configuration in the same space, but have different software configurations.

[0020] In order to make the use of resources in the treatment room more efficient, the pre-processing steps required prior to radiation therapy (including positioning the relative position of the patient's affected area in space) are usually first performed in the positioning room so that the treatment room can focus more on the implementation of radiation therapy. Meanwhile, the control room manages the reception of the treatment plan and the communication between the positioning room and the treatment room. In detail, the patient to be treated by radiation therapy first undergoes a pre-processing step in the positioning room to simulate the position of the iso-center (i.e., the irradiation target, or the patient's affected area) in the treatment plan. Using a hardware configuration of a camera device and a crosshair laser, tortuous changes of the patient's body surface are detected to confirm the same spatial coordinate position as the surface of the irradiation target. If there is a difference between these two spatial positions, the position of the camera device is adjusted. The above operation is repeated until the difference between these two spatial positions is within an acceptable level. At this time, the crosshair laser should pass through the position of the iso-center of the irradiation target, so that the operator in the positioning room can create a mask for the patient and draw a marker on the mask. The relative position of the irradiation target is then transferred from the control room to the treatment room, thereby enabling the irradiation equipment in the treatment room to irradiate the irradiation target.

[0021] 1 is a hardware architecture diagram of a patient positioning system 100 for use in radiation therapy according to an embodiment of the present disclosure. As shown in FIG. 1, the patient positioning system 100 may include a processing unit 101 and a storage unit 102 connected to each other. Furthermore, a positioning room module 111, a control module 112 and a treatment room module 113 are stored in the storage unit 102.

[0022] The patient positioning system 100 may be a personal computer (e.g., desktop or laptop) or a server computer running an operating system (e.g., Windows, Mac OS, Linux, UNIX, etc.), or a mobile device such as a tablet computer or smartphone, although the disclosure is not limited thereto.

[0023] The processing device 101 may be any device that executes instructions, such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, a controller, a microcontroller, or a state machine, although this disclosure is not limited in this respect.

[0024] The storage device 102 may be a device including any non-volatile memory (e.g., read-only memory, electrically erasable programmable read-only memory (EEPROM), flash memory, non-volatile random access memory (NVRAM)), such as, but not limited to, a hard disk drive (HDD), a solid-state disk (SSD) or an optical disk.

[0025] The positioning room module 111, the control module 112, and the treatment room module 113 are software modules. In various embodiments, the processing unit 101 loads programs from the storage device 102 to execute these software modules. The programs may be written in Java, C, C#, C++, Python, or any well-known programming language, and are not limited in this disclosure.

[0026] In one embodiment, the patient positioning system 100 may further include a communication interface (not shown in FIG. 1 ) that allows the computer system to communicate with other devices and obtain necessary data. The communication interface may be a wired communication interface, such as a High Definition Multimedia Interface (HDMI), a DisplayPort (DP), an embedded DisplayPort (eDP), a Universal Serial Bus (USB) interface, a USB Type-C interface, a Thunderbolt interface, a Digital Video Interface (DVI), and combinations thereof. The communication interface may also be a wireless communication interface, a fifth generation (5G) wireless system, Bluetooth, WiFi, a Near Field Communication (NFC) interface, and the like, but the present disclosure is not limited thereto.

[0027] FIG. 2 is a software architecture diagram of the patient positioning system 100 according to an embodiment of the present disclosure. As shown in FIG. 2, the positioning room module 111 may include a positioning room positioning process 203 and a positioning room calibration process 201, and the treatment room module 113 may include a treatment room positioning process 204 and a treatment room calibration process 202. Furthermore, the treatment room calibration process 202 may include a space calibration process 205 and a camera parameter calibration process 206. Each of the processes 201-206 may include multiple steps or operation instructions, the details of which will be described later in conjunction with FIGS. 6-11. In addition, it should be noted that the positioning room module 111 and the treatment room module 113 shown in FIG. 2 are merely preferred embodiments, and the present disclosure does not limit the software architecture of the patient positioning system 100 to one including all of the processes 201-206.

[0028] In one embodiment, the patient positioning system 100 can be connected to the treatment planning system 210 via the above mentioned communication interface in a wired or wireless manner, allowing the control module 112 to obtain the treatment planning data from the treatment planning system 210. In another embodiment, the patient positioning system 100 can indirectly obtain the treatment planning data output by the treatment planning system 210 via a storage medium, e.g. a mobile hard disk or cloud storage space. In addition to obtaining the treatment planning information, the control module also manages the communication between the positioning room module 111 and the treatment room module 113.

[0029] In various embodiments, the treatment planning data includes, but is not limited to, an inclination angle, a rotation angle, a target displacement, and an original target point cloud of the irradiation target. The inclination angle is an angle at which a table in a treatment room (hereinafter referred to as a "treatment room table") is to be tilted upward when a patient receives irradiation treatment. The rotation angle is an angle at which a table surface of the treatment room table is to be rotated counterclockwise (or clockwise) in a plane parallel to the ground when a patient receives irradiation treatment. The original target point cloud is three-dimensional image data obtained by extracting a surface contour of a multi-frame cross-sectional computed tomography (CT) image of the irradiation target, which includes surface contour information of the irradiation target.

[0030] Fig. 3 is a schematic diagram illustrating an exemplary hardware configuration of the positioning chamber 300 according to an embodiment of the present disclosure. As shown in Fig. 3, the hardware configuration of the positioning chamber 300 may include a positioning chamber platform (i.e., a platform within the positioning chamber) 301, a set of camera devices 305A-305C (hereinafter referred to as a "first set of camera devices"), and slide rails 304A-304C.

[0031] The positioning chamber platform 301 may be supported by a base column 303, which allows the patient 302 placed on the positioning chamber platform 301 to be at a constant height from the ground. Additionally, the positioning chamber platform 301 is foldable so that it can be tilted upwards and the patient 302 can be in a seated position. In one embodiment, the positioning chamber platform 301 can tilt but cannot rotate. In another embodiment, the positioning chamber platform 301 can tilt and rotate.

[0032] The camera devices 305A, 305B, and 305C may be any type of depth camera, and are mounted on the right, upper, and left sides of the table 301 in the positioning room, respectively, to capture images of the affected area of ​​the patient 302 from different angles. By reconstructing the images of the affected area, point cloud information of the irradiation target is obtained.

[0033] The camera devices 305A, 305B, and 305C are mounted on the slide rails 304A, 304B, and 304C, respectively. The slide rails 304A, 304B, and 304C allow the camera devices 305A, 305B, and 305C to move thereon, respectively. In addition, laser emitters (not shown in FIG. 3) are attached to the camera devices 305A, 305B, and 305C to aim at the affected area (i.e., the irradiation target) of the patient 302, so that the spatial correlation between the irradiation target and the first set of camera devices can be known. In addition, since the positions of the slide rails 304A, 304B, and 304C are fixed, the relative position of the affected area of ​​the patient 302 in the space of the positioning chamber 300 can be determined based on the position of the first set of cameras on the slide rails (e.g., moved 10 centimeters backward from the original position) when the laser emitters aim at the affected area of ​​the patient 302.

[0034] 4 is a schematic diagram illustrating an exemplary hardware configuration of a treatment room 400 according to an embodiment of the present disclosure. As shown in FIG. 4, the hardware configuration of the treatment room 400 may include a treatment room table 401, a mechanical device 403, a set of camera devices 405A-405C (hereinafter referred to as a "second set of camera devices"), slide rails 404A-404C, and a beam exit port 415.

[0035] The mechanical device 403 may include a base portion 403A, a support portion 403B, and an arm portion 403C. The arm portion 403C is used to support the treatment room table 401 and the patient 402 thereon. The support portion 403B is used to support the arm portion 403C. The base portion 403A is used to support the arm portion 403C and the support portion 403B. The base portion 403A may include a controller (not shown in FIG. 4 ) and may be configured to change the height of the treatment room table 401 (to make it higher or lower) by controlling the tilt angles of the support portion 403B and the arm portion 403C.

[0036] Like the positioning room table 301, the treatment room table 401 is also foldable so that it can be tilted upwards to allow the patient 402 to sit up. Additionally, the arm portion 403C of the mechanism 403 is connected to the treatment room table 401 at a fulcrum 410 via a rotating flange or similar element. In addition to connecting the mechanism 403 to the treatment room table 401, the rotating flange allows the arm 403C to rotate the treatment room table 401.

[0037] Camera devices 405A, 405B, and 405C can be any type of depth camera and are mounted on the right, top, and left sides of the treatment room table 401, respectively, to capture images of the affected area of ​​the patient 402 from different angles. Reconstructing these images of the affected area provides a point cloud of the irradiation target.

[0038] Camera devices 405A, 405B, and 405C are mounted on slide rails 404A, 404B, and 404C, respectively, which move camera devices 405A, 405B, and 405C, respectively. Additionally, laser emitters (not shown in FIG. 4) are attached to camera devices 405A, 405B, and 405C for targeting affected areas of patient 402, thereby providing spatial correlation between illumination targets and the second set of camera devices.

[0039] 3 and 4 show hardware configurations during execution of the positioning room positioning process 203 and the treatment room positioning process 204, respectively. During the positioning room calibration process 201 and the treatment room calibration process 202, no patient is placed on the positioning room table 301 and the treatment room table 401, but a calibration target (or a "calibration jig") is placed as a simulation of the affected area of ​​the patient in order to calibrate the parameters and the spatial relative positions of the camera devices in the positioning room and the treatment room.

[0040] 5 is a top view of a calibration target 500 for the positioning room calibration process 201 and the treatment room calibration process 202 according to an embodiment of the present disclosure. As shown in FIG. 5, the calibration target 500 is a three-dimensional object having crosshairs 501A, 501B, and 501C, which are used for aiming laser emitters attached to the camera devices 305A, 305B, and 305C (or camera devices 405A, 405B, and 405C), respectively. When the laser emitters attached to the camera sets are all aligned with the crosshairs 501A, 501B, and 501C, the extension of the laser beams emitted from these laser emitters is expected to pass through the isocenter 502 of the calibration target 500.

[0041] It should be understood that FIG. 5 is merely an example, and the appearance of the calibration target 500 is not limited by the embodiments of the present disclosure.

[0042] 6 is a flow diagram illustrating the positioning process 203 of the positioning chamber in the first aspect according to an embodiment of the present disclosure. In this aspect, the platform 301 of the positioning chamber in the positioning chamber 300 cannot rotate. As shown in FIG. 6, the positioning process 203 of the positioning chamber may include steps 601 to 605.

[0043] In step 601, a tilted target point cloud is calculated based on the tilt angle and the original target point cloud. The positioning process 203 of the positioning chamber then proceeds to step 602.

[0044] In one embodiment, the calculation in step 601 is to obtain a tilted target point cloud by multiplying each point coordinate on the original target point cloud by a first transformation matrix corresponding to the tilt angle.

[0045] In step 602, a first imaged point cloud of the irradiation target on the positioning chamber stage 301 imaged by the first set of camera devices is obtained when the positioning chamber stage 301 is tilted at a tilt angle. The positioning chamber positioning process 203 then proceeds to step 603.

[0046] A first offset is determined by performing image registration on the tilted target point cloud and the first imaging point cloud in step 603. The positioning chamber positioning process 203 then proceeds to step 604.

[0047] In one embodiment, the image registration performed in step 603 includes calculating a similarity between the tilted target point cloud and the first captured point cloud. If the similarity is insufficient, the positions of the first set of camera devices on the slide rails 304A-304C are adjusted (manually or electronically) and the first captured point cloud is re-captured. This operation is repeated until the similarity between the captured first captured point cloud and the tilted target point cloud is within an acceptable range. The difference between the current position of the first set of camera devices on the slide rails 304A-304C and the starting position is the first offset.

[0048] In step 604, based on the first offset, the target displacement, and the reference displacement, a first support point displacement of the support point 410 relative to the beam exit port 415 when the treatment room table 401 is tilted at a tilt angle but does not rotate is calculated. Then, the positioning process 203 of the positioning room proceeds to step 605.

[0049] In one embodiment, the calculation in step 604 is to obtain the first support displacement by adding the first offset, the target displacement, and the reference displacement.

[0050] In step 605, a second support displacement is calculated based on the rotation angle and the first support displacement.

[0051] 7 is a flow diagram of a treatment room positioning process 204 according to one embodiment of the present disclosure. As shown in FIG. 7, the treatment room positioning process 204 may include steps 701-705.

[0052] In step 701, the mechanical device 403 is driven to move the treatment room table 401 so that the support point 410 is at a first support point displacement relative to the beam exit port 415. The treatment room positioning process 204 then proceeds to step 702.

[0053] In step 702, a second imaged point cloud of the irradiation target on the treatment room table 401 imaged by the second set of camera devices is obtained when the treatment room table 401 is tilted at a tilt angle. The treatment room positioning process 204 then proceeds to step 703.

[0054] A second offset is determined by performing image registration on the tilted target point cloud and the second imaging point cloud in step 703. The treatment room positioning process 204 then proceeds to step 704.

[0055] In one embodiment, the image registration performed in step 703 includes calculating a similarity between the tilt target point cloud and the second imaging point cloud. If the similarity is insufficient, the mechanical device 403 is driven to move the table 401 in the treatment room, and the second imaging point cloud is re-imaged. The above operation is repeated until the similarity between the second imaging point cloud and the tilt target point cloud falls within an acceptable range. At this time, the difference between the current position of the fulcrum 410 and the position of the fulcrum 410 in step 702 (i.e., the position of the first support point displacement relative to the beam exit 415) is the second offset.

[0056] In step 704, the second support point displacement is calibrated based on the rotation angle and the second offset. The treatment room positioning process 204 then proceeds to step 705.

[0057] In step 705 , the mechanical device 403 is driven to move the treatment room table 401 so that the support point 410 of the treatment room table 401 is at a second support point displacement with respect to the beam exit port 415 .

[0058] 8 is a flow diagram of a positioning process 203R of the positioning chamber in a second aspect according to another embodiment of the present disclosure. In the second aspect, the platform 301 of the positioning chamber in the positioning chamber 300 can rotate. As shown in FIG. 8, the positioning process 203R of the positioning chamber can include steps 801 to 804.

[0059] A transformed target point cloud is calculated based on the tilt angle, the rotation angle, and the original target point cloud in step 801. The positioning process 203R of the positioning chamber then proceeds to step 802.

[0060] In one embodiment, the calculation in step 801 is to obtain a transformed target point cloud by multiplying the coordinates of each point in the original target point cloud by a first transformation matrix and a second transformation matrix, where the first transformation matrix and the second transformation matrix correspond to a tilt angle and a rotation angle, respectively.

[0061] In step 802, a third imaged point cloud of the irradiation target on the positioning chamber stage 301 imaged by the first set of camera devices is obtained when the positioning chamber stage 301 is tilted at the tilt angle and rotated at the rotation angle. The positioning chamber positioning process 203R then proceeds to step 803.

[0062] A third offset is determined by performing image registration on the transformed target point cloud and the third imaging point cloud in step 803. The positioning chamber positioning process 203R then proceeds to step 804.

[0063] In one embodiment, the image registration performed in step 803 includes calculating a similarity between the transformation target point cloud and the third imaged point cloud. If the similarity is insufficient, the positions of the first set of camera devices on the slide rails 304A-304C are adjusted (manually or electronically) and the third imaged point cloud is re-imaged. This operation is repeated until the similarity between the third imaged point cloud and the transformation target point cloud is within an acceptable range. The difference between the current position of the first set of camera devices on the slide rails 304A-304C and the starting position is the third offset.

[0064] In step 804, a second support displacement is calculated based on the third offset, the target displacement and the reference displacement.

[0065] In one embodiment, the calculation in step 804 is to obtain the second support displacement by adding the third offset, the target displacement, and the reference displacement.

[0066] 9 is a flow diagram of the camera parameter calibration process 206 according to one embodiment of the present disclosure. As shown in FIG. 9, the camera parameter calibration process 206 may include steps 901 and 902.

[0067] In step 901, a fourth imaged point cloud of the calibration object 500 on the table 401 in the treatment room imaged by the second set of camera devices is obtained. The camera parameter calibration process 206 then proceeds to step 902.

[0068] In step 902, parameter settings of a second set of camera devices are calibrated by performing image registration with the fourth imaging point cloud and the calibration target point cloud.

[0069] In one embodiment, the image registration performed in step 902 includes calculating a similarity between the calibration target point cloud and the fourth captured point cloud. If the similarity is insufficient, the parameters of the second set of camera devices are adjusted. The above operations are repeated until the similarity between the captured fourth captured point cloud and the calibration target point cloud is within an acceptable range.

[0070] 10 is a flow diagram of a positioning chamber calibration process 201 according to one embodiment of the present disclosure. As shown in FIG. 10, the positioning chamber calibration process 201 may include step 1001 and step 1002.

[0071] In step 1001, a fifth imaged point cloud of the calibration object 500 on the positioning chamber stage 301 imaged by the first set of camera devices is obtained. The positioning chamber calibration process 201 then proceeds to step 1002.

[0072] In step 1002, parameter settings of a first set of camera devices are calibrated by performing image registration with the fifth imaging point cloud and the calibration target point cloud.

[0073] In one embodiment, the image registration performed in step 1002 includes calculating a similarity between the calibration target point cloud and the fifth imaged point cloud. If the similarity is insufficient, the parameters of the first set of camera devices are adjusted. The above operations are repeated until the similarity between the fifth imaged point cloud and the calibration target point cloud is within an acceptable range.

[0074] 11 is a flow diagram of a spatial calibration process 205 according to one embodiment of the present disclosure. As shown in FIG. 11, the spatial calibration process 205 may include steps 1101-1103.

[0075] In step 1101, the mechanical device 403 is driven to move the treatment room table 401 such that the calibration target 500 on the treatment room table 401 is at a target displacement relative to the beam exit port 415. The spatial calibration process 205 then proceeds to step 1102.

[0076] In step 1102, a third support displacement of the support 410 relative to the beam exit 415 is obtained. The spatial calibration process 205 then proceeds to step 1103.

[0077] In step 1103, a reference displacement of the support 410 relative to the calibration object 500 is calculated based on the third support displacement and the target displacement.

[0078] The operation of tilting the positioning room table 301 and / or the treatment room table 401 at an inclination angle and / or rotating at a rotation angle described above may be manually operated or electronically controlled, and the present disclosure is not limited thereto.

[0079] In various embodiments, when the configuration of the treatment room table matches the treatment planning data, the treatment room table tilts at a tilt angle and rotates at a rotation angle, and an irradiation target on the treatment room table has a target displacement relative to the beam exit port.

[0080] The patient positioning system provided in the present disclosure allows for more efficient and accurate delivery of radiation to the patient area in a radiation therapy setting by incorporating consideration and adjustment of the tilt and rotation angles of the patient table / chair and radiation direction.

[0081] The above paragraphs are described in many ways. It is clear that the disclosure of this specification can be implemented in many ways. Any structure or function disclosed in the embodiments is merely a representative situation. According to the disclosure of this specification, those skilled in the art should think that any disclosed embodiment can be implemented independently, or two or more embodiments can be implemented in combination.

[0082] While the present invention has been described by way of example and in terms of the preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiment. On the contrary, it is intended to cover various modifications and similar arrangements (as would be apparent to those skilled in the art). Thus, the scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications and similar arrangements. [Explanation of symbols]

[0083] 100 Patient positioning system 101 Processing device 102...Storage device 111 Positioning chamber module 112 Control module 113 Treatment Room Module 201... Positioning chamber calibration process 202...Treatment Room Calibration Process 203 Positioning process in the positioning chamber 203R...Positioning process in the positioning chamber 204...Treatment room positioning process 205 ···Spatial Calibration Process 206···Imaging parameter calibration process 210 Treatment Planning System 300 Positioning chamber 301 Positioning chamber platform 302...patient 303...base pillar 304A~304C···Slide rail 305A~305C···Camera equipment 401...Treatment room table 402...patient 403...Mechanical equipment 403A···Base 403B...Support point 403C···Arm section 404A~404C···Slide rail 405A~405C Camera equipment 410...Fulcrum 415···Beam exit port 500...Calibration target 501A~501C...Crosshair 502 Isocenter 601~605... steps 701~705···Step 801~804... steps 901~902... steps 1001~1002... steps 1101~1103... steps

Claims

1. 1. A patient positioning system for use in radiation therapy, comprising: a processing device and a storage device, the processing device loading a program from the storage device and a control module for obtaining treatment planning data including tilt angles, rotation angles, target displacements, and an original target point cloud of irradiation targets; a positioning room module that calculates a second support point displacement of a fulcrum by image registration based on the tilt angle, the rotation angle, the target displacement, the original target point cloud, and a reference displacement, the second support point displacement being a displacement of the fulcrum relative to a beam exit port when a table arrangement in a treatment room matches the treatment planning data, and the table in the treatment room and a mechanical device are connected at the fulcrum; a treatment room module that drives the mechanical device to move the table of the treatment room so that the support point is displaced to the second support point with respect to the beam exit port; Run when the arrangement of the treatment room table matches the treatment planning data, the treatment room table tilts upward at the tilt angle and rotates at the rotation angle in a plane parallel to the ground, and the irradiation target on the treatment room table is at the target displacement relative to the beam exit port; the treatment room module comprising: driving the mechanical device to move the table in the treatment room so that a calibration target on the table in the treatment room is the target displacement with respect to the beam exit port; obtaining a third support point displacement of the support point relative to the beam exit; calculating the reference displacement of the support point relative to the calibration object based on the third support point displacement and the target displacement; Further execute system.

2. The positioning chamber module comprises: calculating a tilted target point cloud based on the tilt angle and the original target point cloud; obtaining a first imaged point cloud of the irradiation target on the positioning chamber platform, the first imaged point cloud being imaged by a first set of camera devices when the positioning chamber platform is tilted at the tilt angle; determining a first offset by performing image registration on the oblique target point cloud and the first imaging point cloud; calculating a first support point displacement of the fulcrum based on the first offset, the target displacement, and the reference displacement, the first support point displacement being a displacement of the fulcrum with respect to the beam exit port when a table in the treatment room is tilted at the tilt angle and does not rotate; calculating the second support point displacement based on the rotation angle and the first support point displacement; The system of claim 1 , further comprising:

3. the treatment room module comprising: driving the mechanical device to move the table in the treatment room so that the support point is displaced by the first support point with respect to the beam exit port; obtaining a second imaged point cloud of the irradiation target on the treatment room table, the second imaged point cloud being imaged by a second set of camera devices when the treatment room table is tilted at the tilt angle; determining a second offset by performing image registration on the oblique target point cloud and the second imaging point cloud; calibrating the second support point displacement based on the rotation angle and the second offset; The system of claim 2 , further comprising:

4. the treatment room module comprising: obtaining a fourth imaged point cloud of a calibration target on a table in the treatment room, the fourth imaged point cloud being imaged by the second set of camera devices; calibrating parameter settings of the second set of camera devices by performing image registration on the fourth imaging point cloud and a calibration target point cloud; Further execute a second set of laser emitters attached to said second set of camera devices; When the second set of camera devices captures the fourth imaging point cloud, laser beams emitted from the second set of laser emitters are aligned with corresponding marks on the calibration object. The system of claim 3.

5. The positioning chamber module comprises: calculating a transformed target point cloud based on the tilt angle, the rotation angle and the original target point cloud; obtaining a third imaged point cloud of the irradiation target on the positioning chamber platform, the third imaged point cloud being imaged by the first set of camera devices when the positioning chamber platform is tilted at the tilt angle and rotated at the rotation angle; determining a third offset by performing image registration on the transformed target point cloud and the third imaging point cloud; calculating the second support point displacement based on the third offset, the target displacement, and the reference displacement; The system of claim 1 , further comprising:

6. The positioning chamber module comprises: obtaining a fifth imaged point cloud of a calibration object on a platform of the positioning chamber, the fifth imaged point cloud being imaged by the first set of camera devices; calibrating parameter settings of the first set of camera devices by performing image registration on the fifth imaging point cloud and the calibration target point cloud; Further execute a first set of laser emitters attached to said first set of camera devices; when the first set of camera devices captures the fifth imaging point cloud, laser beams emitted from the first set of laser emitters are aligned with corresponding crosshairs on the calibration object; The system of claim 2.

7. The system of claim 1 , wherein the treatment room module further drives an irradiation device to irradiate the irradiation target on a table in the treatment room.

8. The positioning chamber module comprises: obtaining a fifth imaged point cloud of a calibration object on a platform of the positioning chamber, the fifth imaged point cloud being imaged by the first set of camera devices; calibrating parameter settings of the first set of camera devices by performing image registration on the fifth imaging point cloud and the calibration target point cloud; Further execute a first set of laser emitters attached to said first set of camera devices; when the first set of camera devices captures the fifth imaging point cloud, laser beams emitted from the first set of laser emitters are aligned with corresponding crosshairs on the calibration object; The system of claim 5.

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