Calibration apparatus, calibration method, positioning system, and laser beam verification motif

Abstract

Disclosed in the present application are a calibration apparatus, a calibration method, a positioning system, and a laser beam verification motif. The calibration apparatus comprises at least two optical path channels and at least two imaging assemblies, wherein each optical path channel runs through the calibration apparatus, and the optical path channel is used for rays to pass through; the two optical path channels intersect with each other, and the point of intersection of the two optical path channels is the central point of the calibration apparatus; each imaging assembly comprises two imaging surfaces, and the two imaging surfaces are arranged at two opposite ends of the same optical path channel; each imaging surface is provided with a marking portion, the marking portion is provided with a central marking point, and the central marking point is located in an extending direction of the optical path channel; and a connecting line of the central marking points of the two imaging surfaces in one imaging assembly runs through the central point of the calibration apparatus. The calibration apparatus of the present application is configured to acquire a pair of image information in a one-step imaging operation, so as to facilitate the comparison of the pair of image information, thereby adjusting the position offset of an imaging device.

Description

Calibration device, calibration method, positioning system and laser beam verification phantom

[0001] This application claims priority to Chinese Patent No. 202311037022.0 filed on August 17, 2023, and Chinese Patent No. 202410081911.5 filed on January 19, 2024, which are incorporated by reference in their entirety. Technical Field

[0002] The present application relates to the field of radiotherapy technology, and in particular to a calibration device, a calibration method, a positioning system, and a laser beam verification phantom. Background Art

[0003] Radiation therapy is an existing treatment technology that includes 2D Image-Guided Radiation Therapy (2D IGRT). 2D IGRT uses two-dimensional images to guide radiation therapy. In 2D IGRT, doctors use X-rays or other imaging devices to obtain two-dimensional images of the patient's body parts, and then use these images to determine the patient's position and the location of the tumor. This information can be used to guide the positioning and direction of the radiation source to ensure that the radiation is accurately irradiated to the tumor area and minimize damage to surrounding healthy tissue.

[0004] In image-guided radiotherapy systems, the isocenter is pre-determined, and the intersection of a pair of X-rays is aligned with this isocenter. When radiotherapy is needed at the patient's lesion, the patient's lesion simply needs to be moved to the isocenter. Therefore, before radiotherapy begins, the doctor or other equipment user first enhances the anatomical features of the DRR (Digitally Reconstructed Radiograph) generated from the acquired digital X-ray images and CT (Computed Tomography) images. Then, through 2D-3D image registration, the offset between the patient's lesion location and the isocenter is calculated. This allows the patient to be positioned precisely by moving the treatment bed before treatment, enabling precise tumor location.

[0005] The offset between the patient lesion location and the isocenter is calculated by registering a pair of X-ray images with a CT image. The X-ray image pair is related to the position of the imaging component, the distance from the radiation source to the radiation detector, and the angle. Positional errors in the imaging component can cause offset errors in the X-ray image. For example, if the intersection of the X-ray pair and the isocenter do not coincide, or if the X-ray pair is misaligned in the imaging device, this can affect the calculated offset value for the patient lesion location.

[0006] Summary of the Invention

[0007] The purpose of the present application is to provide a radiotherapy device, an image guidance system and a calibration device thereof, which are used to obtain a pair of image information in one imaging operation, facilitate comparison of the pair of image information, and facilitate adjustment of the position offset of the imaging device.

[0008] The present application also provides a position calibration method for an image guidance system, which is used to accurately adjust the position offset of components in the image guidance system and reduce the position error of the imaging device.

[0009] The purpose of this application is achieved by the following technical solutions:

[0010] A calibration device for an image-guided system, comprising:

[0011] At least two optical channels, each of which passes through the calibration device and is used for allowing rays to pass through; the two optical channels intersect each other, and the intersection of the two optical channels is the center point of the calibration device;

[0012] At least two imaging components, each of which includes two imaging surfaces, which are arranged at opposite ends of the same optical path; each of the imaging surfaces is provided with a marking portion, and the marking portion is provided with a center marking point, and the center marking point is located in the extension direction of the optical path; the line connecting the center marking points of the two imaging surfaces in one imaging component passes through the center point of the calibration device.

[0013] In some optional embodiments, the two mutually intersecting optical path channels are formed by extending along a pair of mutually intersecting diagonal lines in the calibration device;

[0014] And / or, the imaging surface is arranged at an inflection point of the calibration device.

[0015] In some optional embodiments, the calibration device is provided with a recessed groove and a plurality of light-transmitting holes, the center point of the calibration device is located in the recessed groove, one end of the light-transmitting hole passes through the calibration device, and the other end of the light-transmitting hole is connected to the recessed groove, and a pair of light-transmitting holes located on opposite sides of the center point and at least a portion of the recessed groove together form an optical path channel;

[0016] The imaging surface blocks the light-transmitting hole.

[0017] In some optional embodiments, the marking portion is in the shape of a crossed cross-line structure, and the intersection of the cross lines is the center marking point.

[0018] In some optional embodiments, the method further includes:

[0019] a calibration sphere for indicating the isocenter of the image-guided system, wherein the calibration sphere is capable of coinciding with the center point of the calibration device;

[0020] a mounting hole for fixing the calibration device to the image guidance system;

[0021] a calibration hole for mounting the calibration ball;

[0022] a positioning channel, passing through the calibration device, for allowing light to pass through; the positioning channel extends along a center line of the calibration device in a horizontal direction, and the positioning channel passes through a center point of the calibration device;

[0023] The positioning assembly includes a pair of positioning surfaces, which are arranged at opposite ends of the positioning channel. The positioning surfaces are provided with positioning parts, and the positioning parts are provided with central positioning points. The line connecting the central positioning points of the pair of positioning surfaces passes through the center point of the calibration device.

[0024] In some optional embodiments, the calibration device is provided with a recessed groove and a pair of light-transmitting holes, the center point of the calibration device is accommodated in the recessed groove, one end of the light-transmitting hole passes through the calibration device, and the other end of the light-transmitting hole is connected to the recessed groove; the pair of light-transmitting holes and at least a portion of the recessed groove together form the positioning channel; the positioning surface blocks the light-transmitting holes; and the positioning channel intersects with the optical path channel;

[0025] And / or, the positioning portion is in the shape of a crossed cross line structure, and the intersection of the cross lines is the central positioning point.

[0026] An image guidance system comprising:

[0027] A calibration device for an image-guided system according to any one of the above;

[0028] At least one pair of ray generating devices, configured to generate rays capable of passing through the optical path of the calibration device, wherein the rays generated by the pair of ray generating devices intersect each other;

[0029] At least one pair of image processing devices is used to receive rays passing through the optical path channel of the calibration device and generate image information.

[0030] In some optional embodiments, a control device is further included, wherein the control device is used to control the movement of the ray generating device and / or the image processing device;

[0031] And / or, the ray generating device is an X-ray tube, and the image processing device is a flat panel detector.

[0032] A radiotherapy device comprises any one of the above-mentioned image guidance systems.

[0033] A method for calibrating a position of an image-guided system as described above, comprising:

[0034] Step S1: installing the calibration device on the image guidance system, and making the center point of the calibration device coincide with the target point of the image guidance system;

[0035] Step S2: the ray generating device emits rays, the rays pass through the calibration device and are received by the image processing device, and the image processing device generates image information according to the received rays;

[0036] Step S3: the image processing device transmits the generated image information to the data processing device, and the data processing device obtains the position offset information of the ray generating device and / or the image processing device according to the image information;

[0037] Step S4: adjusting the position of the ray generating device and / or the image processing device according to the position offset information of the ray generating device and / or the image processing device calculated by the data processing device;

[0038] Step S5: Repeat steps S3 to S4 until the ray generating device and / or the image processing device are adjusted to a specified position.

[0039] In some optional embodiments, step S2 includes:

[0040] A pair of the ray generating devices emits rays, and the rays of each ray generating device pass through two imaging surfaces of the calibration device;

[0041] A pair of the image processing devices corresponds to a pair of the ray generating devices on a one-to-one basis. Each of the image processing devices receives the ray emitted by the ray generating device corresponding thereto and generates image information including projections of two imaging surfaces.

[0042] In some optional embodiments, in step S3, the data processing device calculating the position offset information of the ray generating device according to the image information includes:

[0043] Taking the center point of the image generated by the image processing device as the first origin, the coordinate point A of the center mark point of the imaging plane projection close to the target point of the image guidance system in the image information is obtained as (X1, Y1), and the coordinate point B of the center mark point of the imaging plane projection far from the target point of the image guidance system is obtained as (X2, Y2);

[0044] The position offset of the ray generating device in the X-axis direction is (X1+X2) / 2, and the position offset of the ray generating device in the Y-axis direction is (Y1+Y2) / 2;

[0045] In step S4, adjusting the position of the ray generating device includes:

[0046] If X1>X2, the ray generating device is adjusted to move a distance of (X1+X2) / 2 in the negative direction of the X axis; if X1<X2, the ray generating device is adjusted to move a distance of (X1+X2) / 2 in the positive direction of the X axis;

[0047] If Y1>Y2, the ray generating device is adjusted to move a distance of (Y1+Y2) / 2 along the negative direction of the Y axis; if Y1<Y2, the ray generating device is adjusted to move a distance of (Y1+Y2) / 2 along the positive direction of the Y axis.

[0048] In some optional embodiments, step S5 includes:

[0049] Repeat steps S3 to S4 until the position offset of the ray generating device in the X-axis direction and the position offset on the Y-axis are both smaller than a specified threshold value, and the ray generating device is adjusted to the specified position.

[0050] In some optional embodiments, in step S3,

[0051] The data processing device calculating the position offset information of the image processing device according to the image information includes:

[0052] Taking a central marking point projected from an imaging surface in the image generated by the image processing device as a second origin, the coordinates of a first endpoint C of the marking portion projected from the imaging surface, which is adjacent to the target point of the image guidance system, are obtained as (X3, Y3), and the coordinates of a second endpoint D of the marking portion projected from the imaging surface, which is away from the target point of the image guidance system, are obtained as (X4, Y4); the ratio of the distance between a first marking point projected from the marking portion to form the first endpoint C and the central marking point to the distance between a second marking point projected from the marking portion to form the second endpoint D and the central marking point is a:b;

[0053] If X3>X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is greater than a:b, then it is determined that the image processing device including the second origin is offset clockwise;

[0054] If X3>X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is less than a:b, then it is determined that the image processing device including the second origin is offset counterclockwise;

[0055] If X3<X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is greater than a:b, then it is determined that the image processing device including the second origin is offset counterclockwise;

[0056] If X3<X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is less than a:b, then it is determined that the image processing device including the second origin is offset clockwise;

[0057] In step S4, adjusting the position of the image processing device includes:

[0058] If the image processing device is offset clockwise, rotating the image processing device counterclockwise around the rotation axis by a rated angle;

[0059] If the image processing device is offset counterclockwise, rotating the image processing device clockwise around the rotation axis by a rated angle;

[0060] The rotation axis is a straight line perpendicular to a line connecting the first endpoint C and the second endpoint D and passing through the second origin.

[0061] In some optional embodiments, step S5 includes:

[0062] Repeat steps S3 to S4 until the image processing device rotates a rated angle and the offset direction of the image processing device changes, and the image processing device is adjusted to the designated position.

[0063] In some optional embodiments, the rated angle is 0.05° to 1°.

[0064] In some optional embodiments, the calibration device further includes:

[0065] a positioning channel, passing through the calibration device, the positioning channel being used for allowing light to pass through; the positioning channel extending along the center line of the calibration device and passing through the center point of the calibration device;

[0066] a positioning assembly comprising a pair of positioning surfaces, the pair of positioning surfaces being disposed at opposite ends of the positioning channel, the positioning surfaces being provided with positioning portions, the positioning portions being provided with central positioning points, and a line connecting the central positioning points of the pair of positioning surfaces passing through the center point of the calibration device;

[0067] The step S1 comprises:

[0068] Using a survey tool to form a horizontal optical path passing through a target point of the image guidance system, installing the calibration device on the image guidance system so that a pair of center positioning points of the calibration device are projected along the horizontal optical path of the survey tool to coincide with each other;

[0069] The calibration device is rotated so that the rays generated by the ray generating device can pass through at least two imaging surfaces of the calibration device.

[0070] The present application also provides a treatment room positioning system, a calibration method, and a laser beam verification phantom for improving the installation accuracy of laser lamps and ensuring that the laser beams generated by multiple laser lamps intersect at the isocenter position.

[0071] It is achieved by the following technical solutions:

[0072] A method for calibrating a treatment room positioning system, wherein the treatment room positioning system is used to assist in positioning a target area in a treatment system, the method comprising:

[0073] Step S01: Install at least three laser lights in the treatment room;

[0074] Step S02: Installing a mechanical isocenter fixture on the treatment head. The mechanical isocenter fixture presets a center reference object, which serves as a spatial physical representation of the isocenter position of the treatment system to configure the treatment system.

[0075] Step S03: Mounting a laser beam verification phantom on the central reference object, extending and retracting the treatment head, and moving the isocenter position of the laser beam verification phantom to coincide with the isocenter position of the treatment system; the laser beam verification phantom has three mutually perpendicular surfaces, each surface having a positioning mark relative to the laser lamp and a reflective portion, the positioning mark being adapted to the shape of the laser beam emitted by the laser lamp; the laser beam verification phantom is provided with a mounting hole, a virtual line between the isocenter position of the laser beam verification phantom and the mounting hole extends to the center position of the central reference object, and the virtual line between the isocenter position of the laser beam verification phantom and the mounting hole is set to be coaxial with the extension and retraction path of the treatment head;

[0076] Step S04: starting the laser lamp to emit cross laser beams toward the laser beam verification phantom in three mutually perpendicular directions;

[0077] Step S05: Determine whether the laser beam emitted by the laser lamp coincides with the positioning mark of the laser beam verification phantom, and whether the path of the laser beam reflected by the reflecting portion coincides with the path of the laser beam emitted by the laser lamp. If both coincide, do not adjust the position of the laser lamp; if one of them does not coincide, adjust the position of the laser lamp so that the laser beam emitted by the laser lamp coincides with the positioning mark of the laser beam verification phantom, and the path of the laser beam reflected by the reflecting portion coincides with the path of the laser beam emitted by the laser lamp.

[0078] In some optional embodiments, step S01 includes:

[0079] Using a position measuring instrument to locate a pair of installation positions at the same height and horizontally symmetrical in the treatment system, each of the installation positions being equipped with a laser lamp;

[0080] And / or, a laser lamp is installed above the treatment system.

[0081] In some optional embodiments, step S02 further includes:

[0082] Start the laser lamp and observe whether the laser beam emitted by the laser lamp intersects with the central reference object of the mechanical isocenter tooling.

[0083] In some optional embodiments, the method further includes:

[0084] Step S06: remove the mechanical isocenter fixture and the laser beam verification phantom, turn on the laser light, and mark the projection position of the laser beam emitted by the laser light.

[0085] A laser beam verification phantom is used in any of the above-mentioned calibration methods for a treatment room positioning system. The laser beam verification phantom has three mutually perpendicular surfaces facing the laser light, each of which is provided with a positioning mark and a reflective portion.

[0086] In some optional embodiments, the reflective portion is disposed at a central position of a corresponding surface of the laser beam verification phantom;

[0087] And / or, the reflecting portion is a reflecting mirror.

[0088] In some optional embodiments, the positioning mark includes a horizontal scale line and a vertical scale line, the virtual intersection of the horizontal scale line and the vertical scale line is the center position of the corresponding surface of the laser beam verification model, and the virtual connecting line of the horizontal scale line and the vertical scale line is a cross structure, and the cross structure and the reflecting part located on the same surface have a common center.

[0089] In some optional embodiments, the laser beam verification phantom is provided with a mounting hole, and the mounting hole has the same structure as at least a portion of a center reference object of a mechanical center tooling, and the mounting hole is used to enable the laser beam verification phantom to be accurately mounted on the center reference object.

[0090] A treatment room positioning system, the treatment room positioning system is used to perform any one of the above-mentioned treatment room positioning system calibration methods; the treatment room positioning system comprises:

[0091] Wall, with preset installation position;

[0092] Multiple laser lights are installed at the installation position of the wall;

[0093] In any one of the above laser beam verification phantoms, the isocenter position of the laser beam verification phantom is located at the intersection of the laser beams emitted by the multiple laser lamps.

[0094] In some optional embodiments, a mechanical isocenter fixture is further included, wherein the mechanical isocenter fixture is used to be mounted on the treatment head of the treatment system, and the laser beam verification phantom is mounted on the mechanical isocenter fixture;

[0095] And / or, the installation position of the wall body is a mounting hole, and the mounting hole is a waist-shaped hole extending in the horizontal direction;

[0096] And / or, the laser light emits a cross laser beam.

[0097] In some optional embodiments, the laser beam verification phantom is provided with a positioning metal ball, the center of the positioning metal ball coincides with the isocenter position of the laser beam verification phantom, and the positioning metal ball is set as a physical representation of the isocenter position of the laser beam verification phantom.

[0098] The calibration device, calibration method, positioning system, and laser beam verification phantom provided in this application have at least the following advantages:

[0099] 1. By setting imaging surfaces at opposite ends of an optical path, a pair of imaging surface projections are formed when a ray passes through the optical path. The offset of the central marking points of the pair of imaging surface projections can be used to determine the offset of the ray generating device and the image processing device in the image guidance system, so as to facilitate the adjustment of the positions of the ray generating device and the image processing device.

[0100] 2. The position calibration method of the image-guided system provided in this application can calibrate the position offset of the ray generating device and the vertical offset between the ray and the image processing device, thereby improving the position accuracy of the ray generating device and the image processing device, and thereby improving the surgical accuracy of the patient's lesion during surgery.

[0101] 3. By making the laser beam coincide with the positioning mark and the beam path of the laser beam reflected by the reflecting part coincide with the original path, it can be ensured that the laser beam is perpendicular to the corresponding surface of the laser beam verification phantom and perpendicular to the isocenter plane where the treatment system is located. At this time, the intersection of multiple laser beams is the isocenter position of the treatment system; the setting of the positioning mark and the reflecting part can relatively simply detect whether the laser beam position is accurate, facilitate the calibration of the laser beam position, and effectively improve the accuracy of the proton therapy system in positioning patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] FIG1 is a schematic structural diagram of an image guidance system according to an embodiment of the present application;

[0103] FIG2 is a schematic structural diagram of a calibration device according to an embodiment of the present application;

[0104] FIG3 is a planar cross-sectional view of a calibration device according to an embodiment of the present application;

[0105] FIG4 is a schematic structural diagram of an imaging surface according to an embodiment of the present application;

[0106] FIG5 is a schematic structural diagram of a positioning surface according to an embodiment of the present application;

[0107] FIG6 is a schematic diagram of a portion of a ray irradiation path when the ray generating device according to an embodiment of the present application is offset;

[0108] FIG7 is image information obtained by part of the image processing device when the ray generating device according to an embodiment of the present application is offset;

[0109] FIG8 is a schematic diagram of a portion of a ray irradiation path when the image processing device according to an embodiment of the present application is offset.

[0110] 9 is a schematic diagram showing connections between a control device, a ray generating device, and an image processing device according to an embodiment of the present application;

[0111] FIG10 is a schematic structural diagram of a treatment room positioning system according to an embodiment of the present application when installed in a treatment room;

[0112] FIG11 is a structural diagram of another perspective when the treatment room positioning system of an embodiment of the present application is installed in the treatment room.

[0113] FIG12 is a partial exploded view of the wall and laser light in the treatment room positioning system according to an embodiment of the present application;

[0114] FIG13 is a schematic structural diagram of the connection between the treatment head, the mechanical isocenter tooling, and the laser beam verification phantom according to an embodiment of the present application;

[0115] FIG14 is an exploded schematic diagram of a mechanical isocenter tool and a laser beam verification phantom according to an embodiment of the present application;

[0116] FIG15 is a cross-sectional view of a laser beam verification phantom according to an embodiment of the present application.

[0117] In the figure: 100, calibration device; 1, optical path; 2, imaging component; 21, imaging surface; 211, marking portion; 3, recessed groove; 4, light transmission hole; 5, positioning channel; 6, positioning component; 61, positioning surface; 611, positioning portion; 7, mounting hole; 8, calibration hole; 9, calibration ball; 200, ray generating device; 300, image processing device; 500, control device; N, center positioning point; M, center marking point; P, center point; A, B, coordinate points; C. First endpoint; D. Second endpoint; 401. Wall; 4011. Mounting slot; 402. Laser lamp; 403. Laser beam verification phantom; 4031. Positioning mark; 4032. Reflection part; 4033. Loading hole; 4034. Positioning metal ball; 4035. Horizontal scale line; 4036. Vertical scale line; 404. Mechanical isocenter tooling; 4041. Base; 4042. Center reference object; 405. Position measuring instrument; 406. Treatment head. DETAILED DESCRIPTION

[0118] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Identical reference numerals in the figures represent identical or similar structures, and thus repeated descriptions thereof will be omitted.

[0119] The words expressing position and direction described in this application are all explained based on the accompanying drawings as examples, but can be changed as needed, and all changes are included in the scope of protection of this application.

[0120] As shown in Figures 2 and 3, a calibration device 100 for an image-guided system according to one embodiment of the present application is shown. The center point P of the calibration device 100 can coincide with the target point of the image-guided system, where the target point can be the location of a patient's lesion during radiotherapy. The calibration device 100 includes a mounting hole 7, a calibration hole 8, a positioning channel 5, a positioning assembly 6, at least two optical channels 1, and at least two imaging assemblies 2. Furthermore, the calibration device 100 is provided with a recessed groove 3 and multiple light-transmitting holes 4.

[0121] A plurality of mounting holes 7 may be provided, for example, two mounting holes 7 may be provided, and the mounting holes 7 may be used for screws to pass through so that the calibration device 100 is installed at a corresponding position in the image guidance system. The line connecting the calibration hole 8 and the target point may be parallel to the thickness direction of the calibration device 100. The calibration hole 8 may be used to fix the calibration ball 9 and allow the calibration ball 9 to pass through. The calibration ball 9 may be a small sphere preset in the image guidance system to coincide with the target point. In one embodiment, the target point may be the isocenter of the image guidance system, that is, the calibration ball 9 may be used to indicate the isocenter of the image guidance system. When the calibration device 100 is installed in the image guidance system, the calibration ball 9 may coincide with the center point P of the calibration device 100 to correct the position of the calibration device 100. The size of the calibration ball 9 is much smaller than that of the calibration device 100, so that the user can observe the calibration ball 9, and the calibration ball 9 will not cause excessive obstruction to the rays or light passing through the optical path channel 1 or the positioning channel 5. An optical channel 1 passes through the calibration device 100 and is used to allow radiation to pass through the calibration device 100. The multiple optical channels 1 include at least two intersecting optical channels 1. The intersection of the two optical channels 1 is the center point P of the calibration device 100.

[0122] The optical channel 1 can be formed by a pair of light-transmitting holes 4 and at least a portion of the recessed groove 3. Specifically, the center point P of the calibration device 100 is located within the recessed groove 3. One end of the light-transmitting hole 4 passes through the calibration device 100, and the other end is connected to the recessed groove 3. The pair of light-transmitting holes 4 are located on opposite sides of the center point P, and at least a portion of the recessed groove 3 can be connected to the pair of light-transmitting holes 4, so that the pair of light-transmitting holes 4 and the portion of the recessed groove 3 that connects the pair of light-transmitting holes 4 form an optical channel 1. At least part of the light-transmitting holes 4 can be arranged at the inflection point of the calibration device 100, and two intersecting optical path channels 1 can be correspondingly extended along a pair of intersecting diagonals in the calibration device 100; for example, when the calibration device 100 is an approximately square structure, and a cross-section is provided at each of the four corners of the square structure, four of the multiple light-transmitting holes 4 are correspondingly arranged at the cross-sections of the four corners of the square structure, and the light path channel 1 formed by a pair of light-transmitting holes 4 and at least part of the recessed groove 3 is extended along a diagonal of the calibration device 100, and the light path channel 1 formed by another pair of light-transmitting holes 4 and at least part of the recessed groove 3 is extended along another diagonal of the calibration device 100, and the intersection of the two light path channels 1 is the center point of the square structure, that is, the center point P of the calibration device 100.

[0123] The imaging component 2 includes at least two imaging surfaces 21 . In this embodiment, the imaging component 2 may be provided with two imaging surfaces 21 . In other embodiments, the imaging component 2 may be provided with other numbers. This embodiment is described by assuming that two imaging surfaces 21 are provided.

[0124] Referring further to FIG. 4 , two imaging surfaces 21 are disposed at opposite ends of the same optical channel 1, such that when rays pass through an optical channel 1, a pair of projections of the imaging surfaces 21 are formed. Each imaging surface 21 is provided with a marking portion 211, each of which is provided with a center marking point M. The center marking point M is located in the extension direction of the optical channel 1, and the line connecting the center marking points M of the two imaging surfaces 21 in one imaging assembly 2 passes through the center point P of the calibration device 100. For example, the imaging surface 21 can block the light-transmitting hole 4, and the marking portion 211 on the imaging surface 21 is located above or below the light-transmitting hole 4 along the extension direction of the corresponding optical channel 1, or is located within the light-transmitting hole 4. The periphery of the imaging surface 21 can abut against the outer wall of the calibration device 100, and can also be fixed to the outer wall of the calibration device 100 using fasteners such as screws.

[0125] The marking portion 211 may be a cross-line structure, with the intersection of the cross lines serving as the center marking point M of the marking portion 211. Furthermore, the marking portion 211 may also be configured in other shapes, such as a cross-line structure with the intersection of the cross lines serving as the center marking point M of the marking portion 211; or a dot-shaped structure with the dot-shaped structure serving as the center marking point M of the marking portion 211.

[0126] When a beam of light passes through an optical channel 1, it also passes through imaging surfaces 21 disposed at opposite ends of the optical channel 1, forming projections of two imaging surfaces 21. If the two center marking points M in the projections of the two imaging surfaces 21 coincide, the beam has passed through the center point P of the calibration device 100, indicating that the position of the beam generating device 200 emitting the beam is accurate. If the two center marking points M in the projections of the two imaging surfaces 21 do not coincide, the beam has not passed through the center point P of the calibration device 100, indicating that the beam generating device 200 emitting the beam has an offset. Furthermore, based on the deviation between the two non-coincident center marking points M, the position of the beam generating device 200 emitting the beam can be adjusted so that the two center marking points M in the projections of the two imaging surfaces 21 coincide.

[0127] Positioning channel 5 extends through calibration device 100 and is used to allow light to pass through. Positioning channel 5 passes through center point P of calibration device 100 and extends along the centerline of calibration device 100. The centerline can be the vertical or horizontal centerline of calibration device 100 after installation in a designated position of the image guidance system. Preferably, positioning channel 5 extends along the horizontal centerline of calibration device 100. Positioning channel 5 may intersect with optical path channel 1, and the intersection of positioning channel 5 and optical path channel 1 is center point P of calibration device 100.

[0128] Positioning channel 5 can be formed by a pair of light-transmitting holes 4 and at least a portion of recessed groove 3. The pair of light-transmitting holes 4 are disposed at opposite ends of the center point P of calibration device 100 along the centerline of calibration device 100. The structure of these light-transmitting holes 4 can be the same as that of the light-transmitting holes 4 forming optical channel 1. At least a portion of recessed groove 3 communicates with these pair of light-transmitting holes 4, and these pair of light-transmitting holes 4 and at least a portion of recessed groove 3 form positioning channel 5.

[0129] 5 , the positioning assembly 6 includes a pair of positioning surfaces 61, which are disposed at opposite ends of the positioning channel 5. The positioning surface 61 is provided with a positioning portion 611, and the positioning portion 611 is provided with a center positioning point N. The connection between the center positioning points N of the pair of positioning surfaces 61 passes through the center point P of the calibration device 100. The shape of the positioning portion 611 may be the same as that of the marking portion 211. The positioning assembly 6 may be used to perform initial positioning when the calibration device 100 is installed in the image guidance system. For example, after the calibration device 100 is installed in the image guidance system, the line connecting the center positioning points N of the pair of positioning surfaces 61 in the calibration device 100 is adjusted to pass through the target point in the image guidance system, thereby completing the initial positioning of the calibration device 100.

[0130] As shown in FIG1 , the present application further provides an image guidance system, comprising the above-mentioned data processing device, a calibration device 100, a control device 500, at least one pair of ray generating devices 200, and at least one pair of image processing devices 300. The ray generating device 200 is used to generate rays that can pass through the optical path channel 1 of the calibration device 100, and the ray generating device 200 corresponds to the optical path channel 1 one-to-one. In this embodiment, the ray generating device 200 can be specifically provided as a pair, and the position of the pair of ray generating devices 200 corresponds to the position of the pair of optical path channels 1 in the calibration device 100. For example, the rays generated by the pair of ray generating devices 200 intersect with each other to pass through a pair of intersecting optical path channels 1 in the calibration device 100. Among them, the ray generating device 200 can be an X-ray tube, which is used to generate X-rays.

[0131] The image processing device 300 is used to receive radiation passing through the optical path 1 of the calibration device 100 and generate image information. One image processing device 300 corresponds to one radiation generating device 200, i.e., one image processing device 300 is used to receive radiation emitted by one radiation generating device 200, and the image processing device 300 and the radiation generating device 200 are located on opposite sides of one optical path 1. The image processing device 300 can be a flat-panel detector, which receives radiation, converts the optical signal into an electrical signal containing image information, and transmits the electrical signal to the data processing device for data processing.

[0132] 9 , the control device 500 is used to control the movement of the ray generating device 200 and / or the image processing device 300. For example, the control device 500 can control the movement and rotation of the ray generating device 200 and / or the image processing device 300 in the X, Y, and Z axes. The control device 500 can be an automated device that automatically controls the movement of the ray generating device 200 and / or the image processing device 300 based on the processing results of the data processing device. Alternatively, the control device 500 can be a manually adjustable mechanical mechanism. When the ray generating device 200 and / or the image processing device 300 is found to be offset, the control device 500 can be manually adjusted to adjust the position of the ray generating device 200 and / or the image processing device 300. The X-axis can be a horizontal line that can pass through a pair of ray generating devices 200 or a pair of image processing devices 300 along its extension path. The Y-axis is another horizontal line perpendicular to the X-axis. The Z-axis is a vertical line.

[0133] In addition, the present application also provides a radiotherapy device, which includes the above-mentioned image guidance system.

[0134] In one embodiment, the radiotherapy device includes a treatment head, which may be included in an image guidance system, and the calibration device 100 is mounted on the treatment head through the mounting hole 7 .

[0135] In one embodiment, the isocenter of the image guidance system coincides with the isocenter of the radiotherapy device, that is, the target point may be the isocenter of the radiotherapy device.

[0136] The present application also provides a position calibration method for an image-guided system, comprising:

[0137] Step S1: Install the calibration device 100 on the image guidance system, and make the center point P of the calibration device 100 coincide with the target point of the image guidance system;

[0138] Step S2: The ray generating device 200 emits rays, which pass through the calibration device 100 and are received by the image processing device 300. The image processing device 300 generates image information based on the received rays.

[0139] Step S3: the image processing device 300 transmits the generated image information to the data processing device, and the data processing device obtains the position offset information of the ray generating device 200 and / or the image processing device 300 according to the image information;

[0140] Step S4: adjusting the position of the ray generating device 200 and / or the image processing device 300 according to the position offset information of the ray generating device 200 and / or the image processing device 300 obtained by the data processing device;

[0141] Step S5: Repeat steps S3 to S4 until the ray generating device 200 and / or the image processing device 300 are adjusted to the designated position.

[0142] Step S1 may specifically include securing the calibration device 100 to the image guidance system via its two mounting holes 7, and allowing the calibration sphere 9 to be moved from the calibration hole 8 of the calibration device 100 into the recessed groove 3 of the calibration device 100. A surveying tool is used to form a target point through the image guidance system, i.e., a horizontal optical path through the calibration sphere 9. For example, a theodolite is used to horizontally observe the calibration sphere 9, and a line parallel to the theodolite's observation line can pass through the pair of ray generating devices 200 or the pair of image processing devices 300. The positions of the center positioning points N of the pair of positioning portions 611 in the calibration device 100 are then adjusted until the pair of center positioning points N and the calibration sphere 9 coincide with each other under the theodolite's observation angle. This allows the center point P of the calibration device 100 to coincide with the calibration sphere 9, i.e., the center point P of the calibration device 100 coincides with the isocenter of the image guidance system, thereby completing the positioning of the calibration device 100.

[0143] Then, the ray generating device 200 is turned on, and the calibration device 100 is rotated so that the rays generated by the ray generating device 200 can pass through at least one pair of imaging surfaces 21 located on one optical path 1 of the calibration device 100, thereby completing the installation and positioning of the calibration device 100. When the calibration device 100 is rotated, the calibration device 100 rotates about an axis passing through the pair of central positioning points N.

[0144] Step S2 may specifically include: a pair of ray generating devices 200 emit rays, and the rays of each ray generating device 200 pass through two imaging surfaces 21 of the calibration device 100;

[0145] Exposure; the rays emitted by a ray generating device 200 are received by an image processing device 300 corresponding thereto, and the image processing device 300 can form image information. Because the rays emitted by the ray generating device 200 are partially blocked when passing through the imaging surface 21 of the calibration device 100, the image information formed by the image processing device 300 includes the projections of the two imaging surfaces 21 through which the rays pass.

[0146] Step S3 specifically includes:

[0147] 6 and 7 , the center point of the image generated by the image processing device 300 is used as the first origin, the mutually perpendicular horizontal lines are used as the X-axis and Y-axis, and the vertical line is used as the Z-axis; wherein the X-axis can specifically be a straight line whose extension direction can pass through a pair of image processing devices 300. The coordinate point A of the center mark point M projected on the imaging surface 21 close to the target point of the image guidance system in the image information is obtained as (X1, Y1), and the coordinate point B of the center mark point M projected on the imaging surface 21 away from the target point of the image guidance system is obtained as (X2, Y2). When the position of the ray generating device 200 is accurate, the ray emitted by the ray generating device 200 passes through the center mark point of a pair of imaging surfaces 21 and the center point P of the calibration device 100. At this time, the coordinate point A coincides with the coordinate point B. If the coordinate point A does not coincide with the coordinate point B, it is determined that the ray generating device 200 has an offset. The positional deviation of the ray generating device 200 in the X-axis direction is calculated as (X1+X2) / 2, and the positional deviation of the ray generating device 200 in the Y-axis direction is calculated as (Y1+Y2) / 2.

[0148] Referring to Figure 8 , in an image generated by an image processing device 300, a central marker point M projected from an imaging surface 21 serves as a second origin, mutually perpendicular horizontal lines serve as the X-axis and Y-axis, and a vertical line serves as the Z-axis. Specifically, the X-axis may be a straight line extending through a pair of image processing devices 300. In the marker portion 211 projected from the imaging surface 21, the coordinates of the first endpoint C adjacent to the target point of the image guidance system are (X3, Y3), and the coordinates of the second endpoint D, distal to the target point of the image guidance system, are (X4, Y4). The ratio of the distance between the first marker point projected to form the first endpoint C and the central marker point M in the marker portion 211, and the distance between the second marker point projected to form the second endpoint D and the central marker point M in the marker portion 211, is a:b. When the image processing device 300 is perpendicular to the ray emitted by the corresponding ray generating device 200, the line connecting the first marking point and the center marking point M is enlarged at a certain ratio to form the line connecting the first endpoint C and the second origin; the line connecting the second marking point and the center marking point M is enlarged at a certain ratio to form the line connecting the second endpoint D and the second origin, and the two enlargement ratios are the same, that is, the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is equal to a:b. If it is not equal to a:b, it is judged that the image processing device 300 has an offset.

[0149] If X3>X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is greater than a:b, it is determined that the image processing device 300 including the second origin is offset clockwise;

[0150] If X3>X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is less than a:b, it is determined that the image processing device 300 including the second origin is offset counterclockwise;

[0151] If X3<X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is greater than a:b, it is determined that the image processing device 300 including the second origin is offset counterclockwise;

[0152] If X3<X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is less than a:b, it is determined that the image processing device 300 including the second origin is offset clockwise.

[0153] In order to simplify the judgment process, the marking portion 211 can adopt a right cross structure, that is, the distances between each end point of the marking portion 211 and the central marking point M are the same, so that a:b is 1:1, that is, when making a judgment:

[0154] If X3>X4, and the distance between the first endpoint C and the second origin is greater than the distance between the second endpoint D and the second origin, it is determined that the image processing device 300 including the second origin is offset clockwise;

[0155] If X3>X4, and the distance between the first endpoint C and the second origin is smaller than the distance between the second endpoint D and the second origin, it is determined that the image processing device 300 including the second origin is offset counterclockwise;

[0156] If X3<X4, and the distance between the first endpoint C and the second origin is greater than the distance between the second endpoint D and the second origin, it is determined that the image processing device 300 including the second origin is offset counterclockwise;

[0157] If X3<X4, and the distance between the first endpoint C and the second origin is smaller than the distance between the second endpoint D and the second origin, it is determined that the image processing device 300 including the second origin is offset clockwise.

[0158] Step S4 specifically includes:

[0159] If X1>X2, the ray generating device 200 is adjusted to move a distance of (X1+X2) / 2 along the negative direction of the X axis; if X1<X2, the ray generating device 200 is adjusted to move a distance of (X1+X2) / 2 along the positive direction of the X axis;

[0160] If Y1>Y2, the ray generating device 200 is adjusted to move a distance of (Y1+Y2) / 2 along the negative direction of the Y axis; if Y1<Y2, the ray generating device 200 is adjusted to move a distance of (Y1+Y2) / 2 along the positive direction of the Y axis.

[0161] If the image processing device 300 is offset clockwise, the image processing device 300 is rotated counterclockwise around the rotation axis by a rated angle;

[0162] If the image processing device 300 is offset counterclockwise, the image processing device 300 is rotated clockwise around the rotation axis by a rated angle;

[0163] The rotation axis is a straight line perpendicular to a line connecting the first endpoint C and the second endpoint D and passing through the second origin.

[0164] Step S5 specifically includes: repeating steps S3 to S4 until the position offset of the ray generating device 200 in the X-axis direction and the position offset on the Y-axis are both less than the specified threshold value, and the ray generating device 200 is adjusted to the specified position, wherein the specified threshold value can be 1 mm; until the image processing device 300 rotates a rated angle and the offset direction of the image processing device 300 changes, the image processing device 300 is adjusted to the specified position, wherein the rated angle is 0.05°~1°.

[0165] Radiation therapy is one of three treatment modalities for cancer. A proton accelerator is a radiotherapy system that provides proton beams for cancer treatment. This system delivers the proton beam, with the prescribed dose and three-dimensional dose distribution provided by the treatment planning system, to the patient's tumor target to achieve therapeutic results. In a radiotherapy system, the proton beam is generated by the accelerator subsystem, passes through the extraction channel, and then is regulated by the treatment head subsystem before being delivered.

[0166] During treatment, in order for the proton beam to accurately reach the patient's tumor target area, the patient's tumor target area needs to be accurately moved to the isocenter position of the treatment room. When formulating a radiotherapy plan, the position of the tumor in the CT image will be simply located through surface markers to facilitate rough positioning of the patient before treatment. Before treating the patient in the treatment room, the patient's rough positioning is first performed. At this time, the laser light used for rough positioning in the treatment room needs to be roughly aligned with the patient's surface markers to complete the rough positioning. The laser positioning system used for rough positioning in the treatment room includes multiple laser lights to generate multiple laser beams, and the multiple laser beams intersect at the isocenter position of the treatment room.

[0167] Referring to Figures 10 to 15, in order to ensure the installation accuracy of the laser lamp, it is ensured that the laser beams generated by multiple laser lamps intersect at the isocenter position. The present application provides a treatment room positioning system, which is formed in the treatment room, and a treatment system is installed in the treatment room. The treatment system is used to perform radiotherapy on the patient's tumor located at its isocenter position. The treatment system can adopt an existing structure, such as a proton therapy system, which will not be described here. The treatment room positioning system includes a wall 401, a laser lamp 402, a laser beam verification phantom 403 and a mechanical isocenter tooling 404.

[0168] Referring to Figures 11 and 12 , each of the wall 401 and the laser light 402 can include multiple walls, and the number of walls 401 can be the same as the number of laser lights 402. Each wall 401 is pre-selected with an installation location, and each installation location can be used to install a laser light 402. Specifically, the wall 401 is pre-defined with an installation groove 4011, and at least a portion of the laser light 402 is installed within the installation groove 4011. The number of walls 401 and laser lights 402 can be the same as the number of markers pre-set according to the patient's tumor location, and the wall 401 can be a structure such as a wall or ceiling in the treatment room. The number of walls 401, laser lights 402, and markers pre-set according to the patient's tumor location can all be set to at least three.

[0169] To allow adjustment of the laser lamp 402 after it is mounted on the wall 401, the mounting groove 4011 may be a waist-shaped groove, and the extension direction of the waist-shaped groove may be consistent with the direction in which the laser lamp 402 needs to be adjusted. For example, if the laser lamp 402 needs to be adjusted horizontally after being mounted on the wall 401, the extension direction of the waist-shaped groove may be horizontal. In this case, the laser lamp 402 can be fixedly mounted at multiple positions along the waist-shaped groove in the horizontal direction, thereby achieving adjustment of the position of the laser lamp 402. In addition, as needed, the mounting groove 4011 may be configured as a cross-shaped groove or other groove structure, so that the laser lamp 12 can be positioned at multiple positions along the plane of the mounting groove 4011, thereby allowing the position of the laser lamp 12 to be adjusted in the horizontal and vertical directions.

[0170] In some possible implementations, the wall 401, the laser light 402, and the markers pre-set based on the patient's tumor location are each three. The markers pre-set based on the patient's tumor location can be located to the left and right of, and above, the tumor's isocenter. Correspondingly, the wall 401 can be the left and right walls and the ceiling of the treatment room, so that the laser light 402 mounted on the wall 401 can correspond one-to-one with the markers. When the isocenter of the patient's tumor coincides with the isocenter of the treatment system, the patient has reached the treatment position, and the treatment system can then be controlled to perform radiotherapy on the patient.

[0171] Laser lamp 402 can emit laser beams, specifically, cross-shaped laser beams. Specifically, the radial cross-section of the laser beams is a cross-shaped structure, which can better achieve isocenter positioning. The center of the laser beam is the intersection of the cross structure. The centers of the laser beams emitted by multiple laser lamps 402 can intersect at the isocenter of the treatment system.

[0172] 13 and 14 , the mechanical isocenter tooling 404 may include a base 4041 and a center reference object 4042. The base 4041 is used to be mounted on the treatment head 406 in the treatment room. The base 4041 may specifically be a cross structure. The center reference object 4042 is mounted on the base 4041 and may specifically be integrally formed with the base 4041. The center reference object 4042 may serve as a spatial physical representation of the isocenter position of the treatment system to guide the configuration of the treatment system. That is, when configuring a treatment system for performing radiotherapy in a treatment room, the treatment system is installed with the center reference object 4042 as the isocenter position, so that after the treatment system is installed, the position of the center reference object 4042 is the isocenter position of the treatment system. The center reference object 4042 may be mounted at the center position of the base 4041. For example, when the base 4041 adopts a cross structure, the center reference object 4042 is set at the cross position of the cross structure.

[0173] 13 and 14 , a laser beam verification phantom 403 is mounted on a center reference object 4042 on a mechanical isocenter fixture 404. The laser beam verification phantom 403 includes at least three mutually perpendicular surfaces, of which the surface facing the laser light 402 is provided with a positioning mark 4031 and a reflective portion 4032. The laser beam verification phantom 403 may also be provided with a loading hole 4033. The number of surfaces facing the laser light 402 can be the same as the number of laser lights 402. For example, if three laser lights 402 are provided, three surfaces facing the laser light 402 are also provided. These three surfaces are mutually perpendicular and correspond one-to-one to the three laser lights 402. The loading hole 4033 can be set on the surface of the laser beam verification phantom 403 that does not face the laser light 402; the loading hole 4033 has the same structure as or matches at least a portion of the center reference object 4042 of the mechanical center tooling 404, so that the loading hole 4033 can be used to accommodate at least a portion of the center reference object 4042, and the wall forming the loading hole 4033 is in contact with the outer wall of the center reference object 4042, so that the laser beam verification phantom 403 and the center reference object 4042 remain fixed, thereby allowing the laser beam verification phantom 403 to be accurately installed on the center reference object 4042.

[0174] The virtual line connecting the isocenter of the laser beam verification phantom 403 and the loading hole 4033 can be extended to the center of the central reference object 4042, and the virtual line connecting the isocenter of the laser beam verification phantom 403 and the loading hole 4033 can be coaxial with the telescopic path of the treatment head 406. Therefore, after the laser beam verification phantom 403 is mounted on the central reference object 4042, the isocenter of the laser beam verification phantom 403 can be moved to the original position of the central reference object 4042, i.e., the isocenter position of the treatment system, by extending and retracting the treatment head 406. The telescopic distance of the treatment head 406 can be the distance from the isocenter of the laser beam verification phantom 403 to the center of the central reference object 4042.

[0175] In some embodiments, the central reference object 4042 can be a hemispherical structure, with the center of the hemispherical structure corresponding to the isocenter of the treatment room. The loading hole 4033 can be a hemispherical hole, and the diameter of the loading hole 4033 is the same as or similar to the diameter of the central reference object 4042. The laser beam verification phantom 403 is a cubic structure, and the loading hole 4033 is formed inwardly from one side of the laser beam verification phantom 403. In this case, the distance from the isocenter of the laser beam verification phantom 403 to the center of the central reference object 4042 is half the side length of the laser beam verification phantom 403.

[0176] 15 , in some possible implementations, the laser beam verification phantom 403 may further include a positioning metal ball 4034, the center of which coincides with the isocenter of the laser beam verification phantom 403. The positioning metal ball 4034 may serve as a physical representation of the isocenter of the laser beam verification phantom 403; when the isocenter of the laser beam verification phantom 403 coincides with the isocenter of the treatment system, the positioning metal ball 4034 may serve as a physical representation of the isocenter of the treatment system. After the position adjustment of the treatment system is completed, it is necessary to regularly check whether the components in the treatment system have moved, for example, once a month. At this time, the metal positioning ball 34 can be used as the physical representation of the isocenter position of the treatment system. The metal positioning ball 34 is irradiated by the X-ray in the treatment system to form a projection, and the position of the metal positioning ball 34 in the formed projection image is observed. If the position of the metal positioning ball 34 is at the center of the projection image, it is judged that the position in the treatment system has not moved. If the position of the metal positioning ball 34 is not at the center of the projection image, it is judged that the position in the treatment system has moved, and the positions of the components in the treatment system need to be recalibrated.

[0177] Positioning mark 4031 is adapted to the shape of the laser beam emitted by laser lamp 402. Specifically, the shape of positioning mark 4031 can be identical to at least a portion of the radial cross-sectional shape of the laser beam, so that positioning mark 4031 can coincide with the laser beam. When positioning mark 4031 coincides with the laser beam, the center position of positioning mark 4031 can also coincide with the center position of the laser beam. In addition, the line connecting positioning mark 4031 and the isocenter position of laser beam verification phantom 403 is perpendicular to the plane in which positioning mark 4031 is located. When the laser beam is irradiated onto the corresponding surface of laser beam verification phantom 403, positioning mark 4031 can serve as a reference mark for adjusting the position of the laser beam to ensure that the laser beam coincides with positioning mark 4031.

[0178] 13 and 14 , in some possible embodiments, positioning mark 4031 is a portion of the radial cross-sectional shape of the laser beam. When the radial cross-sectional shape of the laser beam is a cross, positioning mark 4031 may include horizontal scale lines 4035 and vertical scale lines 4036. The horizontal scale lines 4035 and vertical scale lines 4036 are located on the four sides of the center of positioning mark 4031, with the lines connecting the horizontal scale lines 4035 and vertical scale lines 4036 forming a cross structure that is identical to the radial cross-sectional shape of the laser beam. Furthermore, the intersection of the virtual line connecting the horizontal scale lines 4035 and vertical scale lines 4036 may be the center position of the corresponding surface of the laser beam verification phantom 403, such that the line connecting the virtual intersection and the isocenter position of the laser beam verification phantom 403 is perpendicular to the surface on which positioning mark 4031 is provided.

[0179] The reflector 4032 is used to verify whether the laser beam is perpendicular to the corresponding surface of the laser beam verification phantom 403. If the laser beam is not perpendicular to the corresponding surface of the laser beam verification phantom 403, and the extension path of the laser beam does not coincide with the line connecting the center position of the corresponding surface of the laser beam verification phantom 403 and its isocenter position, the laser beam cannot be accurately extended to the isocenter position of the laser beam verification phantom 403, and the intersection point of multiple laser beams will not coincide with the isocenter position of the treatment room. The reflector 4032 is provided on the corresponding surface of the laser beam verification phantom 403 and is used to receive the corresponding laser beam.

[0180] The reflective portion 4032 is used to reflect the laser beam. The reflective portion 4032 and the positioning mark 4031 located on the same surface of the laser beam verification phantom 403 may have a common center. For example, the center position of the corresponding surface of the laser beam verification phantom 403 is the common center of the reflective portion 4032 and the positioning mark 4031. When the laser beam is perpendicular to the corresponding surface of the laser beam verification phantom 403 and passes through the isocenter position of the laser beam verification phantom 403, the reflective portion 4032 will vertically reflect the laser beam. The reflection angle of the laser beam at the reflective portion is 0°, so that the reflected path of the laser beam coincides with the original path (emission path) of the laser beam. At this time, only one path of the laser beam emitted by a laser lamp 402 can be observed, that is, the reflected line of the laser beam cannot be seen. When the laser beam intersects the corresponding surface of the laser beam verification phantom 403 at a certain angle, rather than being perpendicular, the laser beam reflected by the reflector 4032 deviates from the original path of the laser beam. In this case, the laser beam emitted by a laser lamp 402 not only has an emission path but also a reflection path, resulting in a reflection line. The reflected path of the laser beam does not coincide with the original path of the laser beam. Therefore, the laser beam needs to be adjusted so that it is perpendicular to the corresponding surface of the laser beam verification phantom 403. Specifically, the reflector 4032 can be a reflector, and the reflector 4032 can be located at the center of the corresponding surface of the laser beam verification phantom 403.

[0181] When the laser beam irradiates the corresponding surface of the laser beam verification phantom 403, the position of the laser lamp 402 is adjusted so that the laser beam emitted by the laser lamp 402 coincides with the positioning mark 4031 on the corresponding surface of the laser beam verification phantom 403 and is perpendicular to the corresponding surface of the laser beam verification phantom 403. After the multiple laser lamps 402 are adjusted using the above method, the intersection of the multiple laser beams emitted by the multiple laser lamps 402 is the isocenter position of the laser beam verification phantom 403, which is also the isocenter position of the treatment system.

[0182] The present application also provides a calibration method for a treatment room positioning system, which is applied to the above-mentioned treatment room positioning system. The calibration method includes steps S01 to S05, and may also include step S06. The calibration method for the treatment room positioning system specifically includes:

[0183] Step S01: Install at least three laser lamps 402 in the treatment room.

[0184] Step S02: Install a mechanical isocenter fixture 404 on the treatment head 406. The mechanical isocenter fixture 404 has a preset center reference object 4042. The center reference object 4042 serves as a spatial physical representation of the isocenter position of the treatment system to configure the treatment system.

[0185] Step S03: Install the laser beam verification phantom 403 on the central reference object 4042, retract the treatment head 406, and move the isocenter position of the laser beam verification phantom 403 to coincide with the isocenter position of the treatment system; the laser beam verification phantom 403 has three mutually perpendicular surfaces, each surface is pre-set with a positioning mark 4031 opposite to the laser lamp 402 and a reflective portion 4032, and the positioning mark 4031 is adapted to the shape of the laser beam emitted by the laser lamp 402; the laser beam verification phantom 403 is provided with a loading hole 4033, and the virtual line between the isocenter position of the laser beam verification phantom 403 and the loading hole 4033 extends to the center position of the central reference object 4042, and the virtual line between the isocenter position of the laser beam verification phantom 403 and the loading hole 4033 is set to be coaxial with the retraction path of the treatment head 406.

[0186] Step S04: Start the laser lamp 402 to emit cross laser beams toward the laser beam verification phantom 403 along three mutually perpendicular directions.

[0187] Step S05: Determine whether the laser beam emitted by the laser lamp 402 coincides with the positioning mark 4031 of the laser beam verification phantom 403, and whether the path of the laser beam reflected by the reflecting portion 4032 coincides with the path of the laser beam emitted by the laser lamp 402. If both coincide, the position of the laser lamp 402 is not adjusted; if one of them does not coincide, adjust the position of the laser lamp 402 so that the laser beam emitted by the laser lamp 402 coincides with the positioning mark 4031 of the laser beam verification phantom 403, and the path of the laser beam reflected by the reflecting portion 4032 coincides with the path of the laser beam emitted by the laser lamp 402.

[0188] Step S06: Remove the mechanical isocenter fixture 404 and the laser beam verification phantom 403, turn on the laser light 402, and mark the projection position of the laser beam emitted by the laser light 402.

[0189] Step S01 specifically includes: first, using a position measuring instrument 405, determining a pair of installation locations within the treatment system that are at the same height and horizontally symmetrical. Specifically, these are a pair of installation locations within the treatment room that are at the same height and symmetrical. The pair of installation locations can be located on the left and right walls of the treatment room, respectively. Each installation location is used to mount a laser light 402. Additionally, a installation location can be located above the treatment room, where a laser light 402 is mounted. The installation location located above the treatment room can be located on the treatment room ceiling. By locating the pair of horizontally symmetrical installation locations, the pair of laser lights 402 installed at these locations can be mounted horizontally symmetrically, facilitating adjustment of the positions of the laser lights 402. Preferably, the laser lights 402 are positioned 1.23-1.29 meters from the treatment room floor. The position measuring instrument 405 can be a laser tracker. When determining the installation locations, the approximate location of the center of the treatment system can be used to determine a projection of this approximate location on the wall. This projection serves as the installation location. Among them, the approximate position of the center position of the treatment system can be determined according to the position of the treatment head 406. For example, when the treatment head 406 is rotated to a 180° position, that is, the treatment head 406 is rotated to the floor of the treatment room, and the height direction of the treatment head 406 is perpendicular to the floor of the treatment room, the approximate position of the center position of the treatment system is slightly higher than the position of the treatment head 406. Then, the position of the laser lamp 402 is adjusted in subsequent steps.

[0190] It should be noted that when the number of markers pre-set based on the patient's tumor location is greater than three, for example, four or five, the number of laser lamps 402 can be correspondingly set to four or five. When there are four laser lamps 402, three of them are set on the left and right walls and ceiling of the treatment room, a mounting location can be set on the front or rear wall of the treatment room, and another laser lamp 402 is mounted at the mounting location on the front or rear wall. When there are five laser lamps 402, three of them are set on the left and right walls and ceiling of the treatment room, a mounting location can be set on the front and rear walls of the treatment room, and the remaining two laser lamps 402 are mounted at the mounting locations on the front and rear walls, respectively. The pair of mounting locations formed by the front and rear walls of the treatment room can be a pair of mounting locations at the same height and symmetrical front-to-back within the treatment room, and the pair of mounting locations at the same height and symmetrical front-to-back can be at the same height as the mounting locations on the left and right walls of the treatment room.

[0191] After the laser lamp 402 is installed on the wall 401, an electronic display level is used to measure the horizontality and verticality of the laser lamp 402 compared to the wall or bottom of the treatment room, and the horizontality and verticality tolerance of the laser lamp 402 is maintained within 0.01 mm.

[0192] In step S02, the mechanical isocenter fixture 404 can be installed on the treatment head 406 in the treatment room. After the mechanical isocenter fixture 404 is installed on the treatment head 406, an electronic level is used to measure the horizontality and verticality of the mechanical isocenter fixture 404 relative to the treatment room wall or floor. The horizontality and verticality tolerance of the mechanical isocenter fixture 404 is maintained within 0.01 mm. After the mechanical isocenter fixture 404 is installed, the laser light 402 is activated and the position of the laser light 402 is roughly adjusted so that the laser beams emitted by the multiple laser lights 402 intersect at the center reference 4042 of the mechanical isocenter fixture 404 under visual observation. The treatment head 406 can be rotated to a 180° position to facilitate the installation of the mechanical isocenter fixture 404. The position of the laser light 402 can be adjusted by fixing the laser light 402 at different positions in the mounting slot 4011, thereby achieving flexible adjustment of the laser light 402 position.

[0193] In step S03, the loading hole 4033 of the laser beam verification phantom 403 is aligned with the center reference object 4042. After the laser beam verification phantom 403 is mounted on the center reference object 4042, an electronic level is used to measure the horizontality and verticality of the laser beam verification phantom 403 relative to the wall or floor of the treatment room. The horizontality and verticality tolerance of the laser beam verification phantom 403 are maintained within 0.01 mm. The treatment head 406 is extended and retracted to move the isocenter of the laser beam verification phantom 403 to the isocenter of the treatment room. The extension and retraction of the treatment head 406 can be controlled by a handle, which is a component of the treatment system that is connected to the treatment head 406 and is used to control the movement of the treatment head 406.

[0194] In step S05, if visual observation confirms that the cross laser beam emitted by laser lamp 402 does not coincide with the cross-shaped positioning mark 4031, or the path of the cross laser beam reflected by reflector 4032 does not coincide with the original path, it is determined that the position of laser lamp 402 is not properly adjusted, and adjustment of the position of laser lamp 402 continues. If the cross laser beam emitted by laser lamp 402 coincides with the cross-shaped positioning mark 4031, and the path of the cross laser beam reflected by reflector 4032 coincides with the original path, it is determined that the position of laser lamp 402 is properly adjusted, and adjustment of laser lamp 402 can be stopped.

[0195] In step S06, the projection position of the laser beam is the position where the laser beam is projected onto the wall or floor of the treatment room without any obstruction. After recording the projection position of the laser beam, it is possible to observe whether the projection position of the laser beam coincides with the recorded projection position in subsequent processes. This allows for quick detection and calibration of any movement of the laser light 402 in subsequent processes based on the change in the projection position of the laser beam to ensure that the laser beam emitted by the laser intersects at the isocenter position of the treatment room.

Claims

1. A calibration device for an image-guided system, wherein: include: At least two optical path channels, each of which passes through the calibration device, and is used for allowing rays to pass through; The two optical path channels intersect each other, and the intersection point of the two optical path channels is the center point of the calibration device; At least two imaging components, each of which includes two imaging surfaces, which are arranged at opposite ends of the same optical path; each of the imaging surfaces is provided with a marking portion, which is provided with a central marking point, and the central marking point is located in the extension direction of the optical path; a line connecting the central marking points of the two imaging surfaces in one imaging component passes through the central point of the calibration device.

2. The calibration device of the image-guided system according to claim 1, wherein: The two mutually intersecting optical path channels are formed by extending along a pair of mutually intersecting diagonal lines in the calibration device; And / or, the imaging surface is arranged at an inflection point of the calibration device.

3. The calibration device of the image-guided system according to claim 1, wherein: The calibration device is provided with a recessed groove and a plurality of light-transmitting holes, the center point of the calibration device is located in the recessed groove, one end of the light-transmitting hole passes through the calibration device, and the other end of the light-transmitting hole is connected to the recessed groove, and a pair of light-transmitting holes located on opposite sides of the center point and at least part of the recessed groove together form an optical path channel; The imaging surface blocks the light-transmitting hole.

4. The calibration device of the image-guided system according to claim 1, wherein: The shape of the marking portion is a crossed cross line structure, and the intersection of the cross lines is the central marking point.

5. The calibration device of the image-guided system according to claim 1, wherein: Also includes: a calibration sphere, used to indicate the isocenter of the image-guided system, and the calibration sphere can coincide with the center point of the calibration device; A mounting hole for fixing the calibration device to the image guidance system; A calibration hole for mounting the calibration ball; A positioning channel passes through the calibration device, the positioning channel is used for light to pass through; the positioning channel extends along the center line of the calibration device in the horizontal direction, and the positioning channel passes through the calibration device The center point of The positioning component includes a pair of positioning surfaces, which are arranged at opposite ends of the positioning channel. The positioning surfaces are provided with positioning parts, and the positioning parts are provided with central positioning points. The line connecting the central positioning points of the pair of positioning surfaces passes through the central point of the calibration device.

6. The calibration device of the image-guided system according to claim 5, wherein: The calibration device is provided with a recessed groove and a pair of light-transmitting holes, the center point of the calibration device is accommodated in the recessed groove, one end of the light-transmitting hole passes through the calibration device, and the other end of the light-transmitting hole is connected to the recessed groove; the pair of light-transmitting holes and at least part of the recessed groove together form the positioning channel; the positioning surface blocks the light-transmitting holes; the positioning channel intersects with the optical path channel; And / or, the positioning portion is in the shape of a crossed cross line structure, and the intersection of the cross lines is the central positioning point.

7. An image guided system, wherein: include: The calibration device of the image-guided system according to any one of claims 1 to 6; At least one pair of ray generating devices, used to generate rays capable of passing through the optical path of the calibration device, wherein the rays generated by the pair of ray generating devices intersect each other; At least one pair of image processing devices is used to receive rays passing through the optical path channel of the calibration device and generate image information.

8. The image guided system according to claim 7, wherein: It also includes a control device, which is used to control the movement of the ray generating device and / or the image processing device; And / or, the ray generating device is an X-ray tube, and the image processing device is a flat panel detector.

9. A radiotherapy device, wherein: Comprising an image-guided system as claimed in claim 7 or 8.

10. A method for calibrating a position of an image-guided system as claimed in claim 7, wherein: include: Step S1: installing the calibration device on the image guidance system, and making the center point of the calibration device coincide with the target point of the image guidance system; Step S2: the ray generating device emits rays, the rays pass through the calibration device and are received by the image processing device, and the image processing device generates image information according to the received rays; Step S3: The image processing device transmits the generated image information to the data processing device, and the data processing device obtains the position of the ray generating device and / or the image processing device according to the image information. Set offset information; Step S4: adjusting the position of the ray generating device and / or the image processing device according to the position offset information of the ray generating device and / or the image processing device calculated by the data processing device; Step S5: Repeat steps S3 to S4 until the ray generating device and / or the image processing device are adjusted to a specified position.

11. The position calibration method of the image-guided system according to claim 10, wherein: The step S2 comprises: A pair of the ray generating devices emits rays, and the rays of each of the ray generating devices pass through two imaging surfaces of the calibration device; A pair of the image processing devices corresponds to a pair of the ray generating devices one by one. Each of the image processing devices receives the ray emitted by the ray generating device corresponding thereto and generates image information including projections of two imaging surfaces.

12. The position calibration method of the image-guided system according to claim 11, wherein: In the step S3, the data processing device calculates the position offset information of the ray generating device according to the image information, including: Taking the center point of the image generated by the image processing device as the first origin, the coordinate point A of the center mark point of the imaging surface projection close to the target point of the image guidance system in the image information is obtained as (X1, Y1), and the coordinate point B of the center mark point of the imaging surface projection far from the target point of the image guidance system is obtained as (X2, Y2); The position offset of the ray generating device in the X-axis direction is (X1+X2) / 2, and the position offset of the ray generating device in the Y-axis direction is (Y1+Y2) / 2; In the step S4, adjusting the position of the ray generating device includes: If X1>X2, the ray generating device is adjusted to move a distance of (X1+X2) / 2 along the negative direction of the X-axis; if X1<X2, the ray generating device is adjusted to move a distance of (X1+X2) / 2 along the positive direction of the X-axis; If Y1>Y2, adjust the ray generating device to move a distance of (Y1+Y2) / 2 along the negative direction of the Y axis; if Y1<Y2, adjust the ray generating device to move a distance of (Y1+Y2) / 2 along the positive direction of the Y axis. distance.

13. The position calibration method of the image-guided system according to claim 12, wherein: The step S5 comprises: Repeat steps S3 to S4 until the position offset of the ray generating device in the X-axis direction and the position offset of the ray generating device in the Y-axis direction are both smaller than the specified threshold value, and then the ray generating device is adjusted to the specified position.

14. The position calibration method of the image-guided system according to claim 11, wherein: In the step S3, The data processing device calculating the position offset information of the image processing device according to the image information includes: Taking a central marking point projected on an imaging surface in the image generated by the image processing device as the second origin, the coordinates of the first endpoint C of the marking portion projected on the imaging surface adjacent to the target point of the image guidance system are obtained as (X3, Y3), and the coordinates of the second endpoint D of the marking portion projected on the imaging surface away from the target point of the image guidance system are obtained as (X4, Y4); the ratio of the distance between the first marking point projected on the marking portion to form the first endpoint C and the central marking point and the distance between the second marking point projected on the marking portion to form the second endpoint D and the central marking point is a:b; If X3>X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is greater than a:b, it is determined that the image processing device including the second origin is offset clockwise; If X3>X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is less than a:b, it is determined that the image processing device including the second origin is offset counterclockwise; If X3<X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is greater than a:b, it is determined that the image processing device including the second origin is offset counterclockwise; if X3<X4, and the ratio of the distance between the first endpoint C and the second origin to the distance between the second endpoint D and the second origin is less than a:b, it is determined that the image processing device including the second origin is offset clockwise; In step S4, adjusting the position of the image processing device includes: If the image processing device is offset clockwise, rotating the image processing device counterclockwise around the rotation axis by a rated angle; If the image processing device is offset counterclockwise, rotating the image processing device clockwise around the rotation axis by a rated angle; The rotation axis is a straight line that is perpendicular to a line connecting the first endpoint C and the second endpoint D and passes through the second origin.

15. The position calibration method of the image-guided system according to claim 14, wherein: The step S5 comprises: Steps S3 to S4 are repeated until the image processing device rotates a rated angle and the offset direction of the image processing device changes, and the image processing device is adjusted to a specified position.

16. The position calibration method of the image-guided system according to claim 10, wherein: The calibration device also includes: A positioning channel, which passes through the calibration device and is used for allowing light to pass through; the positioning channel extends along the center line of the calibration device and passes through the center point of the calibration device; A positioning assembly, comprising a pair of positioning surfaces, the pair of positioning surfaces being arranged at opposite ends of the positioning channel, the positioning surfaces being provided with positioning parts, the positioning parts being provided with central positioning points, and a line connecting the central positioning points of the pair of positioning surfaces passing through the central point of the calibration device; The step S1 comprises: Using a survey tool to form a horizontal optical path passing through a target point of the image guidance system, installing the calibration device on the image guidance system, and making a pair of central positioning points of the calibration device coincide with each other along the projection of the horizontal optical path of the survey tool; The calibration device is rotated so that the rays generated by the ray generating device can pass through at least two imaging surfaces of the calibration device.

17. A method for calibrating a treatment room positioning system, wherein the treatment room positioning system is used to assist in positioning a target area in a treatment system, wherein: The calibration method comprises: Step S01: Install at least three laser lamps in the treatment room; Step S02: installing a mechanical isocenter tooling on the treatment head, wherein the mechanical isocenter tooling presets a center reference object, and the center reference object serves as a spatial physical representation of the isocenter position of the treatment system to configure the treatment system; Step S03: installing a laser beam verification phantom on the central reference object, retracting the treatment head and moving the isocenter position of the laser beam verification phantom to coincide with the isocenter position of the treatment system; the laser beam verification phantom has three mutually perpendicular surfaces, each surface is preset with a positioning mark and a reflective portion relative to the laser lamp, and the positioning mark is adapted to the shape of the laser beam emitted by the laser lamp; the laser beam verification phantom is provided with a mounting hole, and a virtual line between the isocenter position of the laser beam verification phantom and the mounting hole extends to the central position of the central reference object, and the virtual line between the isocenter position of the laser beam verification phantom and the mounting hole is set to be coaxial with the telescopic path of the treatment head; Step S04: starting the laser light to emit cross laser beams toward the laser beam verification phantom in three mutually perpendicular directions; Step S05: Determine whether the laser beam emitted by the laser lamp coincides with the positioning mark of the laser beam verification phantom, and whether the path of the laser beam reflected by the reflecting part coincides with the path of the laser beam emitted by the laser lamp. If both coincide, the position of the laser lamp is not adjusted; if one of them does not coincide, adjust the position of the laser lamp so that the laser beam emitted by the laser lamp coincides with the positioning mark of the laser beam verification phantom, and the path of the laser beam reflected by the reflecting part coincides with the path of the laser beam emitted by the laser lamp.

18. The method for calibrating a treatment room positioning system according to claim 17, wherein: The step S01 comprises: Using a position measuring instrument to locate a pair of installation positions with the same height and horizontal symmetry in the treatment system, each of which is equipped with a laser lamp; And / or, a laser lamp is installed above the treatment system.

19. The method for calibrating a treatment room positioning system according to claim 18, wherein: The step S02 further includes: Start the laser lamp and observe whether the laser beam emitted by the laser lamp intersects with the central reference object of the mechanical isocenter tooling.

20. The calibration method of the treatment room positioning system according to claim 17, wherein: Also includes: Step S06: remove the mechanical isocenter tooling and the laser beam verification phantom, turn on the laser light, and mark the projection position of the laser beam emitted by the laser light.

21. A laser beam verification phantom, wherein: The laser beam verification phantom is applied to the calibration method of the treatment room positioning system as described in any one of claims 17 to 20, and the three mutually perpendicular surfaces of the laser beam verification phantom facing the laser light are respectively provided with positioning marks and reflecting parts.

22. The laser beam verification phantom according to claim 21, wherein: The positioning mark includes a horizontal scale line and a vertical scale line, the virtual intersection of the horizontal scale line and the vertical scale line is the center position of the corresponding surface of the laser beam verification model, and the virtual connecting line of the horizontal scale line and the vertical scale line is a cross structure, and the cross structure and the reflecting part located on the same surface have a common center.

23. The laser beam verification phantom according to claim 21, wherein: The laser beam verification phantom is provided with a mounting hole, and the mounting hole has the same structure as at least a part of a center reference object of a center tooling such as a machine, and the mounting hole is used to accurately mount the laser beam verification phantom on the center reference object.

24. A treatment room positioning system, wherein: The treatment room positioning system is used to perform the calibration method of the treatment room positioning system according to any one of claims 17 to 20; the treatment room positioning system comprises: Wall, with a preset installation position; A plurality of laser lights are installed at the installation position of the wall; The laser beam verification phantom according to any one of claims 21 to 23, wherein the isocenter position of the laser beam verification phantom is located at the intersection of the laser beams emitted by the plurality of laser lamps.

25. The treatment room positioning system according to claim 24, wherein: It also includes a mechanical isocenter tooling, the mechanical isocenter tooling is used to be installed on the treatment head of the treatment system, and the laser beam verification phantom is installed on the mechanical isocenter tooling; And / or, the installation position of the wall body is a mounting hole, and the mounting hole is a waist-shaped hole extending in the horizontal direction; And / or, the laser light emits a cross laser beam.

26. The treatment room positioning system according to claim 24, wherein: The laser beam verification phantom is provided with a positioning metal ball, the center of the positioning metal ball coincides with the isocenter position of the laser beam verification phantom, and the positioning metal ball is set as a physical representation of the isocenter position of the laser beam verification phantom.

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