Irradiation therapy positioning system and method

Abstract

The present application relates to an irradiation therapy positioning system and method. The irradiation therapy positioning system comprises: an image acquisition module used for acquiring a medical image of a target object and markers in a first state; a treatment planning module which formulates a treatment plan on the basis of the medical image; a stereo vision module used for acquiring stereo parameters of a fixed radiation source and a plurality of markers in a second state; a bearing apparatus used for bearing and adjusting the pose of the target object; a parameter acquisition module used for acquiring bearing parameters of the bearing apparatus in the second state; and a positioning module used for determining a relative pose relationship in the first state on the basis of the treatment plan and determining a relative pose relationship in the second state on the basis of the stereo parameters. The positioning module is further used for determining positioning parameters on the basis of the relative pose relationship in the first state, the relative pose relationship in the second state, and the bearing parameters of the bearing apparatus. The present application can achieve accurate and efficient automatic positioning of the bearing apparatus, thereby reducing labor costs.

Description

Radiation therapy positioning system and method TECHNICAL FIELD

[0001] The present application relates to the field of radiation technology, in particular to a radiation therapy positioning system and method. BACKGROUND

[0002] With the development of atomic science, such as cobalt-60, linear accelerator, electron beam, etc., radiation therapy has become one of the main means of cancer treatment. For tumor radiotherapy, it is necessary to maximize the local dose of the tumor and minimize the damage to the surrounding normal tissues and its complications, so as to improve the cure rate of the tumor and improve the life and survival quality of the patient. In order to achieve good treatment effect, the position of the patient during treatment is crucial.

[0003] Before the irradiation treatment, the treatment plan needs to be determined by the doctor and the physicist. However, in addition to the need for accurate planning of the entire treatment process, it is also necessary to accurately position the target object according to the treatment plan determined by the treatment plan. If the positioning error is too large, the center position, angle and distance of the beam incident to the lesion target area will be deviated, resulting in insufficient dose of the tumor target area or excessive dose of the surrounding normal tissue, which cannot achieve the expected treatment effect. SUMMARY

[0004] Therefore, it is necessary to provide an accurate and efficient radiation therapy positioning system and method to solve the above technical problems.

[0005] In a first aspect, the present application provides a radiation therapy positioning system, comprising:

[0006] An image acquisition module is configured to acquire medical images of a target object and a plurality of tags in a first state; the plurality of tags comprises at least three tags on the target object which are not on the same straight line;

[0007] A treatment planning module is configured to formulate a treatment plan according to the medical images;

[0008] A stereo vision module is configured to acquire stereo parameters of a fixed radiation source and a plurality of tags in a second state;

[0009] A positioning device is configured to carry and adjust the pose of the target object;

[0010] A parameter acquisition module is configured to acquire positioning parameters of the positioning device in the second state;

[0011] The positioning module is configured to determine a relative pose relationship between the target radiation source and the plurality of markers in a first state according to the treatment plan, and determine a relative pose relationship between the fixed radiation source and the plurality of markers in a second state according to the stereo parameters; the positioning module is further configured to determine a positioning parameter of the placement device according to the relative pose relationship between the target radiation source and the plurality of markers in the first state, the relative pose relationship between the fixed radiation source and the plurality of markers in the second state, and the placement parameter of the placement device in the second state; the positioning parameter is used to control the placement device to position the target object, so that the relative pose relationship between the fixed radiation source and the plurality of markers is consistent with the relative pose relationship between the target radiation source and the plurality of markers in the first state.

[0012] In one of the embodiments, the positioning module is further configured to define the relative pose relationship between the target radiation source and the plurality of markers in the first state as a first relationship, define the relative pose relationship between the fixed radiation source and the plurality of markers in the second state as a second relationship, and determine a conversion relationship between the first relationship and the second relationship; the positioning module is further configured to determine the positioning parameter of the placement device according to the conversion relationship and the placement parameter in the second state.

[0013] In one of the embodiments, the positioning module is further configured to establish a target radiation source sub-coordinate system in a medical image coordinate system according to the treatment plan, establish a marker sub-coordinate system in the medical image coordinate system according to the plurality of markers in the first state of the medical image, determine a third relationship between the target radiation source sub-coordinate system and the marker sub-coordinate system in the medical image coordinate system, establish a fixed radiation source sub-coordinate system and a marker sub-coordinate system in a stereo vision coordinate system according to the stereo parameters of the fixed radiation source and the plurality of markers in the second state, determine a fourth relationship between the fixed radiation source sub-coordinate system and the marker sub-coordinate system in the stereo vision coordinate system, determine a conversion relationship between the third relationship and the fourth relationship, and determine the positioning parameter of the placement device according to the conversion relationship and the placement parameter in the second state.

[0014] In one of the embodiments, a virtual simulation module is further included, which is configured to simulate the positioning process according to the positioning parameter, simulate a motion trajectory of the placement device, and determine whether there is a motion interference of the placement device.

[0015] In one of the embodiments, the stereo vision module includes a binocular vision device and / or a structured light vision device.

[0016] In one of the embodiments, a target region imaging device is further included, which is configured to acquire a pose relationship between a target region in the target object and the fixed radiation source.

[0017] The positioning module is further configured to determine a pose relationship between the target region in the target object and the target radiation source according to the treatment plan, and determine a positioning state of the placement device according to the pose relationship between the target region and the fixed radiation source, and the pose relationship between the target region and the target radiation source.

[0018] In one embodiment, a control module is further included for controlling the positioning device to adjust the pose according to the positioning parameter to reach the third state.

[0019] The stereovision module is further configured to acquire the positioning stereovision parameters of the fixed radiation source and the plurality of markers in the third state.

[0020] The positioning module is further configured to determine the relative pose relationship between the fixed radiation source and the plurality of markers in the third state according to the positioning stereovision parameters, and determine the positioning state of the positioning device according to the relative pose relationship between the target radiation source and the plurality of markers in the first state, the relative pose relationship between the fixed radiation source and the plurality of markers in the third state.

[0021] In a second aspect, the present application provides a method for positioning in radiation therapy, comprising:

[0022] acquiring medical images of a target object and a plurality of markers in a first state, wherein the plurality of markers comprises at least three markers arranged on the target object and not on the same straight line;

[0023] formulating a treatment plan according to the medical images, and determining the relative pose relationship between a target radiation source and the plurality of markers in the first state according to the treatment plan;

[0024] acquiring stereovision parameters of a fixed radiation source and the plurality of markers in a second state, and determining the relative pose relationship between the fixed radiation source and the plurality of markers in the second state according to the stereovision parameters; and acquiring positioning parameters of a positioning device in the second state;

[0025] determining positioning parameters of the positioning device according to the relative pose relationship between the target radiation source and the plurality of markers in the first state, the relative pose relationship between the fixed radiation source and the plurality of markers in the second state, and the positioning parameters of the positioning device in the second state, wherein the positioning parameters are used to control the positioning device to position the target object so that the relative pose relationship between the fixed radiation source and the plurality of markers is consistent with the relative pose relationship between the target radiation source and the plurality of markers in the first state.

[0026] In one embodiment, the determination of the positioning parameters of the positioning device according to the relative pose relationship between the target radiation source and the plurality of markers in the first state, the relative pose relationship between the fixed radiation source and the plurality of markers in the second state, and the positioning parameters of the positioning device in the second state comprises:

[0027] defining the relative pose relationship between the target radiation source and the plurality of markers in the first state as a first relationship, defining the relative pose relationship between the fixed radiation source and the plurality of markers in the second state as a second relationship, and determining a conversion relationship between the first relationship and the second relationship;

[0028] According to the conversion relationship and the placement parameter in the second state, a positioning parameter of the placement device is determined.

[0029] In one embodiment, the determination of the positioning parameter of the placement device comprises:

[0030] According to the treatment plan, a target source sub-coordinate system in a medical image coordinate system is established, a label sub-coordinate system in the medical image coordinate system is established according to the medical image in the first state of the plurality of labels, and a third relationship between the target source sub-coordinate system and the label sub-coordinate system in the medical image coordinate system is determined.

[0031] According to the stereoscopic parameters of the fixed source and the plurality of labels in the second state, a fixed source sub-coordinate system and a label sub-coordinate system in a stereovision coordinate system are established, and a fourth relationship between the fixed source sub-coordinate system and the label sub-coordinate system in the stereovision coordinate system is determined.

[0032] A conversion relationship between the third relationship and the fourth relationship is determined.

[0033] According to the conversion relationship and the placement parameter in the second state, a positioning parameter of the placement device is determined.

[0034] In one embodiment, after the determination of the positioning parameter of the placement device, the method further comprises:

[0035] According to the positioning parameter, a simulation of the positioning process is performed, a motion trajectory of the placement device is simulated, and whether the placement device has motion interference is determined.

[0036] In one embodiment, in the case that the placement device has motion interference, the motion trajectory is adjusted, or the positioning parameter and the motion trajectory are adjusted, and the simulation of the positioning process is performed again.

[0037] In one embodiment, the method further comprises: obtaining a pose relationship between a target region in the target object and the fixed source.

[0038] According to the treatment plan, a pose relationship between the target region in the target object and the target source is determined.

[0039] According to the pose relationship between the target region and the fixed source, and the pose relationship between the target region and the target source, a positioning state of the placement device is determined.

[0040] In one embodiment, after the determination of the positioning parameter of the placement device, the method further comprises:

[0041] According to the positioning parameter, the placement device is controlled to adjust the pose and reach the third state.

[0042] Obtaining positioning stereoscopic parameters of the fixed source and the plurality of labels in the third state.

[0043] determine the relative pose relationship between the fixed radiation source and the plurality of markers in the third state according to the stereoscopic parameters, and determine the positioning state of the positioning device according to the relative pose relationship between the target radiation source and the plurality of markers in the first state and the relative pose relationship between the fixed radiation source and the plurality of markers in the third state.

[0044] In a third aspect, the present application further provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0045] obtain medical images of a target object and a plurality of markers in a first state, wherein the plurality of markers comprise at least three markers arranged on the target object and not on the same straight line;

[0046] form a treatment plan according to the medical images, and determine the relative pose relationship between a target radiation source and the plurality of markers in the first state according to the treatment plan;

[0047] obtain stereoscopic parameters of a fixed radiation source and the plurality of markers in a second state, and determine the relative pose relationship between the fixed radiation source and the plurality of markers in the second state according to the stereoscopic parameters; and obtain positioning parameters of a positioning device in the second state;

[0048] determine positioning parameters of the positioning device according to the relative pose relationship between the target radiation source and the plurality of markers in the first state, the relative pose relationship between the fixed radiation source and the plurality of markers in the second state, and the positioning parameters of the positioning device in the second state, wherein the positioning parameters are used to control the positioning device to drive the target object to perform positioning, so that the relative pose relationship between the fixed radiation source and the plurality of markers is consistent with the relative pose relationship between the target radiation source and the plurality of markers in the first state.

[0049] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0050] obtain medical images of a target object and a plurality of markers in a first state, wherein the plurality of markers comprise at least three markers arranged on the target object and not on the same straight line;

[0051] form a treatment plan according to the medical images, and determine the relative pose relationship between a target radiation source and the plurality of markers in the first state according to the treatment plan;

[0052] obtain stereoscopic parameters of a fixed radiation source and the plurality of markers in a second state, and determine the relative pose relationship between the fixed radiation source and the plurality of markers in the second state according to the stereoscopic parameters; and obtain positioning parameters of a positioning device in the second state;

[0053] According to the relative position and pose relationship between the target radiation source and the plurality of tags in the first state, the relative position and pose relationship between the fixed radiation source and the plurality of tags in the second state, and the placement parameter of the placement device in the second state, the positioning parameter of the placement device is determined, the positioning parameter being used to control the placement device to drive the target object to be positioned, so that the relative position and pose relationship between the fixed radiation source and the plurality of tags is consistent with the relative position and pose relationship between the target radiation source and the plurality of tags in the first state. In the fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program, which, when executed by a processor, implements the following steps:

[0054] Obtaining a medical image of the target object and the plurality of tags in the first state; the plurality of tags comprise at least three tags arranged on the target object and not on the same straight line;

[0055] According to the medical image, a treatment plan is formulated, and the relative position and pose relationship between the target radiation source and the plurality of tags in the first state is determined according to the treatment plan;

[0056] Obtaining a stereoscopic parameter of the fixed radiation source and the plurality of tags in the second state, and determining the relative position and pose relationship between the fixed radiation source and the plurality of tags in the second state according to the stereoscopic parameter; and obtaining a placement parameter of the placement device in the second state;

[0057] According to the relative position and pose relationship between the target radiation source and the plurality of tags in the first state, the relative position and pose relationship between the fixed radiation source and the plurality of tags in the second state, and the placement parameter of the placement device in the second state, the positioning parameter of the placement device is determined, the positioning parameter being used to control the placement device to drive the target object to be positioned, so that the relative position and pose relationship between the fixed radiation source and the plurality of tags is consistent with the relative position and pose relationship between the target radiation source and the plurality of tags in the first state. In the fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program, which, when executed by a processor, implements the following steps:

[0058] In the above irradiation treatment positioning system and method, the target object is provided with at least three labels not on the same straight line, so as to facilitate positioning. The image acquisition module acquires medical images of the target object and the labels in a first state, and constructs a treatment plan based on the medical images, including the relative pose relationship between the target source and each label. The stereovision module acquires stereoscopic parameters of the fixed source and the plurality of labels in a second state, and obtains the relative pose relationship between the fixed source and each label in the second state. Thus, the motion parameters of the target object can be determined based on the relative pose relationship between the fixed source and each label, and the relative pose relationship between the target source and each label. When the target object is located on the placement device, the placement parameters of the placement device in the second state are determined, so as to determine the positioning parameters of the placement device. After the placement device is positioned according to the positioning parameters, the relative pose relationship between the fixed source and each label is consistent with the relative pose relationship between the target source and each label, thereby meeting the requirements of the treatment plan. Through the above irradiation treatment positioning system and method, the placement device can be accurately and efficiently automatically positioned, the labor cost is reduced, and the risk of exposing relevant personnel to potential radiation environment is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0059] FIG. 1 is a structural block diagram of an irradiation treatment positioning system in an embodiment;

[0060] FIG. 2 is an application environment diagram of an irradiation treatment positioning method in an embodiment;

[0061] FIG. 3 is a flowchart of an irradiation treatment positioning method in an embodiment;

[0062] FIG. 4 is a flowchart of a step of determining positioning parameters of a placement device in an embodiment;

[0063] FIG. 5 is a flowchart of an irradiation treatment positioning method in another embodiment;

[0064] FIG. 6 is an internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] Traditional photon or electron therapy is limited by the physical conditions of the radiation itself, which kills tumor cells while also causing damage to a large number of normal tissues along the beam path; in addition, due to the different sensitivities of tumor cells to radiation, the treatment effect of traditional radiotherapy for malignant tumors with high radiation resistance (such as glioblastoma multiforme and melanoma) is often poor.

[0067] In order to reduce the radiation damage to normal tissues around the tumor, the concept of targeted therapy in chemotherapy is applied to radiotherapy; and for tumor cells with high radiation resistance, methods of radiation source treatment with high relative biological effectiveness (RBE) are also actively developed, such as proton therapy, heavy particle therapy, and neutron capture therapy.

[0068] Before irradiation treatment, the treatment plan needs to be determined by a doctor and a physicist. For example, relying on patient medical image information, the treatment target area and the region of interest of each important human organ are outlined in the medical image, and the radiotherapy dose is calculated through a Monte Carlo program, and finally the treatment plan including the positioning of the target object is determined. In addition, the target object also needs to be accurately positioned according to the treatment plan determined by the treatment plan, and if the positioning error is too large, the center position, angle, and distance of the beam incident to the lesion target area will be deviated, resulting in insufficient dose to the tumor target area or excessive dose to the surrounding normal tissues, which cannot achieve the desired treatment effect.

[0069] Based on this, referring to FIG. 1, which shows an irradiation treatment positioning system in an embodiment, including: an image acquisition module 102, a treatment planning module 104, a stereovision module 106, a placement device 108, a parameter acquisition module 110, and a positioning module 112.

[0070] The image acquisition module 102 is configured to acquire a medical image of a target object and a plurality of tags in a first state; the plurality of tags includes at least three tags disposed on the target object and not on the same straight line. In an embodiment, the tags are markers that can be developed and easily recognized in the medical image; in an embodiment, the tags are made of a material that can be developed in the medical image.

[0071] The treatment planning module 104 is configured to formulate a treatment plan according to the medical image.

[0072] Exemplarily, the target object can be an animal or a human body or an object used for experimental simulation, etc., as an object of irradiation treatment positioning.

[0073] Exemplarily, the first state can be a state of the target object when the medical image is taken.

[0074] Exemplarily, the medical image can be, but is not limited to, computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography-computed tomography (PET-CT), etc.

[0075] Exemplarily, the treatment plan is a radiation treatment plan for the target object based on the medical image. In a feasible implementation, a treatment target area and a region of interest of each important human organ are delineated in the medical image, a radiotherapy dose is calculated through a Monte Carlo program, and finally a treatment plan including a relative pose relationship between the target source and the target object is determined.

[0076] The stereovision module 106 is configured to acquire stereoscopic parameters of the fixed source and the plurality of tags in the second state. The placement device 108 is configured to carry and adjust the pose of the target object. The parameter acquisition module 110 is configured to acquire placement parameters of the placement device 108 in the second state.

[0077] Exemplarily, the fixed source can be a radiation outlet. The radiation is generated by a radiation generating device and emitted by the radiation outlet. Exemplarily, the radiation is emitted in a direction perpendicular to the plane on which the radiation outlet is located. The fixed source can be an actual source in a treatment room of the radiation treatment, or a simulated source in a preparation room of the radiation treatment.

[0078] Exemplarily, the placement device 108 has a placement plane, and the target object is located on the placement plane. The pose of the target object includes a position and a posture of the target object, and the placement device 108 adjusts the position, angle and distance of the radiation incident to the target object by adjusting the pose of the target object. Exemplarily, the second state is an initial state in which the target object is located on the placement device 108.

[0079] Exemplarily, the stereoscopic parameters can comprise position information of the fixed radiation source, angle information, and position information of each tag; the stereoscopic parameters can comprise relative pose relationship of the fixed radiation source and the plurality of tags; position information of at least three tags not on the same straight line can represent the pose information of the tags; since the tags are arranged on the target object, the pose information of the tags can also represent the pose information of the target object; in an embodiment, in the first state and the second state, the positions of the at least three tags not on the same straight line arranged on the target object are unchanged; of course, it can be understood that in the embodiment, only at least three tags meeting the condition can be used for calculation and positioning; on this basis, the number of tags can be increased arbitrarily, and the increased tags are not limited to whether they are arranged on the same straight line or not, and are not limited to whether their positions in the first state and the second state are unchanged.

[0080] Exemplarily, the placement parameters comprise a spatial position, a rotation angle, etc. of the placement device 108, and the placement device 108 can adjust the pose of the target object by adjusting the spatial position and the rotation angle of the placement device 108.

[0081] The positioning module 112 is configured to determine, according to the treatment plan, relative pose relationship of the target radiation source and the plurality of tags in the first state, and determine, according to the stereoscopic parameters, relative pose relationship of the fixed radiation source and the plurality of tags in the second state; the positioning module 112 is further configured to determine, according to the relative pose relationship of the target radiation source and the plurality of tags in the first state, the relative pose relationship of the fixed radiation source and the plurality of tags in the second state, and the placement parameters of the placement device 108 in the second state, the positioning parameters of the placement device 108; the positioning parameters are used to control the placement device 108 to drive the target object to be positioned, so that the relative pose relationship of the fixed radiation source and the plurality of tags is consistent with the relative pose relationship of the target radiation source and the plurality of tags in the first state.

[0082] Exemplarily, the relative pose relationship can comprise spatial position relationship, such as distance, direction, etc. between the radiation source and each tag.

[0083] Exemplarily, the target radiation source can be a radiation irradiation source determined in the treatment plan, and the distance, the incident angle, and the incident position of the radiation irradiation source relative to the target object all affect the radiation dose received by the target object; the relative pose relationship of the target radiation source and the plurality of tags determined in the treatment plan is the expected pose relationship of the target radiation source and the target object in theory.

[0084] Exemplarily, the positioning module 112 can include a first pose relationship determining module, a second pose relationship determining module, and a positioning parameter determining module. The first pose relationship determining module is configured to determine the relative pose relationship between the target radiation source and the plurality of tags in the first state according to the treatment plan; the second pose relationship determining module is configured to determine the relative pose relationship between the fixed radiation source and the plurality of tags in the second state according to the stereo parameters; and the positioning parameter determining module is configured to determine the positioning parameter of the placement device 108 according to the relative pose relationship between the target radiation source and the plurality of tags in the first state, the relative pose relationship between the fixed radiation source and the plurality of tags in the second state, and the placement parameter of the placement device 108 in the second state.

[0085] Exemplarily, the placement device 108 can include a mechanical arm, a treatment bed, or other forms of devices that can carry the target object, in an embodiment, the target object is located on the treatment bed, and the treatment bed is controlled to move by the mechanical arm, so as to adjust the spatial position of the target object. The placement parameter of the placement device can be the control parameter of the mechanical arm, or the position angle parameter of the treatment bed, as long as it can be indirectly associated with the pose of the target object.

[0086] In the above irradiation treatment positioning system, at least three tags on the target object are not on the same straight line, which facilitates positioning. The image acquisition module 102 acquires the medical image of the target object and the tags in the first state, and constructs a treatment plan based on the medical image, including the relative pose relationship between the target radiation source and the tags. The stereo vision module 106 acquires the stereo parameters of the fixed radiation source and the plurality of tags in the second state, and obtains the relative pose relationship between the fixed radiation source and the tags in the second state, so as to determine the motion parameter of the target object based on the relative pose relationship between the fixed radiation source and the tags, and the relative pose relationship between the target radiation source and the tags. When the target object is located on the placement device 108, the positioning module 112 determines the placement parameter of the placement device 108 in the second state, and thus determines the positioning parameter of the placement device 108. After the placement device 108 is positioned according to the positioning parameter, the relative pose relationship between the fixed radiation source and the tags is consistent with the relative pose relationship between the target radiation source and the tags, thereby meeting the requirements of the treatment plan. Through the above irradiation treatment positioning system, the placement device 108 can be accurately and efficiently automatically positioned, the labor cost is reduced, and the risk of exposure of the relevant personnel to potential radiation is reduced. On this basis, the stereo vision module can also acquire the stereo parameters of the fixed radiation source and the plurality of tags in the second state in real time during the treatment process, so that the positioning parameter of the placement device can be determined in real time through the system, the position of the target object can be automatically and accurately adjusted in real time during the treatment process, the treatment dose deviation caused by the movement of the target object during the treatment process is prevented, the treatment effect is improved, and the operator does not need to enter the treatment room to manually adjust the position of the target object during the treatment process, thereby reducing the radiation risk of the operator.

[0087] In some embodiments, the positioning module 112 is further configured to define a relative pose relationship between the target radiation source in the first state and the plurality of tags as a first relationship, define a relative pose relationship between the fixed radiation source in the second state and the plurality of tags as a second relationship, determine a conversion relationship between the first relationship and the second relationship, and determine the positioning parameter of the positioning device 108 according to the conversion relationship and the placement parameter in the second state.

[0088] For example, the first relationship and / or the second relationship can include a position relationship, an angle relationship, etc., and can be represented in the form of a transformation matrix.

[0089] In one possible implementation, the relative pose relationship between the target radiation source in the first state and the plurality of tags is represented in the form of a matrix as a first matrix, and is defined as the first relationship. The relative pose relationship between the fixed radiation source in the second state and the plurality of tags is represented in the form of a matrix as a second matrix, and is defined as the second relationship.

[0090] For example, the conversion relationship can be a transformation matrix. For example, a transformation relationship between the first matrix and the second matrix is calculated and represented in the form of a matrix, i.e., the transformation matrix, so as to realize the conversion of the first relationship and the second relationship.

[0091] In this embodiment, the position relationship between the plurality of tags and the target object does not change. By constructing the first relationship between the target radiation source in the first state and the plurality of tags and the second relationship between the fixed radiation source in the second state and the plurality of tags, the positioning parameter can be determined based on the conversion relationship and the placement parameter associated with the second state after the conversion relationship between the first relationship and the second relationship is determined.

[0092] In some embodiments, the positioning module 112 is further configured to establish a target radiation source sub-coordinate system in a medical image coordinate system according to a treatment plan, establish a tag sub-coordinate system in the medical image coordinate system according to the plurality of tags in the first state of the medical image, determine a third relationship between the target radiation source sub-coordinate system and the tag sub-coordinate system in the medical image coordinate system, establish a fixed radiation source sub-coordinate system and a tag sub-coordinate system in a stereo vision coordinate system according to the stereo parameters of the fixed radiation source and the plurality of tags in the second state, determine a fourth relationship between the fixed radiation source sub-coordinate system and the tag sub-coordinate system in the stereo vision coordinate system, determine a conversion relationship between the third relationship and the fourth relationship, and determine the positioning parameter of the positioning device according to the conversion relationship and the placement parameter in the second state.

[0093] For example, the medical image coordinate system is constructed based on a medical image, and in one implementation, the medical image can represent the tumor coordinates of the target object and the coordinates of each tag. The stereo vision coordinate system is constructed based on a stereo vision device, and can represent the coordinates of each tag in the second state.

[0094] Exemplarily, the positional relationship between the labels and the target object does not change, and the spatial positional relationship between the plurality of labels does not change.

[0095] Exemplarily, the third relationship is a correlation relationship between the target source sub-coordinate system and the label sub-coordinate system, so as to determine the positional relationship between any coordinate position in the target source sub-coordinate system and each label of the label sub-coordinate system. The fourth relationship is a correlation relationship between the fixed source sub-coordinate system and the label sub-coordinate system in the stereovision coordinate system, so as to determine the positional relationship between any coordinate position in the fixed source sub-coordinate system and each label of the label sub-coordinate system. In this way, after the conversion relationship of the third relationship and the fourth relationship is determined, the target control parameter of the placement device, i.e., the positioning parameter of the placement device, can be determined based on the conversion relationship and the placement parameter associated with the second state.

[0096] Exemplarily, the third relationship and / or the fourth relationship is a coordinate system conversion relationship, which can be expressed in the form of a transformation matrix.

[0097] In an embodiment, the three label points in the medical image coordinate system are P1, P2, and P3, and the method for establishing the label sub-coordinate system C1(P1, P2, P3) comprises:

[0098] a. Defining P1 as the origin of the coordinate system C1;

[0099] b. Let Vx = P2 - P1;

[0100] wherein the normalized vector Vx is used as the X-axis vector of the coordinate system C1;

[0101] c. Vt = P3 - P1;

[0102] wherein the normalized vector Vt is used to determine the Z-axis vector of the coordinate system C1;

[0103] d. Vz = Vx * Vt;

[0104] wherein the cross product result Vz of the vector Vx and the vector Vt is used as the Z-axis vector of the coordinate system C1;

[0105] e. Vy = Vz * Vx;

[0106] wherein the cross product result Vy of the vector Vz and the vector Vx is used as the Y-axis vector of the coordinate system C1;

[0107] This method can uniquely determine the coordinate system C1 composed of the origin coordinate and three mutually perpendicular vectors. It can be understood that the label sub-coordinate system can also be established in other ways known to those skilled in the art.

[0108] In an embodiment, the target source sub-coordinate system C2 is established based on the beam direction with the center point of the beam exit (e.g., a collimator) of the target source as the origin. The establishment method of C2 is not unique, and the rules used to establish C2 will not affect the subsequent calculation results.

[0109] In an embodiment, at least two reference points can be set on the target source (e.g., a collimator), and a unique coordinate system can be established based on the coordinates of the reference points and the center point of the beam exit.

[0110] In an embodiment, the relative pose relationship between the coordinate system C1 and the coordinate system C2 can be expressed by a 4*4 matrix M1:

[0111] M1 is the third relationship, where r represents a rotation transformation factor, and t represents a translation transformation factor. It can be understood that the relative pose relationship is not limited to the expression of the matrix, and can also be expressed in other ways known to those skilled in the art.

[0112] Similarly, the label sub-coordinate system C1n in the stereo vision coordinate system, the fixed source sub-coordinate system C2n in the stereo vision coordinate system, and the fourth relationship M1n can be obtained.

[0113] Taking M1=M1n as the target equivalent relationship, the label point sub-coordinate system C1n' expected to be reached can be calculated, and because C1n' is associated with the second state of the robot arm parameter R1, the robot arm parameter R2 at this time can be inversely calculated.

[0114] In this embodiment, the third relationship of the target source sub-coordinate system and the label sub-coordinate system is constructed through medical images, the fourth relationship of the fixed source sub-coordinate system and the label sub-coordinate system is established based on stereo parameters, and the positioning parameter of the positioning device can be determined based on the conversion relationship of the third relationship and the fourth relationship and the placement parameter in the second state. After the positioning parameter is determined, the positioning device can be controlled to drive the target object to position based on the positioning parameter, so that the relative pose relationship between the fixed source and the plurality of labels is consistent with the relative pose relationship between the target source and the plurality of labels in the first state, i.e., the treatment position in the treatment plan is reached. This process can be performed without human intervention, achieving automatic positioning, or the positioning device can be controlled by an operator according to the positioning parameter.

[0115] In some embodiments, the irradiation treatment positioning system further comprises a virtual simulation module for simulating the positioning process according to the positioning parameter, simulating the motion trajectory of the positioning device, to determine whether there is motion interference of the positioning device.

[0116] For example, the motion interference refers to that the placement device or the target object carried collides with other objects such as walls, ceilings, instruments and equipment, or different parts of the target object block each other during the movement, and the movement is limited. If the movement trajectory is followed, the execution will be hindered and cannot be completed, that is, the target object cannot be positioned.

[0117] In this embodiment, the movement simulation is performed by the virtual simulation module, and whether the placement device interferes with the surrounding objects can be determined in advance. In the case that the placement device interferes with the movement, the positioning can be adjusted in advance without actual operation, for example, the movement trajectory is adjusted, or the positioning parameters and the movement trajectory are adjusted, the positioning process is simulated again until the motion interference is eliminated, or the treatment plan is changed to obtain the positioning parameters again. In this way, the time for actual positioning operation can be saved, the risk of exposure of relevant personnel to potential radiation environment is reduced, and the utilization rate of the irradiation treatment room or preparation room is improved.

[0118] In some embodiments, the stereovision module 106 includes a binocular vision device and / or a structured light vision device.

[0119] For example, the binocular vision device is a technical device that simulates the human binocular vision system, usually including two visual sensors (such as cameras, optical sensors) installed on a support or platform at a certain distance to simulate the distance between human eyes, and the relative position relationship of the two visual sensors is fixed. It can be understood that the binocular vision device can be installed at a position fixed relative to a fixed radiation source, or can be installed in a device movable relative to the fixed radiation source, but the binocular vision device is movable as a whole, and the relative position of the two visual sensors remains fixed. The same scene is captured from different angles by the two sensors. By analyzing the parallax (difference between the two viewpoints) between the two images, the depth information of the placement device, the target object and each label is calculated, so as to realize stereovision perception. Based on the captured stereoscopic images and parallax information, the binocular vision system can perform three-dimensional reconstruction, that is, convert two-dimensional images into a three-dimensional scene model.

[0120] For example, the structured light vision device is a three-dimensional reconstruction and depth perception device that uses structured light principles. A specific light source pattern (such as a grid, a stripe or a coded light) is projected onto the placement device, and then the image formed after the projected light source is captured by a camera, so as to infer the three-dimensional shape and depth information of the placement device, the target object and each label in the scene, accurately measure the elevation and profile of the object surface, and realize high-precision three-dimensional reconstruction.

[0121] In this embodiment, an implementation manner of constructing a stereoscopic parameter is provided, and the stereoscopic parameter of the placement device can be obtained based on the binocular vision device and / or the structured light vision device.

[0122] In some embodiments, the stereoscopic parameters are acquired mainly by using the binocular vision device, and the stereoscopic parameters are optimized by using the structured light vision device, for example, the resolution of the stereoscopic image is improved, and the combination of the two can obtain high-precision three-dimensional data information.

[0123] In some embodiments, the irradiation treatment positioning system further comprises a target region imaging device configured to acquire a pose relationship between the target region in the target object and the fixed radiation source; the positioning module is further configured to determine a pose relationship between the target region in the target object and the target radiation source according to the treatment plan; and the positioning state of the placement device is determined according to the pose relationship between the target region and the fixed radiation source and the pose relationship between the target region and the target radiation source.

[0124] In some embodiments, the target region imaging device is an X-ray device, or other portable imaging devices such as CBCT can be selected as needed, and in specific cases, Compton cameras and the like can also be installed. Illustratively, the target region can be a target irradiation region on the target object, such as a region where a tumor is located, and irradiation radiation emitted from the fixed radiation source needs to be irradiated to the target region position.

[0125] Illustratively, the pose relationship between the target region and the target radiation source determined in the treatment plan is a theoretically expected relationship, which can include the spatial position relationship between the target radiation source and the target region and the angle relationship between the radiation emitted by the target radiation source and the target region.

[0126] In some embodiments, the pose relationship between the target region and the fixed radiation source can be used to verify whether the placement device is positioned correctly, for example, the positioning module can determine the pose relationship between the target region and the target radiation source according to the treatment plan, and therefore, whether the placement device is positioned correctly can also be judged based on whether the pose relationship between the target region and the fixed radiation source is consistent with the pose relationship between the target region and the target radiation source in the treatment plan; in some embodiments, during the treatment process, the positioning of the placement device can be continuously monitored and judged by using this method.

[0127] In some embodiments, the positioning parameter determined by the aforementioned positioning module is defined as a first positioning parameter; a second positioning parameter is determined according to the pose relationship between the target region and the fixed radiation source, the pose relationship between the target region and the target radiation source in the treatment plan, and the associated placement parameter in the second state, and the method for determining the second positioning parameter is similar to the method for determining the first positioning parameter, which is not described here; the obtained second positioning parameter can be used for verification of the first positioning parameter, or can be used for correction of the first positioning parameter.

[0128] In some embodiments, the irradiation treatment positioning system further comprises a control module configured to control the carrier device to adjust the pose according to the positioning parameters to reach the third state; the stereovision module is further configured to acquire the positioning stereoscopic parameters of the fixed radiation source and the plurality of tags in the third state; the positioning module is further configured to determine the relative pose relationship between the fixed radiation source and the plurality of tags in the third state according to the positioning stereoscopic parameters, and determine the positioning state of the carrier device according to the relative pose relationship between the target radiation source and the plurality of tags in the first state and the relative pose relationship between the fixed radiation source and the plurality of tags in the third state.

[0129] Exemplarily, the third state can be an end position after the positioning module performs positioning according to the positioning parameters, at which the positioning module is expected to reach the theoretical position of the treatment plan, but further fine adjustment can be needed.

[0130] Exemplarily, the relative pose relationship between the target radiation source and each tag in the first state is taken as a theoretical value, and the radiation emitted by the target radiation source can meet the requirements of the treatment plan under this condition. The relative pose relationship between the fixed radiation source and each tag in the second and third states is taken as an actual value, wherein the second state is an initial state, the pose of the carrier device is adjusted to reach the third state, and if the third state is consistent with the theoretical value, it can be ensured that the radiation emitted by the fixed radiation source can meet the requirements of the treatment plan; if the third state is inconsistent with the theoretical value, adjustment can be performed again according to the above description.

[0131] In this embodiment, after the carrier device moves to the third state according to the positioning parameters, the relative pose relationship between the fixed radiation source and the plurality of tags in the third state is determined by the stereovision module and the positioning module, and the positioning state is adjusted based on the relative pose relationship between the target radiation source and the plurality of tags in the first state, so that the relative pose relationship in the first state is met. The treatment plan is constructed based on the first state, so that the positioning state after adjustment can meet the treatment plan.

[0132] The above-mentioned modules in the irradiation treatment positioning system can be realized by software, hardware, or a combination thereof, in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules.

[0133] The above-mentioned positioning module can be an independent execution unit, or can share an execution unit with the treatment planning module, the virtual simulation module, or the control module, and can also be arranged in the carrier device. Of course, in other optional embodiments, the irradiation treatment positioning system further comprises a data management device, and the positioning module can also be arranged in the data management device. In other optional embodiments, the virtual simulation module can be an independent execution unit, or can share an execution unit with the treatment planning module or the control module.

[0134] Based on the same inventive concept, the embodiments of the present application also provide a method capable of being implemented by the irradiation treatment positioning system. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme described in the irradiation treatment positioning system, and therefore the specific limitations in one or more embodiments of the irradiation treatment positioning method provided below can refer to the limitations of the irradiation treatment positioning system described above, which will not be repeated here.

[0135] The irradiation treatment positioning method provided by the embodiments of the present application can be applied to the application environment as shown in FIG. 2. Wherein, the terminal 202 communicates with the server 204 through the network. The data storage system can store the data required to be processed by the server 204. The data storage system can be integrated on the server 204, or placed on the cloud or other network servers. Wherein, the terminal 204 can be but not limited to various placement devices 108. The server 204 can be implemented by an independent server or a server cluster composed of multiple servers.

[0136] In one embodiment, referring to FIG. 3, which is a flow chart of the irradiation treatment positioning method in one embodiment. The present application also provides an irradiation treatment positioning method, comprising the following steps S302-S308.

[0137] S302, obtaining medical images of a target object and a plurality of tags in a first state; the plurality of tags include at least three tags disposed on the target object and not on the same straight line.

[0138] S304, formulating a treatment plan according to the medical images, and determining the relative pose relationship between the target source and the plurality of tags in the first state according to the treatment plan.

[0139] S306, obtaining stereoscopic parameters of the fixed source and the plurality of tags in a second state, and determining the relative pose relationship between the fixed source and the plurality of tags in the second state according to the stereoscopic parameters; obtaining placement parameters of the placement device in the second state.

[0140] S308, determining the positioning parameters of the placement device according to the relative pose relationship between the target source and the plurality of tags in the first state, the relative pose relationship between the fixed source and the plurality of tags in the second state, and the placement parameters of the placement device in the second state, the positioning parameters being used to control the placement device to drive the target object to be positioned, so that the relative pose relationship between the fixed source and the plurality of tags is consistent with the relative pose relationship between the target source and the plurality of tags in the first state.

[0141] In the above irradiation treatment positioning method, the target object has a plurality of tags not on the same straight line, first, medical images of the target object and the tags are acquired, a treatment plan is formulated based on the medical images, and a relative pose relationship between the target source and the plurality of tags in a first state is determined, so that the irradiation treatment requirement can be met under the condition. When the target object is placed on the placement device, the stereoscopic parameters of the fixed source and the plurality of tags are acquired to determine the relative pose relationship between the fixed source and the plurality of tags in a second state. Based on the relative pose relationship between the target source and the plurality of tags, and the relative pose relationship between the fixed source and the plurality of tags in the second state, the motion parameters, i.e., the positioning parameters, of the placement device can be determined, so that after the placement device is positioned according to the positioning parameters, the relative pose relationship between the fixed source and the plurality of tags is consistent with the relative pose relationship between the target source and the plurality of tags in the first state, thereby meeting the requirements of the treatment plan. The irradiation treatment positioning method provided in the present application does not require manual intervention, can automatically position the placement device based on the medical images to meet the requirements of the treatment plan, reduces the labor cost, and improves the positioning accuracy.

[0142] In some embodiments, the positioning parameters of the placement device are determined according to the relative pose relationship between the target source and the plurality of tags in the first state, the relative pose relationship between the fixed source and the plurality of tags in the second state, and the placement parameters of the placement device in the second state, including: defining the relative pose relationship between the target source and the plurality of tags in the first state as a first relationship, defining the relative pose relationship between the fixed source and the plurality of tags in the second state as a second relationship, and determining a conversion relationship between the first relationship and the second relationship; and determining the positioning parameters of the placement device according to the conversion relationship and the placement parameters of the placement device in the second state.

[0143] Referring to FIG. 4, in some embodiments, the positioning parameters of the placement device are determined including the following steps S402-S408.

[0144] S402, a target source sub-coordinate system in a medical image coordinate system is established according to a treatment plan, a tag sub-coordinate system in the medical image coordinate system is established according to the medical images of the plurality of tags in the first state, and a third relationship between the target source sub-coordinate system and the tag sub-coordinate system in the medical image coordinate system is determined.

[0145] S404, a fixed source sub-coordinate system and a tag sub-coordinate system in a stereovision coordinate system are established according to the stereoscopic parameters of the fixed source and the plurality of tags in the second state, and a fourth relationship between the fixed source sub-coordinate system and the tag sub-coordinate system in the stereovision coordinate system is determined.

[0146] S406, a conversion relationship between the third relationship and the fourth relationship is determined.

[0147] S408, the positioning parameters of the placement device are determined according to the conversion relationship and the placement parameters of the placement device in the second state.

[0148] In some embodiments, after determining the positioning parameters of the placement device, the method further comprises: simulating the positioning process according to the positioning parameters, simulating the motion trajectory of the placement device, to determine whether there is motion interference of the placement device.

[0149] In some embodiments, the virtual simulation system can optionally use virtual reality, augmented reality, digital twin, etc.

[0150] In some embodiments, in the case of motion interference of the placement device, it indicates that the target object cannot be positioned, at this time, the motion trajectory can be adjusted, for example, in the case of keeping the starting position and the end position unchanged, the motion trajectory is adjusted; the positioning parameters and the motion trajectory can also be adjusted at the same time, the positioning process is simulated again until the motion interference is eliminated, or the treatment plan can be changed to obtain the positioning parameters again.

[0151] In some embodiments, the irradiation treatment positioning method further comprises: obtaining the pose relationship between the target region in the target object and the fixed radiation source; determining the pose relationship between the target region in the target object and the target radiation source according to the treatment plan; and determining the positioning state of the placement device according to the pose relationship between the target region and the fixed radiation source, and the pose relationship between the target region and the target radiation source.

[0152] In some embodiments, after determining the positioning parameters of the placement device, the method further comprises: controlling the placement device to adjust the pose according to the positioning parameters to reach a third state; obtaining the positioning stereoscopic parameters of the fixed radiation source and the plurality of tags in the third state; determining the relative pose relationship between the fixed radiation source and the plurality of tags in the third state according to the positioning stereoscopic parameters, and determining the positioning state of the placement device according to the relative pose relationship between the target radiation source and the plurality of tags in the first state, and the relative pose relationship between the fixed radiation source and the plurality of tags in the third state.

[0153] As shown in FIG. 5, in some embodiments, the irradiation treatment positioning method comprises the following steps S502-S526.

[0154] S502, obtaining medical images of a target object and a plurality of tags in a first state; the plurality of tags include at least three tags arranged on the target object and not on the same straight line.

[0155] S504, formulating a treatment plan according to the medical images, and determining the relative pose relationship between the target radiation source and the plurality of tags in the first state according to the treatment plan.

[0156] S506, obtaining stereoscopic parameters of a fixed radiation source and a plurality of tags in a second state, and determining the relative pose relationship between the fixed radiation source and the plurality of tags in the second state according to the stereoscopic parameters; and obtaining positioning parameters of a placement device in the second state.

[0157] S508, define the relative pose relationship between the target source and the plurality of tags in the first state as a first relationship, define the relative pose relationship between the fixed source and the plurality of tags in the second state as a second relationship, and determine a conversion relationship between the first relationship and the second relationship.

[0158] S510, according to the conversion relationship and the placement parameter in the second state, establish a target source sub-coordinate system in a medical image coordinate system according to the treatment plan, establish a tag sub-coordinate system in the medical image coordinate system according to the plurality of tags in the first state of medical image, and determine a third relationship between the target source sub-coordinate system and the tag sub-coordinate system in the medical image coordinate system.

[0159] S512, establish a fixed source sub-coordinate system and a tag sub-coordinate system in a stereo vision coordinate system according to the stereo parameters of the fixed source and the plurality of tags in the second state, and determine a fourth relationship between the fixed source sub-coordinate system and the tag sub-coordinate system in the stereo vision coordinate system.

[0160] S514, determine a conversion relationship between the third relationship and the fourth relationship; determine a positioning parameter of the placement device according to the conversion relationship and the placement parameter in the second state; the positioning parameter is used to control the placement device to position the target object, so that the relative pose relationship between the fixed source and the plurality of tags is consistent with the relative pose relationship between the target source and the plurality of tags in the first state.

[0161] S516, adjust the pose according to the positioning parameter to reach the third state; and obtain the positioning stereo parameters of the fixed source and the plurality of tags in the third state.

[0162] S518, determine the relative pose relationship between the fixed source and the plurality of tags in the third state according to the positioning stereo parameters, and determine the positioning state of the placement device according to the relative pose relationship between the target source and the plurality of tags in the first state and the relative pose relationship between the fixed source and the plurality of tags in the third state.

[0163] S520, simulate the positioning process according to the positioning parameter, simulate the motion trajectory of the placement device, and determine whether there is motion interference of the placement device.

[0164] S522, in the case that there is motion interference of the placement device, adjust the motion trajectory, or adjust the positioning parameter and the motion trajectory, and simulate the positioning process again.

[0165] S524, obtain the pose relationship between the target region in the target object and the fixed source; and determine the pose relationship between the target region in the target object and the target source according to the treatment plan.

[0166] S526, determining the positioning state of the placing device according to the pose relationship between the target region and the fixed source and the pose relationship between the target region and the target source.

[0167] It should be understood that, although each step in the flowchart involved in each embodiment as described above is shown in sequence according to the arrow, these steps are not necessarily executed in the order indicated by the arrow. For example, steps 510 and 512 can be exchanged in order or executed simultaneously. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0168] In an embodiment, the overall workflow of the present system and method includes:

[0169] Treatment planning: operations such as importing two-dimensional CT images, three-dimensional CT images, etc., determining the model of the collimator, determining the center point and angle of the collimator, determining the coordinates of the labels in the CT image, etc. can be performed, and the treatment planning result is obtained according to the parameters determined by the operation;

[0170] Image acquisition: real-time images of the target object are obtained using a stereo vision device, and image acquisition can be performed at any given time;

[0171] In an embodiment, image correction is performed: the captured images are corrected according to the camera parameters;

[0172] In an embodiment, super-resolution reconstruction is performed: Real-ESRGAN is used for super-resolution reconstruction to generate high-resolution images, thereby improving the accuracy of label detection and matching, thus reducing the performance requirements for the camera, and it is not necessary to select an expensive camera, thereby saving costs;

[0173] Label recognition: target detection technology is used, such as using YoloV8 model for label identification, which improves the accuracy of label detection; this enhanced function provides reliable data for 3D coordinate calculation and guidance of the robot arm;

[0174] In an embodiment, 3D point cloud calculation is performed: a depth map is generated using a parallax map, camera parameters and 2D position points, and 3D point cloud calculation and determination of the spatial position of the center point are performed; in an embodiment, a deep learning neural network (DLNN) can also be used to enhance the high frequency and detail features of the image, thereby improving the matching accuracy and achieving accurate three-dimensional reconstruction.

[0175] Relative pose relationship calculation: calculate the transformation, such as a transformation matrix, of the target object position and the collimator beam center point to represent the relative pose relationship;

[0176] Mechanical arm control: determine the mechanical arm parameters based on the transformation matrix and control the mechanical arm.

[0177] In one embodiment, a computer device, which can be a server, is provided, and an internal structure diagram thereof can be as shown in FIG. 6. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store medical image data. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals through a network connection. The computer program is executed by the processor to implement a radiation therapy positioning system method.

[0178] Those skilled in the art can understand that the structure shown in FIG. 6 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0179] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in each of the method embodiments described above.

[0180] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps in each of the method embodiments described above.

[0181] In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of any of the above method embodiments.

[0182] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0183] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0184] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A radiation therapy positioning system, characterized in that, include: The image acquisition module is used to acquire medical images of a target object and multiple labels in a first state; the multiple labels include at least three labels that are not on the same straight line and are set on the target object. The treatment planning module formulates a treatment plan based on the medical images. A stereo vision module is used to acquire stereo parameters of a fixed radiation source and multiple labels in the second state; A mounting device used to support and adjust the pose of a target object; The parameter acquisition module is used to acquire the mounting parameters of the mounting device in the second state; The positioning module is used to determine the relative pose relationship between the target source and multiple tags in the first state according to the treatment plan, and to determine the relative pose relationship between the fixed source and multiple tags in the second state according to the stereo parameters. The positioning module is also used to determine the positioning parameters of the mounting device according to the relative pose relationship between the target source and multiple tags in the first state, the relative pose relationship between the fixed source and multiple tags in the second state, and the mounting parameters of the mounting device in the second state. The positioning parameters are used to control the mounting device to move the target object to position so that the relative pose relationship between the fixed source and multiple tags is consistent with the relative pose relationship between the target source and multiple tags in the first state.

2. The system according to claim 1, characterized in that, The positioning module is further configured to define the relative pose relationship between the target source and multiple tags in the first state as a first relationship, and define the relative pose relationship between the fixed source and multiple tags in the second state as a second relationship, and determine the conversion relationship between the first relationship and the second relationship; the positioning module is further configured to determine the positioning parameters of the mounting device based on the conversion relationship and the mounting parameters in the second state.

3. The system according to claim 1, characterized in that, The positioning module is also used to determine the conversion relationship between the first relationship and the second relationship, and to determine the positioning parameters of the mounting device based on the conversion relationship and the mounting parameters in the second state; the first relationship is the relative pose relationship between the target source and multiple tags in the first state, and the second relationship is the relative pose relationship between the fixed source and multiple tags in the second state.

4. The system according to claim 1, characterized in that, The positioning module is further configured to establish a target source sub-coordinate system in the medical image coordinate system according to the treatment plan, establish a label sub-coordinate system in the medical image coordinate system according to the medical images of the multiple labels in the first state, determine a third relationship between the target source sub-coordinate system and the label sub-coordinate system in the medical image coordinate system, establish a fixed source sub-coordinate system and a label coordinate system in the stereo vision coordinate system according to the stereo parameters of the fixed source and the multiple labels in the second state, determine a fourth relationship between the fixed source sub-coordinate system and the label coordinate system in the stereo vision coordinate system, determine the transformation relationship between the third relationship and the fourth relationship, and determine the positioning parameters of the mounting device according to the transformation relationship and the mounting parameters in the second state.

5. The system according to claim 1, characterized in that, It also includes a virtual simulation module, which is used to simulate the placement process based on the placement parameters, simulate the motion trajectory of the mounting device, and determine whether there is motion interference of the mounting device.

6. The system according to claim 1, characterized in that, It also includes a target imaging device, used to obtain the pose relationship between the target area and the fixed radiation source in the target object; The positioning module is also used to determine the pose relationship between the target area and the target source in the target object according to the treatment plan; and to determine the positioning state of the mounting device according to the pose relationship between the target area and the fixed source, and the pose relationship between the target area and the target source.

7. The system according to claim 1, characterized in that, It also includes a control module, used to control the placement device to adjust its posture according to the placement parameters to reach the third state; The stereo vision module is also used to acquire the stereo parameters of the fixed radiation source and multiple labels in the third state. The positioning module is also used to determine the relative pose relationship between the fixed source and multiple tags in the third state according to the positioning three-dimensional parameters, and to determine the positioning state of the carrier device according to the relative pose relationship between the target source and multiple tags in the first state and the relative pose relationship between the fixed source and multiple tags in the third state.

8. A method for positioning the patient during irradiation therapy, characterized in that, include: Acquire a medical image of a target object and multiple labels in a first state; the multiple labels include at least three labels that are not on the same straight line and are set on the target object; A treatment plan is developed based on the medical images, and the relative pose relationship between the target source and multiple tags in the first state is determined based on the treatment plan. Obtain the stereo parameters of the fixed source and multiple tags in the second state, and determine the relative pose relationship between the fixed source and multiple tags in the second state based on the stereo parameters; Obtain the mounting parameters of the mounting device in the second state; Based on the relative pose relationship between the target source and multiple tags in the first state, the relative pose relationship between the fixed source and multiple tags in the second state, and the placement parameters of the placement device in the second state, the placement parameters of the placement device are determined. The placement parameters are used to control the placement device to move the target object to position so that the relative pose relationship between the fixed source and multiple tags is consistent with the relative pose relationship between the target source and multiple tags in the first state.

9. The method according to claim 8, characterized in that, The step of determining the placement parameters of the mounting device based on the relative pose relationship between the target source and multiple tags in the first state, the relative pose relationship between the fixed source and multiple tags in the second state, and the placement parameters of the mounting device in the second state includes: The relative pose relationship between the target source and multiple tags in the first state is defined as the first relationship, and the relative pose relationship between the fixed source and multiple tags in the second state is defined as the second relationship. The transformation relationship between the first relationship and the second relationship is determined. Based on the transformation relationship and the placement parameters in the second state, the placement parameters of the placement device are determined.

10. The method according to claim 8, characterized in that, The step of determining the placement parameters of the mounting device based on the relative pose relationship between the target source and multiple tags in the first state, the relative pose relationship between the fixed source and multiple tags in the second state, and the placement parameters of the mounting device in the second state includes: Determine the conversion relationship between the first relationship and the second relationship; determine the placement parameters of the placement device based on the conversion relationship and the placement parameters in the second state; the first relationship is the relative pose relationship between the target source and multiple tags in the first state, and the second relationship is the relative pose relationship between the fixed source and multiple tags in the second state.

11. The method according to claim 8, characterized in that, The determination of the placement parameters of the mounting device includes: Establish a target source sub-coordinate system under the medical image coordinate system according to the treatment plan, establish a label sub-coordinate system under the medical image coordinate system according to the medical images of the multiple labels in the first state, and determine the third relationship between the target source sub-coordinate system and the label coordinate system under the medical image coordinate system. Based on the stereo parameters of a fixed source and multiple labels in the second state, establish a fixed source sub-coordinate system and a label sub-coordinate system in the stereo vision coordinate system, and determine the fourth relationship between the fixed source sub-coordinate system and the label coordinate system in the stereo vision coordinate system. Determine the conversion relationship between the third and fourth relations; Based on the transformation relationship and the placement parameters in the second state, the placement parameters of the placement device are determined.

12. The method according to claim 8, characterized in that, After determining the placement parameters of the mounting device, the method further includes: The placement process is simulated based on the placement parameters to simulate the motion trajectory of the mounting device in order to determine whether there is motion interference in the mounting device.

13. The method according to claim 8, characterized in that, Also includes: Obtain the pose relationship between the target area and the fixed radiation source in the target object; The pose relationship between the target area and the target source in the target object is determined according to the treatment plan; The placement state of the mounting device is determined based on the pose relationship between the target area and the fixed source, and the pose relationship between the target area and the target source.

14. The method according to claim 8, characterized in that, After determining the placement parameters of the mounting device, the method further includes: The placement device is controlled to adjust its posture according to the placement parameters to reach the third state; Obtain the three-dimensional positioning parameters of a fixed radiation source and multiple tags in the third state; The relative pose relationship between the fixed source and multiple tags in the third state is determined based on the three-dimensional positioning parameters. The positioning state of the mounting device is determined based on the relative pose relationship between the target source and multiple tags in the first state and the relative pose relationship between the fixed source and multiple tags in the third state.

15. A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps: Acquire a medical image of a target object and multiple labels in a first state; the multiple labels include at least three labels that are not on the same straight line and are set on the target object; A treatment plan is developed based on the medical images, and the relative pose relationship between the target source and multiple tags in the first state is determined based on the treatment plan. Obtain the stereo parameters of the fixed source and multiple tags in the second state, and determine the relative pose relationship between the fixed source and multiple tags in the second state based on the stereo parameters; Obtain the mounting parameters of the mounting device in the second state; Based on the relative pose relationship between the target source and multiple tags in the first state, the relative pose relationship between the fixed source and multiple tags in the second state, and the placement parameters of the placement device in the second state, the placement parameters of the placement device are determined. The placement parameters are used to control the placement device to move the target object to position so that the relative pose relationship between the fixed source and multiple tags is consistent with the relative pose relationship between the target source and multiple tags in the first state.

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