Irradiation plan optimization method and irradiation system

Abstract

The present application provides an irradiation plan optimization method and an irradiation system. The method comprises: acquiring a conversion relationship between a radiation source parameter and a mechanical arm parameter, and a target radiation source parameter in an irradiation plan; calculating, according to the target radiation source parameter and the conversion relationship, a target mechanical arm parameter; in the case that a mechanical arm cannot complete the execution of the target mechanical arm parameter, adjusting the pose of the mechanical arm and acquiring an adjusted optimized mechanical arm parameter; calculating, according to the optimized mechanical arm parameter and the conversion relationship, an optimized radiation source parameter corresponding to the optimized mechanical arm parameter; and optimizing, according to the optimized radiation source parameter, the irradiation plan. By means of the described solution, an achievable optimized radiation source parameter can be accurately acquired in the case that the movement of the mechanical arm is limited, thereby rapidly and efficiently optimizing the irradiation plan to ensure the irradiation effect.

Description

An optimization method for irradiation programs and an irradiation system. Technical Field

[0001] This application belongs to the field of irradiation, and in particular relates to an optimization method for irradiation programs and an irradiation system. Background Technology

[0002] Boron neutron capture therapy (BNCT) is a radiotherapy technique that uses the high absorption cross-section of boron-10 nuclide to specifically kill tumor cells while minimizing damage to surrounding normal tissues, thus achieving tumor treatment. To ensure the precise delivery of the radiation dose to the target area, an irradiation planning system is needed to optimize irradiation parameters, including patient positioning.

[0003] In boron neutron capture therapy, patients first receive an intravenous injection of a boron-containing drug containing boron-10. This boron-containing drug exhibits high stability and targeting, allowing boron-10 to accumulate stably within tumor cells. Then, under neutron beam irradiation, the high neutron cross-section of the boron-10 nuclide allows it to capture neutrons, releasing high-energy alpha particles and lithium ions. These particles have a short range and can concentrate near the tumor cells, producing a high dose of radiation that kills the tumor cells.

[0004] The typical procedure for boron neutron capture therapy is as follows: Before radiotherapy, physicians and physicists determine the treatment plan using an irradiation planning system. Based on the patient's medical imaging information (computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography-computed tomography (PET-CT), etc.), the irradiation planning system delineates the treatment target volume (GTV) and regions of interest (ROIs) of various important organs in the medical images, calculates the radiation dose, and ultimately determines the irradiation plan, including patient localization.

[0005] In the process of boron neutron capture therapy, in addition to precise planning of the entire irradiation process, the patient must be accurately positioned in strict accordance with the irradiation plan during the radiotherapy. If the positioning error is too large, the center position, angle and distance of the beam irradiation 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 will fail to achieve the desired therapeutic effect. Summary of the Invention

[0006] The purpose of this application is to provide an optimization method and irradiation system for irradiation planning, which can accurately and efficiently determine the irradiation plan.

[0007] This application provides a method for optimizing an irradiation program, and the irradiation system is implemented as follows:

[0008] An optimization method for an irradiation program, the method comprising:

[0009] Obtain the conversion relationship between radiation source parameters and robotic arm parameters, as well as the target radiation source parameters in the irradiation plan;

[0010] Calculate the target robotic arm parameters based on the target source parameters and the conversion relationship;

[0011] If the robotic arm is unable to execute the target robotic arm parameters, adjust the pose of the robotic arm and obtain the adjusted optimized robotic arm parameters.

[0012] Based on the optimized robotic arm parameters and the conversion relationship, the optimized source parameters corresponding to the optimized robotic arm parameters are calculated;

[0013] The irradiation plan is optimized based on the optimized source parameters.

[0014] In one implementation, before obtaining the target source parameters in the irradiation plan, the method further includes:

[0015] Acquire medical imaging data of the target object;

[0016] An irradiation plan is developed based on the medical imaging data, wherein the irradiation plan includes target source parameters.

[0017] In one embodiment, obtaining the conversion relationship between the source parameters and the robotic arm parameters includes:

[0018] Based on the relative pose relationship between the radiation source and the target object in the irradiation plan and the relative pose relationship between the robotic arm and the fixed radiation source, the conversion relationship between the radiation source parameters and the robotic arm parameters is determined.

[0019] In one embodiment, the source parameters are used to determine the relative pose relationship between the source and the target object, and the robotic arm parameters are used to determine the relative pose relationship between the robotic arm and the fixed source.

[0020] In one embodiment, obtaining the conversion relationship between the source parameters and the robotic arm parameters includes:

[0021] A medical image coordinate system is established based on the medical image data, and the target object pose in the medical image coordinate system is obtained.

[0022] A robotic arm coordinate system is established based on the robotic arm control system, and the fixed source pose in the robotic arm coordinate system is obtained.

[0023] Based on the pose of the target object and the pose of the fixed source, a conversion relationship between the source parameters and the robot arm parameters is established.

[0024] In one embodiment, optimizing the irradiation plan based on the optimized source parameters includes calculating the optimized irradiation time and / or irradiation dose based on the optimized source parameters.

[0025] In one embodiment, after optimizing the irradiation plan according to the optimized source parameters, the method further includes:

[0026] The optimized irradiation plan was evaluated.

[0027] In one implementation, evaluating the optimized irradiation plan includes:

[0028] Retrieve the pre-configured computing engine;

[0029] The optimized radiation source parameters are passed to the calculation engine to calculate the distribution of the radiation source dose on the target object;

[0030] An evaluation is performed based on the distribution of the dose on the target object.

[0031] An irradiation system includes a fixed radiation source and a mounting device, the mounting device including a robotic arm for carrying and adjusting the pose of a target object relative to the fixed radiation source, the system further including:

[0032] The irradiation planning module is used to formulate irradiation plans and optimize them based on optimized source parameters.

[0033] The parameter acquisition module is used to obtain the conversion relationship between the radiation source parameters and the robotic arm parameters, as well as the target radiation source parameters in the irradiation plan.

[0034] The first calculation module is used to calculate the target robotic arm parameters based on the target source parameters and the conversion relationship;

[0035] The control module is used to control and adjust the pose of the robotic arm and obtain the optimized robotic arm parameters after adjustment when the robotic arm is unable to complete the execution of the target robotic arm parameters.

[0036] The second calculation module is used to calculate the optimized source parameters corresponding to the optimized robotic arm parameters based on the optimized robotic arm parameters and the conversion relationship.

[0037] In one embodiment, the irradiation planning module is further configured to acquire medical image data of the target object and formulate an irradiation plan based on the medical image data, wherein the irradiation plan includes target source parameters.

[0038] In one embodiment, the parameter acquisition module is further configured to determine the conversion relationship between the source parameters and the robotic arm parameters based on the relative pose relationship between the source and the target object in the irradiation plan and the relative pose relationship between the robotic arm and the fixed source.

[0039] In one embodiment, the parameter acquisition module is further configured to establish a medical image coordinate system based on the medical image data, acquire the target object pose in the medical image coordinate system, establish a robotic arm coordinate system based on the robotic arm control system, acquire the fixed source pose in the robotic arm coordinate system, and establish a conversion relationship between the source parameters and the robotic arm parameters based on the target object pose and the fixed source pose.

[0040] The irradiation planning optimization method and irradiation system provided in this application calculate the target robotic arm parameters based on the conversion relationship between radiation source parameters and robotic arm parameters, as well as the target radiation source parameters in the irradiation plan. If the robotic arm cannot execute the target parameters, its pose is adjusted. Based on the adjusted robotic arm parameters and the aforementioned conversion relationship, optimized radiation source parameters are calculated, and then the irradiation plan is optimized according to these optimized parameters. This method allows for accurate determination of achievable optimized radiation source parameters even when robotic arm movement is limited, enabling rapid and efficient optimization of irradiation plans, ensuring irradiation effectiveness, saving valuable time for medical personnel, reducing the risk of exposure to potential radiation environments, and improving the utilization rate of irradiation rooms or preparation rooms. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 is a schematic diagram of the architecture of an embodiment of the irradiation system provided in this application;

[0043] Figure 2 is a flowchart of an embodiment of the irradiation program optimization method provided in this application;

[0044] Figure 3 is a flowchart of a method for obtaining the conversion relationship between source parameters and robotic arm parameters according to an embodiment of this application;

[0045] Figure 4 is a flowchart of a specific embodiment of the irradiation program optimization method provided in this application;

[0046] Figure 5 is a hardware structure block diagram of an electronic device for an optimization method of irradiation program provided in this application;

[0047] Figure 6 is a schematic diagram of the module structure of an embodiment of the irradiation program optimization device provided in this application. Detailed Implementation

[0048] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0049] For existing irradiation systems, using robotic arms and related algorithms to automate patient positioning can effectively improve positioning accuracy and efficiency. However, due to the limitations of the robotic arm's own degrees of freedom and the influence of fixed equipment or installation conditions at the irradiation site, there may be situations where the robotic arm cannot be moved to the position set in the irradiation planning system, inevitably leading to positioning failure. In such cases, the irradiation plan needs to be redesigned, and positioning repeated until successful before proceeding to the next step of irradiation. However, the process of repositioning and redesigning the irradiation plan often requires significant time and manpower from medical personnel, increases the time and risk of exposure to potential radiation, and reduces the utilization rate of the irradiation room or preparation room.

[0050] Since the target of an irradiation plan is generally set on a mounting device, the position and angle of the mounting device, i.e., the parameters of the robotic arm, can also be relatively determined when the irradiation plan is determined. Based on this, in this example, we can first establish the conversion relationship between the radiation source parameters and the robotic arm parameters. Through the conversion relationship and the target radiation source parameters in the irradiation plan, we can calculate the target robotic arm parameters. If the robotic arm cannot complete the execution of the target robotic arm parameters, we can adjust the robotic arm pose. Based on the adjusted robotic arm parameters and the above conversion relationship, we can calculate the optimized radiation source parameters. Then, we can optimize the irradiation plan according to the optimized radiation source parameters to achieve rapid and efficient optimization of the irradiation plan.

[0051] Specifically, this example provides an irradiation system, as shown in Figure 1. The irradiation system 20 may include a fixed radiation source 101 and a mounting device 102. The mounting device 102 may include a robotic arm 1021. The mounting device 102 is used to carry and adjust the pose of the target object 1022 relative to the fixed radiation source. The system can also formulate and optimize irradiation plans. The fixed radiation source can be a simulated source in the preparation chamber or an actual source in the irradiation chamber. High-energy alpha particles and lithium ions are released from the actual source. These particles have a short range and can concentrate near tumor cells, generating a high dose of radiation, thereby killing the tumor cells.

[0052] Figure 2 is a flowchart of an embodiment of the irradiation program optimization method provided in this application. Although this application provides method operation steps or apparatus structures as shown in the following embodiments or figures, more or fewer operation steps or module units may be included in the method or apparatus based on conventional or non-inventive effort. In steps or structures where there is no logically necessary causal relationship, the execution order of these steps or the module structure of the apparatus is not limited to the execution order or module structure described in the embodiments and figures of this application. When the method or module structure is applied in actual devices or end products, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiments or figures (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed processing environment).

[0053] Specifically, as shown in Figure 2, the optimization method for the above-mentioned irradiation plan may include the following steps:

[0054] Step 201: Obtain the conversion relationship between the radiation source parameters and the robotic arm parameters, as well as the target radiation source parameters in the irradiation plan;

[0055] Step 202: Calculate the target robotic arm parameters based on the target radiation source parameters and the conversion relationship; after obtaining the above conversion relationship, the target robotic arm parameters corresponding to the target radiation source parameters can be calculated by substituting them into the target radiation source parameters in the irradiation plan.

[0056] After calculating the target robotic arm parameters, the robotic arm can be controlled to move according to these parameters. However, considering the actual environment, the fixed installation position of the robotic arm may impose movement limitations, preventing it from executing the target parameters. The mounting device or the target object may collide with other objects during movement, such as walls, ceilings, or other equipment, or different parts of the robotic arm may obstruct each other, resulting in movement restrictions. For example, when controlling the robotic arm to rotate 60 degrees clockwise, due to positional limitations, the target object might hit a wall at 45 degrees, preventing the robotic arm from rotating to 60 degrees and forcing it to remain at 45 degrees. If irradiation is performed in this manner, the position, angle, and distance of the beam reaching the center of the lesion target area will inevitably deviate from the irradiation plan. If irradiation is still performed according to the initial plan, the dose to the tumor target area will be insufficient, or the dose to surrounding normal tissues will be excessive, failing to achieve the desired effect. In such cases, to ensure irradiation effectiveness, the irradiation plan needs to be optimized.

[0057] Step 203: If the robotic arm is unable to execute the target robotic arm parameters, adjust the pose of the robotic arm and obtain the adjusted optimized robotic arm parameters;

[0058] If it is determined that the robotic arm cannot execute the target parameters, the robotic arm's pose needs to be adjusted to a reachable position, and the optimized robotic arm parameters corresponding to that position should be obtained. The robotic arm's pose adjustment can be done automatically by the system, or it can be controlled and adjusted by a doctor or physicist based on experience.

[0059] Step 204: Calculate the optimized source parameters corresponding to the optimized robotic arm parameters based on the optimized robotic arm parameters and the conversion relationship;

[0060] Step 205: Optimize the irradiation plan based on the optimized source parameters.

[0061] In one implementation, the irradiation plan optimization method is executed by one or more processors that perform the irradiation plan optimization method.

[0062] In one implementation, step 205, based on the optimized irradiation plan according to the optimized source parameters, is output to the irradiation system to control the irradiation system to perform irradiation.

[0063] In one embodiment, medical image data of the target object can be acquired before step 201; an irradiation plan is formulated based on the medical image data, wherein the irradiation plan includes target source parameters. In one embodiment, the irradiation plan also includes irradiation time and / or irradiation dose.

[0064] In one implementation, the conversion relationship between the source parameters and the robotic arm parameters in step 201 is determined based on the relative pose relationship between the source and the target object in the irradiation plan and the relative pose relationship between the robotic arm and the fixed source.

[0065] In one implementation, the source parameters are used to determine the relative pose relationship between the source and the target object, and can further determine the position, angle and distance at which the beam is incident on the target object.

[0066] In one embodiment, the robotic arm parameters are used to determine the relative pose relationship between the robotic arm and the fixed source. It is understood that the relative position of the target object and the mounting device can be fixed by some fixing means, and then the relative position of the robotic arm, such as a reference object on the robotic arm, such as a flange, with the target object can also be regarded as fixed. Then, the relative pose relationship between the target object and the fixed source can be determined according to the robotic arm parameters.

[0067] In one implementation, the conversion relationship between the source parameters and the robotic arm parameters is obtained, as shown in Figure 3, including the following steps:

[0068] Step 301: Establish a medical image coordinate system based on medical image data, and obtain the target object's pose in the medical image coordinate system;

[0069] Step 302: Establish the robotic arm coordinate system based on the robotic arm control system, and obtain the fixed source pose of the fixed source in the robotic arm coordinate system;

[0070] Step 303: Establish the conversion relationship between the source parameters and the robotic arm parameters based on the target object pose and the fixed source pose.

[0071] In one implementation, the source parameters can be determined by (SrcX, SrcY, SrcZ, θ, ...). These five parameters represent the following: the first three are positional parameters, indicating the coordinates of the center point of the beam exit (e.g., collimator) in the medical imaging coordinate system; the last two are angular parameters, indicating the elevation and azimuth angles of the beam centerline. The direction (Xb, Yb, Zb) of the beam centerline in the medical imaging coordinate system can be uniquely determined using these source parameters.

[0072] In one implementation, the source parameters can be represented by the following 4x4 matrix form:

[0073] Among them, Xb1, Yb1, Zb1, Xb2, Yb2, Zb2, Xb3, Yb3, and Zb3 represent the direction vector of the beam centerline in the form of a 3*3 matrix. Representing vectors in matrix form is a conventional technique in this field and will not be elaborated upon here. It is understood that the source parameter Ma represents the pose of the beam exit in the medical imaging coordinate system, such as the position of the beam exit center point and the beam direction. However, the pose of the beam exit is not limited to matrix or vector form and can also be represented by other parameter forms.

[0074] In one implementation, when acquiring medical images of a target object, at least three tags that are not collinear are placed on the target object. These tags can be markers that are visible and easily identifiable in medical images; they can be made of materials visible in medical images. Combining the positional information of these at least three tags that are not collinear represents the pose information of these tags. Since the tags are placed on the target object, their pose information also represents the pose information of the target object. It is understood that this embodiment only requires at least three tags that meet this condition to be used to determine the pose of the target object. Based on this, the number of tags can be arbitrarily increased, and the added tags are not restricted to being placed on the same straight line.

[0075] In one implementation, the three labels in the medical image coordinate system are P1(x1,y1,z1), P2(x2,y2,z2), and P3(x3,y3,z3). A label sub-coordinate system C1 in the medical image coordinate system can be constructed using this set of labels.

[0076] For example, P1 is set as the origin of the coordinate system, the vector represented by Vx = P2 - P1 is taken as the X-axis of the coordinate system, Vt = P3 - P1 is taken as a set of vectors in the XY plane of the coordinate system, the cross product of Vx and Vt is taken as the Y-axis of the coordinate system, and the direction perpendicular to both the X and Y axes is taken as the Z-axis of the coordinate system. It is understood that the tag coordinate system can also be established using other methods known to those skilled in the art. In one embodiment, C1 can be represented in matrix form.

[0077] Since the pose information of the label represents the pose information of the target object, the label sub-coordinate system C1 represents the pose of the target object in the medical image coordinate system. When the pose of the radiation source is determined in the medical image coordinate system, such as when the pose of the radiation source is determined in the irradiation plan, C1 can also represent the relative pose relationship between the radiation source and the target object in the irradiation plan.

[0078] It is understandable that the pose of the target object is not limited to coordinate system or matrix form, but can also be represented by other parameters, and is not limited to being constructed by the position of the label, but can also be obtained by conventional technical means in this field such as marking with markers, laser calibration, determination by captured images, or acquisition by position sensors.

[0079] After the irradiation plan determines the target source parameters, these parameters become the source parameters Ma. A unique transformation relationship TM exists between the source parameters Ma and the tag coordinate system C1, namely:

[0080] C1 = Ma*TM

[0081] In one implementation, TM is represented by a 4x4 matrix to unify with the 4x4 Ma matrix form for easier calculation. It is understood that the coordinate systems or transformation relationships between TM and Ma, C1, and Mb, C2, etc., which appear later, are not limited to the matrix representation form, nor are they limited to the 4x4 matrix form.

[0082] In one embodiment, the robotic arm itself has a robotic arm control system, and a robotic arm coordinate system is established based on the robotic arm control system. The movement of the robotic arm can be controlled by robotic arm parameters. In one embodiment, the robotic arm parameters include six parameters (Tx, Ty, Tz, Ra, Rb, Rc), where Tx, Ty, and Tz are translation transformation parameters used for translation transformation, and Ra, Rb, and Rc are rotation transformation parameters used for rotation transformation. The pose of the robotic arm, i.e., the pose of the mounting device, can be uniquely determined based on the robotic arm parameters. Since the target object can be considered relatively fixed on the mounting device, the robotic arm parameters can uniquely determine the pose of the target object in the robotic arm coordinate system. That is, the robotic arm parameters can represent the pose of the target object in the robotic arm coordinate system. It is understood that if the position of the target object on the mounting device is not fixed, the relative movement relationship of the target object on the mounting device can be obtained through conventional technical means in the art. Based on the relative movement relationship, the pose of the target object is associated with the robotic arm parameters, and thus the pose of the target object in the robotic arm coordinate system is still represented by the robotic arm parameters.

[0083] In one implementation, the robotic arm parameters can be represented by a 4x4 matrix Mb:

[0084] Among them, R 1x R 2x R 3x R 1y R 2y R 3y R 1z R 2z R 3zThis is the result of representing the direction vector of the robotic arm as a 3x3 matrix, and R1, R2, and R3 can be represented as:

[0085] The first three rows of matrix R1 correspond to R... 1x R 1y R 1z The first three rows of the R2 matrix correspond to R... 2x R 2y R 2z The first three rows of the R3 matrix correspond to R... 3x R 3y R 3z .

[0086] In the irradiation chamber or preparation room, the goal of target positioning is to ensure that the relative pose of the target object and the fixed radiation source is consistent with the irradiation plan. Since the position of the fixed radiation source in the irradiation chamber or preparation room is determined (e.g., it can be pre-calibrated), the pose C2 of the fixed radiation source in the robotic arm coordinate system can also represent the relative pose of the robotic arm and the fixed radiation source. Furthermore, the transformation relationship between C2 and the robotic arm parameter Mb is consistent with the aforementioned transformation relationship TM between the radiation source parameter Ma and the tag coordinate system C1, i.e.: Mb = C2 * TM

[0087] Furthermore, the transformation relationship between the source parameter Ma in the medical imaging coordinate system and the robotic arm parameter Mb in the robotic arm coordinate system can be obtained, namely: Mb=Ma*TR

[0088] By substituting equations, performing mathematical operations, and simplifying the transformation relationships mentioned above, we can obtain: TR=C2*C1*(Ma) -1

[0089] Among them, (Ma) -1 Let be the inverse matrix of Ma. The above mathematical calculations, i.e., the simplification process, are standard practices in this field and will not be elaborated upon here. Based on this, the above transformation relationship can also be expressed as: Ma = Mb * TR -1

[0090] Among them, TR -1 Let be the inverse matrix of TR.

[0091] Therefore, it can be understood that the conversion relationship TR between the source parameter Ma and the robotic arm parameter Mb is related to C2 and C1. According to the previous description, C1 represents the target object's pose in the medical image coordinate system. C1 can also represent the relative pose relationship between the source and the target object in the irradiation plan. C2 is the pose of the fixed source in the robotic arm coordinate system. C2 can also represent the relative pose relationship between the robotic arm and the fixed source. Therefore, it can be concluded that step 303 establishes the conversion relationship (TR) between the source parameters and the robotic arm parameters based on the target object pose (C1) and the fixed source pose (C2). It can also be concluded that the conversion relationship (TR) between the source parameters and the robotic arm parameters is determined based on the relative pose relationship between the source and the target object in the irradiation plan (represented by C1) and the relative pose relationship between the robotic arm and the fixed source (represented by C2).

[0092] In one implementation, step 205 optimizes the irradiation plan based on the optimized source parameters, including: calculating the optimized irradiation time and / or irradiation dose based on the optimized source parameters.

[0093] In one implementation, after optimizing the irradiation plan based on the optimized source parameters in step 205, the optimized irradiation plan is further evaluated.

[0094] In one implementation, evaluating the optimized irradiation plan includes: retrieving a pre-configured computing engine; passing optimized source parameters to the computing engine (e.g., a GPU-based Monte Carlo computing engine) to calculate the dose distribution of the source on the target object; and evaluating the dose distribution on the target object.

[0095] In one implementation, if the evaluation is successful, irradiation is carried out according to the optimized irradiation plan.

[0096] In one implementation, if the evaluation fails, the robotic arm pose is adjusted again, and the irradiation plan is re-optimized based on the readjusted robotic arm pose and the aforementioned transformation relationship, until the optimized irradiation plan passes the evaluation.

[0097] In one implementation, if the assessment fails, the irradiation plan is revised.

[0098] To ensure the therapeutic effect and efficiency of irradiation for the target subjects, it is necessary to ensure that the subject's position during irradiation matches the position designed in the irradiation plan. Furthermore, it is also necessary to consider how to quickly optimize the irradiation plan when the planned position cannot be achieved during irradiation. That is, how to optimize the irradiation plan based on on-site positioning data and evaluate the plan based on new dose distribution data to improve patient treatment efficiency. Based on this, this example provides an irradiation system that achieves rapid and accurate optimization of the irradiation plan and automatic correction of the patient's position through data association between an automatic patient positioning system and an irradiation planning system.

[0099] In one implementation, an optimization method for an irradiation program is provided, as shown in Figure 4, comprising the following steps:

[0100] S1: Import the medical image data of the target object;

[0101] S2: Develop an irradiation plan based on the medical imaging data, wherein the irradiation plan includes target source parameters, irradiation time, and irradiation dose;

[0102] S3: Based on the relative pose relationship between the radiation source and the target object in the irradiation plan and the relative pose relationship between the robotic arm and the fixed radiation source, determine the conversion relationship between the radiation source parameters and the robotic arm parameters, and calculate the target robotic arm parameters according to the target radiation source parameters and the conversion relationship;

[0103] To verify the feasibility of the target robotic arm parameters, a simulated setup can be performed first. If the robotic arm can move to the expected position, the simulation setup is successful, and the process can be terminated. For example, if the setup preparation is in the preparation room, it can be terminated; if it is in the irradiation room, irradiation can be carried out. If the robotic arm cannot execute the target robotic arm parameters, such as failing to reach the expected position or experiencing interference during movement, irradiation plan optimization is required, and steps S4-S6 should be executed.

[0104] S4: Adjust the robotic arm's pose. This can be done automatically by the system or by a doctor or physicist controlling the robotic arm based on experience. For example, control the robotic arm to reach the position closest to the expected position, obtain the robotic arm parameters at this point, and use these as optimized robotic arm parameters Mb'(Tx', Ty', Tz', Ra', Rb', Rc'). Substitute the optimized robotic arm parameters Mb' into the conversion relationship between the radiation source parameters and the robotic arm parameters, such as Ma = Mb * TR. -1 Solve for Ma' = Mb' * TR -1 Where Ma'(SrcX', SrcY', SrcZ', θ', φ') are the optimized source parameters.

[0105] S5: Optimize the irradiation plan based on the optimized source parameters; for example, the optimized source parameters are passed to a GPU-based Monte Carlo computing engine for rapid dose calculation and other operations.

[0106] S6: Plan evaluation; if the evaluation is successful, this process ends; if preparation is completed in the preparation room, irradiation can be carried out in the irradiation room; if the evaluation fails, the results are output; subsequent operations such as adjusting the robotic arm parameters or re-formulating the irradiation plan can be determined by the operator.

[0107] Given the complexity of neutron transport within the human body, simplified methods for dose calculation are not feasible, necessitating the use of the Monte Carlo algorithm. However, the Monte Carlo algorithm is computationally intensive and time-consuming. To address this issue, this example employs a GPU-based Monte Carlo algorithm to improve computational efficiency. Specifically, the GPU-based Monte Carlo calculation engine is automatically integrated with the irradiation planning system. When the source parameters in the irradiation planning system change, only the source parameters need to be updated. The system can automatically invoke the GPU-based Monte Carlo calculation engine for rapid dose calculation, enabling the evaluation of the irradiation plan. The calculation time can be controlled within 2 minutes, thus achieving the goal of real-time and rapid optimization of the irradiation plan.

[0108] In the example above, by establishing a conversion relationship between the radiation source parameters and the robotic arm parameters, it can not only be used for the automatic positioning of the target object, but also, in cases where the target object positioning fails, adjust the robotic arm to reach an executable pose. Furthermore, by optimizing the robotic arm parameters, the radiation source parameters can be quickly calculated and optimized, thereby optimizing the irradiation plan. The optimized irradiation plan can then be evaluated to determine its feasibility. This approach achieves the technical effect of accurately and efficiently optimizing irradiation plans, thus improving the efficiency of radiation therapy.

[0109] The methods and embodiments provided in the above-described embodiments of this application can be executed in mobile terminals, computer terminals, or similar computing devices. Taking an electronic device as an example, FIG5 is a hardware structure block diagram of an optimized electronic device for an irradiation program provided in this application. As shown in FIG5, the electronic device 10 may include one or more (only one is shown in the figure) processors 02 (processors 02 may include, but are not limited to, processing devices such as microprocessors MCUs or programmable logic devices FPGAs), a memory 04 for storing data, and a transmission module 06 for communication functions. Those skilled in the art will understand that the structure shown in FIG5 is merely illustrative and does not limit the structure of the electronic device described above. For example, the electronic device 10 may also include more or fewer components than shown in FIG5, or have a different configuration than that shown in FIG5.

[0110] The memory 04 can be used to store software programs and modules of application software, such as the program instructions / modules corresponding to the irradiation plan optimization method in the embodiments of this application. The processor 02 executes various functional applications and data processing by running the software programs and modules stored in the memory 04, thereby realizing the above-mentioned application's irradiation plan optimization method. The memory 04 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 04 may further include memory remotely located relative to the processor 02, and these remote memories can be connected to the electronic device 10 via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0111] The transmission module 06 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the electronic device 10. In one example, the transmission module 06 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 06 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0112] Based on the same inventive concept, this application also provides an implementation system for the above-mentioned irradiation plan optimization method, namely, an irradiation system. The solution provided by this system is similar to the implementation scheme described in the above-mentioned irradiation plan optimization method. Therefore, the specific limitations in the embodiments of one or more irradiation systems provided below can be found in the limitations of the irradiation plan optimization method above, and will not be repeated here. As shown in FIG6, an irradiation system 600 includes a fixed radiation source and a mounting device. The mounting device includes a robotic arm. The mounting device is used to carry and adjust the pose of a target object relative to the fixed radiation source. Exemplarily, the mounting device may include a robotic arm, a mounting bed, or other forms of devices capable of carrying the target object, such as a mounting chair. In one embodiment, the target object is located on the mounting bed, and the robotic arm controls the movement of the mounting bed to adjust the spatial pose of the target object. In order to optimize the irradiation plan, the above-mentioned irradiation system further includes:

[0113] Irradiation planning module 601 is used to formulate irradiation plans and optimize irradiation plans based on optimized radiation source parameters;

[0114] The parameter acquisition module 602 is used to acquire the conversion relationship between the radiation source parameters and the robotic arm parameters, as well as the target radiation source parameters in the irradiation plan.

[0115] The first calculation module 603 is used to calculate the target robotic arm parameters based on the target source parameters and the conversion relationship;

[0116] The control module 604 is used to control and adjust the pose of the robotic arm and obtain the adjusted optimized robotic arm parameters when the robotic arm is unable to complete the execution of the target robotic arm parameters.

[0117] The second calculation module 605 is used to calculate the optimized source parameters corresponding to the optimized robotic arm parameters based on the optimized robotic arm parameters and the conversion relationship.

[0118] In one embodiment, the irradiation system includes an actual irradiation planning system (TPS) and a robotic arm control system. In another embodiment, the irradiation system also includes a data management system for interacting with and processing data from other systems. Accordingly, one or more of the irradiation planning module 601, control module 604, parameter acquisition module 602, first calculation module 603, and second calculation module 605 can be located in the TPS, the robotic arm control system, the data management system, or in a separately configured data processing device. The specific configuration can be set according to actual needs and circumstances, and this application does not limit this. Furthermore, the irradiation planning module 601, control module 604, parameter acquisition module 602, first calculation module 603, and second calculation module 605 can each be an independent execution unit, or they can share an execution unit with one or more of these modules. The execution unit can include one or more processors, or it can include one or more processors and one or more memories, with the memories storing instructions executable by the processor.

[0119] In one embodiment, the irradiation planning module 601 can also be used to acquire medical image data of the target object and formulate an irradiation plan based on the medical image data, wherein the irradiation plan includes target radiation source parameters.

[0120] In one embodiment, the parameter acquisition module 602 can also be used to determine the conversion relationship between the source parameters and the robotic arm parameters based on the relative pose relationship between the source and the target object in the irradiation plan and the relative pose relationship between the robotic arm and the fixed source.

[0121] In one embodiment, the parameter acquisition module 602 can also be used to establish a medical image coordinate system based on the medical image data, acquire the target object pose in the medical image coordinate system, establish a robotic arm coordinate system based on the robotic arm control system, acquire the fixed source pose in the robotic arm coordinate system, and establish a conversion relationship between the source parameters and the robotic arm parameters based on the target object pose and the fixed source pose.

[0122] In one embodiment, the irradiation planning module 601 is further configured to calculate the optimized irradiation time and / or irradiation dose based on the optimized source parameters.

[0123] In one embodiment, the irradiation system 600 also includes an evaluation module for evaluating the optimized irradiation plan.

[0124] The embodiments of this application also provide a specific implementation of an electronic device capable of implementing all steps in the irradiation plan optimization method of the above embodiments. The electronic device specifically includes: a processor, a memory, a communication interface, and a bus; wherein the processor, memory, and communication interface communicate with each other through the bus; the processor is used to call a computer program in the memory, and when the processor executes the computer program, it implements all steps in the irradiation plan optimization method of the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0125] Step 1: Obtain the conversion relationship between the radiation source parameters and the robotic arm parameters, as well as the target radiation source parameters in the irradiation plan;

[0126] Step 2: Calculate the target robotic arm parameters based on the target source parameters and the conversion relationship;

[0127] Step 3: If the robotic arm is unable to execute the target robotic arm parameters, adjust the pose of the robotic arm and obtain the adjusted optimized robotic arm parameters;

[0128] Step 4: Calculate the optimized source parameters corresponding to the optimized robotic arm parameters based on the optimized robotic arm parameters and the conversion relationship;

[0129] Step 5: Optimize the irradiation plan based on the optimized source parameters.

[0130] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the irradiation plan optimization method in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the irradiation plan optimization method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0131] Step 1: Obtain the conversion relationship between the radiation source parameters and the robotic arm parameters, as well as the target radiation source parameters in the irradiation plan;

[0132] Step 2: Calculate the target robotic arm parameters based on the target source parameters and the conversion relationship;

[0133] Step 3: If the robotic arm is unable to execute the target robotic arm parameters, adjust the pose of the robotic arm and obtain the adjusted optimized robotic arm parameters;

[0134] Step 4: Calculate the optimized source parameters corresponding to the optimized robotic arm parameters based on the optimized robotic arm parameters and the conversion relationship;

[0135] Step 5: Optimize the irradiation plan based on the optimized source parameters.

[0136] As described above, this embodiment calculates the target robotic arm parameters based on the conversion relationship between the radiation source parameters and the robotic arm parameters, as well as the target radiation source parameters in the irradiation plan. If the robotic arm cannot execute the target parameters, its pose is adjusted. Based on the adjusted robotic arm parameters and the aforementioned conversion relationship, optimized radiation source parameters are calculated, and then the irradiation plan is optimized according to these optimized parameters. This method allows for accurate determination of achievable optimized radiation source parameters even when robotic arm movement is limited, enabling rapid and efficient optimization of the irradiation plan, ensuring irradiation effectiveness, saving valuable time for medical personnel, reducing the risk of exposure to potential radiation environments, and improving the utilization rate of the irradiation room or preparation room.

[0137] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0138] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0139] While this application provides the method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0140] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, an in-vehicle human-machine interaction device, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0141] While this specification provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or end product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded.

[0142] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware components, or a module that performs the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0143] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0144] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0145] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0146] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0147] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0148] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0149] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0150] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of computer program products implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] The embodiments described in this specification can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. The embodiments of this specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0152] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, system embodiments are basically similar to method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments in this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0153] The above description is merely an embodiment of the present specification and is not intended to limit the embodiments of the present specification. For those skilled in the art, various modifications and variations can be made to the embodiments of the present specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present specification should be included within the scope of the claims of the embodiments of the present specification.

Claims

1. A method for optimizing an irradiation program, characterized in that, The method includes: Obtain the conversion relationship between radiation source parameters and robotic arm parameters, as well as the target radiation source parameters in the irradiation plan; Calculate the target robotic arm parameters based on the target source parameters and the conversion relationship; If the robotic arm is unable to execute the target robotic arm parameters, adjust the pose of the robotic arm and obtain the adjusted optimized robotic arm parameters. Based on the optimized robotic arm parameters and the conversion relationship, the optimized source parameters corresponding to the optimized robotic arm parameters are calculated; The irradiation plan is optimized based on the optimized source parameters.

2. The method according to claim 1, characterized in that, Before obtaining the target source parameters in the irradiation plan, the process also includes: Acquire medical imaging data of the target object; An irradiation plan is developed based on the medical imaging data, wherein the irradiation plan includes target source parameters.

3. The method according to claim 1, characterized in that, The conversion relationship between the source parameters and the robotic arm parameters includes: Based on the relative pose relationship between the radiation source and the target object in the irradiation plan and the relative pose relationship between the robotic arm and the fixed radiation source, the conversion relationship between the radiation source parameters and the robotic arm parameters is determined.

4. The method according to claim 3, characterized in that, The source parameters are used to determine the relative pose relationship between the source and the target object, and the robotic arm parameters are used to determine the relative pose relationship between the robotic arm and the fixed source.

5. The method according to claim 2, characterized in that, The process of obtaining the conversion relationship between the source parameters and the robotic arm parameters includes: A medical image coordinate system is established based on the medical image data, and the target object pose in the medical image coordinate system is obtained. A robotic arm coordinate system is established based on the robotic arm control system, and the fixed source pose of the fixed source in the robotic arm coordinate system is obtained. Based on the pose of the target object and the pose of the fixed source, a conversion relationship between the source parameters and the robot arm parameters is established.

6. The method according to claim 1, characterized in that, The process of obtaining the conversion relationship between the source parameters and the robotic arm parameters includes: A medical image coordinate system is established based on medical image data to obtain the target object's pose in the medical image coordinate system. A robotic arm coordinate system is established based on the robotic arm control system, and the fixed source pose in the robotic arm coordinate system is obtained. Based on the pose of the target object and the pose of the fixed source, a conversion relationship between the source parameters and the robot arm parameters is established.

7. The method according to claim 1, characterized in that, The step of optimizing the irradiation plan based on the optimized source parameters includes calculating the optimized irradiation time and / or irradiation dose based on the optimized source parameters.

8. The method according to claim 1, characterized in that, After optimizing the irradiation plan based on the optimized source parameters, the method further includes: The optimized irradiation plan was evaluated.

9. An irradiation system comprising a fixed radiation source and a mounting device, the mounting device including a robotic arm for carrying and adjusting the pose of a target object relative to the fixed radiation source, characterized in that, The system also includes: The irradiation planning module is used to formulate irradiation plans and optimize them based on optimized source parameters. The parameter acquisition module is used to obtain the conversion relationship between the radiation source parameters and the robotic arm parameters, as well as the target radiation source parameters in the irradiation plan. The first calculation module is used to calculate the target robotic arm parameters based on the target source parameters and the conversion relationship; The control module is used to control and adjust the pose of the robotic arm and obtain the optimized robotic arm parameters after adjustment when the robotic arm is unable to complete the execution of the target robotic arm parameters. The second calculation module is used to calculate the optimized source parameters corresponding to the optimized robotic arm parameters based on the optimized robotic arm parameters and the conversion relationship.

10. The system according to claim 9, characterized in that, The irradiation planning module is also used to acquire medical image data of the target object and formulate an irradiation plan based on the medical image data, wherein the irradiation plan includes target radiation source parameters.

11. The system according to claim 9, characterized in that, The parameter acquisition module is also used to determine the conversion relationship between the radiation source parameters and the robotic arm parameters based on the relative pose relationship between the radiation source and the target object in the irradiation plan and the relative pose relationship between the robotic arm and the fixed radiation source.

12. The system according to claim 10, characterized in that, The parameter acquisition module is also used to establish a medical image coordinate system based on the medical image data, obtain the target object pose in the medical image coordinate system, establish a robotic arm coordinate system based on the robotic arm control system, obtain the fixed source pose in the robotic arm coordinate system, and establish a conversion relationship between the source parameters and the robotic arm parameters based on the target object pose and the fixed source pose.

13. The system according to claim 9, characterized in that, The parameter acquisition module is also used to establish a medical image coordinate system based on medical image data, obtain the target object pose in the medical image coordinate system, establish a robotic arm coordinate system based on the robotic arm control system, obtain the fixed source pose in the robotic arm coordinate system, and establish the conversion relationship between the source parameters and the robotic arm parameters based on the target object pose and the fixed source pose.

14. An electronic device comprising a processor and a memory, the processor being configured to invoke a computer program stored in the memory, wherein the processor, when executing the computer program, performs the following steps: Obtain the conversion relationship between radiation source parameters and robotic arm parameters, as well as the target radiation source parameters in the irradiation plan; Calculate the target robotic arm parameters based on the target source parameters and the conversion relationship; If the robotic arm is unable to execute the target robotic arm parameters, adjust the pose of the robotic arm and obtain the adjusted optimized robotic arm parameters. Based on the optimized robotic arm parameters and the conversion relationship, the optimized source parameters corresponding to the optimized robotic arm parameters are calculated; The irradiation plan is optimized based on the optimized source parameters.

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