Method for controlling therapeutic apparatus, therapeutic system, and medium

Abstract

A method for controlling a therapeutic apparatus, a therapeutic system, and a medium, relating to the technical field of medical instruments. After a focal point of a therapeutic head coincides with a center point of an image detected by a first detection head, a first cross-sectional image of an object to be treated detected by the first detection head is acquired; a two-dimensional coordinate system is constructed for the first cross-sectional image, a therapeutic region in the first cross-sectional image is delineated, and a therapeutic path is generated in the therapeutic region; a target position of the focal point of the therapeutic head in the two-dimensional coordinate system is determined; and a second movement module is driven according to the target position and the therapeutic path, so that the focal point of the therapeutic head moves along the therapeutic path. After the focal point of the therapeutic head coincides with the center point of the image detected by the first detection head, the first cross-sectional image detected by the first detection head is acquired, and the focal point and the therapeutic region lie on the same plane. When the focal point moves along the therapeutic path in the therapeutic region, the focal point of the therapeutic head remains located on said object, and the focal point moves along the therapeutic path in the therapeutic region for therapy, so that the irradiation range can be expanded.

Description

A method for controlling a treatment device, a treatment system, and a medium.

[0001] This application claims priority to Chinese Patent Application No. 202411833856.7, filed on December 13, 2024, entitled "A Control Method, Treatment System and Medium for a Treatment Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of medical device technology, and in particular to a control method, treatment system and medium for a treatment device. Background Technology

[0003] Non-invasive treatment methods are widely used in the treatment of brain nerves, arthritis, pet sterilization and tumors. Currently available treatment devices use focused ultrasound to irradiate specific areas of the brain (such as specific blood vessels, specific brain tissue or neural circuits), inflamed areas (such as joints, synovium or cartilage), reproductive organs (such as fertilized eggs, fallopian tubes, ovaries or testes) and tumors.

[0004] Taking tumor treatment as an example, after a prodrug is injected into the organism (human or animal) to be treated, some of the prodrug reaches the tumor site and distributes throughout the tumor area. It needs to be activated into an active drug using focused ultrasound to kill the tumor cells and achieve the goal of treating the tumor. Currently, the tumor location is located in the detection area, and a detection head scans the area to see if an image containing the tumor can be obtained. If so, a treatment head is used to emit focused ultrasound waves towards the detection area. However, this method only provides point-to-point irradiation to the target organism (tumor, joint, or brain tissue, etc.), and cannot guarantee that the focal point of the treatment head is precisely positioned on the target organism. Normal tissue adjacent to the target organism may also be irradiated. Furthermore, the limited irradiation range of point-to-point irradiation results in most prodrugs not being well activated, leading to poor treatment efficacy.

[0005] Therefore, how to increase the irradiation range and ensure that the focal point of the treatment head is on the subject to be treated is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this application is to provide a control method, treatment system, and medium for a treatment device to solve the problems of not being able to guarantee that the focal point of the treatment head is on the object to be treated and the limited irradiation range of fixed-point irradiation.

[0007] To address the aforementioned technical problems, this application provides a control method for a treatment device. The treatment device includes a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head. The control method includes:

[0008] After the focal point of the treatment head coincides with the center point of the image detected by the first detection head, the first cross-sectional image of the object to be treated detected by the first detection head is acquired.

[0009] A two-dimensional coordinate system is constructed for the first cross-sectional image, the treatment area in the first cross-sectional image is delineated, and a treatment path is generated in the treatment area;

[0010] Determine the target position of the focal point of the treatment head in the two-dimensional coordinate system;

[0011] The second moving module is driven according to the target position and the treatment path to move the focus of the treatment head along the treatment path.

[0012] In one feasible embodiment, acquiring a first cross-sectional image of the object to be treated detected by the first detection head includes:

[0013] Determine the relative position of the first detection head and the treatment head;

[0014] Simultaneously drive the first moving module and the second moving module to make the first detection head and the treatment head move synchronously in a straight line in the first target direction while keeping their relative positions unchanged; wherein, the first target direction is perpendicular to the cross section of the object to be treated corresponding to the first cross section image;

[0015] The cross-sectional image detected by the first detection head is acquired in real time. When the area of ​​the treatment region in the cross-sectional image is smaller than a first preset area, the first moving module and the second moving module are paused simultaneously.

[0016] The first detection head is set to move a certain step size each time, and the first and second moving modules are driven to move synchronously in a straight line along the second target direction with the specified step size; wherein the second target direction and the first target direction are two opposite directions on the same straight line;

[0017] The first and second moving modules are controlled to pause for a preset time period after each movement step, and the first cross-sectional image detected by the first detection head is acquired during the preset time period until the treatment area in the first cross-sectional image detected by the first detection head is less than a second preset area, at which point the first and second moving modules are paused.

[0018] In one feasible embodiment, driving the second moving module according to the target position and the treatment path to move the focus of the treatment head along the treatment path includes:

[0019] A breathing follower box is generated in the two-dimensional coordinate system; wherein the breathing follower box contains the target contour of the treatment area in the first cross-sectional image;

[0020] Determine the centroid coordinates of the treatment area based on the target contour within the breathing follow-up frame;

[0021] The change in the centroid position of the treatment area is determined based on the centroid coordinates at each time point.

[0022] The treatment path is corrected in real time based on the change in the centroid position.

[0023] The second moving module is driven according to the target position and the post-correction treatment path so that the focus of the treatment head moves along the post-correction treatment path.

[0024] In one feasible embodiment, determining the centroid coordinates of the treatment region based on the target contour within the breathing follower frame includes:

[0025] Convert the image in the breathing follow box to a grayscale image;

[0026] Convert the grayscale image into a binary image;

[0027] Extract the target contour from the binary image;

[0028] Calculate the first moment of the binary image based on the target contour;

[0029] The centroid coordinates of the treatment area are determined based on the first moment.

[0030] In one feasible embodiment, the treatment device further includes a second detection head, which, when driving the second moving module according to the target position and the treatment path, further includes:

[0031] The second cross-sectional image of the object to be treated, detected by the second detection head, is acquired in real time; wherein the cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image in the object to be treated.

[0032] The displacement of the object to be treated in the third target direction is determined based on the second cross-sectional image, wherein the third target direction is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image;

[0033] The second moving module is driven according to the displacement to move the treatment head along the third target direction.

[0034] In one feasible embodiment, generating a treatment path in the treatment area includes:

[0035] Determine the treatment row spacing, and generate multiple parallel treatment line segments from one end of the treatment area to the other end of the treatment area based on the treatment row spacing; wherein the endpoints of each treatment line segment are located on the outline of the treatment area;

[0036] Set the treatment time for each of the aforementioned treatment segments.

[0037] In one feasible embodiment, before setting the treatment time for each of the said treatment segments, the method further includes:

[0038] If the number of treatment line segments in the treatment area is greater than the first set value, the treatment row spacing is increased, and multiple parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area based on the increased treatment row spacing.

[0039] If the number of treatment line segments in the treatment area is less than a second set value, the treatment line spacing is reduced, and multiple parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area based on the reduced treatment line spacing.

[0040] This application also provides a treatment system, including: a first detection head, a treatment head, a first moving module connected to the first detection head, a second moving module connected to the treatment head, and a control device;

[0041] The first detection head is used to detect a first cross-sectional image of the object to be treated, the treatment head is used to irradiate the object to be treated, the control device is connected to the first detection head, the treatment head, the first moving module and the second moving module respectively, and the control device is used in the steps of the control method of the treatment device.

[0042] In one feasible embodiment, the device further includes a second detection head and a third moving module connected to the second detection head. The third moving module is connected to the control device. The second detection head is used to detect a second cross-sectional image of the object to be treated. The cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image in the object to be treated.

[0043] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for the therapeutic device.

[0044] This application provides a control method for a treatment device. The treatment device includes a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head. The control method includes: after the focal point of the treatment head coincides with the center point of the image detected by the first detection head, acquiring a first cross-sectional image of the object to be treated detected by the first detection head; constructing a two-dimensional coordinate system for the first cross-sectional image, delineating the treatment area in the first cross-sectional image, and generating a treatment path in the treatment area; determining the target position of the focal point of the treatment head in the two-dimensional coordinate system; and driving the second moving module according to the target position and the treatment path to move the focal point of the treatment head along the treatment path. After the focal point of the treatment head coincides with the center point of the image detected by the first detection head, acquiring the first cross-sectional image of the object to be treated detected by the first detection head, the focal point and the treatment area of ​​the object to be treated are on the same plane. When the focal point moves along the treatment path in the treatment area, the focal point of the treatment head is always located on the object to be treated, effectively preventing normal tissue next to the object from being irradiated. Furthermore, the movement of the focal point along the treatment path in the treatment area can increase the irradiation range, activate more prodrugs, and improve the treatment effect.

[0045] The beneficial effects and methods of the treatment system and media provided in this application correspond to those described above. Attached Figure Description

[0046] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 is a flowchart of a control method for a treatment device provided in an embodiment of this application;

[0048] Figure 2 is a schematic diagram of a breathing follower frame provided in an embodiment of this application;

[0049] Figure 3 is a schematic diagram of a treatment path in a treatment area provided in an embodiment of this application;

[0050] Figure 4 is a schematic diagram showing the positional relationship between two detection heads and a treatment head provided in an embodiment of this application;

[0051] Figure 5 is a schematic diagram of an embodiment of this application, including two detection heads, a treatment head, and three moving modules;

[0052] Figure 6 is a structural diagram of a treatment head and a second moving module provided in an embodiment of this application;

[0053] Figure 7 is a structural diagram of an embodiment of this application, including a second detection head and a third moving module;

[0054] Figure 8 is a structural diagram of a treatment system provided in an embodiment of this application. Detailed Implementation

[0055] The technical solutions of 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 of ordinary skill in the art without creative effort are within the protection scope of this application.

[0056] The core of this application is to provide a control method, treatment system, and medium for a treatment device, which improves the irradiation range and ensures that the focus of the treatment head is on the subject to be treated as much as possible.

[0057] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Figure 1 is a flowchart of a control method for a treatment device provided in an embodiment of this application. As shown in Figure 1, the control method for a treatment device includes:

[0059] S10: After the focal point of the treatment head coincides with the center point of the image detected by the first detection head, the first cross-sectional image of the object to be treated detected by the first detection head is acquired.

[0060] S11: Construct a two-dimensional coordinate system for the first cross-sectional image, delineate the treatment area in the first cross-sectional image, and generate a treatment path in the treatment area.

[0061] S12: Determine the target position of the focal point of the treatment head in the two-dimensional coordinate system.

[0062] S13: Drive the second moving module according to the target position and treatment path so that the focus of the treatment head moves along the treatment path.

[0063] The treatment device in this embodiment includes a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head. The treatment device will be further described in the treatment system section below. To improve the ease of changing the positions of the first detection head and the treatment head, both the first and second moving modules are three-dimensional moving modules.

[0064] Before step S10, the treatment device is initialized. Specifically, all motors in the first and second moving modules are moved to their zero-point positions. The zero-point position refers to the initial position set by all motors, which is also the absolute position saved by all motors. If the position of the object to be treated is inaccurate at this time, the first moving module can be moved so that the first detection head is aligned with a certain position of the object to be treated, and the movement information of the first moving module is recorded. The movement information includes the movement direction and the amount of movement in each movement direction. After the position of the first detection head changes, the treatment head needs to be turned on and the focus of the treatment head needs to be refocused. That is, the second moving module is moved so that the focus of the treatment head coincides with the center point of the image detected by the first detection head, and the movement information of the second moving module is recorded. The coincidence of the focus with the center point of the image ensures that the subsequent focus moves within the treatment area.

[0065] In step S10, regarding how to obtain the first cross-sectional image of the object to be treated detected by the first detection head, one method is to obtain the first cross-sectional image of the object to be treated detected by the first detection head at a fixed position, and another method is to obtain the first cross-sectional image of the object to be treated detected by the first detection head at different positions. The object to be treated can be a specific blood vessel, joint, fallopian tube, or tumor, etc.

[0066] In step S11, a two-dimensional coordinate system is constructed for the first cross-sectional image. This coordinate system can have the center of the end face of the first detection head as the origin, the y-axis parallel to the direction of the detection wave emitted by the detection head towards the object to be treated, and the x-axis parallel to the length direction of the end face of the first detection head. Since the first cross-sectional image contains tissues or organs surrounding the object to be treated, the treatment area needs to be delineated. For example, if the object to be treated is a tumor, the tumor area in the first cross-sectional image needs to be delineated. Regarding how to delineate the treatment area in the first cross-sectional image, it can be done by doctors or technicians using professional software tools, such as a mouse or stylus, to directly draw the outline of the treatment area on the image, or by automatically identifying and delineating the treatment area using existing algorithms. This application embodiment does not specifically limit the treatment path generated in the treatment area. The treatment path can be multiple treatment line segments distributed in the treatment area, or multiple treatment points distributed in the treatment area. The treatment line segments and treatment points can be evenly distributed in the treatment area to ensure that all parts of the treatment area are evenly irradiated, thereby ensuring uniform activation of the prodrug at the tumor site and improving the treatment effect.

[0067] In step S12, before driving the second moving module according to the target position and treatment path, the focal point of the treatment head coincides with the center point of the first cross-sectional image, thus determining the initial target position of the focal point in the two-dimensional coordinate system. For example, if the length of the first cross-sectional image is 38.2 mm and the width is 40 mm, the center point is (19.1, 20), and the initial target position of the focal point is (19.1, 20). The target position of the focal point will change as it moves.

[0068] In step S13, the focus is moved to the starting point of the treatment path according to the initial target position of the focus. Then the target position of the focus is the starting point of the treatment path. The focus moves along the treatment path to the end point of the treatment path, and the treatment area is irradiated by the treatment head.

[0069] This application provides a control method for a treatment device. The treatment device includes a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head. The control method includes: after the focal point of the treatment head coincides with the center point of the image detected by the first detection head, acquiring a first cross-sectional image of the object to be treated detected by the first detection head; constructing a two-dimensional coordinate system for the first cross-sectional image, delineating the treatment area in the first cross-sectional image, and generating a treatment path in the treatment area; determining the target position of the focal point of the treatment head in the two-dimensional coordinate system; and driving the second moving module according to the target position and the treatment path to move the focal point of the treatment head along the treatment path. After the focal point of the treatment head coincides with the center point of the image detected by the first detection head, acquiring the first cross-sectional image of the object to be treated detected by the first detection head, the focal point and the treatment area of ​​the object to be treated are on the same plane. When the focal point moves along the treatment path in the treatment area, the focal point of the treatment head is always located on the object to be treated, effectively preventing normal tissue next to the object from being irradiated. Furthermore, the movement of the focal point along the treatment path in the treatment area can increase the irradiation range, activate more prodrugs, and improve the treatment effect.

[0070] Based on the above embodiments, this application embodiment obtains a first cross-sectional image of the object to be treated detected by a first detection head, including: determining the relative position of the first detection head and the treatment head; simultaneously driving a first moving module and a second moving module to make the first detection head and the treatment head move synchronously in a straight line in a first target direction while maintaining their relative positions unchanged; wherein, the first target direction is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image; acquiring the cross-sectional image detected by the first detection head in real time, and pausing the first moving module and the second moving module simultaneously when the treatment area in the cross-sectional image is less than a first preset area; setting the movement step size of the first detection head each time, and continuing to drive the first moving module and the second moving module so that the first detection head and the treatment head move synchronously in a straight line along a second target direction with the movement step size; wherein, the second target direction and the first target direction are two opposite directions on the same straight line; controlling the first moving module and the second moving module to stay for a preset time period after each movement of a set movement step size, and acquiring the first cross-sectional image detected by the first detection head during the preset time period, until the treatment area in the first cross-sectional image detected by the first detection head is less than a second preset area, and pausing the first moving module and the second moving module simultaneously.

[0071] In this embodiment, the relative positions of the first detection head and the treatment head can be determined after the focal point of the treatment head coincides with the center point of the image detected by the first detection head. When the first detection head is not moving, it can only detect a first cross-sectional image containing a certain cross-section of the object to be treated. By driving the first detection head to move along the vertical direction of the cross-section of the object to be treated corresponding to the first cross-sectional image, first cross-sectional images corresponding to different points in that vertical direction can be obtained. The object to be treated has a certain length in that vertical direction. In order to obtain as many first cross-sectional images as possible at different positions along that length, the first detection head can be driven to one end close to that length, and then the first detection head can be moved step by step from one end close to that length to the other end close to that length. After each step, the first detection head stops for a preset time period and takes a first cross-sectional image at that position within the preset time period. The first cross-sectional image can be taken as one image or multiple images can be taken within the preset time period. As the first detection head moves in the first target direction, the cross-sectional image detected by the first detection head gradually approaches the edge of one end of the object to be treated. The area of ​​the treatment region in the cross-sectional image becomes smaller and smaller. When the area of ​​the treatment region is smaller than a first preset area, it indicates that the first detection head has moved closer to one end of the object to be treated. Then, according to the set movement step size, the first detection head moves in the second target direction opposite to the first target direction, that is, towards the other end of the object to be treated. During the movement along the second target direction, the first cross-sectional image detected by the first detection head after each set movement step size is acquired. During the movement in the second target direction, the relative position of the first detection head and the treatment head remains unchanged to ensure that the focus of the treatment head is always on the same plane as the treatment region in each first cross-sectional image. For each first cross-sectional image acquired after each movement step, the following steps are performed: the treatment region in the first cross-sectional image is delineated, and a treatment path is generated in the treatment region; the target position of the focus of the treatment head in the two-dimensional coordinate system is determined; the second movement module is driven according to the target position and the treatment path to make the focus of the treatment head move along the treatment path. After the focal point of the treatment head moves along the treatment path, the second moving module can be driven to return the treatment head to its original position to ensure that the relative positions of the treatment head and the first detection head remain unchanged. Then, the first detection head and the treatment head are driven synchronously to continue moving in the second target direction by a set moving step length. This process continues until the area of ​​the treatment region in the first cross-sectional image detected by the first detection head is less than the second preset area. At the same time, the first moving module and the second moving module are paused.

[0072] This application embodiment obtains first cross-sectional images at different positions in the second target direction, and the treatment head can irradiate the treatment area at different positions in the second target direction, further improving the irradiation range of the treatment head on the treatment object.

[0073] Based on the above embodiments, this application embodiment drives a second motion module according to the target position and treatment path to move the focus of the treatment head along the treatment path, including: generating a breathing follow-me box in a two-dimensional coordinate system; wherein the breathing follow-me box contains the target contour of the treatment area in the first cross-sectional image; determining the centroid coordinates of the treatment area according to the target contour in the breathing follow-me box; determining the change in the centroid position of the treatment area according to the centroid coordinates at each time point; correcting the treatment path in real time according to the change in the centroid position; and driving the second motion module according to the target position and the corrected treatment path to move the focus of the treatment head along the corrected treatment path.

[0074] Figure 2 is a schematic diagram of a breathing follower frame provided in an embodiment of this application. As shown in Figure 2, the yellow rectangle represents the breathing follower frame, and the red outline represents the target outline. After generating the treatment path in the treatment area of ​​the first cross-sectional image corresponding to the target time, a new first cross-sectional image is acquired in real time after the target time. This new first cross-sectional image can be recorded as the target first cross-sectional image. If the organism under test breathes or moves, the position of the object to be treated relative to the first detection head will change, and the position of the target outline in the breathing follower frame will change in real time. Based on the target outline in the breathing follower frame at each time point after the target time, the centroid coordinates of the treatment area at each time point can be determined. Based on the centroid coordinates at each time point, the change in the centroid position of the treatment area can be determined. The treatment path is corrected in real time based on the change in the centroid position, so that when the focus of the treatment head moves along the corrected treatment path, it can be ensured that the focus of the treatment head will not move outside the treatment area due to the change in the position of the object to be treated. This embodiment of the application mainly considers tumors located in the lungs, which will change position with the breathing movement of the object under test. By correcting the treatment path in real time, it can be ensured that the focus of the treatment head moves within the treatment area as much as possible.

[0075] Regarding how to correct the treatment path in real time based on the change in the centroid position, the following example illustrates this: the change in the centroid position is determined based on the centroid coordinates corresponding to the first time point and the second time point. The change in the centroid position is a movement of 0.2mm in the positive x-axis direction and 0.3mm in the negative y-axis direction of the two-dimensional coordinate system. The treatment path corresponding to the first time point is then translated by 0.2mm in the positive x-axis direction and 0.3mm in the negative y-axis direction of the two-dimensional coordinate system, thus obtaining the corrected treatment path corresponding to the second time point.

[0076] Regarding how to drive the second moving module based on the target position and the post-correction treatment path so that the focus of the treatment head moves along the post-correction treatment path, the specific steps are as follows: determine the first target position of the focus of the treatment head at the current time point, the second target position of the focus of the treatment head at the next time point on the current treatment path, determine the corrected coordinates of the second target position in the two-dimensional coordinate system based on the post-correction treatment path, and drive the second moving module based on the coordinates of the first target position in the two-dimensional coordinate system and the corrected coordinates of the second target position so that the focus of the treatment head moves along the post-correction treatment path.

[0077] Based on the above embodiments, this application embodiment determines the centroid coordinates of the treatment area according to the target contour in the breathing follow frame, including: converting the image in the breathing follow frame into a grayscale image; converting the grayscale image into a binary image; extracting the target contour in the binary image; calculating the first moment of the binary image based on the target contour; and determining the centroid coordinates of the treatment area based on the first moment.

[0078] This application embodiment extracts the target contour from a binary image, which can be achieved using edge detection or contour tracking algorithms. The first moment is a geometric property of the treatment area, and it is directly related to the centroid.

[0079] centroid coordinates (x) 质心 y 质心 x is calculated using the following formula: 质心 =M 10 / M 00 y 质心 =M 01 / M 00

[0080] Among them, M 10 It is the first moment about the y-axis, M 01 It is the first moment about the x-axis, M 00 It is the total area (or zeroth moment) of the breathing follower box.

[0081] Based on the above embodiments, the treatment device of this application embodiment further includes a second detection head. When driving the second moving module according to the target position and treatment path, it further includes: acquiring a second cross-sectional image of the object to be treated detected by the second detection head in real time; wherein the cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image in the object to be treated; determining the displacement of the object to be treated in a third target direction according to the second cross-sectional image, the third target direction being perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image; and driving the second moving module according to the displacement to move the treatment head along the third target direction.

[0082] The above embodiments can only determine the positional changes of the treatment area in a two-dimensional coordinate system at different times based on the real-time acquired first cross-sectional image. By adding a second detection head to detect the second cross-sectional image, the cross-section of the treatment object corresponding to the second cross-sectional image is perpendicular to the cross-section of the treatment object corresponding to the first cross-sectional image. Based on the real-time acquired second cross-sectional image, the positional changes of the treatment area in the first cross-sectional image in the direction perpendicular to the treatment area can be determined. This allows for the determination of the positional changes of the treatment area in a three-dimensional direction, further improving the ability of the treatment head to keep its focus on the treatment area during movement and prevent it from irradiating normal tissue next to the treatment object.

[0083] Based on the above embodiments, Figure 3 is a schematic diagram of a treatment path in a treatment area provided by an embodiment of this application. As shown in Figure 3, generating a treatment path in a treatment area according to this embodiment includes: determining the treatment row spacing, generating multiple parallel treatment line segments from one end of the treatment area to the other end of the treatment area according to the treatment row spacing; wherein the endpoints of each treatment line segment are located on the outline of the treatment area; and setting the treatment time for each treatment line segment. The irradiation intensity of the treatment head can also be set.

[0084] In Figure 3, the yellow lines represent treatment segments, which are parallel to the y-axis in a two-dimensional coordinate system. Of course, treatment segments can also be parallel to the x-axis. Furthermore, before setting the treatment time for each treatment segment, the following steps are taken: if the number of treatment segments in the treatment area exceeds a first set value, it indicates that the treatment segments are too dense. In this case, the treatment row spacing can be increased, and multiple parallel treatment segments are regenerated from one end of the treatment area to the other based on the increased treatment row spacing. If the number of treatment segments in the treatment area is less than a second set value, it indicates that the treatment segments are too sparse. In this case, the treatment row spacing can be decreased, and multiple parallel treatment segments are regenerated from one end of the treatment area to the other based on the decreased treatment row spacing. Reasonable planning of the treatment path and treatment time for the focal point enables spatiotemporally controllable activation of the precursor drug, thereby improving the accuracy and effectiveness of treatment and reducing damage to normal tissues.

[0085] To better understand the control methods of the treatment device, one control method will be further described below, with the subject of treatment being a tumor.

[0086] Figure 4 is a schematic diagram illustrating the positional relationship between two detection heads and a treatment head according to an embodiment of this application. The control method of the treatment device will be described below using the positional relationship of the two detection heads and the treatment head shown in Figure 4. Of course, the positional relationship between the two detection heads and the treatment head is not limited to the one shown in Figure 4. As shown in Figure 4, for ease of explanation, a three-dimensional coordinate system is first constructed. The origin o of the three-dimensional coordinate system is a point on the tumor. The y-axis of the three-dimensional coordinate system is parallel to the direction of the detection wave emitted by the first detection head, the x-axis of the three-dimensional coordinate system is parallel to the direction of the detection wave emitted by the second detection head, and the z-axis of the three-dimensional coordinate system is parallel to the direction of the treatment wave emitted by the treatment head. The first cross-sectional image detected by the first detection head is the xoy plane in the three-dimensional coordinate system, and the second cross-sectional image detected by the second detection head is the xoz plane in the three-dimensional coordinate system.

[0087] Step 1: Initialize and focus the treatment device so that the cross-sectional image acquired by the first detection head includes the tumor region, and the focal point of the treatment head coincides with the center point of the cross-sectional image. Record the relative positions of the first detection head and the treatment head.

[0088] Step 2: Synchronously drive the first and second moving modules to move the first detection head and the treatment head along the positive z-axis in the three-dimensional coordinate system. When the area of ​​the tumor region in the cross-sectional image detected by the first detection head is smaller than the first preset area, simultaneously stop driving the first and second moving modules. After the first detection head and the treatment head stop moving, the relative positions of the first detection head and the treatment head remain unchanged.

[0089] Step 3: Set the movement step size of the first detection head each time, synchronously drive the first and second moving modules, so that the first detection head and the treatment head move along the negative direction of the z-axis in the three-dimensional coordinate system by the set movement step size, and stay for a preset time period after the first detection head and the treatment head have moved by the set movement step size.

[0090] Step 4: Obtain the first cross-sectional image detected by the first detection head at a certain target time point within a preset time period. Construct a two-dimensional coordinate system for the first cross-sectional image. The origin of the two-dimensional coordinate system is the center point of the end face of the first detection head (the center point of the gray area on the first detection head 1 in Figure 4). The x-axis of the two-dimensional coordinate system is parallel to the length direction of the end face of the first detection head 1, and the y-axis of the two-dimensional coordinate system is parallel to the direction of the detection wave emitted by the first detection head.

[0091] Step 5: Delineate the tumor region in the first cross-sectional image in a 2D coordinate system and generate a breathing follow-me box in the 2D coordinate system. Generate a treatment path in the tumor region. As the focus of the treatment head moves along the treatment path, acquire the target first cross-sectional image after the target time point in real time. Determine the centroid coordinates of the tumor region corresponding to each time point based on the tumor outline in the breathing follow-me box. Determine the change in the centroid position of the tumor region based on the centroid coordinates at each time point. Correct the treatment path in real time based on the change in the centroid position and drive the second motion module to move the focus of the treatment head along the corrected treatment path. While moving the focus of the treatment head along the corrected treatment path, acquire the second cross-sectional image of the tumor detected by the second detection head in real time. Determine the displacement of the tumor in the z-axis direction in the 3D coordinate system based on the second cross-sectional image. Drive the second motion module based on the displacement to move the focus of the treatment head in the z-axis direction in the 3D coordinate system.

[0092] Step 6: After step 5 is completed, that is, after the treatment head completes one treatment area irradiation, drive the second moving module to keep the relative position of the treatment head and the first detection head unchanged.

[0093] Step 7: Continue to synchronously drive the first and second moving modules. The first detection head and the treatment head continue to move in the opposite direction of the z-axis in the three-dimensional coordinate system for the set moving step length and then remain for a preset time period. Repeat steps 4, 5, 6 and 7 in sequence until the area of ​​the tumor region in the first cross-sectional image detected by the first detection head is smaller than the second preset area. At the same time, pause the first and second moving modules, and the treatment ends.

[0094] Figure 5 is a schematic diagram of an embodiment of this application including two detection heads, a treatment head, and three moving modules. Figure 6 is a structural diagram of an embodiment of this application including a treatment head and a second moving module. As shown in Figures 5 and 6, the treatment system includes: a first detection head 1, a treatment head 2, a first moving module 4 connected to the first detection head 1, a second moving module 5 connected to the treatment head 2, and a control device. The first detection head 1 is used to detect a first cross-sectional image of the object to be treated. The treatment head 2 is used to irradiate the object to be treated. The control device is connected to the first detection head 1, the treatment head 2, the first moving module 4, and the second moving module 5, respectively. The control device is used to execute the steps of the control method of the treatment device. Figure 7 is a structural diagram of an embodiment of this application including a second detection head and a third moving module. As shown in Figures 5 and 7, the treatment system also includes a second detection head 3 and a third moving module 6 connected to the second detection head 3. The third moving module 6 is connected to the control device. The second detection head 3 is used to detect a second cross-sectional image of the object to be treated. The cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image.

[0095] This application embodiment does not specifically limit the treatment head and detection head. The treatment head 2 can be a probe that emits ultrasound, X-ray, far-infrared light, neutron beam, proton beam, particle beam, or laser beam. The first detection head 1 and the second detection head 3 can be ultrasound probes, MRI probes, X-ray probes, and computed tomography probes (CT probes). In this application embodiment, the first moving module 4, the second moving module 5, and the third moving module 6 can all be three-dimensional moving modules. The three-dimensional moving module can be composed of three nut-screw mechanisms. The nut-screw mechanism includes a motor, a screw, and a nut. The motor is connected to the screw to drive the screw to rotate. The nut is threadedly connected to the screw. The rotation of the screw can drive the nut to move along the length of the screw.

[0096] Figure 8 is a structural diagram of a treatment system provided in an embodiment of this application. As shown in Figure 8, the control device may include an ultrasound machine 8 and an industrial computer 9; wherein, ultrasound (B-scan ultrasonography) is also known as two-dimensional ultrasound or grayscale ultrasound. The ultrasound machine 8 is connected to the first detection head 1, the second detection head 3 and the industrial computer 9 respectively. The ultrasound machine 8 sends the acquired first cross-sectional image and second cross-sectional image to the industrial computer 9 in real time. The industrial computer 9 is connected to the first moving module 4, the second moving module 5, the third moving module 6 and the treatment head 2 respectively. The industrial computer 9 can also receive control commands sent by the ultrasound machine 8. As shown in Figure 8, the treatment system also includes an installation cart 10 and a media tank 11 mounted on the installation cart 10. The control device, the first moving module 4, the second moving module 5, and the third moving module 6 are all mounted on the installation cart 10. The first moving module 4, the second moving module 5, and the third moving module 6 are all externally located within the media tank 11. The treatment head 2, the first detection head 1, and the second detection head 3 are all located within the media in the media tank 11. The media can be water, a modified capsule material, or a coupling agent, etc. Alternatively, coupling patches can be attached to the treatment head 2, the first detection head 1, and the second detection head 3, eliminating the need for the media tank 11. As shown in Figures 5 to 8, the treatment head 2, the first detection head 1, and the second detection head 3 can be connected to their respective moving modules via U-connectors 7. One end of the U-connector 7 extends into the media tank 11 through the top opening. The organism to be treated can be fixed by corresponding fixing devices 12, with the organism located within the media in the media tank 11.

[0097] This application provides a treatment system comprising: a first detection head, a treatment head, a first moving module connected to the first detection head, a second moving module connected to the treatment head, and a control device. The first detection head is used to detect a first cross-sectional image of the object to be treated, the treatment head is used to irradiate the object, and the control device is connected to the first detection head, the treatment head, the first moving module, and the second moving module, respectively, and is used to execute the steps of the control method of the treatment device described above. After the focal point of the treatment head coincides with the center point of the image detected by the first detection head, the first cross-sectional image of the object to be treated is acquired. The focal point and the treatment area of ​​the object are on the same plane. When the focal point moves along the treatment path in the treatment area, the focal point of the treatment head is always located on the object to be treated, effectively preventing normal tissue next to the object from being irradiated. Furthermore, the movement of the focal point along the treatment path in the treatment area can increase the irradiation range, allowing more prodrugs to be activated and improving the treatment effect.

[0098] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the control method of the treatment device as described in the above method embodiment.

[0099] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0100] The control method, treatment system, and medium of a treatment device provided in this application have been described in detail above. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0101] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, 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, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method for a treatment device, the treatment device comprising a first detection head, a treatment head, a first moving module connected to the first detection head, and a second moving module connected to the treatment head, characterized in that, include: After the focal point of the treatment head coincides with the center point of the image detected by the first detection head, the first cross-sectional image of the object to be treated detected by the first detection head is acquired. A two-dimensional coordinate system is constructed for the first cross-sectional image, the treatment area in the first cross-sectional image is delineated, and a treatment path is generated in the treatment area; Determine the target position of the focal point of the treatment head in the two-dimensional coordinate system; The second moving module is driven according to the target position and the treatment path to move the focus of the treatment head along the treatment path.

2. The control method for the treatment device according to claim 1, characterized in that, Acquiring a first cross-sectional image of the object to be treated detected by the first detection head includes: Determine the relative position of the first detection head and the treatment head; Simultaneously drive the first moving module and the second moving module to make the first detection head and the treatment head move synchronously in a straight line in the first target direction while keeping their relative positions unchanged; wherein, the first target direction is perpendicular to the cross section of the object to be treated corresponding to the first cross section image; The cross-sectional image detected by the first detection head is acquired in real time. When the area of ​​the treatment region in the cross-sectional image is smaller than a first preset area, the first moving module and the second moving module are paused simultaneously. The first detection head is set to move a certain step size each time, and the first and second moving modules are driven to move synchronously in a straight line along the second target direction with the specified step size; wherein the second target direction and the first target direction are two opposite directions on the same straight line; The first and second moving modules are controlled to pause for a preset time period after each movement step, and the first cross-sectional image detected by the first detection head is acquired during the preset time period until the treatment area in the first cross-sectional image detected by the first detection head is less than a second preset area, at which point the first and second moving modules are paused.

3. The control method for the treatment device according to claim 2, characterized in that, The second moving module is driven according to the target position and the treatment path to move the focus of the treatment head along the treatment path, including: A breathing follower box is generated in the two-dimensional coordinate system; wherein the breathing follower box contains the target contour of the treatment area in the first cross-sectional image; Determine the centroid coordinates of the treatment area based on the target contour within the breathing follow-up frame; The change in the centroid position of the treatment area is determined based on the centroid coordinates at each time point. The treatment path is corrected in real time based on the change in the centroid position. The second moving module is driven according to the target position and the post-correction treatment path so that the focus of the treatment head moves along the post-correction treatment path.

4. The control method for the treatment device according to claim 3, characterized in that, Determining the centroid coordinates of the treatment area based on the target contour within the breathing follow-frame includes: Convert the image in the breathing follow box to a grayscale image; Convert the grayscale image into a binary image; Extract the target contour from the binary image; Calculate the first moment of the binary image based on the target contour; The centroid coordinates of the treatment area are determined based on the first moment.

5. The control method for the treatment device according to claim 3, characterized in that, The treatment device further includes a second detection head, which, when driving the second moving module according to the target position and the treatment path, also includes: The second cross-sectional image of the object to be treated, detected by the second detection head, is acquired in real time; wherein the cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image in the object to be treated. The displacement of the object to be treated in the third target direction is determined based on the second cross-sectional image, wherein the third target direction is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image; The second moving module is driven according to the displacement to move the treatment head along the third target direction.

6. The control method for the treatment device according to claim 1, characterized in that, Generate a treatment path in the treatment area, including: Determine the treatment row spacing, and generate multiple parallel treatment line segments from one end of the treatment area to the other end of the treatment area based on the treatment row spacing; wherein the endpoints of each treatment line segment are located on the outline of the treatment area; Set the treatment time for each of the aforementioned treatment segments.

7. The control method for the treatment device according to claim 6, characterized in that, Before setting the treatment time for each of the aforementioned treatment segments, the method also includes: If the number of treatment line segments in the treatment area is greater than the first set value, the treatment row spacing is increased, and multiple parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area based on the increased treatment row spacing. If the number of treatment line segments in the treatment area is less than a second set value, the treatment line spacing is reduced, and multiple parallel treatment line segments are regenerated from one end of the treatment area to the other end of the treatment area based on the reduced treatment line spacing.

8. A treatment system, characterized in that, include: A first detection head, a treatment head, a first moving module connected to the first detection head, a second moving module connected to the treatment head, and a control device; The first detection head is used to detect a first cross-sectional image of the object to be treated, the treatment head is used to irradiate the object to be treated, the control device is connected to the first detection head, the treatment head, the first moving module and the second moving module respectively, and the control device is used to execute the steps of the control method of the treatment device according to claim 1.

9. The treatment system according to claim 8, characterized in that, It also includes a second detection head and a third moving module connected to the second detection head. The third moving module is connected to the control device. The second detection head is used to detect a second cross-sectional image of the object to be treated. The cross-section of the object to be treated corresponding to the second cross-sectional image is perpendicular to the cross-section of the object to be treated corresponding to the first cross-sectional image in the object to be treated.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the treatment device as described in any one of claims 1 to 7.

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