Positioning system, radiation irradiation system and positioning method

Abstract

Provided in the present application are a positioning system, a radiation irradiation system and a positioning method. The positioning system comprises: a first mounting apparatus, which is used for supporting a subject in a first posture; a second mounting apparatus, which is used for supporting a subject in a second posture; a first positioning light source group, which is used for forming a first light spot area on the subject when positioning in the first posture has been completed; and a second positioning light source group, which is used for forming a second light spot area on the subject when the subject is located on the second mounting apparatus, so as to indicate the correspondence between the positions of the second light spot area and first light spot area on the subject. In the present solution, a known mounting apparatus and a positioning method for the known mounting apparatus are used, and in view of positioning light sources, the switching of a posture and mounting apparatus is performed, thereby realizing the accurate positioning of a special posture and a special mounting apparatus; and the present solution can be implemented without the need for adding expensive equipment or making extensive modifications to an existing treatment room, thereby reducing the difficulty of installation and maintenance.

Description

Positioning systems, radiation exposure systems, and positioning methods Technical Field

[0001] This application relates to the field of radiotherapy technology, and in particular to a positioning system, a radiation irradiation system, and a positioning method. Background Technology

[0002] Radiation therapy for tumors is commonly used for cancer patients, using high-energy radiation to destroy cancer cells and prevent their growth and division. For radiation therapy, it is essential to maximize the local dose to the tumor while minimizing damage to surrounding normal tissues and complications, thereby improving treatment efficacy and enhancing the patient's quality of life. For optimal treatment results, the patient's position is crucial and requires precise control to ensure accurate radiation delivery to the tumor site. However, some treatment sites require patients to be in specific positions, making conventional placement devices and positioning methods unsuitable and unable to achieve precise patient positioning. Summary of the Invention

[0003] Therefore, it is necessary to provide a positioning system, radiation irradiation system, and positioning method that can accurately achieve specific treatment postures in order to address the above-mentioned technical problems.

[0004] In a first aspect, this application provides a placement system, comprising:

[0005] A first mounting device is used to support the object in a first posture;

[0006] The second mounting device is used to support the mounted object in the second posture;

[0007] The first positioning light source group is used to form a first light spot area on the object being placed when the first posture is completed.

[0008] The second positioning light source group is used to form a second light spot area on the placed object when the object is located in the second placing device, so as to indicate the correspondence between the position of the second light spot area on the placed object and the position of the first light spot area.

[0009] In some embodiments, the positioning system further includes a parameter determination module for determining the positioning parameters of the first posture based on the position of the fixed exit, the position of the first positioning light source group, and the position of the second positioning light source group.

[0010] In some embodiments, the placement system further includes an image acquisition device disposed within the fixed outlet section; the image acquisition device is used to acquire a first image of the placed object when the placed object is located in the second placement device.

[0011] In some embodiments, the first positioning light source group includes a first positive light source located at a first position of the first mounting device and a first side light source group located at a non-first position of the first mounting device; the second positioning light source group includes a second positive light source located at a second position of the second mounting device and a second side light source group located at a non-second position of the second mounting device; the first positive light source and the second positive light source have a preset transpose relationship, and the first side light source group and the second side light source group have the preset transpose relationship.

[0012] In some embodiments, the positioning system includes a setup module for establishing a virtual exit based on the position of a fixed exit, wherein light emitted from the first side light source group forms at least a first positioning surface, and light emitted from the second side light source group forms at least a second positioning surface, and the system is configured to have at least one of the following features:

[0013] The direction indicated by the virtual exit section coincides with the first positive beam emitted by the first positive light source;

[0014] The central axis of the fixed outlet coincides with the second positive beam emitted by the second positive light source;

[0015] The positional relationship between the fixed outlet and the second positioning surface is the same as the positional relationship between the virtual outlet and the first positioning surface.

[0016] In some embodiments, the shortest vertical distance between the virtual outlet and the first positioning surface is the same as the shortest vertical distance between the fixed outlet and the second positioning surface.

[0017] In some embodiments, the shortest vertical distance between the light emitted by the second positive light source and the first positioning surface is within a first preset range, and / or, the shortest vertical distance between the light emitted by the first positive light source and the second positioning surface is within a second preset range.

[0018] In some embodiments, the first side light source group includes at least a first side light source and a second side light source located on both sides of the first mounting device. The first side light source and the second side light source are used to form a first linear light spot and a second linear light spot on both sides of the mounted body when the mounted body is located on the first mounting device.

[0019] And / or, the second side light source group includes at least a third side light source and a fourth side light source located on both sides of the second mounting device, the third side light source and the fourth side light source being used to form a third linear light spot and a fourth linear light spot on both sides of the mounted body when the mounted body is located on the second mounting device.

[0020] In some embodiments, the second mounting device includes a seat, the seat having a movable part and a locking device for locking the movable part to restrict movement of the second mounting device.

[0021] In some embodiments, an initial positioning device is further included to indicate the correspondence between the position of the object in the first posture and the posture when the medical image is captured; the initial positioning device includes a third positioning light source group and / or a stereoscopic vision device.

[0022] Secondly, this application also provides a radiation irradiation system, including a preparation room and / or a treatment room, wherein the preparation room and / or treatment room are provided with a fixed exit, and a positioning system is provided in the preparation room and / or treatment room, the positioning system including:

[0023] A first mounting device is used to support the object in a first posture;

[0024] The second mounting device is used to support the mounted object in the second posture;

[0025] The first positioning light source group is used to form a first light spot area on the object being placed when the first posture is completed.

[0026] The second positioning light source group is used to form a second light spot area on the placed object when the object is located in the second placing device, so as to indicate the correspondence between the position of the second light spot area on the placed object and the position of the first light spot area.

[0027] In some embodiments, the placement system is provided in the preparation room;

[0028] The preparation room is also equipped with a fourth positioning light source group, which is used to form a fourth light spot area on the placed body when the second posture is completed.

[0029] A fifth positioning light source group is provided in the treatment room to form a fifth light spot area on the object being placed, so as to indicate the correspondence between the fifth light spot area on the object and the fourth light spot area.

[0030] In some embodiments, the fourth positioning light source group includes a first rear light source disposed on the wall opposite the fixed exit of the preparation room; the fifth positioning light source group includes a second rear light source disposed on the wall opposite the fixed exit of the treatment room.

[0031] Thirdly, this application also provides a placement method, the method comprising:

[0032] When the object to be placed in the first placement device in the first posture, the control module controls the first placement device to move the object to the first posture.

[0033] Once the first posture is completed, the first positioning light source group forms a first light spot area on the placed body;

[0034] When the object is placed in the second mounting device in a second posture, the second positioning light source group forms a second light spot area on the object to indicate the correspondence between the position of the second light spot area on the object and the position of the first light spot area.

[0035] In some embodiments, controlling the first placement device to position the placed object in a first posture includes:

[0036] The parameter determination module determines the positioning parameters of the first posture based on the position of the fixed exit section, the position of the first positioning light source group, and the position of the second positioning light source group.

[0037] In some embodiments, it also includes:

[0038] Once the first posture is achieved, the first light spot area is marked.

[0039] With the object being placed in the second mounting device in a second posture, the correspondence between the positions of the second light spot area and the first light spot area on the object being placed is determined based on the marking;

[0040] The second mounting device is adjusted based on the corresponding situation.

[0041] The aforementioned positioning system, radiation irradiation system, and positioning method include a first placement device, a second placement device, a first positioning light source group, and a second positioning light source group. The object being placed is in a first posture when located on the first placement device and in a second posture when located on the second placement device, and the object can be transferred from the first placement device to the second placement device. The first positioning light source group, in conjunction with the first placement device, forms a first light spot area on the object being placed in the first posture. The second positioning light source group, in conjunction with the second placement device, forms a second light spot area on the object being placed when it is located on the second placement device. Thus, when the second placement device moves to a specific position, the second light spot area coincides with the first light spot area, thereby ensuring that the spatial position of the object being placed meets the requirements. Identifying the correspondence between the positions of the first and second light spot areas effectively assists in positioning the object being placed. This solution utilizes known mounting devices and positioning methods for those devices, combined with a positioning light source group, to enable the conversion between at least two postures and at least two mounting devices. This allows for accurate positioning of special postures and special mounting devices without the need for additional expensive equipment or significant modifications to the existing treatment room, thus reducing installation and maintenance difficulties. Furthermore, the second mounting device can be removed at any time when not in use without affecting the use of the conventional first mounting device. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying 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.

[0043] Figure 1 is a view of the placement system in some embodiments;

[0044] Figure 2 is a view of the placement system in some other embodiments;

[0045] Figure 3 is a three-dimensional schematic diagram of the placement system in some embodiments;

[0046] Figure 4 is a three-dimensional schematic diagram of the placement system in some other embodiments;

[0047] Figure 5 is a schematic diagram of a shared second positioning surface F2 in some embodiments;

[0048] Figure 6 is a schematic diagram of the usage state of the first posture in some embodiments;

[0049] Figure 7 is a schematic diagram of the usage state of the second posture in some embodiments;

[0050] Figure 8 is a schematic diagram showing the relationship between the control modules in some embodiments;

[0051] Figure 9 is a schematic diagram showing the relationship between the control modules in some other embodiments;

[0052] Figure 10 is a schematic diagram of a radiation irradiation system in some embodiments;

[0053] Figure 11 is a schematic diagram of the preparation room in some embodiments;

[0054] Figure 12 is a flowchart illustrating the placement method in some embodiments.

[0055] Explanation of reference numerals in the attached drawings: 10. Positioning system; 11. First placement device; 12. Second placement device; 13. First positioning light source group; 131. First positive light source; 132. First side light source; 133. Second side light source; 14. Second positioning light source group; 141. Second positive light source; 142. Third side light source; 143. Fourth side light source; 15. Fixed exit section; 151. First exit section; 152. Second exit section; 16. Virtual exit section; 20. Placed object; 31. Treatment room; 32. Preparation room; 321. Laser emitter; 33. Radiation generation chamber; 331. Charged particle generation section; F1. First positioning surface; F2. Second positioning surface; F3. Third positioning surface; F4. Fourth positioning surface; F5. Fifth positioning surface. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0057] The various embodiments described in this specification, such as "in some embodiments," "in other embodiments," and "in some feasible implementations," can each stand alone as an embodiment, or they can be combined with at least one other embodiment to form some new embodiments, which can still be implemented and achieve corresponding beneficial effects.

[0058] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] Tumor radiotherapy is a local treatment method that uses radiation to treat tumors. Radiation includes alpha, beta, and gamma rays produced by radioactive isotopes, and X-rays, electron beams, proton beams, neutron beams, or other particle beams produced by various X-ray therapy machines or accelerators. Typically, a treatment plan needs to be determined by a physician and physicist before radiotherapy. In some embodiments, the treatment planning system relies on the patient's medical imaging information, such as computed tomography (CT), magnetic resonance imaging (MRI), and / or positron emission tomography-computed tomography (PET-CT), to delineate the treatment target volume (GTV) and regions of interest (ROIs) of various important organs in the medical images. It then uses Monte Carlo simulations to calculate the radiation dose and ultimately determine the treatment plan, including patient localization.

[0061] The treatment plan is an irradiation therapy scheme for the target subject based on medical images. In one feasible implementation, the treatment target area and regions of interest of various important human organs are delineated in the medical images, and the radiation dose is calculated by Monte Carlo simulation. Finally, the treatment scheme, including the relative pose relationship between the target source and the target subject, is determined.

[0062] For tumor radiotherapy, the goal is to maximize the local dose to the tumor while minimizing damage to surrounding normal tissues and its complications, thereby improving treatment efficacy and enhancing patients' quality of life and survival. Patient positioning is crucial for achieving optimal results. In addition to precise planning of the entire treatment process, accurate patient positioning must be strictly adhered to the treatment plan during radiotherapy. Excessive positioning errors will alter the center of radiation exposure to the patient, leading to insufficient dose to the tumor target area or excessive dose to surrounding normal tissues, thus failing to achieve the desired therapeutic effect.

[0063] In some embodiments, the beam exit position for boron neutron capture therapy (BNCT) is fixed, unlike conventional radiotherapy where the beam exit position can be adjusted to compensate for positioning errors. The traditional treatment placement device is a treatment bed. When performing BNCT on a treatment bed, the bed is supported by a robotic arm. The patient's posture on the treatment bed or bed can be determined using known calibration methods based on the robotic arm's positioning parameters (e.g., control or position parameters). The robotic arm's positioning parameters can then be directly calculated based on the treatment plan, and its control module can be used to control its movement for precise positioning. However, while the patient is lying down when using a treatment bed, certain treatment sites are not suitable for this position. For example, for BNCT treatment of tumors in the frontal region, a sitting position is optimal. However, if a treatment chair is used, it is difficult to determine the chair's coordinates.

[0064] Based on this, and referring to Figures 1 to 3, Figure 1 shows a view of the placement system 10 in some embodiments, Figure 2 shows a view of the placement system 10 in another embodiment, the fixed outlet 15 is not shown in Figure 2, and the virtual outlet 16 may not be provided in the placement system, so it is not shown in Figure 2 either; Figure 3 shows a perspective schematic diagram of the placement system 10 in some embodiments, hiding the mounting device and the mounted body.

[0065] The positioning system 10 includes a first mounting device 11, a second mounting device 12, a first positioning light source group 13, and a second positioning light source group 14. The mounted object 20 (only a partial posture is shown; it is understood that the mounted object 20 can also be in other postures) can be an object about to be irradiated with radiation. The first mounting device 11 is used to support the mounted object 20 in the first posture, and the second mounting device 12 is used to support the mounted object 20 in the second posture. The mounted object 20 can be transferred between the first mounting device 11 and the second mounting device 12; for example, the mounted object 20 can be transferred from the first mounting device 11 to the second mounting device 12. When the mounted object 20 is located on the first mounting device 11, it is in the first posture; when the mounted object 20 is located on the second mounting device 12, it is in the second posture. The first positioning light source group 13 cooperates with the first mounting device 11 to form a first light spot area on the mounted object 20 when the positioning in the first posture is completed. It is understood that during the first positioning process, the first positioning light source may or may not emit a beam of light. This embodiment does not limit this. However, once the positioning is complete, the first positioning light source needs to emit a beam of light and form a first light spot area on the object 20. The position of this first light spot area guides the subsequent positioning of the second mounting device 12. The second positioning light source group 14 cooperates with the second mounting device 12 to form a second light spot area on the object 20 when the object 20 is located on the second mounting device 12, so as to indicate the correspondence between the positions of the second light spot area and the first light spot area on the object 20. Understandably, the position of the second light spot area on the substrate 20 will change as the second mounting device 12 is positioned. It may coincide with or not coincide with the position of the first light spot area. When they coincide, it indicates that the second light spot area on the substrate 20 corresponds to the position of the first light spot area. When they do not coincide, it indicates that the second light spot area on the substrate 20 does not correspond to the position of the first light spot area. The correspondence can be "corresponding" or "not corresponding", or it can be "closer to the correspondence than before" or "farther from the correspondence than before", etc.

[0066] By identifying the correspondence between the positions of the first and second light spot areas, the positioning of the object being placed can be effectively assisted. This solution utilizes known placement devices and methods for positioning known placement devices, combined with a positioning light source to convert the posture and placement device, achieving accurate positioning of special postures and special placement devices. This can be achieved without adding expensive equipment or significantly modifying the existing treatment room, reducing the difficulty of installation and maintenance. Furthermore, the second placement device can be removed at any time when not in use, without affecting the use of the conventional first placement device.

[0067] In some embodiments, the first placement device 11 may be a treatment bed, and when the patient is on the treatment bed, he / she is in a lying position, which is the first posture; the second placement device 12 may be a treatment chair, and when the patient is on the treatment chair, he / she is in a sitting position, which is the second posture.

[0068] It is understood that, referring to both Figures 1 and 2, when the object is placed in the first mounting device 11, the orientation of the object is not limited. For example, the head of the object in Figures 1 and 2 can face opposite directions, and the lying posture is not limited to lying flat as shown in the figures; it can also be lying on its side. The same applies to the sitting posture. Furthermore, the first and second postures are not limited to the lying and sitting posture examples shown in the figures; they can also be other postures known in the art.

[0069] In some embodiments, the first positioning light source group 13 and / or the second positioning light source group 14 include one or more lasers capable of emitting point, line, or surface laser light to form a light spot area on the object 20. Optionally, when forming a line or surface light spot area on the object 20, it can be achieved by cooperating with multiple lasers.

[0070] Optionally, the first placement device 11 is mounted on a robotic arm, and the position of the robotic arm is controlled by a control module. In some embodiments, after receiving the placement parameters of the first placement device 11, the control module positions the first placement device 11 based on its current position until a specified position is achieved to meet the requirements of the treatment plan. In some embodiments, the operator can also determine the placement parameters of the first placement device 11 based on the plan and then control the robotic arm by operating the control module to achieve the placement of the first placement device 11.

[0071] The first positioning light source group 13 is used to form a first light spot area on the object 20 after the first posture positioning is completed. For example, when the robotic arm controls the first placement device 11 to perform positioning, the posture of the object 20 after positioning meets the requirements of the treatment plan. The first positioning light source group 13 forms a first light spot area on the object 20, which can be marked with markers or marking tools. The posture of the object 20 corresponding to the marking conforms to the posture of the object 20 required by the treatment plan. Alternatively, without marking, the operator can remember the position of the first light spot area by referring to various parts of the object 20.

[0072] The second positioning light source group 14 is used to form a second light spot area on the mounted object 20 when the mounted object 20 is located in the second mounting device 12, so as to indicate the correspondence between the position of the second light spot area and the first light spot area on the mounted object 20. For example, when the mounted object 20 is located in the second mounting device 12, the position of the second light spot area changes by moving the second mounting device 12, and when moved to a specific position, the second light spot area can coincide with the first light spot area. In some feasible implementations, adjusting the second mounting device 12 can achieve the correspondence between the first light spot area and the second light spot area, thus completing the positioning of the second mounting device 12. For example, the aforementioned first light spot area can be marked or memorized, and then the second mounting device 12 can be adjusted so that the second light spot area coincides with the marked or memorized position, thereby achieving the correspondence between the first light spot area and the second light spot area. That is, after the body 20 is transferred from the first placement device 11 to the second placement device 12, the positioning result of the body 20 in the first placement device 11 can be reproduced, and the treatment positioning of the body 20 in the second placement device 12 can be realized, ensuring the accuracy of radiation irradiation on the body 20 in the second posture.

[0073] In some embodiments, the positioning system 10 further includes a parameter determination module for determining positioning parameters of the first attitude based on the position of the fixed exit section 15, the position of the first positioning light source group 13, and the position of the second positioning light source group 14. Exemplarily, the fixed exit section 15 refers to a radiation exit section or a simulated radiation exit section, capable of emitting radiation or simulating radiation emission. Optionally, the fixed exit section 15 may be a collimator exit or a beam shaping assembly (BSA) exit, or it may be a simulated collimator exit or a simulated BSA exit.

[0074] In BNCT, the beam exit position is generally fixed, for example, fixed to a side wall inside the room. In this case, the beam exit of the neutron beam is called the fixed exit section 15. After determining the treatment plan for the patient 20, the positional relationship between the radiation exit and the patient 20, i.e., the spatial positional relationship, is determined. Based on this, the positioning parameters of the first posture can be determined, thereby positioning the first placement device 11 to adjust the first posture of the patient 20.

[0075] In some embodiments, the positioning system 10 includes a setup module, which is used to establish a virtual exit section 16 based on the positional relationship between the light emitted by the first positioning light source group 13 and the light emitted by the fixed exit section 15 and the second positioning light source group 14, so that the positional relationship between the light emitted by the fixed exit section 15 and the second positioning light source group 14 and the positional relationship between the virtual exit section 16 and the light emitted by the first positioning light source group 13 are consistent.

[0076] For example, the fixed exit section 15, the first positioning light source group 13, and the second positioning light source group 14 are all physically present, while the virtual exit section 16 is a virtual concept constructed by the module. The virtual exit section 16 can be a virtual volume or object frame, a virtual line segment or graphic, a virtual point, a virtual point with an indicating direction, or a virtual coordinate system, etc., used to abstractly represent the position and / or the indicated direction of an exit section. The virtual exit section 16 can be established in the model, software, or coordinate system, or simply recording its position and indicated direction can be considered as "establishing" it.

[0077] As shown in Figure 1, the fixed outlet 15 is located on the side wall, with axis L1 (which can also be the direction of the radiation emitted by its opening or the direction of the radiation simulated by its opening) in the horizontal direction, and the shortest vertical distance (i.e., the horizontal distance) between it and the second positioning surface F2 is D1. The direction L2 indicated by the virtual outlet 16 (which can be understood as the direction of the emitted virtual radiation, and can be represented by the direction L2 indicated by a virtual volume, frame, line segment, graphic or point) is in the vertical direction in the figure, and the shortest vertical distance (i.e., the vertical distance) between the virtual outlet 16 and the first positioning surface F1 is D2. In order to make the positional relationship between the fixed outlet 15 and the light emitted by the second positioning light source group 14 consistent with the positional relationship between the virtual outlet 16 and the light emitted by the first positioning light source group 13, the value of D1 can be equal to or approximately equal to D2, or the difference between D1 and D2 can be within a preset range.

[0078] It is understandable that the positioning system 10 may also omit the virtual exit section 16 and directly determine the positioning parameters based on the initial position of the first placement device and the designated position of the first placement device in the treatment plan. This is because the establishment of the virtual exit section 16 is merely an intermediate product for facilitating the calculation of the positioning parameters of the first and second postures. The beneficial effect of performing this step is to facilitate calculation or understanding, but it is not necessary. In fact, the virtual exit section 16 component can be omitted, and the step of establishing the virtual exit section 16 can also be omitted. It is feasible and achievable by those skilled in the art to directly determine the positioning parameters based on the initial position of the first placement device and the designated position of the first placement device in the treatment plan.

[0079] In some feasible implementations, the positioning system 10 further includes a calculation module, which is used to determine the positioning parameters of the first placement device 11 based on the treatment plan and the position of the virtual exit 16, so that the relative positional relationship between the virtual exit 16 and the object 20 on the first placement device 11 is consistent with the relative positional relationship between the planned exit and the object 20 in the treatment plan. The planned exit refers to the expected spatial position of the fixed exit determined in the treatment plan. It is not represented by coordinate position in actual space, but by the expected relative pose between it and the object 20 in the treatment plan. The treatment plan determines the relative pose, i.e., the spatial relationship, between the radiation outlet and the object 20. After the virtual outlet 16 is constructed by the establishment module, the spatial position of the virtual outlet 16 is determined. Therefore, after obtaining the spatial position of the virtual outlet 16, the calculation module can determine the relative pose between the object 20 and the virtual outlet 16 based on the treatment plan, and then determine the pose of the object 20 that conforms to the treatment plan as the first target pose. The calculation module obtains the current pose of the first placement device 11 as the first initial pose. Based on the first initial pose and the first target pose, the placement parameters of the first placement device 11 can be determined so that after the first placement device 11 is placed to the first target pose, the spatial relationship between the object 20 and the virtual outlet 16 can meet the requirements of the treatment plan.

[0080] After the first placement device 11 is positioned to the first target pose, its positional relationship with the virtual exit 16 meets the requirements of the treatment plan. At this time, the first positioning light source group 13 forms a first light spot area, which can mark the placed body 20 or, based on the operator's memory, use various parts of the placed body 20 as references to remember the position of the first light spot area. The placed body 20 is then transferred to the second placement device 12, so that the second light spot area formed by the second positioning light source group 14 coincides with the mark or the remembered position. Then, the relative pose of the fixed exit 15 and the placed body 20 also meets the requirements of the treatment plan.

[0081] In some embodiments, the positioning system 10 further includes an image acquisition device disposed within the fixed outlet portion 15; the image acquisition device is used to acquire a first image of the placed body 20 when the placed body 20 is located in the second placement device 12. The first image can help the operator determine whether the second posture positioning is correct and consistent with the treatment plan.

[0082] In some embodiments, after acquiring a first image of the placed body 20, the image acquisition device can analyze and calculate the first image to determine the correspondence between the positions of the second light spot area and the first light spot area, such as determining whether the second light spot area coincides with a marker. Furthermore, the image acquisition device can also transmit the first image to a display unit, allowing staff to determine the correspondence between the positions of the second light spot area and the first light spot area based on the display, or to determine whether the placement in the first image is consistent with the treatment plan.

[0083] Optionally, the image acquisition device can be, but is not limited to, a camera, video camera, stereo vision device, structured light camera, binocular stereo camera, scanner, or X-ray imaging equipment. Optionally, the display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be a liquid crystal display screen or an e-ink display screen.

[0084] In some embodiments, the positioning system 10 may further include a verification module, which is used to compare the first image and the treatment plan to obtain a comparison result. If the positioning of the first image and the treatment plan are consistent or within the allowable error range, the positioning of the second placement device 12 is considered to be accurate. If the difference between the first image and the treatment plan is large, the second placement device 12 is considered to have not been successfully positioned.

[0085] In some embodiments, the placement system 10 may further include a movement module for controlling the movement of the second placement device 12. This achieves automated control of the placement of the second placement device 12.

[0086] In some embodiments, the verification module can also be used to send a control signal to the movement module based on the comparison result, so that the movement module controls the second placement device 12 to move and continuously adjust in order to achieve automatic placement.

[0087] In some embodiments, the first positioning light source group 13 includes a first positive light source 131 located at a first position of the first mounting device 11 and a first side light source group located at a non-first position of the first mounting device 11; the second positioning light source group 14 includes a second positive light source 141 located at a second position of the second mounting device 12 and a second side light source group located at a non-second position of the second mounting device 12; the first positive light source 131 and the second positive light source 141 have a preset transpose relationship, and the first side light source group and the second side light source group have a preset transpose relationship.

[0088] For example, the light emitted by the first positive light source 131 can form a dotted light spot, a linear light spot, or a cross-shaped light spot on the object 20. For example, the light emitted by the second positive light source 141 can form a dotted light spot, a linear light spot, or a cross-shaped light spot on the object 20. In some embodiments, the light emitted by the first positive light source 131 and the second positive light source 141 both form a cross-shaped light spot on the object 20. Positioning by using the cross-shaped light spot can achieve horizontal and vertical positioning of the cross based on the determination of the center point position. This avoids the situation where the dotted light spot only positions the center point but cannot indicate whether the object 20 has rotated. Using the cross-shaped light spot expands the positioning dimension and positioning area, thereby improving positioning accuracy.

[0089] In some embodiments, the light emitted by the first side light source group forms at least a first positioning surface F1, and the light emitted by the second side light source group forms at least a second positioning surface F2. The positioning system is configured to have at least one of the following features (i) to (iii): (i) the direction L2 indicated by the virtual exit section 16 coincides with the first positive beam emitted by the first positive light source 131; (ii) the central axis L1 of the fixed exit section 15 coincides with the second positive beam emitted by the second positive light source 141; (iii) the positional relationship between the fixed exit section 15 and the second positioning surface F2 is consistent with the positional relationship between the virtual exit section 16 and the first positioning surface F1.

[0090] In some embodiments, the first orientation can be upward, meaning the first positive light source 131 is located above the first placement device 11, that is, on the side of the body 20 away from the first placement device 11. For example, the first positive light source 131 can be mounted on the ceiling, or fixed above the first placement device 11 by a protruding bracket mounted on a side wall. In this way, the treatment target area of ​​the body 20 is oriented towards the first positive light source 131, and the first positive light source 131 can form a light spot on the body 20.

[0091] In some embodiments, the centerline of the first positive beam emitted by the first positive light source 131 may be collinear with the direction L2 indicated by the virtual exit portion 16, that is, the direction L2 indicated by the virtual exit portion 16 coincides with the first positive beam. Thus, the light spot formed on the mounted body 20 by the first positive beam can be represented as the center of the radiation beam virtually emitted by the virtual exit portion 16. Exemplarily, the first side light source group is mounted on the side wall.

[0092] In some embodiments, the first side light source group is used to form a horizontal first positioning surface F1. In this way, a first light spot area for positioning can be formed on the mounted body 20 by the first side light source group and the first positive light source 131.

[0093] In some embodiments, the second orientation can be a side, such as the left or right side, meaning the second positive light source 141 can be located on the side of the second mounting device 12, for example, it can be mounted on a side wall. When the object 20 is in the second posture and the treatment target area faces the second positive light source 141, the second positive light beam emitted by the second positive light source 141 can illuminate the object 20. The second orientation and the first orientation are only for ease of distinction in name. The second orientation and the first orientation can be different or the same. The orientation can include front, side, front, back, top, bottom, etc.

[0094] In some embodiments, the second positive light beam emitted by the second positive light source 141 may coincide with the central axis L1 of the fixed exit portion 15, that is, the second positive light beam coincides with the center line of the radiation beam emitted or simulated by the fixed exit portion 15. Thus, the light spot area formed on the carrier 20 by the second positive light source 141 also indicates that the radiation beam emitted or simulated by the fixed exit portion 15 irradiates the area of ​​the carrier.

[0095] In some embodiments, when the object 20 is moved to intersect with the first positioning surface F1 or the second positioning surface F2, the light beam falls on the object 20 to form a linear light spot.

[0096] For example, the light emitted from the first side light source group forms a horizontal first positioning surface F1, and the light emitted from the second side light source group forms a vertical second positioning surface F2. The module can determine the position of the virtual exit section 16 based on the positional relationship between the fixed exit section 15 and the second positioning surface F2, and the position of the first positioning surface F1. In some embodiments, the shortest vertical distance between the virtual exit section 16 and the first positioning surface F1 is the same as the shortest vertical distance between the fixed exit section 15 and the second positioning surface F2, thus achieving a correspondence between the positions of the fixed exit section 15 and the virtual exit section 16.

[0097] When the patient 20 is located in the first placement device 11, the positioning method described above can meet the needs of the treatment plan. When the patient 20 is located in the second placement device 12, the position of the second placement device 12 needs to be adjusted for positioning. Based on this, the first positive light source 131 and the second positive light source 141 have a preset transposition relationship, and the first side light source group and the second side light source group have a preset transposition relationship, enabling the positioning of the second placement device 12 based on the preset transposition relationship. It can be understood that the transposition relationship of the first side light source group and the second side light source group is also the transposition relationship of the first positioning surface F1 and the second positioning surface F2.

[0098] In some embodiments, the transpose relationship of the first positive light source 131 and the second positive light source 141 is consistent with the transpose relationship of the first side light source group and the second side light source group.

[0099] The transpose relationship can be defined as two directions being perpendicular to each other. In some embodiments, the light beam emitted from the first positive light source 131 and the light beam emitted from the second positive light source 141 are perpendicular to each other. In some embodiments, the first positioning surface F1 formed by the first side light source group and the second positioning surface F2 formed by the second side light source group are perpendicular to each other.

[0100] In some embodiments, the preset transpose relationship is a 90-degree rotation, and the axis of rotation is not limited here, that is, the position coordinates and the direction after rotation are not limited here. For example, the first positive light source 131 is located on the ceiling, and the second positive light source 141 is located on the side wall. For example, the first positioning surface F1 formed by the first side light source group is a horizontal plane, and the second positioning surface F2 formed by the second side light source group is a vertical plane.

[0101] In some embodiments, the first side light source group includes at least a first side light source 132 and a second side light source 133 located on both sides of the first mounting device 11. Exemplarily, the first side light source 132 and the second side light source 133 are located on opposite sides of the first mounting device 11, such as the left and right sides; in some embodiments, the light emitted by the first side light source 132 and the second side light source 133 together form a first positioning surface F1, see FIG3.

[0102] In some other embodiments, the light emitted by the first side light source group not only forms the first positioning surface F1 but also the third positioning surface F3. That is, the light emitted by the first side light source 132 and the second side light source 133 are not coplanar. The first positioning surface F1 and the third positioning surface F3 intersect with the two sides of the placed body 20 to form linear light spots, as shown in Figure 4.

[0103] The first side light source 132 and the second side light source 133 are used to form a first linear light spot and a second linear light spot on both sides of the mounted object 20 when the mounted object 20 is located in the first mounting device 11. For example, when the mounted object 20 is located in the first mounting device 11, the light emitted by the first side light source 132 falls on the mounted object 20 to form a first linear light spot, and the light emitted by the second side light source 133 falls on the mounted object 20 to form a second linear light spot.

[0104] And / or, the second side light source group includes at least a third side light source 142 and a fourth side light source 143 located on both sides of the second mounting device 12, respectively. Exemplarily, the third side light source 142 and the fourth side light source 143 are located on opposite sides of the second mounting device 12.

[0105] In some embodiments, the light emitted by the third side light source 142 and the fourth side light source 143 together form the second positioning surface F2, as shown in Figure 3.

[0106] In other embodiments, the light emitted by the second side light source group not only forms the second positioning surface F2 but also the fourth positioning surface F4. That is, the light emitted by the third side light source 142 and the fourth side light source 143 are not coplanar. The second positioning surface F2 and the fourth positioning surface F4 intersect with the two sides of the placed body 20 to form linear light spots, as shown in Figure 4.

[0107] The third side light source 142 and the fourth side light source 143 are used to form a third linear light spot and a fourth linear light spot on both sides of the mounted object 20, respectively, when the mounted object 20 is located in the second mounting device 12. For example, when the mounted object 20 is located in the second mounting device 12, the light emitted by the third side light source 142 falls on the mounted object 20 to form a third linear light spot, and the light emitted by the fourth side light source 143 falls on the mounted object 20 to form a fourth linear light spot.

[0108] It is understood that the first and second side light source groups can include not only one or two side light sources, as shown in some of the foregoing embodiments, but also more side light sources. For example, the first side light source group can be used to form both a horizontal and a vertical positioning surface; the second side light source group can be used to form both a vertical and a horizontal positioning surface. In other embodiments, the first and second side light source groups can also be used to form an inclined positioning surface. Multiple positioning surfaces can make positioning more accurate.

[0109] Furthermore, since the first and second postures are achieved at different times, the light sources in the first side light source group and the light sources in the second side light source group can be shared. The resulting effect is shown in Figures 5-7.

[0110] Figure 5 shows a schematic diagram of the first and second postures sharing the second positioning surface F2 in some embodiments, that is, at least one light source in the first side light source group shares with at least one light source in the second side light source group (only the light beam generated by the light source on the current view side is shown in the figure; it can be understood that there may be corresponding light sources sharing at the corresponding positions in the view behind it). For ease of observation, the second mounting device 12 is not shown in the figure; wherein, the fifth positioning surface F5 may or may not be the horizontal plane where the central axis of the fixed outlet part 15 is located; the position of the mounted body 20 in the figure is only schematic and does not limit the actual state, and the horizontal height of the fifth positioning surface F5 and the first positioning surface F1 is not limited to the situation shown in the figure.

[0111] Figures 6 and 7 show schematic diagrams in some embodiments where the first mounting device 11 and the second mounting device 12 share the first positioning surface F1 and the second positioning surface F2. That is, at least two light sources in the first side light source group share with at least two light sources in the second side light source group (only the light beam emitted from the light source on the current view side is shown in the figure; it can be understood that there may be corresponding light sources sharing at the corresponding positions in the view behind it). For ease of observation, Figures 6 and 7 are two different usage states of the same sharing situation. Figure 6 shows the sharing usage state of the first posture, and Figure 7 shows the sharing usage state of the second posture. When the first mounting device 11 and the second mounting device 12 share the first positioning surface F1 and the second positioning surface F2, it is possible to use horizontal and vertical positioning surfaces for positioning in both the first and second postures, which is more accurate than positioning with a single positioning surface. It can also reduce the number of laser light sources used, reduce costs, and improve space utilization, reducing the necessary space required for placement.

[0112] In some embodiments, the body 20 is first placed on the first placement device 11, and its positioning is controlled by the control module to meet the treatment plan requirements. At this time, a light spot is formed on the body 20 by the first positive light source 131, a first linear light spot is formed by the first side light source 132, and a second linear light spot is formed by the second side light source 133. In this way, the relative positional relationship between the body 20 and the virtual exit section 16 is uniquely determined. Then, the body 20 is transferred to the second placement device 12 and the position of the second placement device 12 is adjusted to move the body 20 so that the light spot formed by the second positive light source 141 on the body 20 coincides with the light spot formed by the first positive light source 131, the third linear light spot formed by the third side light source 142 coincides with the first linear light spot, and the fourth linear light spot formed by the fourth side light source 143 coincides with the second linear light spot. This makes the positional relationship between the body 20 and the fixed exit section 15 uniquely determined. In some embodiments, since the first positive light source 131 and the second positive light source 141, the first side light source group and the second side light source group have a preset transpose relationship, and the shortest vertical distance of the virtual outlet 16 from the first positioning surface F1 is the same as the shortest vertical distance of the fixed outlet 15 from the second positioning surface F2, the relative positional relationship between the object 20 on the second mounting device 12 and the fixed outlet 15 is the same as the relative positional relationship between the object 20 and the virtual outlet 16, which also meets the treatment plan requirements. The shortest vertical distances being the same means that they are equal or the difference between them is within a preset range. In other embodiments, the shortest vertical distance of the virtual outlet 16 from the first positioning surface F1 and the shortest vertical distance of the fixed outlet 15 from the second positioning surface F2 may not be the same, for example, they may have a known distance relationship, and subsequent conversion can be performed using the known distance relationship when indicating corresponding situations. For example, if the shortest vertical distance between the virtual exit section 16 and the first positioning surface F1 is known to be 1 cm longer than the shortest vertical distance between the fixed exit section 15 and the second positioning surface F2, then in subsequent indications of corresponding situations, if the second light spot area on the placed body is 1 cm ahead of the first light spot area, it is considered that the positions of the second light spot area and the first light spot area correspond.

[0113] In some embodiments, an initial positioning device is further included to indicate the correspondence between the first posture of the mounted body 20 and the posture when the medical image is captured; the initial positioning device includes a third positioning light source group and / or a stereoscopic vision device.

[0114] In some embodiments, the object 20 has multiple tags. In some embodiments, the initial positioning device includes a stereo vision device for acquiring a second image of the multiple tags in a first pose. Thus, the initial positioning device can acquire or calculate the stereo parameters of the multiple tags in the first pose based on the second image. The stereo parameters may include the position information of each tag, or a coordinate system based on the tag position calculated by combining the position information of each tag, to characterize the pose of the tag.

[0115] When the object 20 is located in the second mounting device 12, the image acquisition device can acquire the relative positional relationship between each tag and the fixed exit part 15, so as to determine whether the positional relationship between the object 20 and the fixed exit part 15 in the second posture is consistent with the positional relationship between the object 20 and the virtual exit part 16 in the first posture, and then determine whether the treatment plan requirements are met.

[0116] In some embodiments, the initial positioning device includes a third positioning light source group, which forms a third light spot area on the mounted body 20 when the mounted body 20 is located in the first mounting device 11. In some embodiments, when the mounted body 20 is capturing medical images, an image positioning light source group is provided in the room where the image is captured. The image positioning light source group forms an image light spot area on the mounted body 20 to indicate the position of the mounted body 20 during the medical image capture. The room for capturing medical images can be shared with the room for mounting, that is, the third positioning light source group can be the same as the image positioning light source group. The room for capturing medical images can also be different from the room for mounting, in which case the installation position of the third positioning light source group can refer to the installation of the image positioning light source group, so that the beam emitted by the third positioning light source group corresponds to the beam emitted by the image positioning light source group in the same direction. The third positioning light source group is used to indicate the correspondence between the position of the third light spot area on the mounted body 20 and the position of the image light spot area. The determination of the correspondence can refer to other embodiments, and can also be achieved using marking tools, etc. When the position of the third light spot area corresponds to the position of the image light spot area, it means that the first posture of the mounted body 20 corresponds to the posture when the medical image is captured.

[0117] In some embodiments, the second mounting device 12 includes a seat, the seat having a movable part and a locking device for locking the movable part to restrict the movement of the second mounting device 12.

[0118] Optionally, the movable part can be located on the side of the seat bottom that contacts the ground, allowing the seat to move on the ground via the movable part. For example, the movable part can be a steering wheel; the movable part can also include a slider with a groove on the ground; the movable part can also have a pulley with a guide rail on the ground, all of which enable the second mounting device 12 to move on the ground. The locking device can include a locking member, which locks the movable part when in a locked state, such as restricting the rotation of the steering wheel or pulley, or restricting the movement of the slider.

[0119] In some embodiments, position markers may be provided on the seat, the movable part, or the ground, such as graduations on a slide or guide rail, to indicate the direction and / or position of the second placement device 12, and also to indicate the angle and / or distance of movement. This allows the orientation and / or position of the second placement device 12, or the angle and / or distance of movement, to be determined based on the graduations, enabling the previous placement results of the second placement device to be reused or quickly reproduced in other rooms. Optionally, the position markers may also take other forms that indicate position.

[0120] In some embodiments, a limiting device is also included to restrict the displacement of the body 20 and prevent the body 20 from shaking. The limiting device may be a thermoplastic film. When the body 20 is covered by the thermoplastic film, its movement is restricted, preventing displacement of the body 20 that could lead to a decrease in the accuracy of radiotherapy. Optionally, the limiting device may be installed on the organ where the treatment target area of ​​the body 20 is located. For example, if the treatment target area is located in the head, the limiting device may be a head limiting device; if the treatment target area is located in the arm, the limiting device may be an arm limiting device. Optionally, the limiting device may also be installed on the torso of the body 20.

[0121] In some embodiments, referring to FIG8, the placement system includes a parameter determination module and a control module.

[0122] The parameter determination module is used to determine the positioning parameters of the first posture based on the position of the fixed outlet 15, the position of the first positioning light source group 13, and the position of the second positioning light source group 14. Optionally, the parameter determination module further determines the positioning parameters of the first posture based on a treatment plan obtained from the treatment planning system (TPS) in the radiation irradiation system.

[0123] The control module can be used to receive the positioning parameters determined by the parameter determination module, and to control the first placement device 11 to move the placed body 20 into a first posture, so that the relative posture of the virtual exit part 16 and the placed body 20 on the first placement device 11 is consistent with the relative posture of the planned exit part and the placed body 20 in the treatment plan.

[0124] In some embodiments, referring to FIG9, the placement system includes a setup module, a calculation module, and a control module.

[0125] A module is established to create a virtual exit section 16 based on the positional relationship between the light emitted by the first positioning light source group 13 and the light emitted by the fixed exit section 15 and the second positioning light source group 14, so that the positional relationship between the light emitted by the fixed exit section 15 and the second positioning light source group 14 is consistent with the positional relationship between the virtual exit section 16 and the light emitted by the first positioning light source group 13.

[0126] A calculation module is used to determine the positioning parameters of the first placement device 11 based on the treatment plan and the position of the virtual exit section 16, so that the relative pose of the virtual exit section 16 and the object 20 on the first placement device 11 is consistent with the relative pose of the planned exit section and the object 20 in the treatment plan. Optionally, the treatment plan is obtained from the treatment planning system (TPS) in the radiation irradiation system.

[0127] The control module can be used to receive the positioning parameters determined by the calculation module and to control the first placement device 11 to move the placed body 20 into a first posture so that the relative positional relationship between the virtual exit part 16 and the placed body 20 on the first placement device 11 is consistent with the relative positional relationship between the planned exit part and the placed body 20 in the treatment plan.

[0128] In some embodiments, the positioning system includes a control module but excludes any one of the parameter determination module, establishment module, and calculation module. The control module is used to control the first placement device 11 to move the placed object 20 to a first posture based on the human-computer interaction instructions input by the operator.

[0129] In some embodiments, the positioning system may further include a verification module for comparing the first image and the treatment plan to obtain a comparison result.

[0130] In some embodiments, any one of the aforementioned control module, parameter determination module, establishment module, calculation module, verification module, and movement module may be an independent execution unit, or it may share an execution unit with one or more of these modules. The execution unit may include one or more processors, or it may include one or more processors and one or more memories. The memories store processor-executable instructions and may be non-volatile. Data transfer may or may not occur between the modules as needed.

[0131] Each module in the above-mentioned placement system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0132] Based on the same inventive concept, this application also provides a radiation irradiation system, which includes a preparation room 32 and / or a treatment room 31. A fixed exit portion 15 is provided in the preparation room 32 and / or treatment room 31. A positioning system 10 is provided in the preparation room 32 and / or treatment room 31. The positioning system 10 includes: a first mounting device 11 for supporting a body 20 in a first posture; a second mounting device 12 for supporting a body 20 in a second posture; a first positioning light source group 13 for forming a first light spot area on the body 20 when the first posture is completed; and a second positioning light source group 14 for forming a second light spot area on the body 20 when the body 20 is located on the second mounting device 12, to indicate the correspondence between the positions of the second light spot area and the first light spot area on the body 20. The embodiments of one or more positioning systems 10 provided below can be found in the above description of the positioning system 10, and will not be repeated here.

[0133] In some embodiments, the treatment chamber 31 is provided with a fixed exit section 15 for outputting a radiation beam, through which the neutron beam irradiates the placed body 20 for treatment. Optionally, the fixed exit section 15 in the treatment chamber 31 may be a collimator exit or a beam shaping assembly (BSA) exit.

[0134] In some embodiments, a fixed exit section 15 is provided in the preparation chamber 32. Optionally, the fixed exit section 15 in the preparation chamber 32 can be a simulated collimator exit or a simulated BSA exit; exemplaryly, it can have the same position as the fixed exit section 15 in the treatment chamber 31. In the preparation chamber 32, the irradiation posture of the irradiated body (i.e., the placed body) can be accurately positioned and marked by a positioning system such as medical imaging, which facilitates the subsequent direct reproduction of the positioning posture in the treatment chamber 31 based on the markings, saving the positioning preparation time of the irradiated body in the treatment chamber 31.

[0135] In some embodiments, as shown in FIG10, the radiation irradiation system includes a treatment chamber 31 and a preparation chamber 32. The preparation chamber 32 may be disposed on one side of the treatment chamber 31, and an entrance / exit for the patient 20 to enter and exit, and a door for opening or closing the entrance / exit, are provided between the two. A fixed exit portion 15 located in the treatment chamber 31 is defined as a first exit portion 151, and a fixed exit portion 15 located in the preparation chamber 32 is defined as a second exit portion 152. The radiation generation chamber 33 generates a radiation beam through a charged particle generation unit 331, and after a series of reactions and decelerations, forms a neutron beam for treatment, which is emitted from the first exit portion 151 to the patient 20.

[0136] In some embodiments, as shown in FIG11, a plurality of laser emitters 321 are provided in the preparation chamber 32, respectively disposed on the top wall and side walls of the preparation chamber 32, for emitting laser beams to simulate positioning of the object 20. The preparation chamber 32 is also provided with a second exit 152 located on one side wall. The second exit 152 serves as a simulated collimator exit or simulated beam exit for positioning reference, and has the same structure, size and position as the first exit 151 in the treatment chamber 31.

[0137] It is understandable that the preparation room 32 and the treatment room 31 can be located in the same building of the medical facility or in different buildings.

[0138] In some embodiments, when both the preparation room 32 and the treatment room 31 have a positioning system 10, the relative positional relationship between the light beams emitted from the first and second positioning light source groups 14 and the fixed exit portion 15 in the preparation room 32 is consistent with the relative positional relationship between the light beams emitted from the first and second positioning light source groups 14 and the fixed exit portion 15 in the treatment room 31. In some embodiments, the positioning system 10 layouts of the preparation room 32 and the treatment room 31 are consistent, that is, the positions of the first positioning light source group 13 and the second positioning light source group 14 are consistent in the preparation room 32 and the treatment room 31. It is understood that the light sources in the corresponding light source groups do not need to be installed in exactly the same position. The positions can be adjusted as long as the direction of their emitted light beams is consistent. For example, the installation position of the light source can be adjusted back and forth in its beam direction without changing the direction of the beam.

[0139] In some embodiments, pre-positioning is performed in preparation room 32, allowing the second placement device 12 in preparation room 32 to be moved to the target position to meet the requirements of the treatment plan. Furthermore, if the position of the second placement device 12 in preparation room 32 is verified to be feasible, it can be used in treatment room 31. Moreover, pre-positioning in preparation room 32 reduces the time the patient 20 spends in treatment room 31, reducing the time the patient 20 is exposed to radiation, thereby reducing radiation risk. Multiple preparation rooms 32 can also be provided, allowing for the separate positioning and preparation of multiple patients in each preparation room. Time can be rationally allocated in treatment room 31 to achieve irradiation for more patients, improving the utilization rate of treatment room 31 and thus achieving greater economic and social benefits.

[0140] In some embodiments, a positioning system 10 is provided in the treatment room 31; no preparation room 32 is provided in the radiation irradiation system; the body 20 is positioned directly in the treatment room 31 in a first posture and a second posture, and radiation irradiation can be performed after the second posture is completed.

[0141] In some embodiments, a positioning system 10 is provided in the preparation room 32; this system is used to verify whether a second posture can be achieved through the positioning system 10 in the preparation room 32, so that it meets the requirements of the treatment plan. Whether or not a second posture is performed in the treatment room 31, and how the positioning is performed, is not limited in this embodiment.

[0142] In some embodiments, a positioning system 10 is provided in the preparation room 32; the preparation room 32 is provided with position markers, such as scales, which can be angle scales and / or distance scales, to indicate the direction and / or position of the second placement device 12, and also to indicate the angle and / or distance of movement. The position markers can be set on the seat, the movable part, or the ground, as described above in the description of the positioning system 10; in this case, the direction and / or position of the second placement device 12 in the preparation room 32, or the angle and / or distance of movement, can be reproduced multiple times based on the position markers, and can also be reused and quickly reproduced in other preparation rooms 32. In other embodiments, the treatment room 31 is also provided with position markers consistent with those in the preparation room 32, which facilitates the direct reuse and quick reproduction of the positioning results in the preparation room 32, and eliminates the need for a light source group.

[0143] In some embodiments, position markers may be provided on the seat, movable part, or ground, such as scales on the slide or guide rail. This allows the distance the second mounting device 12 has moved during positioning to be determined based on the scale values, thus facilitating the direct determination of the target position in other rooms or during the next positioning based on the moving distance. Optionally, the position markers may also take other forms that indicate the position.

[0144] In some embodiments, a positioning system 10 is provided in the preparation chamber 32; a fourth positioning light source group is also provided in the preparation chamber 32 for forming a fourth light spot area on the placed body 20 when the positioning in the second posture is completed; a fifth positioning light source group is provided in the treatment chamber 31 for forming a fifth light spot area on the placed body 20 to indicate the correspondence between the fifth light spot area and the fourth light spot area on the placed body 20.

[0145] In some embodiments, the body 20 can be pre-positioned in the preparation chamber 32. When the second placement device 12 is moved to a designated position in the preparation chamber 32, the treatment plan requirements can be met. The second placement device 12 is provided in the treatment chamber 31. The treatment chamber 31 may or may not have a first placement device 11. The treatment chamber 31 and the preparation chamber 32 may have the same layout, or the layout may not be exactly the same, but the second placement device 12 in the treatment chamber 31 and the second placement device 12 in the preparation chamber 32 may be positioned in the same way. That is, when the relative positional relationship between the second placement device 12 in the treatment chamber 31 and the fixed outlet 15 in the treatment chamber 31 is the same as the relative positional relationship between the second placement device 12 in the preparation chamber 32 and the fixed outlet 15 in the preparation chamber 32, the positioning of the treatment chamber 31 can also meet the treatment plan requirements.

[0146] In some embodiments, the installation configurations of the fourth positioning light source group in the preparation chamber 32 and the fifth positioning light source group in the treatment chamber 31 correspond. For example, the relative positional relationship between the beam emitted from the fourth positioning light source group and the fixed exit portion 15 in the preparation chamber 32 is the same as the relative positional relationship between the beam emitted from the fifth positioning light source group and the fixed exit portion 15 in the treatment chamber 31.

[0147] Specifically, when the second posture of the object 20 in the preparation chamber 32 is completed, the fourth positioning light source group emits light onto the object 20 in the preparation chamber 32 to form a fourth light spot area, marking the second posture that meets the treatment plan. In some embodiments, the fourth light spot area can be marked. When the object is located on the second placement device 12 in the treatment chamber 31, the fifth positioning light source group forms a fifth light spot area on the object 20. The relationship between the fifth light spot area and the marked position indicates the correspondence between the fifth light spot area and the fourth light spot area. In this way, the second posture of the object 20 in the treatment chamber 31 can be adjusted so that the fifth light spot area coincides with the marked object, indicating that the positions of the second placement device 12 in the treatment chamber 31 and the second placement device 12 in the preparation chamber 32 correspond, and at this time, the second posture of the object 20 in the treatment chamber 31 meets the requirements of the treatment plan.

[0148] In some embodiments, the fourth positioning light source group includes at least one of the following light sources:

[0149] A light source located on the side wall of the preparation room 32 and emitting a horizontal beam, such as a horizontal laser surface;

[0150] A light source located on the side wall of the preparation room 32 and emitting a vertical beam, such as a vertical laser surface;

[0151] A light source located above the second mounting device and emitting a vertical beam downwards, such as a light source emitting a vertical beam downwards, may optionally emit a downward-pointing laser, a linear laser, or a cross laser.

[0152] A light source located in the fixed exit section 15 of the preparation chamber 32, for example, a light source that emits a beam of light that coincides with the direction of the central axis L1 of the fixed exit section.

[0153] The light source in the fourth positioning light source group can be shared with the light source in the placement system.

[0154] The fifth positioning light source group corresponds to the light sources contained in the fourth positioning light source group, and the direction of the light emitted by each light source is consistent.

[0155] In some embodiments, the fourth positioning light source group includes a first rear light source disposed on the wall opposite the fixed exit 15 of the preparation room 32; the fifth positioning light source group includes a second rear light source disposed on the wall opposite the fixed exit 15 of the treatment room 31.

[0156] In some embodiments, the radiation irradiation system includes a treatment planning system (TPS) for developing treatment plans; in other embodiments, the radiation irradiation system also includes a robotic arm control system, the control module of which may be equivalent to or different from the robotic arm control system; in still other embodiments, the radiation irradiation system also includes a data management system for interacting with and processing data from other systems, devices, or modules.

[0157] In some embodiments, one or more of the control module, parameter determination module, establishment module, calculation module, verification module, and movement module may be located in the TPS, the robotic arm control system, the data management system, or in other independently set data processing equipment. The specific setting method can be set according to actual needs and circumstances, and is not limited here.

[0158] In some embodiments, referring to Figure 12, this application also provides a placement method. The hardware structure or functional module involved in this method can be implemented using the corresponding hardware structure or functional module in the foregoing embodiments. Please refer directly to the above content, which will not be repeated here. This method includes the following steps S1 to S3.

[0159] S1, when the object 20 is placed in the first mounting device 11 in the first posture, the control module controls the first mounting device 11 to move the object 20 to the first posture.

[0160] S2, when the first posture is completed, the first positioning light source group 13 forms a first light spot area on the placed body 20.

[0161] S3, with the object 20 placed in the second mounting device 12 in the second posture, the second positioning light source group 14 forms a second light spot area on the object 20 to indicate the correspondence between the position of the second light spot area and the first light spot area on the object 20.

[0162] In some embodiments, after determining the treatment plan for the body 20, the relative orientation of the fixed outlet portion 15 and the body 20 is determined, and the first placement device 11 is positioned accordingly to adjust the orientation of the body 20.

[0163] In some embodiments, step S1, controlling the first placement device 11 to move the placed body 20 to a first posture, includes: the parameter determination module determining the positioning parameters of the first posture based on the position of the fixed outlet 15, the position of the first positioning light source group 13, and the position of the second positioning light source group 14.

[0164] In some embodiments, step S1, controlling the first placement device 11 to position the placed body 20 in a first posture, includes: a module establishing a virtual exit section 16 based on the positional relationship between the light emitted by the first positioning light source group 13 and the light emitted by the fixed exit section 15 and the second positioning light source group 14, so that the positional relationship between the light emitted by the fixed exit section 15 and the second positioning light source group 14 and the positional relationship between the virtual exit section 16 and the light emitted by the first positioning light source group 13 are consistent; a calculation module determining the placement parameters of the first placement device 11 based on the treatment plan and the position of the virtual exit section 16, so that the relative positional relationship between the virtual exit section 16 and the placed body 20 on the first placement device 11 is consistent with the relative positional relationship between the planned exit section and the placed body 20 in the treatment plan.

[0165] In some embodiments, the first placement device 11 is mounted on a robotic arm, and the spatial position of the robotic arm is controlled by a control module. After receiving the placement parameters of the first placement device 11, the control module positions the first placement device 11 based on its current position until a specified spatial position is reached to meet the requirements of the treatment plan.

[0166] In some embodiments, the operator may also determine the placement parameters of the first placement device 11 based on a plan, and then control the robotic arm to place the first placement device 11.

[0167] In some embodiments, when the first placement device 11 is positioned, the relative pose of the placed body 20 and the virtual exit portion 16 meets the treatment plan requirements, and at this time, the first positioning light source group 13 forms a first light spot area. In some embodiments, the placed body 20 is first placed on the first placement device 11, and the control module controls the parameter determination module to position the first placement device 11. After positioning, the treatment plan requirements are met. At this time, a light spot is formed on the placed body 20 by the first positive light source 131, a first linear light spot is formed by the first side light source 132, and a second linear light spot is formed by the second side light source 133. Thus, the relative positional relationship between the placed body 20 and the virtual exit portion 16 is uniquely determined by these light spots.

[0168] In some embodiments, step S2 in the placement method includes:

[0169] S201, in the state where the first posture is completed, mark the first light spot area.

[0170] For example, the first light spot area can be marked with a marker. In some embodiments, the marker can be a sticker that can be attached to the first light spot area of ​​the substrate 20. In other embodiments, a marking tool can also be used to mark the first light spot area, such as a marker pen, to mark the first light spot area on the substrate 20.

[0171] In some embodiments, step S2 in the placement method includes:

[0172] S201', with the first posture completed, the first light spot area is memorized. For example, the operator can memorize the position of the first light spot area by referring to various parts of the mounted body 20.

[0173] In some embodiments, the object 20 can be transferred to the second mounting device 12 and the position of the second mounting device 12 can be adjusted to move the object 20.

[0174] In some embodiments, step S3 in the placement method includes:

[0175] S301, with the object 20 placed in the second mounting device 12 in a second posture, the correspondence between the positions of the second light spot area and the first light spot area on the object 20 is determined based on the markings.

[0176] In some embodiments, step S3 in the placement method includes:

[0177] S301', with the object 20 placed in the second mounting device 12 in the second posture, the operator determines the correspondence between the positions of the second light spot area and the first light spot area on the object 20 based on memory.

[0178] In some embodiments, the correspondence between the positions of the second light spot area and the first light spot area on the substrate 20 is determined by comparing the positions of the second light spot area and the marker or memory. If the positions of the second light spot area and the marker or memory are misaligned, the positions do not correspond; if the positions of the second light spot area and the marker or memory coincide, the positions correspond.

[0179] In some embodiments, the placement method further includes:

[0180] S4, adjust the second mounting device 12 according to the corresponding situation.

[0181] For example, the second mounting device 12 is adjusted to change the pose of the mounted object 20 so that the second light spot area is aligned with the mark. This alignment means coincidence or alignment; it is understood that whether alignment is achieved can be determined manually, and alignment is permissible within a reasonable error range. When the second light spot area is aligned with the mark, the second posture is complete. The completed second posture can be the posture in which the mounted object receives radiation irradiation.

[0182] For example, the second mounting device 12 can also be adjusted to change the position of the mounted body 20 so that the second light spot area is aligned with the position remembered by the operator.

[0183] It is understood that the above embodiments only mention the first placement device 11 and the second placement device 12, but this disclosure is not limited to including only these two placement devices, nor is it limited to including only the transfer of placement between these two placement devices. It may also include multiple first placement devices 11 or second placement devices 12, or other placement devices. The scheme provided by this disclosure can realize the transfer of placement between multiple first placement devices 11 or second placement devices 12, or other placement devices, or multiple placements between the same placement devices.

[0184] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately, concurrently, or in turn with other steps or at least a portion of the steps or stages of other steps.

[0185] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0186] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A placement system, characterized in that, include: A first mounting device is used to support the object in a first posture; The second mounting device is used to support the mounted object in the second posture; The first positioning light source group is used to form a first light spot area on the object being placed when the first posture is completed. The second positioning light source group is used to form a second light spot area on the placed object when the object is located in the second placing device, so as to indicate the correspondence between the position of the second light spot area on the placed object and the position of the first light spot area.

2. The placement system according to claim 1, characterized in that, The positioning system also includes a parameter determination module, which is used to determine the positioning parameters of the first posture based on the position of the fixed exit, the position of the first positioning light source group, and the position of the second positioning light source group.

3. The placement system according to claim 2, characterized in that, The placement system also includes an image acquisition device disposed within the fixed outlet section; the image acquisition device is used to acquire a first image of the object being placed when the object is located in the second placement device.

4. The placement system according to claim 1, characterized in that, The first positioning light source group includes a first positive light source located at a first position of the first mounting device and a first side light source group located at a non-first position of the first mounting device; the second positioning light source group includes a second positive light source located at a second position of the second mounting device and a second side light source group located at a non-second position of the second mounting device; the first positive light source and the second positive light source have a preset transpose relationship, and the first side light source group and the second side light source group have the preset transpose relationship.

5. The placement system according to claim 4, characterized in that, The positioning system includes a creation module for creating a virtual exit based on the position of a fixed exit. Light emitted from the first side light source group forms at least a first positioning surface, and light emitted from the second side light source group forms at least a second positioning surface. The system is configured to have at least one of the following features: The direction indicated by the virtual exit section coincides with the first positive beam emitted by the first positive light source; The central axis of the fixed outlet coincides with the second positive beam emitted by the second positive light source; The positional relationship between the fixed outlet and the second positioning surface is the same as the positional relationship between the virtual outlet and the first positioning surface.

6. The placement system according to claim 4, characterized in that: The first side light source group includes at least a first side light source and a second side light source located on both sides of the first mounting device. The first side light source and the second side light source are used to form a first linear light spot and a second linear light spot on both sides of the mounted body when the mounted body is located on the first mounting device. And / or, the second side light source group includes at least a third side light source and a fourth side light source located on both sides of the second mounting device, the third side light source and the fourth side light source being used to form a third linear light spot and a fourth linear light spot on both sides of the mounted body when the mounted body is located on the second mounting device.

7. The placement system according to claim 1, characterized in that, The second mounting device includes a seat, the seat having a movable part and a locking device, the locking device being used to lock the movable part to restrict the movement of the second mounting device.

8. The placement system according to claim 1, characterized in that, It also includes an initial positioning device for indicating the correspondence between the first posture of the object being placed and the posture when the medical image is captured; the initial positioning device includes a third positioning light source group and / or a stereoscopic vision device.

9. A radiation irradiation system, comprising a preparation room and / or a treatment room, wherein the preparation room and / or treatment room are provided with a fixed exit, characterized in that, A positioning system is provided in the preparation room and / or treatment room, the positioning system comprising: A first mounting device is used to support the object in a first posture; The second mounting device is used to support the mounted object in the second posture; The first positioning light source group is used to form a first light spot area on the object being placed when the first posture is completed. The second positioning light source group is used to form a second light spot area on the placed object when the object is located in the second placing device, so as to indicate the correspondence between the position of the second light spot area on the placed object and the position of the first light spot area.

10. The radiation irradiation system according to claim 9, characterized in that, The placement system is provided in the preparation room; The preparation room is also equipped with a fourth positioning light source group, which is used to form a fourth light spot area on the placed body when the second posture is completed. A fifth positioning light source group is provided in the treatment room to form a fifth light spot area on the object being placed, so as to indicate the correspondence between the fifth light spot area on the object and the fourth light spot area.

11. The radiation irradiation system according to claim 10, characterized in that, The fourth positioning light source group includes a first rear light source installed on the wall opposite the fixed exit of the preparation room; the fifth positioning light source group includes a second rear light source installed on the wall opposite the fixed exit of the treatment room.

12. A placement method, characterized in that, The method includes: When the object to be placed in the first placement device in the first posture, the control module controls the first placement device to move the object to the first posture. Once the first posture is completed, the first positioning light source group forms a first light spot area on the placed body; When the object is placed in the second mounting device in a second posture, the second positioning light source group forms a second light spot area on the object to indicate the correspondence between the position of the second light spot area on the object and the position of the first light spot area.

13. The method according to claim 12, characterized in that, The control of the first placement device to move the placed object into a first posture includes: The parameter determination module determines the positioning parameters of the first posture based on the position of the fixed exit section, the position of the first positioning light source group, and the position of the second positioning light source group.

14. The method according to claim 12, characterized in that, Also includes: Once the first posture is achieved, the first light spot area is marked. With the object being placed in the second mounting device in a second posture, the correspondence between the positions of the second light spot area and the first light spot area on the object being placed is determined based on the marking; The second mounting device is adjusted based on the corresponding situation.

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