Motion management method and system, and related device

Abstract

Disclosed in the present invention are a motion management method and system, and a related device, which relate to the technical field of radiotherapy. The system comprises: a real-time imaging module used for acquiring a body surface contour of a patient in real time and acquiring a respiratory curve of the patient according to the body surface contour, the body surface contour being used for auxiliary positioning of the patient; and a 4D acquisition module used for sending a time signal to a sliding gantry CT according to the respiratory curve of the patient to establish a respiratory phase synchronization timing sequence, wherein when a treatment couch is at a scanning position of the sliding gantry CT, according to a real-time respiratory signal of the patient, 4DCT images or breath-hold images of the patient in different respiratory phases are acquired using the sliding gantry CT. The 4DCT images or the breath-hold images are used for registration with a positioned 4DCT image, thereby overcoming the drawbacks that previously only tumor images at a certain respiratory phase are obtainable and the images are prone to motion artifacts, resulting in errors in registration. As a result, the registration accuracy of a tumor that is greatly affected by respiratory motion is improved, and the clinical efficiency is enhanced.

Description

Exercise management methods, systems and related equipment

[0001] This application claims priority to Chinese Patent Application No. 202510005753X, filed on January 3, 2025, which is incorporated herein by reference in its entirety. Technical Field

[0002] This invention relates to the field of radiotherapy technology, and for example to methods, systems and related equipment for motion management. Background Technology

[0003] Due to its unique energy deposition characteristics, proton beams can concentrate and release maximum energy onto tumor tissue while minimizing radiation exposure to surrounding healthy tissue, thereby reducing the risk of complications and side effects. Proton therapy has the advantages of high precision and few side effects, and its treatment precision is extremely sensitive to changes in the treatment pathway.

[0004] The precision of proton therapy is mainly affected by two factors: firstly, the uncertainty of the range, such as changes in the patient's anatomical structure, breathing, and organ movement, which can cause changes in the density of the proton beam along the penetration path, thus affecting the dose distribution; secondly, the uncertainty of the position, where positioning errors before treatment can directly affect the precision of treatment.

[0005] For tumors such as lung cancer, liver cancer, and breast cancer, which are greatly affected by respiratory movement, these uncertainties may lead to discrepancies between the planned dose and the actual dose, resulting in insufficient dose to the target area and excessive dose to normal tissues, thereby affecting the treatment effect; these uncertainties are related to factors such as the patient's tumor movement amplitude and breathing pattern.

[0006] Reducing treatment uncertainty is a key focus in the clinical application of proton therapy. Currently, the probability of uncertainty can be reduced through methods such as body positioning devices, pre-treatment image guidance, the application of rescanning techniques during treatment, and motion management (such as respiratory gating, breath-holding therapy, abdominal compression, and surface guidance) to achieve precise radiotherapy.

[0007] In a standard proton radiotherapy procedure, the first step is the simulation and localization phase. This phase involves customizing a positioning device based on the patient's treatment site. The patient then proceeds to the CT simulation and localization room to scan a set of CT images, including those from the positioning device, for subsequent treatment planning. For tumors significantly affected by respiratory motion, motion management techniques are employed, such as using pressure sensors or surface optical signals to acquire 4D CT images, or having the patient hold their breath before scanning the CT images to account for the impact of respiratory motion on the tumor. Next is the target delineation phase, where the target area and the outlines of organs at risk are delineated on the acquired localization CT scan. If 4D CT images are used, the appropriate time phase is selected, and a maximum density projection image is generated to ensure the complete range of target motion is delineated. The subsequent steps are: treatment plan creation, plan review and approval, plan quality control, treatment plan scheduling, and treatment plan implementation.

[0008] During the planning and implementation phase, the first step is positioning. The patient lies on the treatment bed, and the clinical operator uses a positioning device to stabilize the patient and aligns the laser light with the positioning lines on the patient's body surface. Next is the image-guided phase. To reduce positioning errors, image guidance is required for all proton therapy sessions. The positioning images before each treatment are verified against the planned positioning images to minimize the impact of positional uncertainties caused by positioning. Currently, there is a lack of corresponding motion management methods in the image-guided phase to ensure the consistency of respiratory phases between each acquired positioning and positioning image; therefore, it is necessary to improve these methods. Summary of the Invention

[0009] Based on the above problems, the purpose of this invention is to provide a motion management method, system and related equipment for comprehensive monitoring and precise management of changes on the patient's body surface, improving the registration accuracy of tumors that are greatly affected by respiratory movements, and improving clinical efficacy.

[0010] The objective of this invention is achieved through the following technical solution:

[0011] In a first aspect, the present invention provides a motion management system for monitoring changes on the body surface of a patient within a motion area, the system comprising:

[0012] A real-time imaging module is used to acquire the patient's body surface contour in real time within a motion area through one or more motion management devices fixed in one position, and to acquire the patient's respiratory curve based on the body surface contour; the body surface contour is used to assist in the patient's positioning.

[0013] The 4D acquisition module is used to send respiratory signals to the CT scanner based on the patient's respiratory curve and establish a synchronous timing sequence of respiratory phases. When the treatment bed moves from the positioning position to the CT scanning position, the CT scanner acquires 4DCT images or breath-holding images of the patient at different respiratory phases based on the patient's real-time respiratory signals. The 4DCT images or breath-holding images are used to register with the positioned 4DCT images, and the positioning error of the treatment bed is corrected based on the registration results.

[0014] In one possible implementation, the movement area includes the treatment bed moving from the positioning area to the CT area, the CT scanning position, and the treatment bed moving from the slide rail CT scanning position to the treatment area.

[0015] In one possible implementation, the real-time imaging module includes a motion management device, which includes a digital light processing projector and a CCD camera; the execution steps of the real-time imaging module include:

[0016] The digital light processing projector emits a structured light image with a specific encoding onto the patient's body surface; the CCD camera simultaneously captures the structured light image.

[0017] The captured structured light image is decoded to determine the correspondence between CCD camera image points and structured light image points;

[0018] Based on the aforementioned correspondence, the three-dimensional coordinates of points on the patient's body surface are obtained;

[0019] The three-dimensional coordinates of points on the patient's body surface are used to reconstruct the three-dimensional outline of the body surface.

[0020] The patient's respiratory curve is obtained by analyzing the changes in the patient's body contour over time.

[0021] In one possible implementation, the motion management device includes a first device located within a preset distance range of the rotating gantry in the treatment room and a second device located in the CT area.

[0022] In one possible implementation, the motion management system further includes:

[0023] The positioning module is used to match the real-time body surface contour of the patient obtained through the first device with the reference body surface contour in the treatment plan during the positioning stage, thereby completing the first stage of patient positioning.

[0024] The image guidance module is used to move the treatment bed from its initial position to the CT scan position and guide the image through CT. In the CT area, a second device is used to acquire the patient's real-time body surface contour.

[0025] In one possible implementation, the motion management system further includes:

[0026] The display module is used to display the real-time monitoring interface, which includes the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset result, and gate window within the motion area.

[0027] The prompting module is used to prompt correction of the treatment bed positioning error based on the patient's contour offset results.

[0028] In one possible implementation, the motion management system further includes:

[0029] The VR guidance module is used to provide feedback on the real-time inspiratory volume and the relative position of the preset gate window for patients undergoing breath-holding therapy via VR devices. The relative position enables the patient to actively maintain an accurate and stable breath-holding state to scan CT images under breath-holding conditions. The real-time inspiratory volume is obtained through changes in the patient's body contour.

[0030] In one possible implementation, the motion management system further includes: a fasciculation control module; the fasciculation control module includes a body surface guidance unit and a respiratory gating unit;

[0031] The body surface guidance unit is used to determine whether to launch a beam based on the patient's real-time body surface contour and a preset offset tolerance. If the patient's real-time body surface contour offset value is within the preset offset tolerance range, the beam is launched; if the offset value exceeds the preset offset tolerance range, the beam launch is paused.

[0032] The respiratory gating unit is used to control the outflow of air within a specific respiratory phase according to the patient's respiratory curve.

[0033] Secondly, this application proposes a method for exercise management to monitor changes on the body surface of a patient within an exercise area, the method comprising:

[0034] The patient's body surface contour is acquired in real time within the motion area using one or more fixed motion management devices, and the patient's respiratory curve is obtained based on the body surface contour; the body surface contour is used to assist in the patient's positioning.

[0035] Based on the patient's respiratory curve, a respiratory signal is sent to the CT scanner to establish a respiratory phase synchronization sequence. When the treatment bed moves from the positioning position to the CT scanning position, 4DCT images or breath-holding images of the patient at different respiratory phases are acquired using the CT scanner based on the patient's real-time respiratory signal. The 4DCT images or breath-holding images are used to register with the positioned 4DCT images, and the positioning error of the treatment bed is corrected based on the registration results.

[0036] In one possible implementation, the motion management device includes a digital light processing projector and a CCD camera; the method includes:

[0037] The digital light processing projector emits a structured light image with a specific encoding onto the patient's body surface; the CCD camera simultaneously captures the structured light image.

[0038] The captured structured light image is decoded to determine the correspondence between CCD camera image points and structured light image points;

[0039] Based on the aforementioned correspondence, the three-dimensional coordinates of points on the patient's body surface are obtained;

[0040] The three-dimensional coordinates of points on the patient's body surface are used to reconstruct the three-dimensional outline of the body surface.

[0041] The patient's respiratory curve is obtained by analyzing the changes in the patient's body contour over time.

[0042] In one possible implementation, the motion management device includes a first device located within a preset distance range of a rotating gantry in the treatment room and a second device located in the CT area; the method further includes:

[0043] During the positioning phase, the patient's real-time body surface contour obtained through the first device is matched with the reference body surface contour in the treatment plan to complete the patient's positioning in the first stage.

[0044] The treatment bed is moved from its initial position to the CT scan position, and images are guided by CT. The patient's real-time body surface contours are then captured in the CT area using a second device.

[0045] In one possible implementation, the method further includes:

[0046] The real-time monitoring interface is displayed through the display module. The real-time monitoring interface includes the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset result, and gate window within the motion area.

[0047] Based on the patient's contour offset results, suggestions are made to correct the positioning error of the treatment bed.

[0048] In one possible implementation, the method further includes:

[0049] The VR device provides feedback on the real-time inspiratory volume of the patient undergoing breath-holding therapy and the relative position of the preset gate window. The relative position enables the patient to actively maintain an accurate and stable breath-holding state, thereby scanning CT images under the breath-holding state. The real-time inspiratory volume is obtained through changes in the patient's body contour.

[0050] In one possible implementation, the method further includes:

[0051] Based on the patient's real-time body surface contour and the preset offset tolerance, determine whether to launch the bundle. If the patient's real-time body surface contour offset value is within the preset offset tolerance range, launch the bundle; if the offset value exceeds the preset offset tolerance range, launch the bundle.

[0052] Under gated therapy, the outflow is controlled within a specific respiratory phase based on the patient's respiratory curve.

[0053] Thirdly, the present invention provides a treatment system, the system comprising:

[0054] A radiation therapy device used to administer radiation therapy to a patient according to a treatment plan;

[0055] The motion management system described in any of the present invention is used to monitor changes in the patient's body surface within the motion area, and to adjust the patient's positioning and control the output of radiotherapy beams based on these changes.

[0056] Fourthly, the present invention provides an electronic device, the electronic device including a memory and a processor, the memory storing a computer program, and the processor implementing the computer program to implement the functions of any of the systems of the present invention or to execute the steps of any of the methods of the present invention.

[0057] Fifthly, the present invention provides a computer-readable storage medium, characterized in that the storage medium stores computer instructions, and when a computer reads the computer instructions, the computer implements the function of any of the systems described in the present invention or performs the steps of any of the methods described in the present invention.

[0058] Compared with existing technologies, the beneficial effects of this invention include: real-time imaging modules accurately capture dynamic changes in the patient's body surface, providing accurate reference information for treatment; the 4D acquisition module acquires images at different respiratory phases and registers them with positioning images to ensure treatment accuracy; comprehensive monitoring and precise management of changes in the patient's body surface are achieved; it overcomes the limitations of previous methods that only images of the tumor at a specific respiratory phase were available, and that images were prone to motion artifacts leading to registration errors, improving registration accuracy for tumors significantly affected by respiratory motion and increasing clinical efficiency; the beam output control module controls beam output based on the patient's real-time body surface contour and respiratory curve, avoiding treatment errors caused by changes in body surface position or respiratory motion; the VR guidance module helps patients maintain accurate breath-holding, reducing image blurring and treatment errors caused by respiratory motion; assisted positioning and correction prompts simplify pre-treatment preparation and improve treatment efficiency; the real-time monitoring interface provides operators with intuitive information displays, facilitating rapid decision-making; and the VR guidance module reduces patient anxiety and fear by providing real-time feedback on inspiratory volume and gate window position. Reduce the time spent using motion management devices and improve clinical efficiency. Attached Figure Description

[0059] This application will be further described below with reference to the accompanying drawings and specific embodiments.

[0060] Figure 1 is a schematic diagram of the motion management system according to an embodiment of the present invention;

[0061] Figure 2 is a schematic diagram of the position of a motion management device according to an embodiment of the present invention;

[0062] Figure 3 is a schematic diagram of the positional layout of the motion management device according to an embodiment of the present invention;

[0063] Figure 4 is a schematic flowchart of the exercise management method according to an embodiment of the present invention;

[0064] Figure 5 is a schematic diagram of the exercise management method according to an embodiment of the present invention. Detailed Implementation

[0065] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art; the same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted.

[0066] The terms used to express position and direction in this invention are illustrated with the accompanying drawings, but changes can be made as needed, and all such changes are included within the scope of protection of this invention.

[0067] Referring to Figure 1, which is a schematic diagram of a motion management system according to an embodiment of the present invention; the present invention provides a motion management system for monitoring changes on the body surface of a patient within a motion area, the system comprising:

[0068] A real-time imaging module is used to acquire the patient's body surface contour in real time within a motion area through one or more motion management devices fixed in one position, and to acquire the patient's respiratory curve based on the body surface contour; the body surface contour is used to assist in the patient's positioning.

[0069] The 4D acquisition module is used to send respiratory signals to the CT scanner based on the patient's respiratory curve, establishing a synchronous timing sequence for respiratory phases. When the treatment bed is in the CT scanning position, the CT scanner acquires 4DCT images or breath-hold images of the patient at different respiratory phases based on the patient's real-time respiratory signals. The 4DCT images or breath-hold images are used for registration with the positioned 4DCT images, and the positioning error of the treatment bed is corrected based on the registration results. The positioned 4DCT images are acquired during the simulated CT positioning phase. The CT scanner is configured to move along the extension direction of the treatment bed after the treatment bed reaches the CT scanning position, realizing the scanning of all parts of the patient from head to toe. The CT scanner and the second imaging module are located on one side of the treatment head in the treatment room, and the first imaging module is located on the other side of the treatment head in the treatment room, with the treatment head movement plane as the boundary.

[0070] The working principle and effect of the above technical solution are as follows: The real-time imaging module uses a motion management device (imaging device) fixed at a specific position to continuously acquire real-time body surface contour data of the patient during treatment; the contour data provides an accurate representation of the patient's current body shape, including changes in the body surface caused by physiological activities such as breathing; based on the changes in the body surface contour, the patient's respiratory curve is calculated; the respiratory curve reflects the depth and frequency of the patient's breathing and is key to subsequent synchronous respiratory phase and acquisition of 4DCT images; the real-time acquired body surface contour is also used to assist in the positioning of the treatment bed, ensuring that the patient maintains the correct posture and position during treatment.

[0071] If the clinician chooses to use a CT imaging device, such as a sliding-rail CT scanner, for image guidance, the treatment bed will move from its initial position to the area where the sliding-rail CT scanner is located. At this time, the motion management device located in the sliding-rail CT area can continuously and in real-time image the motion area, monitoring the patient's positional changes throughout the process. The 4D acquisition module sends respiratory signals to the sliding-rail CT scanner based on the patient's respiratory curve, establishing a synchronized respiratory phase sequence. It operates according to the patient's breathing rhythm, ensuring accurate image acquisition at different respiratory phases. When the treatment bed moves to the CT scan position, for patients with combined 4DCT gating, the motion management device will capture the surface respiratory signals in real-time and, in conjunction with the sliding-rail CT system, acquire a set of 4DCT images or breath-hold images. These images demonstrate the patient's internal anatomical structures at different respiratory phases. The acquired 4DCT images or breath-hold images are then registered with the positioning 4DCT images acquired during the simulated CT positioning phase. This image registration ensures that the tumor location in the treatment plan matches the current tumor location in the patient, thereby improving treatment accuracy.

[0072] The main purpose of the simulated CT localization phase is to obtain accurate location information of the tumor and surrounding tissues in the patient's body, providing a basis for subsequent treatment planning. In this phase, the patient will wear a personalized mold (such as a vacuum pad or face and neck mask) and undergo simulated CT localization. Through CT scans, doctors can determine the location, size, and shape of the tumor, thus providing precise guidance for subsequent radiotherapy. At the same time, the simulated CT localization phase also collects the patient's respiratory signals. Through the respiratory signals, reference body surface contours and reference respiratory curves at different respiratory phases are obtained. The CT signals from the simulated CT localization phase are used as a benchmark to prompt the patient's breathing, ensuring that the images acquired by the 4D acquisition module are consistent with the localization images in terms of respiratory status.

[0073] In summary, the real-time imaging module can acquire the patient's body surface contour in real time and obtain the patient's respiratory curve based on the body surface contour. This helps doctors or technicians to accurately position the patient before treatment, ensuring a high degree of consistency between the treatment area and the planned area. The 4D acquisition module can use a sliding CT scanner to acquire 4DCT images or breath-hold images at different respiratory phases based on the patient's real-time respiratory signals. These images are then used for image registration with the positioned 4DCT scanner to assess whether the complete range of tumor movement in this positioning state is consistent with the plan. This accurately corrects the positioning error of the fractionated treatment, compensating for the previous limitation of only obtaining images of the tumor at a certain respiratory phase and the tendency of images to contain motion artifacts, which led to registration errors.

[0074] In one possible implementation, the movement area includes the treatment bed moving from a positioning area to a CT area (which is within the extension range of the treatment bed and the CT does not collide with the treatment bed), a CT scan position, and the treatment bed moving from the CT scan position to the treatment area.

[0075] In one possible implementation, the motion management device includes a digital light processing projector and a CCD camera; the execution steps of the real-time imaging module include:

[0076] The digital light processing projector emits a structured light image with a specific encoding onto the patient's body surface; the CCD camera simultaneously captures the structured light image.

[0077] The captured structured light image is decoded to determine the correspondence between CCD camera image points and structured light image points;

[0078] Based on the aforementioned correspondence, the three-dimensional coordinates of points on the patient's body surface are obtained;

[0079] The three-dimensional coordinates of points on the patient's body surface are used to reconstruct the three-dimensional outline of the body surface.

[0080] The patient's respiratory curve is obtained by analyzing the changes in the patient's body contour over time.

[0081] Referring to Figures 2-3, Figure 2 is a schematic diagram of the position of a motion management device according to an embodiment of the present invention; Figure 3 is a schematic diagram of the position layout of a motion management device according to an embodiment of the present invention.

[0082] In one possible implementation, the motion management device (camera) includes a first device located within a preset distance range of the rotating gantry in the treatment room and a second device in the CT area; the patient's body surface contour is monitored in real time throughout the treatment process, using different motion management devices, as the treatment bed is in different positions; in one possible implementation, the number of the first devices is three; during the positioning phase, the three first devices (cameras) located within a preset distance range of the rotating gantry monitor the patient's body surface contour in real time at the positioning position, and match the real-time contour with a reference contour to prompt clinicians to correct positioning errors; after positioning is completed, if the patient... For 3D image verification, the treatment bed needs to be moved from its initial position to the CT scan position. During this process, three primary devices (cameras) monitor the changes in the patient's body contours as the treatment bed moves. When the treatment bed reaches the middle position, one of the three primary devices (cameras) (on the same side as the camera above the CT scanner) monitors the changes in the patient's body contours. When the treatment bed reaches the CT scan position, the secondary device (the camera above the CT scanner) provides the patient's body contour information and monitors the patient's body contours in real time throughout the CT scan, generating respiratory signals. The return journey of the treatment bed follows the same monitoring principles.

[0083] Among them, the three first devices (cameras) and the camera above the second device, namely the CT (the center of the CT scanning gantry), are arranged at intervals and face different directions. The three cameras face the isocenter of the treatment system, while the camera above the CT faces the CT scanning position.

[0084] The working principle and effects of the above technical solution are as follows:

[0085] The movement area includes the treatment bed moving from the positioning area to the CT area, the CT scanning position (CT area), and the treatment bed moving from the sliding CT scanning position to the treatment area. Within the movement area, the motion management device monitors the changes on the patient's body surface throughout the movement process.

[0086] Digital light processing (DLP) projectors emit structured light images with specific encodings onto the patient's body surface. The structured light images contain a series of encoded points or light stripes for subsequent decoding and 3D coordinate calculation.

[0087] The CCD camera synchronously captures structured light images emitted by the projector onto the patient's body surface. The CCD camera has high resolution and fast response capabilities to ensure that the deformation of the structured light image can be captured in real time.

[0088] The captured structured light image is decoded to determine the correspondence between camera image points and structured light image points; the decoding process involves identifying coded points or light stripes in the image and inferring changes in the shape of the conductor surface based on changes in their positions.

[0089] Using the principle of triangulation, the three-dimensional coordinates of points on the body surface are calculated based on the geometric relationship between the projector, CCD camera, and the patient's body surface. The principle of triangulation determines the three-dimensional position of a point by measuring the angle between the projector and the camera and their distances to the point on the body surface.

[0090] Based on the calculated three-dimensional coordinates of the body surface points, a three-dimensional reconstruction of the body surface is performed. The reconstruction process involves connecting the three-dimensional coordinate points into a surface or mesh to form a three-dimensional model of the patient's body surface.

[0091] After completing the three-dimensional reconstruction of the body surface, further analysis of changes in the body surface can be performed, such as monitoring body surface movements caused by respiration.

[0092] Considering that existing sliding-rail CT scanners cannot be integrated into the rotating gantry of proton scanners, and that existing sliding-rail CT scanners are mostly deployed on one side of the treatment room, forming the sliding-rail CT motion area, the deployment of existing motion management devices does not consider motion management in this area. This results in a lack of motion management basis for tumors that are greatly affected by respiratory motion, and the positioning images acquired using sliding-rail CT are images under arbitrary respiratory states, making registration impossible. The motion management device implemented in this application includes a first device located within a preset distance range of the rotating gantry in the treatment room and a second device in the CT area, preferably three first devices. The three first devices (cameras) and the camera above the second device, i.e., the CT (the center of the CT scanning gantry), are arranged at intervals and have different orientations. The three cameras face the isocentric position of the treatment system, and the camera above the CT faces the CT scanning position. This layout ensures that the system can continuously and in real-time capture the patient's body surface contour and monitor the respiratory curve throughout the entire treatment process. By monitoring the patient's position throughout the motion process, the system ensures that the patient maintains the same posture from the completion of positioning until the end of treatment. If any change in posture occurs, the system will immediately interrupt the treatment to ensure treatment safety and effectiveness.

[0093] In one possible implementation, the real-time imaging module includes: the CCD camera capturing structured light images emitted by the projector onto the patient's body surface at a preset sampling frequency; wherein the sampling frequency satisfies the following condition: k*max(2*fc,D*vmax / L+2v / λ)≥fs≥max(2*fc,D*vmax / L+2v / λ) k=1+vmax / va+δ

[0094] Where fs is the CCD camera sampling frequency, fc is the structured light coding frequency; vmax is the patient's maximum surface motion velocity, λ is the minimum characteristic wavelength of the patient's surface deformation, D is the camera resolution, L is the camera's field of view, k is a coefficient; va is the patient's average surface motion velocity; δ is a constant, 0 < δ < 0.1.

[0095] The working principle and effects of the above technical solution are as follows:

[0096] The structured light encoding frequency refers to the frequency of the structured light emitted by the projector. To ensure accurate capture of changes in the structured light and to avoid aliasing, thus guaranteeing signal integrity, the sampling frequency must be at least twice the structured light encoding frequency. The patient's maximum surface movement speed affects image stability. To ensure accurate capture of structured light changes during movement, the sampling frequency needs to consider the maximum surface movement speed and the minimum characteristic wavelength of the patient's surface deformation. The formula ensures that sufficient image information can still be captured even under high-speed movement and minimum characteristic wavelength conditions. The variable 'k' is introduced to further improve the robustness of sampling. The introduction of 'k' ensures image stability and accuracy even in extreme situations (such as sudden patient acceleration).

[0097] By appropriately setting the sampling frequency, structured light images can be accurately captured even under patient surface movement and deformation. This helps improve image stability and accuracy, reducing blurring and distortion caused by motion. It also prevents aliasing. Controlling the sampling frequency (k) avoids wasting computational resources due to excessively high sampling frequencies, while ensuring image quality and real-time performance. This embodiment ensures accurate capture of structured light images even under patient surface movement and deformation, improving image stability and accuracy, preventing aliasing, adapting to different movement speeds, and optimizing computational resource utilization.

[0098] In one possible implementation, the system further includes:

[0099] The information loading module is used to select and load patient information.

[0100] In one possible implementation, the system further includes:

[0101] The positioning module is used to match the patient's real-time body surface contour with the reference body surface contour in the treatment plan during the positioning stage, thereby completing the first stage of patient positioning.

[0102] The image guidance module is used to move the treatment bed from its initial position to the CT scan position and guide the image through CT; in the CT area, a second device is used to acquire the patient's real-time body surface contour.

[0103] The working principle and effect of the above technical solution are as follows: The main function of the information loading module is to select and load patient information. When the system starts up or needs to process new patient data, the information loading module is activated. This module first provides a user interface that allows operators or the system to automatically select specific patient information. This information is usually stored in the hospital's database and includes the patient's name, age, gender, medical history, treatment plan, etc. Once the patient information is selected, the information loading module extracts this data from the database and performs necessary formatting and preprocessing to ensure compatibility with other parts of the system. Then, this data is loaded into the system's memory for subsequent processing and analysis.

[0104] During the positioning phase, clinical operators use a positioning fixation device to immobilize the patient and then align the laser with the positioning line to position the patient. Additionally, a motion management device located near the rotating gantry in the treatment room images the patient's real-time body contour onto the motion management system. Clinical operators can adjust the patient's posture and select a corresponding reference body contour from the treatment plan. These reference contours are generated when the treatment plan is developed and are typically based on the patient's CT or MRI medical imaging data. Matching the real-time body contour with the reference body contours provided by the treatment plan completes the first stage of positioning, overcoming the limitation of positioning lines only achieving localized repositioning.

[0105] After positioning is completed, the image guidance module is entered in the motion management system. At this stage, if the clinical operator chooses to use sliding CT for image guidance, the treatment bed will move from the positioning position to the sliding CT area. During the movement, the first device can continuously and in real-time image the motion area and monitor the patient's positional changes during the movement. In the CT area, the motion management device located in the sliding CT area can continuously and in real-time image the motion area and monitor the patient's positional changes throughout the movement. For patients with combined 4DCT gating, the motion management device and the sliding CT system jointly acquire the patient's 4DCT images, which is the working process of the 4D acquisition module.

[0106] In one possible implementation, the system further includes:

[0107] The display module is used to display the real-time monitoring interface, which includes the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset result, and gate window within the motion area.

[0108] The prompting module is used to prompt correction of the treatment bed positioning error based on the patient's contour offset results.

[0109] The display module provides a real-time monitoring interface that shows the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset results, and gated windows, helping doctors or technicians monitor the patient's status in real time. The prompting module provides prompts to correct treatment bed positioning errors based on the patient's contour offset results. If the patient's position changes, causing the contour offset to exceed the preset range, the system will issue a warning or prompt to adjust the treatment bed positioning promptly. By displaying the patient's real-time body surface contour, reference body surface contour, and real-time respiratory curve through the real-time monitoring interface, doctors can intuitively understand the patient's current status and make timely and accurate decisions. The prompting module can automatically prompt corrections to treatment bed positioning errors based on the patient's contour offset results, reducing the time spent on manual inspection and adjustment and optimizing the treatment process.

[0110] In one possible implementation, the system further includes:

[0111] The VR guidance module is used to provide feedback on the real-time inspiratory volume and the relative position of the preset gate window for patients undergoing breath-holding therapy via VR devices. The relative position enables the patient to actively maintain an accurate and stable breath-holding state to scan CT images under breath-holding conditions. The real-time inspiratory volume is obtained through changes in the patient's body contour.

[0112] The working principle and effect of the above technical solution are as follows: The patient wears VR glasses, and through specific body surface contour monitoring technology (such as structured light scanning), the VR system can capture changes in the patient's body surface contour in real time; changes in body surface contour are closely related to the patient's respiratory status, especially changes in inspiratory volume; by analyzing the body surface contour data through algorithms, the patient's real-time inspiratory volume can be calculated.

[0113] Before a CT scan, the doctor will set a preset gating window based on the treatment plan and the patient's specific condition. This gating window represents an ideal range for breath-holding, including the upper and lower limits of inspiratory volume and the length of breath-holding time. The VR guidance module will display this preset gating window information in graphical or numerical form on the VR glasses so that the patient can see and understand it intuitively. During the CT scan, the VR guidance module will dynamically update the display content on the VR glasses based on the patient's real-time inspiratory volume.

[0114] If the patient's inspiratory volume is within the preset gated window, the VR glasses will display positive feedback (such as a green area or the word "Good"), encouraging the patient to maintain the current breath-holding state. If the patient's inspiratory volume deviates from the preset gated window, the VR glasses will display negative feedback (such as a red area or the word "Adjust"), possibly accompanied by an audio prompt, guiding the patient to adjust their breathing to re-enter the preset gated window range. Through the real-time feedback from the VR glasses, patients can intuitively understand their breath-holding state and actively adjust their breathing based on the feedback to maintain an accurate and stable breath-holding state, which helps improve the accuracy and success rate of CT scans, while reducing the patient's anxiety and discomfort.

[0115] While the patient maintains a stable breath-holding state, the CT scanner acquires images. These acquired CT images will be used for subsequent image registration and treatment planning. Because the patient maintains a stable breath-holding state through the VR-guided module, the acquired CT images will be more accurate and reliable.

[0116] In summary, the VR guidance module achieves precise guidance and monitoring for patients undergoing breath-holding therapy through real-time inspiratory volume monitoring, preset gate window settings, VR feedback and guidance, and the patient's active maintenance of breath-holding. This guidance method not only improves the accuracy and success rate of CT scans but also enhances patient participation and comfort.

[0117] In one possible implementation, the system further includes a beam control module; the beam control module includes a body surface guidance unit and a respiratory gating unit;

[0118] The body surface guidance unit is used to determine whether to launch a beam based on the patient's real-time body surface contour and a preset offset tolerance. If the patient's real-time body surface contour offset value is within the preset offset tolerance range, the beam is launched; if the offset value exceeds the preset offset tolerance range, the beam launch is paused.

[0119] The respiratory gating unit is used to control the outflow of air within a specific respiratory phase according to the patient's respiratory curve.

[0120] The working principle and effect of the above technical solution are as follows: real-time acquisition of the patient's body surface contour, which includes information on the shape, position and dynamic changes of the patient's body surface.

[0121] The surface guidance unit compares the real-time acquired surface contour with a preset ideal or reference contour, calculating an offset value. This offset value reflects the degree of deviation of the patient's surface from the ideal position. Next, the surface guidance unit determines whether this offset value is within a preset offset tolerance range. The offset tolerance is a threshold set according to clinical needs and the patient's condition to determine the acceptable range of variation in the surface contour. If the patient's real-time surface contour offset value is within the preset offset tolerance range, it indicates that the patient's surface position is relatively stable and meets the treatment requirements. The surface guidance unit will then issue a beam-out command, allowing the system to proceed with the next beam-out operation. If the offset value exceeds the tolerance range, it indicates that the patient's surface position has changed significantly and may not be suitable for beam-out operation. In this case, the surface guidance unit will issue a stop beam-out command to avoid unnecessary harm to the patient. This effectively reduces treatment errors caused by changes in surface position, thereby improving treatment accuracy.

[0122] The respiratory gating unit acquires respiratory curves by monitoring the patient's respiratory status. These curves reflect information such as respiratory rate, depth, and rhythm. Based on the respiratory curves, the respiratory gating unit can identify specific respiratory phases, such as end-inspiratory phase, end-expiratory phase, or a particular respiratory stage. These phases are typically closely related to the patient's physiological state and treatment effectiveness. After identifying a specific respiratory phase, the respiratory gating unit controls the outflow of the treatment stream. Outflow is permitted within these specific respiratory phases to ensure that the treatment is synchronized with the patient's respiratory status. This synchronization helps reduce image blurring and treatment errors caused by respiratory movements, improving the accuracy and safety of the treatment.

[0123] Referring to Figures 4 and 5, Figure 4 is a schematic flowchart of the exercise management method according to an embodiment of the present invention; Figure 5 is a schematic diagram of the exercise management method according to an embodiment of the present invention; the present invention provides an exercise management method for monitoring changes on the body surface of a patient within an exercise area, the method comprising:

[0124] The patient's body surface contour within the motion area is acquired in real time, and the patient's respiratory curve is obtained based on the body surface contour; the body surface contour is used to assist in the patient's positioning.

[0125] Based on the patient's respiratory curve, a time signal is sent to the CT scanner to establish a synchronized respiratory phase sequence. When the treatment bed moves from its initial position to the CT scanning position, the sliding CT scanner acquires 4DCT images or breath-hold images of the patient at different respiratory phases based on the patient's real-time respiratory signal. The 4DCT images or breath-hold images are used for registration with the positioned 4DCT images. The positioning error of the treatment bed is corrected based on the registration results. The CT scanner is configured to move along the extension direction of the treatment bed after the treatment bed reaches the CT scanning position, thereby scanning all parts of the patient from head to toe. The plane of motion of the treatment head serves as the boundary. The CT scanner and the second imaging module are located on one side of the treatment head in the treatment room, and the first imaging module is located on the other side of the treatment head in the treatment room.

[0126] In one possible implementation, the patient's body surface contours and respiratory curves are acquired in real time via a motion management device, said motion management device including a digital light processing projector and a CCD camera; the method includes:

[0127] The digital light processing projector emits a structured light image with a specific encoding onto the patient's body surface; the CCD camera simultaneously captures the structured light image.

[0128] The captured structured light image is decoded to determine the correspondence between CCD camera image points and structured light image points;

[0129] Based on the aforementioned correspondence, the three-dimensional coordinates of points on the patient's body surface are obtained;

[0130] The three-dimensional coordinates of points on the patient's body surface are used to reconstruct the three-dimensional outline of the body surface.

[0131] The patient's respiratory curve is obtained by analyzing the changes in the patient's body contour over time.

[0132] In one possible implementation, the real-time acquisition of the patient's body surface contour includes: capturing a structured light image emitted by a projector onto the patient's body surface using a CCD camera at a preset sampling frequency; wherein the sampling frequency satisfies the following condition: k*max(2*fc,D*vmax / L+2v / λ)≥fs≥max(2*fc,D*vmax / L+2v / λ) k=1+vmax / va+δ

[0133] Where fs is the CCD camera sampling frequency, fc is the structured light coding frequency; vmax is the patient's maximum surface motion velocity, λ is the minimum characteristic wavelength of the patient's surface deformation, D is the camera resolution, L is the camera's field of view, k is a coefficient; va is the patient's average surface motion velocity; δ is a constant, 0 < δ < 0.1.

[0134] In one possible implementation, the method further includes:

[0135] Select and load patient information;

[0136] During the positioning phase, the patient's real-time body surface contour is matched with the reference body surface contour in the treatment plan, thereby completing the first stage of patient positioning.

[0137] The treatment bed is moved from its initial position to the CT scan position, and images are guided by CT. The patient's real-time body surface contours are then captured in the CT area using a second device.

[0138] In one possible implementation, the method further includes:

[0139] The real-time monitoring interface is displayed through the display module. The real-time monitoring interface includes the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset result, and gate window within the motion area.

[0140] Based on the patient's contour offset results, suggestions are made to correct the positioning error of the treatment bed.

[0141] In one possible implementation, the method further includes:

[0142] The VR device provides feedback on the real-time inspiratory volume of the patient undergoing breath-holding therapy and the relative position of the preset gate window. The relative position enables the patient to actively maintain an accurate and stable breath-holding state, thereby scanning CT images under the breath-holding state. The real-time inspiratory volume is obtained through changes in the patient's body contour.

[0143] In one possible implementation, the method further includes:

[0144] Based on the patient's real-time body surface contour and the preset offset tolerance, determine whether to launch the bundle. If the patient's real-time body surface contour offset value is within the preset offset tolerance range, launch the bundle; if the offset value exceeds the preset offset tolerance range, launch the bundle.

[0145] Under gated therapy, the outflow is controlled within a specific respiratory phase based on the patient's respiratory curve.

[0146] The working principle and effects of the above technical solutions are the same as those in the embodiments of the method system of the present invention, and will not be repeated here.

[0147] This invention provides a treatment system, the system comprising:

[0148] A radiation therapy device used to administer radiation therapy to a patient according to a treatment plan;

[0149] The motion management system described in any embodiment of the present invention is used to monitor changes in the patient's body surface within the motion area, and to adjust the patient's positioning and control the output of radiotherapy beams based on these changes.

[0150] This invention also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described in this invention or the functions of the system described in this invention.

[0151] This invention also provides a computer-readable storage medium for storing a computer program. When the computer program is executed, it implements the steps of the method in this invention. The specific implementation method is consistent with the implementation method and the technical effect achieved in the above method embodiments, and some contents will not be repeated.

[0152] In this invention, a readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. The program product can take the form of any combination of one or more readable media. A readable medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0153] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium capable of sending, propagating, or transmitting a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, or any suitable combination thereof. Program code for performing operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on a user computing device, partially on an associated device, as a standalone software package, partially on a user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing devices can be connected to user computing devices via any type of network, including local area networks (LANs) or wide area networks (WANs), or they can be connected to external computing devices (e.g., via the Internet using an Internet service provider).

Claims

1. A motion management system for monitoring changes in the body surface of a patient within a motion area, the system being located in a treatment room, comprising: A real-time imaging module is used to acquire the patient's body surface contour in real time within a motion area through one or more motion management devices fixed in one position, and to acquire the patient's respiratory curve based on the body surface contour; the body surface contour is used to assist in the patient's positioning. The 4D acquisition module is used to send respiratory signals to the CT scanner based on the patient's respiratory curve and establish a respiratory phase synchronization sequence. When the treatment bed is moved from the positioning position to the CT scan position, 4DCT images or breath-holding images of the patient at different respiratory phases are acquired using CT based on the patient's real-time respiratory signal. The 4DCT images or breath-holding images are used to register with the positioned 4DCT images, and the positioning error of the treatment bed is corrected based on the registration results.

2. The motion management system according to claim 1, wherein, The movement area includes the treatment bed moving from the positioning area to the CT area, the CT scan position, and the treatment bed moving from the CT scan position to the treatment area.

3. The motion management system according to claim 1, wherein, The motion management device includes a digital light processing projector and a CCD camera; The execution steps of the real-time imaging module include: The digital light processing projector emits a structured light image with a specific encoding onto the patient's body surface; the CCD camera simultaneously captures the structured light image. The captured structured light image is decoded to determine the correspondence between CCD camera image points and structured light image points; Based on the aforementioned correspondence, the three-dimensional coordinates of points on the patient's body surface are obtained; The three-dimensional coordinates of points on the patient's body surface are used to reconstruct the three-dimensional outline of the body surface. The patient's respiratory curve is obtained by analyzing the changes in the patient's body contour over time.

4. The motion management system according to claim 1, wherein, The motion management device includes a first device located within a preset distance range of the rotating gantry in the treatment room and a second device located in the CT area.

5. The motion management system according to claim 4, characterized in that, The system also includes: The positioning module is used to match the real-time body surface contour of the patient obtained through the first device with the reference body surface contour in the treatment plan during the positioning stage, thereby completing the first stage of patient positioning. The image guidance module is used to move the treatment bed from its initial position to the CT scan position and guide the image through CT. In the CT area, a second device is used to acquire the patient's real-time body surface contour.

6. The motion management system according to claim 1, wherein, The system also includes: The display module is used to display the real-time monitoring interface, which includes the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset result, and gate window within the motion area. The prompting module is used to suggest corrections for positioning errors based on the patient's contour offset results.

7. The motion management system according to claim 1, wherein, The system also includes: The VR guidance module is used to provide feedback on the real-time inspiratory volume and the relative position of the preset gate window for patients undergoing breath-holding therapy via VR devices. The relative position enables the patient to actively maintain an accurate and stable breath-holding state to scan CT images under breath-holding conditions. The real-time inspiratory volume is obtained through changes in the patient's body contour.

8. The motion management system according to claim 1, wherein, The system also includes a beam control module; the beam control module includes a body surface guidance unit and a respiratory gating unit; The body surface guidance unit is used to determine whether to release the beam based on the patient's real-time body surface contour and the preset offset tolerance. If the patient's real-time body surface contour offset value is within the preset offset tolerance range, then the beam is released. If the offset value exceeds the preset offset tolerance range, then beam output will be paused; The respiratory gating unit is used to control the outflow of air within a specific respiratory phase according to the patient's respiratory curve.

9. A method for managing exercise, used to monitor changes on the body surface of a patient within an exercise area, the method comprising: The patient's body surface contour within the motion area is acquired in real time using one or more fixed motion management devices, and the patient's respiratory curve is obtained based on the body surface contour. The body surface contour is used to assist in patient positioning; Based on the patient's respiratory curve, a respiratory signal is sent to the CT scanner to establish a respiratory phase synchronization sequence. When the treatment bed is moved from the positioning position to the CT scan position, 4DCT images or breath-holding images of the patient at different respiratory phases are acquired using CT based on the patient's real-time respiratory signal. The 4DCT images or breath-holding images are used to register with the positioned 4DCT images, and the positioning error of the treatment bed is corrected based on the registration results.

10. The exercise management method according to claim 9, wherein, The motion management device includes a digital light processing projector and a CCD camera; the method includes: The digital light processing projector emits a structured light image with a specific encoding onto the patient's body surface; the CCD camera simultaneously captures the structured light image. The captured structured light image is decoded to determine the correspondence between CCD camera image points and structured light image points; Based on the aforementioned correspondence, the three-dimensional coordinates of points on the patient's body surface are obtained; The three-dimensional coordinates of points on the patient's body surface are used to reconstruct the three-dimensional outline of the body surface. The patient's respiratory curve is obtained by analyzing the changes in the patient's body contour over time.

11. The sports management method according to claim 9, wherein, The motion management device includes a first device located within a preset distance range of the rotating gantry in the treatment room and a second device located in the CT area; the method further includes: During the positioning phase, the patient's real-time body surface contour obtained through the first device is matched with the reference body surface contour in the treatment plan to complete the patient's positioning in the first stage. The treatment bed is moved from its initial position to the CT scan position, and images are guided by CT. The patient's real-time body surface contours are then captured in the CT area using a second device.

12. The sports management method according to claim 9, wherein, The method further includes: The real-time monitoring interface is displayed through the display module. The real-time monitoring interface includes the patient's real-time body surface contour, reference body surface contour, real-time respiratory curve, reference respiratory curve, contour offset result, and gate window within the motion area. Based on the patient's contour offset results, suggestions are made to correct the positioning error of the treatment bed.

13. The sports management method according to claim 9, wherein, The method further includes: The VR device provides feedback on the real-time inspiratory volume of the patient undergoing breath-holding therapy and the relative position of the preset gate window. The relative position enables the patient to actively maintain an accurate and stable breath-holding state, thereby scanning CT images under the breath-holding state. The real-time inspiratory volume is obtained through changes in the patient's body contour.

14. The sports management method according to claim 9, wherein, The method further includes: Based on the patient's real-time body surface contour and the preset offset tolerance, determine whether to launch the bundle. If the patient's real-time body surface contour offset value is within the preset offset tolerance range, launch the bundle; if the offset value exceeds the preset offset tolerance range, launch the bundle. Under gated therapy, the outflow is controlled within a specific respiratory phase based on the patient's respiratory curve.

15. A treatment system, the system comprising: A radiation therapy device used to administer radiation therapy to a patient according to a treatment plan; The motion management system according to any one of claims 1-8 is used to monitor changes in the patient's body surface within the motion area, and to adjust the patient's positioning and control the output beam of radiotherapy based on these changes.

16. An electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the computer program to perform the functions of the system of any one of claims 1-8 or to execute the steps of the method of any one of claims 9-14.

17. A computer-readable storage medium storing computer instructions that, when read by a computer, enable the computer to perform the functions of the system as claimed in any one of claims 1-8 or to execute the steps of the method as claimed in any one of claims 9-14.

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