CN109771850B - Self-adaptive radiotherapy plan correcting device - Google Patents
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Abstract
The invention discloses a self-adaptive radiotherapy plan correcting device, which comprises a processor and a memory and can realize the following method: acquiring a reference image, a reference sketch, a reference radiotherapy plan and a target image; carrying out image registration on the target image and the reference image to generate a three-dimensional deformation field; generating a fusion image and a target sketch which are the same as the coverage range of the reference image according to the three-dimensional deformation field; determining a two-dimensional deformation field of ray intensity in each beam direction according to the three-dimensional deformation field in the region of interest; deforming the two-dimensional ray intensity distribution in the corresponding beam direction according to the two-dimensional deformation field to generate new two-dimensional ray intensity distribution; and generating corresponding grating and tungsten gate motion data according to the new two-dimensional ray intensity distribution. The invention is based on the three-dimensional image registration technology, and realizes the self-adaptive correction of the radiotherapy plan by projecting the three-dimensional vector field into the two-dimensional vector field and using the two-dimensional vector field for the deformation of intensity distribution, thereby greatly reducing the workload of doctors.
Description
Technical Field
The invention belongs to the technical field of radiotherapy, and particularly relates to a self-adaptive radiotherapy plan correcting device.
Background
Radiotherapy a treatment session typically takes one month or more and a radiotherapy plan is generated from an initial positioning image of the patient before radiotherapy is initiated. However, the position and shape of the tumor of the patient usually change during the whole radiotherapy process, which causes the deviation of the radiation dose during the radiotherapy process, not only affecting the radiotherapy effect, but also possibly affecting the normal organ tissues of the patient, and causing complications.
To solve this problem, the prior art usually needs to reposition the patient after a certain period of time after the start of the radiation therapy, and a new image of the patient is obtained by repositioning, and the doctor re-delineates and plans the radiation therapy according to the new image, but this procedure needs a large amount of work.
In the prior art, there is no technical scheme for correcting a reference radiotherapy plan according to a new image and a new sketch to obtain a new radiotherapy plan. Chinese patent CN108744313A discloses a radiotherapy plan planning method, which comprises: acquiring a scanning image of a tumor target area and an initial radiotherapy plan; scanning images of the tumor target area, and shifting the images in different offset amounts in a three-dimensional direction to obtain a plurality of shifted images of the tumor target area; establishing a radiotherapy plan library according to the tumor target area scanning image and the initial radiotherapy plan; the radiotherapy plan library comprises a plurality of radiotherapy plans which are different from different positions of a scanning image of a tumor target area, and each radiotherapy plan comprises a plurality of radiotherapy plan sections which are associated with time sections. The method is mainly applied to real-time tumor motion tracking by shifting the target area to match with the shifting of organs, but the method cannot process the deformation of the tumor target area and surrounding organs and cannot adaptively modify the deformation.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide an adaptive radiotherapy plan modification apparatus capable of simultaneously treating tumor and organ displacement and deformation to achieve adaptive modification of radiotherapy plan.
Disclosure of Invention
To solve the above technical problems. The invention provides a self-adaptive radiotherapy plan correcting device, which utilizes a reference radiotherapy plan to generate a corrected radiotherapy plan after relocation, greatly reduces the workload of doctors and improves the radiotherapy precision. The specific technical scheme is as follows.
An adaptive radiotherapy plan modification method, the modification method comprising the following steps:
step S1: acquiring a reference image, a reference sketch, a reference radiotherapy plan and a target image;
step S2: carrying out image registration on the target image and the reference image to generate a corresponding three-dimensional deformation vector field;
step S3: generating a target image into a fusion image with the same coverage range as the reference image and a target delineation describing a target area and organ outlines according to the three-dimensional deformation vector field;
step S4: determining a two-dimensional deformation vector field of the ray intensity in each beam direction in the reference radiotherapy plan according to the set three-dimensional deformation vector field in the region of interest;
step S5: according to the two-dimensional deformation vector field of the ray intensity in each beam direction, deforming the two-dimensional ray intensity distribution in the corresponding beam direction in the reference radiotherapy plan to generate new two-dimensional ray intensity distribution in each beam direction;
step S6: and generating corresponding grating and tungsten gate motion data according to the new two-dimensional ray intensity distribution in each beam direction, and obtaining a new radiotherapy plan.
Preferably, the reference image, the reference delineation and the reference radiotherapy plan respectively refer to an image, a delineation and a radiotherapy plan of a previous positioning; wherein the content of the first and second substances,
the reference image is a CT image, an MR image, a PET image or an ultrasonic image used for reference delineation and reference radiotherapy planning.
Preferably, the target image is a newly acquired CT image, MR image, PET image or ultrasound image capable of reflecting the anatomical change.
Preferably, the image registration in step S2 includes two steps in sequence: the first step is to carry out rigid registration of images on a target image and a reference image; and the second step is to perform image deformation registration on the basis of the above.
Preferably, the region of interest includes a target region and an organ at risk.
Preferably, different weights are set for different regions of interest in the determination of the two-dimensional deformation vector field of radiation intensity in each beam direction in the reference radiotherapy plan in step S4.
Preferably, while the fused image and the target delineation are generated in step S3, the isocenter position in the reference radiotherapy plan needs to be mapped onto the target image according to the three-dimensional deformation vector field to obtain the isocenter position of the new radiotherapy plan.
By adopting the combination of one or more technical schemes in the invention contents, the invention has at least the following beneficial effects: the invention is based on the three-dimensional image registration technology, and realizes the self-adaptive correction of the radiotherapy plan by projecting the three-dimensional vector field into the two-dimensional vector field and using the two-dimensional vector field for the deformation of intensity distribution, thereby greatly reducing the workload of doctors.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method of adaptive radiotherapy plan modification in accordance with the present invention;
FIG. 2 is a schematic representation of the ray traversing a three-dimensional deformation vector field of interest in accordance with the present invention;
FIG. 3 is a schematic diagram of the projection of the three-dimensional deformation vector on the ray of the present invention on the isocenter plane.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments.
It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processing may correspond to methods, functions, procedures, subroutines, and the like.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Example 1
An adaptive radiotherapy plan modification method comprises the following steps.
(1) Acquiring a reference image, a reference sketch, a reference radiotherapy plan and a target image;
the reference image, the reference delineation and the reference radiotherapy plan respectively refer to an image, a delineation and a radiotherapy plan of the previous positioning. Wherein the content of the first and second substances,
the reference image is a CT image, an MR image, a PET image or an ultrasonic image used for reference delineation and reference radiotherapy planning.
The target image is a newly acquired CT image, MR image, PET image or ultrasound image that can reflect the change of the anatomical structure.
(2) Carrying out image registration on the target image and the reference image to generate a corresponding three-dimensional deformation vector field;
the image registration comprises two steps in sequence: the first step is to carry out rigid registration of images on a target image and a reference image; and the second step is to perform image deformation registration on the basis of the above.
(3) Generating a target image into a fusion image with the same coverage range as the reference image and a target delineation describing a target area and organ outlines according to the three-dimensional deformation vector field;
(4) determining a two-dimensional deformation vector field of the ray intensity in each beam direction in the reference radiotherapy plan according to the set three-dimensional deformation vector field in the region of interest; wherein the content of the first and second substances,
the region of interest is generally referred to as a target region and may also contain important organs at risk. The set region of interest refers to a two-dimensional deformation vector field that the user can specify with which target regions and three-dimensional deformation vector fields within the organs-at-risk are used to generate the ray intensities in each beam direction.
Typically a user may specify that only the three-dimensional deformation vector field within the PTV target volume is utilized to generate the radiation intensity two-dimensional deformation vector field. If the planned modifications affect important organs around the tumor, such as the spinal cord, the user can specify that the two-dimensional deformation vector field for the ray intensity in each beam direction is determined jointly using the three-dimensional deformation vector fields in the PTV target and in the spinal cord. Different weights may also be set for different regions of interest (e.g., PTV target region more important, weight set to 3; spinal cord weight set to 1) in determining the two-dimensional deformation vector field of ray intensities in each beam direction in the reference radiotherapy plan.
(5) According to the two-dimensional deformation vector field of the ray intensity in each beam direction, deforming the two-dimensional ray intensity distribution in the corresponding beam direction in the reference radiotherapy plan to generate new two-dimensional ray intensity distribution in each beam direction;
2-3 for example, the determination of the two-dimensional deformation vector field from the three-dimensional deformation vector field in steps (4) - (5) is briefly described; and deforming the two-dimensional ray intensity distribution in the beam direction by the two-dimensional deformation vector field to generate a new two-dimensional ray intensity distribution in the beam direction. In fig. 2, V represents a region of interest set by an axis of a coordinate system X, Y, Z, an arrow in the region of interest V represents a three-dimensional deformation vector a of each pixel point in the region of interest, and the deformation vector a can be represented as:
a＝x+y+z
r is a ray passing through the region of interest V, and deformation vectors of pixel points passing through the ray are a1, a2 and a3 respectively and are respectively expressed as
a1＝x1+y1+z1
a2＝x2+y2+z2
a3＝x3+y3+z3
Referring to FIG. 3, S is the isocenter plane, the isocenter plane S is parallel to the plane of the axes of coordinate system X, Y, each point on the isocenter plane S (i.e., the intersection of ray R and isocenter plane S) represents a ray, the intensity of each ray is I, and a two-dimensional ray intensity distribution I (x, y) exists at the isocenter plane. Then the projection R of the three-dimensional deformation vector field corresponding to the R ray on the isocenter plane is:
r＝(x1+x2+x3)/3+(y1+y2+y3)/3
namely the mean value of the x-direction component and the y-direction component of the three-dimensional deformation vector passing through the pixel point. In this case, the three-dimensional deformation vector field is determined as a two-dimensional deformation vector field of the ray intensity on the isocenter plane.
And then deforming the two-dimensional ray intensity distribution I (x, y) on the isocenter plane along the two-dimensional deformation vector field r to generate a new two-dimensional ray intensity distribution I' (x, y).
(6) And generating corresponding grating and tungsten gate motion data according to the new two-dimensional ray intensity distribution in each beam direction, and obtaining a new radiotherapy plan.
For the radiotherapy equipment equipped with an online imaging device, the target image in the step (1) is imaged by the online imaging device equipped on the radiotherapy equipment, and the target image and the isocenter position of the target image, namely the isocenter position of the new radiotherapy plan, are automatically acquired.
For radiotherapy equipment which is not provided with an online imaging device, the target image in the step (1) needs to be subjected to relocation imaging through the imaging device; and (4) while generating the fusion image and the target delineation in the step (3), mapping the isocenter position in the reference radiotherapy plan to the target image according to the three-dimensional deformation vector field to obtain the isocenter position of the new radiotherapy plan.
Example 2
Based on the adaptive radiotherapy plan modification method in embodiment 1, this embodiment further obtains an adaptive radiotherapy plan modification system, which includes
The data receiving module is used for acquiring a reference image, a reference sketch, a reference radiotherapy plan and a target image;
the radiotherapy plan correction module is used for carrying out image registration on the target image and the reference image to generate a corresponding three-dimensional deformation vector field; generating a target image into a fused image with the same coverage range as the reference image and a target delineation describing a target area and an organ outline according to the three-dimensional deformation vector field (for the condition that the coverage range of the target image is smaller than that of the reference image, the fused image is obtained by deformation registration from the reference image to the target image in the overlapped area of the reference image and the target image; determining a two-dimensional deformation vector field of the ray intensity in each beam direction in the reference radiotherapy plan according to the set three-dimensional deformation vector field in the region of interest; then according to the two-dimensional deformation vector field of the ray intensity in each beam direction, deforming the two-dimensional ray intensity distribution in the corresponding beam direction to generate new two-dimensional ray intensity distribution in each beam direction; and generating corresponding grating and tungsten gate motion data according to the new two-dimensional ray intensity distribution in each beam direction, and obtaining a new radiotherapy plan.
For the embodiment of the system, since it is basically similar to the method in embodiment 1, the description is simple, and the same parts are not repeated, and the related parts can be referred to the related description in embodiment 1.
Example 3
On the basis of the above embodiments 1-2, the present invention further discloses an adaptive radiotherapy plan modification apparatus, which includes:
at least one processor; and
a memory having stored thereon executable instructions that, when executed by the at least one processor, cause the apparatus to implement a method comprising:
acquiring a reference image, a reference sketch, a reference radiotherapy plan and a target image;
carrying out image registration on the target image and the reference image to generate a corresponding three-dimensional deformation vector field; generating a target image into a fusion image with the same coverage range as the reference image and a target delineation describing a target area and organ outlines according to the three-dimensional deformation vector field;
determining a two-dimensional deformation vector field of the ray intensity in each beam direction in the reference radiotherapy plan according to the set three-dimensional deformation vector field in the region of interest; deforming the two-dimensional ray intensity distribution in the corresponding beam direction according to the two-dimensional deformation vector field of the ray intensity in each beam direction to generate new two-dimensional ray intensity distribution in each beam direction; and generating corresponding grating and tungsten gate motion data according to the new two-dimensional ray intensity distribution in each beam direction, and obtaining a new radiotherapy plan.
The invention also discloses a computer readable storage medium comprising executable instructions which, when executed by at least one processor, implement the method of:
at least one processor; and
a memory having stored thereon executable instructions that, when executed by the at least one processor, cause the apparatus to implement a method comprising:
acquiring a reference image, a reference sketch, a reference radiotherapy plan and a target image;
carrying out image registration on the target image and the reference image to generate a corresponding three-dimensional deformation vector field; generating a target image into a fusion image with the same coverage range as the reference image and a target delineation describing a target area and organ outlines according to the three-dimensional deformation vector field;
determining a two-dimensional deformation vector field of the ray intensity in each beam direction in the reference radiotherapy plan according to the set three-dimensional deformation vector field in the region of interest; deforming the two-dimensional ray intensity distribution in the corresponding beam direction according to the two-dimensional deformation vector field of the ray intensity in each beam direction to generate new two-dimensional ray intensity distribution in each beam direction; and generating corresponding grating and tungsten gate motion data according to the new two-dimensional ray intensity distribution in each beam direction, and obtaining a new radiotherapy plan.
For the embodiments of the apparatus and the storage medium, since the method is substantially similar to that in the embodiments 1-2, the description is simple, and the same parts are not repeated, and the relevant parts can be referred to the partial description of the embodiments 1-2.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (7)
1. An adaptive radiotherapy plan modification apparatus, the modification apparatus comprising:
at least one processor; and
a memory having stored thereon executable instructions that, when executed by the at least one processor, cause the apparatus to implement a method comprising:
acquiring a reference image, a reference sketch, a reference radiotherapy plan and a target image;
carrying out image registration on the target image and the reference image to generate a corresponding three-dimensional deformation vector field;
determining a two-dimensional deformation vector field of the ray intensity in each beam direction in the reference radiotherapy plan according to the set three-dimensional deformation vector field in the region of interest; according to the two-dimensional deformation vector field of the ray intensity in each beam direction, deforming the two-dimensional ray intensity distribution in the corresponding beam direction in the reference radiotherapy plan to generate new two-dimensional ray intensity distribution in each beam direction; and generating corresponding grating and tungsten gate motion data according to the new two-dimensional ray intensity distribution in each beam direction, and obtaining a new radiotherapy plan.
2. The adaptive radiotherapy plan modification apparatus of claim 1, wherein the reference image, the reference delineation and the reference radiotherapy plan refer to an image, a delineation and a radiotherapy plan of a previous positioning, respectively; wherein the content of the first and second substances,
the reference image is a CT image, an MR image, a PET image or an ultrasonic image used for reference delineation and reference radiotherapy planning.
3. The adaptive radiotherapy plan modification apparatus of claim 1, wherein the target image is a newly acquired CT image, MR image, PET image or ultrasound image capable of reflecting the anatomical change.
4. The adaptive radiotherapy plan modification apparatus of claim 1, wherein the image registration comprises two sequential steps: the first step is to carry out rigid registration of images on a target image and a reference image; and the second step is to perform image deformation registration on the basis of the above.
5. An adaptive radiotherapy plan modification apparatus according to claim 1, wherein the region of interest comprises a target region and an organ at risk.
6. An adaptive radiotherapy plan modification apparatus according to claim 1, wherein different weights are set for different regions of interest in determining the two-dimensional deformation vector field of radiation intensity in each beam direction in the reference radiotherapy plan.
7. An adaptive radiotherapy plan modification apparatus according to claim 1, wherein for a radiotherapy device not equipped with an on-line imaging apparatus, the isocenter position in the reference radiotherapy plan is mapped onto the target image according to the three-dimensional deformation vector field to obtain the isocenter position of the new radiotherapy plan.
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| CN110992406B (en) * | 2019-12-10 | 2024-04-30 | 张家港赛提菲克医疗器械有限公司 | Radiotherapy patient positioning rigid body registration algorithm based on region of interest |
| CN111388880B (en) * | 2020-03-20 | 2022-06-14 | 上海联影医疗科技股份有限公司 | Arc radiotherapy calibration method, device, equipment and storage medium |
| CN112037886B (en) * | 2020-11-04 | 2021-02-05 | 平安科技（深圳）有限公司 | Radiotherapy plan making device, method and storage medium |
| CN113101545A (en) * | 2021-04-08 | 2021-07-13 | 张家港赛提菲克医疗器械有限公司 | Radiotherapy simulation positioning system |
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