CN113616942A - Real-time tracking method and device for lung tumor and radiotherapy equipment - Google Patents
Real-time tracking method and device for lung tumor and radiotherapy equipment Download PDFInfo
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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Abstract
The invention discloses a real-time tracking method and a real-time tracking device for lung tumors and radiotherapy equipment, wherein the real-time tracking method for the lung tumors specifically comprises the following steps: s1: collecting 4DCT images of the lung, obtaining a lung tumor sketch and a first breathing curve according to the 4DCT images of the lung, and simultaneously obtaining tumor position and shape data of different phases of the lung; s2: acquiring liver ultrasonic images of a patient in real time in a radiotherapy process, and acquiring a real-time second breathing curve according to the liver ultrasonic images; s3: carrying out phase matching on the first breathing curve obtained in the step S1 and the real-time second breathing curve obtained in the step S2 to obtain the position and the shape of the lung tumor at the moment; s4: and transmitting the information such as the position and the shape of the lung tumor obtained in the step S3 to a grating driver, and controlling the grating to dynamically adjust. The invention combines real-time ultrasound and 4DCT, carries out an indirect tumor tracking model of phase matching through a breathing curve, can transmit information such as lung tumor shape, three-dimensional coordinates and the like to the grating in real time, adjusts the grating and realizes dynamic accurate radiotherapy.
Description
Technical Field
The invention belongs to the technical field of radiotherapy, and particularly relates to a real-time lung tumor tracking method and device and radiotherapy equipment.
Background
The patient is positioned by laser or IVS (Image Viewing System) before radiotherapy begins, during which the tumor is considered static and immobile. However, the lung tumor can be displaced and deformed along with respiration, and even if the lung tumor is accurately positioned, the lung tumor deviates from a target position due to respiratory motion, so that rays cannot be completely acted on a lung tumor target area in the radiotherapy process, surrounding critical organs are injured to a certain extent, and the radiotherapy effect is reduced.
Some existing treatment devices or treatment methods have certain problems in lung treatment, and the following are specific:
scheme one, Clarity ultrasonic equipment of ELEKTA company, through the three-dimensional image acquisition of ultrasound image prostate. The device is only used for prostate treatment, because it cannot provide lung tumor information and cannot be used for real-time tracking of lung tumor target areas. In addition, the ultrasonic probe is provided with an infrared positioning device, so that the cost is high and the clinical popularization is difficult.
The second scheme is CN201910258157.7, and the application is affiliated tumor hospital of the university of Compound Dan, which discloses a liver radiotherapy target positioning technology based on ultrasonic images, which is only applied to real-time tracking of tumors in the liver, but not breast tumors.
And thirdly, the CyberKnife of Accuray company realizes the lung tumor radiotherapy by tracking the lung gold mark in real time. However, a respiratory motion model is established by means of respiratory motion of the body surface, and two X-RAY devices are used for phase confirmation assistance to track gold marks on lung tumors. Is an invasive and radiative tracking scheme.
Scheme Four, the company Varian acquires human body 4DCT (Four-Dimensional Computed Tomography) data by using rpm (real Time Position management) technology. And (3) placing a marker block on the surface of the chest of the human body at the Varian RPM, acquiring motion information of the marker block along with respiration through a camera, generating 4DCT, and dynamically tracking the lung tumor. The cost is high, the operation difficulty is high, and the body surface information has larger errors on the tumor tracking accuracy.
And a fifth scheme, wherein the Vision RT SGRT (surface Guided Radiation therapy) technology acquires body surface information of the patient by using 3 cameras. And Vision RT acquires the body surface information of the patient through 3D (three-dimensional) cameras, so that radiotherapy is dynamically guided. The cost is higher, and the accuracy of tumor tracking by the body surface information has larger error.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a device for tracking lung tumors in real time and radiotherapy equipment, which solve the problem that the radiotherapy effect of the lung tumors is reduced due to the fact that a tumor target area moves along with breathing in the radiotherapy process, and realize dynamic and accurate radiotherapy of the lung tumors. And the cost rise caused by equipment upgrading is reduced, and the clinical popularization rate is improved.
In order to achieve the purpose, the technical scheme of the invention is as follows:
on one hand, the invention discloses a real-time tracking method of lung tumor, which comprises the following steps:
s1: collecting 4DCT images of the lung, obtaining a lung tumor sketch and a first breathing curve according to the 4DCT images of the lung, and simultaneously obtaining tumor position and shape data of different phases of the lung;
s2: acquiring liver ultrasonic images of a patient in real time in a radiotherapy process, and acquiring a real-time second breathing curve according to the liver ultrasonic images;
s3: carrying out phase matching on the first breathing curve obtained in the step S1 and the real-time second breathing curve obtained in the step S2 to obtain the position and the shape of the lung tumor at the moment;
s4: and transmitting the information such as the position and the shape of the lung tumor obtained in the step S3 to a grating driver, and controlling the grating to dynamically adjust.
On the basis of the technical scheme, the following improvements can be made:
preferably, in S1, obtaining the lung tumor delineation from the 4DCT images of the lung includes the following steps: and (4) delineating the tumor boundary in different phases of the lung 4DCT image to obtain the lung tumor delineation.
Preferably, in S2, the real-time second breathing curve is obtained by:
identifying the characteristics needing to be tracked in the liver ultrasonic image of the patient by utilizing an AI deep learning model;
processing the identified liver feature point set by using an optical flow method tracking algorithm;
and outputting the second respiration curve in real time.
Preferably, if the optical flow tracking algorithm processes the identified liver feature point set and cannot obtain the real-time second breathing curve, the AI deep learning model re-identifies the features to be tracked in the liver ultrasonic image of the patient, and processes the identified liver feature point set by using the optical flow tracking algorithm again until the real-time second breathing curve is obtained.
In another aspect, the present invention discloses a real-time tracking device for lung tumor, comprising:
the first breathing curve obtaining device is used for collecting 4DCT images of the lung, obtaining a tumor delineation of the lung and a first breathing curve according to the 4DCT images of the lung, and simultaneously obtaining tumor position and shape data of different phases of the lung;
the second breathing curve obtaining device is used for collecting the liver ultrasonic image of the patient in real time and obtaining a real-time second breathing curve according to the liver ultrasonic image;
the breathing curve matching device is used for carrying out phase matching on the first breathing curve obtained by the first breathing curve obtaining device and the real-time second breathing curve obtained by the second breathing curve obtaining device to obtain the position and the shape of the lung tumor at the moment;
and the grating control device is used for transmitting the information such as the position and the shape of the lung tumor obtained by the breathing curve matching device to the grating driver and controlling the grating to dynamically adjust.
Preferably, the first breathing curve obtaining device is used for delineating the tumor boundary in different phases of the 4DCT image of the lung to obtain the delineation of the tumor of the lung.
Preferably, the second breathing curve obtaining device obtains the real-time second breathing curve by:
identifying the characteristics needing to be tracked in the liver ultrasonic image of the patient by utilizing an AI deep learning model;
processing the identified liver feature point set by using an optical flow method tracking algorithm;
and outputting the second respiration curve in real time.
In addition, the invention also discloses radiotherapy equipment which is operated by utilizing any one of the lung tumor real-time tracking methods; or, the device comprises any one of the lung tumor real-time tracking devices.
The invention relates to a real-time tracking method and device for lung tumors and a radiotherapy device, in particular to an indirect tumor tracking model which combines real-time ultrasound and 4DCT and performs phase matching through a breathing curve. The human liver is arranged at the right lower part of the diaphragm, and the respiratory motion of the lung can drive the diaphragm to move periodically, so that the liver can also move periodically. Therefore, the periodic motion acquired from the liver can reflect the periodicity of the respiratory motion profile. By using the method model, information such as lung tumor shape, three-dimensional coordinates and the like can be transmitted to the grating in real time, the grating is adjusted, and dynamic accurate radiotherapy is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a real-time tracking method for lung tumor according to an embodiment of the present invention.
Fig. 2 is a graph matching a first respiration curve and a second respiration curve according to an embodiment of the present invention.
Wherein: 1-a first breathing curve; 2-second breathing curve.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The use of the ordinal terms "first," "second," "third," etc., to describe a common object merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.
Additionally, the recitation of "comprising" an element is an "open" recitation that simply refers to the presence of the corresponding component or method and should not be interpreted to exclude additional components or methods.
In order to achieve the object of the present invention, in some embodiments of a method, an apparatus and a radiation therapy device for real-time tracking of a lung tumor, as shown in fig. 1, the method for real-time tracking of a lung tumor specifically includes the following steps:
s1: collecting 4DCT images of the lung, obtaining a lung tumor sketch and a first breathing curve according to the 4DCT images of the lung, and simultaneously obtaining tumor position and shape data of different phases of the lung;
s2: acquiring liver ultrasonic images of a patient in real time in a radiotherapy process, and acquiring a real-time second breathing curve according to the liver ultrasonic images;
s3: performing phase matching on the first breathing curve obtained in the step S1 and the real-time second breathing curve obtained in the step S2, as shown in fig. 2, to obtain the phase of the breathing of the patient at the moment, and then determining the position and shape of the lung tumor according to the phase;
s4: and transmitting the information such as the lung tumor position and shape obtained in the step S3 to a grating driver, and controlling the grating to perform dynamic adjustment, so that the grating adjustment can be performed according to the dynamic lung tumor shape and position.
In order to further optimize the implementation of the present invention, in other embodiments, the remaining features are the same, except that in S1, obtaining the lung tumor delineation from the lung 4DCT image includes the following steps: and (4) delineating the tumor boundary in different phases of the lung 4DCT image to obtain the lung tumor delineation.
In order to further optimize the implementation of the present invention, in other embodiments, the rest of the features are the same, except that in S2, the real-time second breathing curve is obtained by:
identifying the characteristics needing to be tracked in the liver ultrasonic image of the patient by utilizing an AI deep learning model;
processing the identified liver feature point set by using an optical flow method tracking algorithm, and rapidly outputting at each subsequent moment to obtain a periodic rule of a second breathing curve;
and outputting the second respiration curve in real time.
In order to further optimize the implementation effect of the invention, in other embodiments, the rest of feature technologies are the same, except that if the optical flow tracking algorithm processes the identified liver feature point set and cannot obtain the real-time second breathing curve, the AI deep learning model re-identifies the features to be tracked in the liver ultrasonic image of the patient, and processes the identified liver feature point set again by using the optical flow tracking algorithm until the real-time second breathing curve is obtained.
The embodiment of the invention also discloses a real-time tracking device for lung tumor, which comprises:
the first breathing curve obtaining device is used for collecting 4DCT images of the lung, obtaining a tumor delineation of the lung and a first breathing curve according to the 4DCT images of the lung, and simultaneously obtaining tumor position and shape data of different phases of the lung;
the second breathing curve obtaining device is used for collecting the liver ultrasonic image of the patient in real time and obtaining a real-time second breathing curve according to the liver ultrasonic image;
the breathing curve matching device is used for carrying out phase matching on the first breathing curve obtained by the first breathing curve obtaining device and the real-time second breathing curve obtained by the second breathing curve obtaining device to obtain the position and the shape of the lung tumor at the moment;
and the grating control device is used for transmitting the information such as the position and the shape of the lung tumor obtained by the breathing curve matching device to the grating driver and controlling the grating to dynamically adjust.
In order to further optimize the implementation of the present invention, in other embodiments, the rest of the feature techniques are the same, except that the first breathing curve obtaining device is used for delineating the tumor boundary in different phases of the 4DCT image of the lung to obtain the delineation of the tumor of the lung.
In order to further optimize the implementation effect of the present invention, in other embodiments, the rest of the feature technologies are the same, except that the second breathing curve obtaining device obtains the real-time second breathing curve by:
identifying the characteristics needing to be tracked in the liver ultrasonic image of the patient by utilizing an AI deep learning model;
processing the identified liver feature point set by using an optical flow method tracking algorithm;
and outputting the second respiration curve in real time.
In addition, the embodiment of the invention also discloses radiotherapy equipment, which is operated by using the real-time tracking method of the lung tumor disclosed by any embodiment; or, include the lung tumour real-time tracking device disclosed in any embodiment above.
Compared with the static treatment which considers that the position of the target area is unchanged at present, the lung tumor real-time tracking method based on the liver ultrasonic image and the chest 4DCT tracks the ultrasonic image without additionally increasing the radiation dose, can relatively accurately deduce the position of the target area of the lung tumor in real time, reduces the damage to critical organs and improves the radiotherapy effect. In addition, the ultrasonic equipment is low in price and easy to popularize clinically.
Compared with the scheme in the background art from one to five, the invention has the following beneficial effects.
Compared with the first scheme: the invention is used for real-time tracking and radiotherapy of lung tumors. More lung tumor patients than prostate patients have clinical practical value. And the cost is low, and the clinical popularization is easy.
Compared with the scheme two: the invention is used for real-time tracking and radiotherapy of lung tumors. While the second protocol can only be used for liver tumor tracking.
Compared with the third scheme: the lung tumor tracking method is a noninvasive, non-radiative and low-cost lung tumor tracking scheme.
Compared with the scheme four: according to the invention, the liver characteristics acquired through the ultrasonic image are in vivo characteristics, so that the reliability of the tracked breathing curve is higher, and the cost and the operation difficulty are reduced.
Compared with the fifth scheme: the respiratory movement characteristics are acquired through the characteristics of the internal organs, and compared with the body surface information of the fifth scheme, the respiratory movement characteristics are smaller in error and high in reliability.
The method of the invention adopts ultrasonic image, and the ultrasonic image is a medical image method harmless to human body and can be used for many times. According to the invention, by means of liver feature tracking and combination of lung 4DCT tumor phase information, the beam outgoing of an accelerator is not influenced by the placement position of the ultrasonic probe, and treatment is not hindered. The invention adopts the respiratory motion reflected by the liver and the respiratory curve of the 4DCT to carry out cycle and phase matching, and can quickly output phase information. The invention adopts ultrasonic equipment, has mature technical development and low price, and is beneficial to clinical popularization.
In summary, the method and the device for tracking the lung tumor in real time and the radiotherapy equipment combine real-time ultrasound and 4DCT together, and perform phase matching by using a breathing curve to form an indirect tumor tracking model. The human liver is arranged at the right lower part of the diaphragm, and the respiratory motion of the lung can drive the diaphragm to move periodically, so that the liver can also move periodically. Therefore, the periodic motion acquired from the liver can reflect the periodicity of the respiratory motion profile. By using the method model, information such as lung tumor shape, three-dimensional coordinates and the like can be transmitted to the grating in real time, the grating is adjusted, and dynamic accurate radiotherapy is realized.
It should be understood that the various techniques described herein may be implemented in connection with hardware or software or, alternatively, with a combination of both. Thus, the methods and apparatus of the present invention, or certain aspects or portions thereof, may take the form of program code (i.e., instructions) embodied in tangible media, such as floppy diskettes, CD-ROMs, hard drives, or any other machine-readable storage medium, wherein, when the program is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the invention.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.
Claims (8)
1. A real-time tracking method for lung tumors is characterized by comprising the following steps:
s1: collecting 4DCT images of the lung, obtaining a lung tumor sketch and a first breathing curve according to the 4DCT images of the lung, and simultaneously obtaining tumor position and shape data of different phases of the lung;
s2: acquiring liver ultrasonic images of a patient in real time in a radiotherapy process, and acquiring a real-time second breathing curve according to the liver ultrasonic images;
s3: carrying out phase matching on the first breathing curve obtained in the step S1 and the real-time second breathing curve obtained in the step S2 to obtain the position and the shape of the lung tumor at the moment;
s4: and transmitting the information such as the position and the shape of the lung tumor obtained in the step S3 to a grating driver, and controlling the grating to dynamically adjust.
2. The method of claim 1, wherein the step of obtaining the lung tumor delineation from the 4DCT images of the lung in S1 includes the following steps: and (4) delineating the tumor boundary in different phases of the lung 4DCT image to obtain the lung tumor delineation.
3. The method for tracking the lung tumor in real time as claimed in claim 1 or 2, wherein in S2, the real-time second breathing curve is obtained by:
identifying the characteristics needing to be tracked in the liver ultrasonic image of the patient by utilizing an AI deep learning model;
processing the identified liver feature point set by using an optical flow method tracking algorithm;
and outputting the second respiration curve in real time.
4. The method for tracking the lung tumor in real time as claimed in claim 3, wherein if the real-time second breathing curve cannot be obtained after the optical flow tracking algorithm processes the identified liver feature point set, the AI deep learning model re-identifies the features to be tracked in the ultrasonic liver image of the patient, and processes the identified liver feature point set again by using the optical flow tracking algorithm until the real-time second breathing curve is obtained.
5. A real-time lung tumor tracking device, comprising:
the first breathing curve obtaining device is used for collecting 4DCT images of the lung, obtaining a tumor delineation of the lung and a first breathing curve according to the 4DCT images of the lung, and simultaneously obtaining tumor position and shape data of different phases of the lung;
the second breathing curve obtaining device is used for collecting the liver ultrasonic image of the patient in real time and obtaining a real-time second breathing curve according to the liver ultrasonic image;
the breathing curve matching device is used for carrying out phase matching on the first breathing curve obtained by the first breathing curve obtaining device and the real-time second breathing curve obtained by the second breathing curve obtaining device to obtain the position and the shape of the lung tumor at the moment;
and the grating control device is used for transmitting the information such as the position and the shape of the lung tumor obtained by the breathing curve matching device to a grating driver and controlling the grating to dynamically adjust.
6. The device as claimed in claim 5, wherein the first breathing curve obtaining means is configured to obtain a pulmonary tumor delineation by delineating tumor boundaries in different phases of a 4DCT image of the lung.
7. The device for real-time tracking of lung tumor according to claim 5, wherein the second breathing curve obtaining device obtains the real-time second breathing curve by:
identifying the characteristics needing to be tracked in the liver ultrasonic image of the patient by utilizing an AI deep learning model;
processing the identified liver feature point set by using an optical flow method tracking algorithm;
and outputting the second respiration curve in real time.
8. A radiotherapy apparatus, characterized by operating with a real-time tracking method of a lung tumor according to any one of claims 1-4; or, comprising a real-time tracking device of a lung tumor according to any one of claims 5-7.
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