CN116710018A - Position adjustment method, head display device and radiotherapy system - Google Patents

Position adjustment method, head display device and radiotherapy system Download PDF

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Publication number
CN116710018A
CN116710018A CN202080108273.1A CN202080108273A CN116710018A CN 116710018 A CN116710018 A CN 116710018A CN 202080108273 A CN202080108273 A CN 202080108273A CN 116710018 A CN116710018 A CN 116710018A
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patient
image
body surface
dimensional body
radiotherapy
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闫浩
李金升
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Our United Corp
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Our United Corp
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations

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Abstract

The application discloses a position adjustment method, head display equipment and a radiotherapy system, and belongs to the technical field of medical treatment. The method comprises the following steps: acquiring a first image of a target part of a patient, and generating a three-dimensional body surface reference image of the target part of the patient based on the first image; after the wearer wears the head display device, the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device, so that the wearer adjusts the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image. So, need not to adopt the laser lamp just can realize putting the position to the patient, the effectual improvement carries out the precision of putting the position to the patient, and then has improved the effect that adopts this radiotherapy equipment to treat the patient subsequently.

Description

Position adjustment method, head display device and radiotherapy system Technical Field
The application relates to the technical field of medical treatment, in particular to a position adjustment method, head display equipment and a radiotherapy system.
Background
Radiation therapy is an important means of treating cancer, and radiotherapy equipment is a key medical device for carrying out radiation therapy. Currently, prior to treatment of a patient with a radiotherapy apparatus, a patient positioned on a patient support (also referred to as a treatment couch) of the radiotherapy apparatus is positioned such that the center of the patient's tumor coincides with the treatment center of the radiotherapy apparatus.
In the related art, a patient is usually positioned by a laser lamp in a radiotherapy apparatus. For example, the laser lamp can emit three intersecting laser beams in different directions, and the distance between the intersection point of the central axes of the three laser beams in different directions and the treatment center of the radiotherapy apparatus is a preset distance. When the patient is positioned, the treatment bed can be moved, so that the surface of the patient is overlapped with the cross laser lines of the three laser beams respectively by the cross line markers, and then the treatment bed is moved for a preset distance, so that the center of the tumor of the patient is overlapped with the treatment center of the radiotherapy equipment.
However, because the laser lamp is installed in the treatment room where the radiotherapy equipment is located by adopting a mechanical installation mode, the phenomenon that the radiotherapy equipment is inevitably displaced after long-time use is achieved, so that the accuracy of positioning the patient by the laser lamp is low, and the effect of the radiotherapy equipment on the treatment of the patient is poor.
Disclosure of Invention
The embodiment of the application provides a position adjustment method, head display equipment and a radiotherapy system. The problem that the precision that utilizes the laser lamp to put the patient in prior art is lower can be solved, technical scheme is as follows:
In one aspect, a position adjustment method is provided and applied to a head display device, and the method includes:
acquiring a first image of a target part of a patient, and generating a three-dimensional body surface reference image of the target part of the patient based on the first image;
after wearing the head display device, the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image;
the preset position is the position of the target part of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment.
Optionally, the method further comprises:
after the three-dimensional body surface reference image is generated, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device.
Optionally, the method further comprises:
generating a three-dimensional volumetric image within the three-dimensional body surface reference image based on the first image;
Adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device, wherein the method comprises the following steps:
and adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the supporting surface of the patient supporting device in the radiotherapy device in the coordinate system of the head display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.
Optionally, the acquiring the first image of the target portion of the patient includes:
a first image of a target site of a patient is acquired from a pre-established treatment plan for the patient.
Optionally, the target part of the patient is provided with a marker, and the three-dimensional body surface reference image is provided with a marker image corresponding to the marker;
displaying the three-dimensional body surface reference image at a preset position of a radiotherapy device, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image, and the method comprises the following steps:
Displaying the three-dimensional body surface reference image with the marker image at a preset position of the radiotherapy equipment so that the wearer can adjust the position of the patient according to the observed marker and the marker image.
Optionally, the head display device is an augmented reality AR device or a mixed reality MR device, and the displaying the three-dimensional body surface reference image at the preset position of the radiotherapy device includes:
acquiring the position relation between the head display equipment and the radiotherapy equipment;
and displaying the three-dimensional body surface reference image at a preset position of the radiotherapy equipment based on the position relation between the head display equipment and the radiotherapy equipment.
Optionally, the head display device is a virtual reality VR device, and the displaying the three-dimensional body surface reference image at the preset position of the radiotherapy device includes:
acquiring a second image of a patient located on a patient support of the radiotherapy apparatus in real time;
generating a first human three-dimensional image of the patient based on the second image;
and displaying the three-dimensional body surface reference image at a preset position of the radiotherapy equipment while displaying the three-dimensional image of the first human body.
Optionally, the method further comprises:
acquiring a third image of a target part of the patient in real time during the treatment of the patient by the radiotherapy equipment;
generating a three-dimensional body surface real-time image of the target part of the patient based on the third image;
and simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image.
Optionally, displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image simultaneously includes:
and after the colors of the outline of the three-dimensional body surface reference image and the outline of the three-dimensional body surface real-time image are processed into two different colors, the three-dimensional body surface reference image and the three-dimensional body surface real-time image are displayed simultaneously.
Optionally, the method further comprises: and sending out prompt information after determining that the outline of the three-dimensional body surface real-time image exceeds the outline of the three-dimensional body surface reference image.
Optionally, the method further comprises: acquiring a fourth image of the patient in real time during the treatment of the patient by the radiotherapy equipment; generating a second human three-dimensional image of the patient based on the fourth image; and after receiving the switching operation of the display content, simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or displaying only the second human body three-dimensional image.
In another aspect, there is provided a head display apparatus including: a processor and a display;
the processor is used for acquiring a first image of a target part of a patient and generating a three-dimensional body surface reference image of the target part of the patient based on the first image;
the display is used for displaying the three-dimensional body surface reference image at a preset position of the radiotherapy equipment through the control of the processor after the head display equipment is worn by a wearer, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image;
the preset position is the position of the target part of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment.
Optionally, the processor is further configured to:
after the three-dimensional body surface reference image is generated, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device.
Optionally, the processor is further configured to:
Generating a three-dimensional volumetric image within the three-dimensional body surface reference image based on the first image;
and adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the supporting surface of the patient supporting device in the coordinate system of the head display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.
In yet another aspect, there is provided a radiation therapy system comprising: a radiotherapy device and a head display device;
the radiotherapy apparatus comprises a patient support device for carrying a patient;
the head display device is the head display device.
Optionally, the head display device is an AR device or an MR device, and the head display device is provided with a camera;
the processor in the head display device is used for determining the position relation between the head display device and the radiotherapy device based on the image of the radiotherapy device acquired by the camera, and controlling the display in the head display device to display the three-dimensional body surface reference image based on the position relation between the head display device and the radiotherapy device so as to enable the three-dimensional body surface reference image displayed by the display to coincide with the preset position of the radiotherapy device.
Optionally, the head display device is a VR device, and the radiotherapy system further includes:
the first optical cameras are used for acquiring second images of a patient on the patient support device in real time and sending the second images to the processor of the head display device in real time;
the processor is used for generating a first human body three-dimensional image of the patient based on the second image and controlling a display of the head display device to simultaneously display the three-dimensional body surface reference image and the first human body three-dimensional image.
Optionally, the radiotherapy system further comprises:
the image acquisition equipment is used for acquiring a third image of a target part of the patient in the process of treating the patient by the radiotherapy equipment in real time and sending the third image to the processor of the head display equipment in real time;
the processor is used for generating a three-dimensional body surface real-time image of the target part of the patient based on the third image, and controlling a display of the head display device to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image.
Optionally, the radiotherapy system further comprises:
the plurality of second optical cameras are used for acquiring fourth images of the patient in the treatment process of the radiotherapy equipment on the patient in real time and sending the fourth images to the processor of the head display equipment in real time;
The processor is configured to generate a second three-dimensional image of the human body of the patient based on the fourth image, and after receiving a switching operation of display contents, control the display to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or display only the second three-dimensional image of the human body.
Optionally, the radiotherapy system further comprises: a medical tight for wearing by the patient.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
the three-dimensional body surface reference image of the target part of the patient is generated through the head display device, and after the head display device is worn by a wearer, the head display device can display the three-dimensional body surface reference image at the preset position of the radiotherapy device. Because the preset position is the position of the target point of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment, when the wearer adjusts the position of the patient according to the observed actual position of the target point of the patient and the three-dimensional body surface reference image, the target point of the patient is coincident with the isocenter of the radiotherapy equipment when the target point of the patient is coincident with the three-dimensional body surface reference image of the target point of the patient, and the patient can be positioned. So, need not to adopt the laser lamp just can realize putting the position to the patient, the effectual improvement carries out the precision of putting the position to the patient, and then has improved the effect that adopts this radiotherapy equipment to treat the patient subsequently.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a radiotherapy system according to a position adjustment method according to an embodiment of the present application;
FIG. 2 is a flowchart of a position adjustment method according to an embodiment of the present application;
FIG. 3 is a flowchart of another position adjustment method according to an embodiment of the present application;
fig. 4 is an effect diagram of a picture watched by a wearer after the wearer wears the head display device according to the embodiment of the present application;
FIG. 5 is a block diagram of a head display device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of another radiotherapy system according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a radiotherapy system according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of yet another radiotherapy system according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a radiotherapy system according to a position adjustment method according to an embodiment of the present application. The radiotherapy system 100 may comprise: a head-display device 101 and a radiotherapy device 102.
The head display device 101 may be an augmented Reality (Augmented Reality; abbreviated as AR) device, a Mixed Reality (MR) device, or a Virtual Reality (VR) device.
The radiotherapy device 102 may be a gamma knife or a medical electron linear accelerator or the like. The radiotherapy apparatus 102 may comprise: a patient support 102a, the patient support 102a for supporting a patient. By way of example, the patient support 102a may be a treatment couch. When the radiotherapy apparatus 102 is required to treat a patient, the patient needs to lie on the patient support 102.
Referring to fig. 2, fig. 2 is a flowchart of a position adjustment method according to an embodiment of the present application, where the method is applied to a head display device 101 in the radiotherapy system 100 shown in fig. 1. The position adjustment method may include:
Step 201, a first image of a target portion of a patient is acquired, and a three-dimensional body surface reference image of the target portion of the patient is generated based on the first image.
For example, the target site of the patient may need to include a site for treatment of the patient, e.g., a tumor of the patient may need to be located within the target site of the patient, which may be one or more of the head, head and neck, chest, abdomen, legs, feet, etc.
Step 202, after wearing the head display device by the wearer, displaying the three-dimensional body surface reference image at a preset position of the radiotherapy device, so that the wearer adjusts the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image.
The preset position of the radiotherapy equipment is the position of the target part of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment.
For example, when the radiotherapy device is a gamma knife, the target point of the patient is the target point of the patient; when the radiotherapy apparatus is a medical linac, the target point of the patient is the central point of the patient's tumor.
In the embodiment of the application, after the head display device is worn by a wearer, the head display device can display the generated three-dimensional body surface reference image of the target part at the preset position of the radiotherapy device. Because the preset position is the position of the target point of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment, when the wearer adjusts the position of the patient according to the observed actual position of the target point of the patient and the three-dimensional body surface reference image, the target point of the patient is coincident with the isocenter of the radiotherapy equipment when the target point of the patient is coincident with the three-dimensional body surface reference image of the target point of the patient, and the patient can be positioned.
In summary, according to the position adjustment method provided by the embodiment of the application, the three-dimensional body surface reference image of the target part of the patient is generated through the head display device, and after the wearer wears the head display device, the head display device can display the three-dimensional body surface reference image at the preset position of the radiotherapy device. Because the preset position is the position of the target point of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment, when the wearer adjusts the position of the patient according to the observed actual position of the target point of the patient and the three-dimensional body surface reference image, the target point of the patient is coincident with the isocenter of the radiotherapy equipment when the target point of the patient is coincident with the three-dimensional body surface reference image of the target point of the patient, and the patient can be positioned. So, need not to adopt the laser lamp just can realize putting the position to the patient, the effectual improvement carries out the precision of putting the position to the patient, and then has improved the effect that adopts this radiotherapy equipment to treat the patient subsequently.
Referring to fig. 3, fig. 3 is a flowchart of another position adjustment method according to an embodiment of the present application, and the method is applied to the head display device 101 in the radiotherapy system 100 shown in fig. 1. The position adjustment method may include:
Step 301, acquiring a first image of a target portion of a patient.
In the embodiment of the application, the head display device can acquire the first image of the target part of the patient.
For example, because a doctor needs to make a treatment plan for treating a patient before treating the patient, the treatment plan includes a first image of a target site of the patient. To this end, the head-display device acquiring a first image of a target site of a patient may include: the head display device acquires a first image of a target part of a patient from a treatment plan of the patient which is prepared in advance.
Also, since the pre-established treatment plan for the patient is typically stored in the treatment server, the head-mounted device may be communicatively coupled to the treatment server to obtain a first image of the treatment plan for the patient stored by the treatment server.
It should be noted that, the first image is generally an image obtained by capturing a target portion of the patient by a computed tomography (Computed Tomography; abbreviated as CT) device or a magnetic resonance imaging (Magnetic Resonance Imaging; abbreviated as MRI) device. Also, since the target site of the patient includes a site where the patient is to be treated, for example, a tumor of the patient needs to be located within the target site of the patient, the first image may include not only a body surface image of the patient but also a body tissue image located inside the patient, the body tissue image inside the patient having an image of a treatment region of the patient (for example, a target region of the patient or a region where the tumor of the patient is located).
It should also be noted that the target portion of the patient may be a part of the body of the patient or the whole body of the patient. For example, when the target site of the patient is the site body of the patient, it is necessary to ensure that the tumor of the patient needs to be located within the target site of the patient. For example, when a patient's tumor is located within the patient's head, the patient's target site may be located on the patient's head.
Step 302, generating a three-dimensional body surface reference image of the target part of the patient based on the first image.
In the embodiment of the application, after the head display device acquires the first image, the head display device can generate the three-dimensional body surface reference image of the target part of the patient based on the first image.
For example, since the treatment plan of the patient includes a plurality of first images of the patient photographed from different perspectives, and each of the first images includes a body surface image of the patient, the head-display device may reconstruct the body surface image of the patient based on the plurality of first images to generate a three-dimensional body surface reference image of the target portion of the patient.
Step 303, adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device, so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device.
In the embodiment of the application, after the head display device generates the three-dimensional body surface reference image, the head display device needs to adjust the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the three-dimensional body surface reference image coincides with the target position of the radiotherapy device in the coordinate system of the head display device.
In the application, when the head display device adjusts the position of the three-dimensional body surface reference image in the coordinate system of the head display device, so that the three-dimensional body surface reference image is overlapped with the target position of the radiotherapy device in the coordinate system of the head display device, after the three-dimensional body surface reference image is displayed by the head display device, the three-dimensional body surface reference image displayed by the head display device is overlapped with the preset position of the radiotherapy device, and the follow-up operator can conveniently position the patient by observing the actual position of the target part of the patient and the three-dimensional body surface reference image.
The preset position of the radiotherapy equipment is the position of the target part of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment.
For example, the head display device needs to generate a three-dimensional volume image located in the three-dimensional body surface reference image based on the first image while generating the three-dimensional body surface reference image. Because the treatment plan of the patient comprises a plurality of first images of the patient photographed from different view angles, and each first image further comprises a body tissue image positioned inside the patient, the head display device can reconstruct the body tissue image of the patient based on the plurality of first images so as to generate a three-dimensional volume image of the target part of the patient.
In this case, the head-display device adjusts the position of the three-dimensional body surface reference image in the coordinate system of the head-display device so that the three-dimensional body surface reference image coincides with the target position of the radiotherapy device in the coordinate system of the head-display device, may include:
the head-display device adjusts the position of the three-dimensional body surface reference image in the coordinate system of the head-display device so that the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the supporting surface of the patient supporting device in the radiotherapy device in the coordinate system of the head-display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.
In the embodiment of the application, when the radiotherapy equipment treats the patient, the patient is required to lie on the patient support device of the radiotherapy equipment, so that the height direction of the patient is parallel to the support surface of the patient support device in the treatment process. In order to ensure that the target portion of the subsequent patient can coincide with the three-dimensional body surface reference image, it is necessary to ensure that the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the support surface of the patient support device in the coordinate system of the head display device.
In the application, in the coordinate system of the head display device, if the three-dimensional body surface reference image and the three-dimensional volume image positioned in the three-dimensional body surface reference image meet the preset condition in the process of adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device, the three-dimensional body surface reference image is overlapped with the preset position of the radiotherapy device. Wherein, the preset conditions are as follows: the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the supporting surface of the patient supporting device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy equipment.
Since the body tissue image in each first image has the treatment region of the patient, the three-dimensional volume image generated by the head display device and located in the three-dimensional body surface reference image has a three-dimensional image corresponding to the treatment region, and the target point of the three-dimensional volume image is located in the three-dimensional image corresponding to the treatment region, and is typically the center point of the three-dimensional image corresponding to the treatment region.
When the radiotherapy equipment is a gamma knife, the treatment area of the body tissue image in each first image is a target area of a patient, and the target point of the three-dimensional volume image is a target point positioned in the target area; when the radiotherapy equipment is a medical linear accelerator, the treatment area of the body tissue image in each first image is the area where the tumor of the patient is located, and the target point of the three-dimensional volume image is the central point of the area where the tumor is located.
Step 304, after the wearer wears the head display device, the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device, so that the wearer adjusts the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image.
In the embodiment of the application, after the head display device is worn by a wearer, the head display device can display the three-dimensional body surface reference image at the preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image.
In the present application, the head display device may be worn by a wearer when the patient is on the patient support of the radiotherapy device and the patient needs to be positioned. After the head display device displays the three-dimensional body surface reference image at the preset position of the radiotherapy device, as shown in fig. 4, fig. 4 is an effect diagram of a picture watched by a wearer after the wearer wears the head display device, and the wearer can watch the three-dimensional body surface reference image and the position of a patient in the radiotherapy device at the same time. The wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image, so that the target part of the patient coincides with the three-dimensional body surface reference image, and the coincidence of the target point of the patient and the treatment center of the radiotherapy equipment can be ensured, so that the patient can be positioned.
For example, the target portion of the patient has a marker, and the three-dimensional body surface reference image generated by the head-display device has a marker image corresponding to the marker.
In this way, the head display device displays the three-dimensional body surface reference image at the preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image, and the head display device can comprise: the head display device displays a three-dimensional body surface reference image with a marker image at a preset position of the radiotherapy device, so that a wearer can adjust the position of a patient according to the observed marker and the marker image.
In this case, the wearer can ensure that the marker on the target portion of the patient coincides with the marker image in the three-dimensional body surface reference image in the process of adjusting the position of the patient, i.e., the target portion of the patient coincides with the three-dimensional body surface reference image. Because the marker and the marker image can be used as references in the process of adjusting the position of the patient, the wearer can adjust the position of the patient to the position overlapped with the three-dimensional body surface reference image more quickly, and the efficiency of positioning the patient is further improved.
In the embodiment of the application, since the head display device in the radiotherapy system can be: AR device, MR device or VR device, and the principles of different types of head-mounted devices are different. Thus, the following two possible implementations are taken as examples of the present application, and the manner in which a patient is positioned is schematically illustrated:
in a first possible implementation manner, when the head display device is an AR device or an MR device, the head display device displays a three-dimensional body surface reference image at a preset position of the radiotherapy device, and may include the following steps:
and A1, acquiring the position relation between the head display equipment and the radiotherapy equipment.
In the embodiment of the application, before the head display device displays the three-dimensional body surface reference image, the head display device needs to acquire the position relation between the head display device and the radiotherapy device.
The head-display device has, for example, a camera for acquiring an image of the radiotherapy device in the real world. Thus, the head display device can determine the position relationship between the head display device and the radiotherapy device based on the image of the radiotherapy device.
It should be noted that, the camera of the head display device may be a depth camera, and the image of the radiotherapy device acquired by the depth camera includes depth information, where the depth information is used to characterize a distance between the depth camera and the radiotherapy device. Therefore, the accuracy of the head display device in determining the position relationship between the head display device and the radiotherapy device is higher based on the image of the radiotherapy device acquired by the depth camera.
And B1, displaying a three-dimensional body surface reference image at a preset position of the radiotherapy equipment based on the position relation between the head display equipment and the radiotherapy equipment.
In the embodiment of the application, the head display device can display the three-dimensional body surface reference image at the preset position of the radiotherapy device based on the position relation between the head display device and the radiotherapy device.
In the application, after the head display device acquires the position relation between the head display device and the radiotherapy device, the head display device can display the three-dimensional body surface reference image based on the position relation. Because the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device, after the wearer wears the head display device, the wearer can view the three-dimensional body surface reference image at the preset position of the radiotherapy device.
In this case, the wearer is able to view not only the three-dimensional body surface reference image, but also the actual position of the patient in the radiotherapy apparatus. Therefore, the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image, so that the target part of the patient coincides with the three-dimensional body surface reference image, and the patient can be positioned.
In a second possible implementation manner, when the head display device is a VR device, the head display device displays a three-dimensional body surface reference image at a preset position of the radiotherapy device, and may include the following steps:
step A2, acquiring a second image of the patient on a patient support device of the radiotherapy equipment in real time.
In the embodiment of the application, the head display device can acquire the second image of the patient on the patient support device in real time in the process of positioning the patient.
Illustratively, the radiotherapy system may further comprise: and the plurality of first optical cameras are in communication connection with the head display device. The plurality of first optical cameras are used for acquiring second images of a patient on the patient support device in real time and sending the second images to the processor of the head display device in real time, so that the head display device can acquire the second images of the patient on the patient support device in real time.
It should be noted that the plurality of first optical cameras may be distributed at different positions of the patient support device, and the photographing angles of each first optical camera may be different, so that the different first optical cameras may collect the second images under different viewing angles. In the process of positioning the patient, each first optical camera can acquire a second image of the patient on the patient support device in real time and send the second image to the head display device in real time.
And B2, generating a first human body three-dimensional image of the patient based on the second image.
In the embodiment of the application, the head display device can generate the first human body three-dimensional image of the patient based on the second image.
By way of example, the head display device can receive the second images acquired by the plurality of first optical cameras in real time, and because the different first optical cameras can acquire the second images under different visual angles, the head display device can reconstruct the second images under different visual angles in real time, so that the first human body three-dimensional image of the patient in the positioning process can be generated.
And C2, displaying the three-dimensional body surface reference image at a preset position of the radiotherapy equipment while displaying the three-dimensional image of the first human body.
In the embodiment of the application, after the head display device generates the first human body three-dimensional image in real time, the head display device can display the first human body three-dimensional image and display the three-dimensional body surface reference image at the preset position of the radiotherapy device while displaying the first human body three-dimensional image.
It should be noted that, the plurality of first cameras may not only collect the second image of the patient, but also collect the image of the surrounding environment of the patient, for example, the image of the radiotherapy device located around the patient. Thus, the head display device can generate the three-dimensional image of the first human body of the patient and the three-dimensional image of the radiotherapy device. The three-dimensional image of the radiotherapy equipment can be displayed while the head display equipment displays the three-dimensional image of the first human body, so that a wearer can simultaneously watch the three-dimensional image of the first human body, the three-dimensional image of the radiotherapy equipment and the three-dimensional body surface reference image after wearing the head display equipment. Because the three-dimensional body surface reference image coincides with the preset position of the radiotherapy equipment in the coordinate system of the head display equipment, after the head display equipment is worn by a wearer, the three-dimensional body surface reference image watched by the wearer is positioned at the preset position in the three-dimensional image of the radiotherapy equipment.
In this case, the position of the three-dimensional image of the first person viewed by the wearer in the three-dimensional image of the radiotherapy apparatus is the actual position of the patient in the radiotherapy apparatus. Therefore, the wearer can adjust the position of the patient according to the observed gap between the three-dimensional image of the first human body and the three-dimensional body surface reference image, so that the target part of the patient coincides with the three-dimensional body surface reference image, and the patient can be positioned.
When the wearer adjusts the position of the patient based on the observed actual position of the target portion of the patient and the three-dimensional body surface reference image, the position of the patient is generally adjusted in the following two ways.
In the first mode, after wearing the head display device, a wearer observes a gap between an actual position of a target part of a patient and a three-dimensional body surface reference image, and controls control equipment for controlling the patient support device, so that the control equipment drives the patient support device to move, and the position of the patient on the patient support device is adjusted.
In a second way, when the wearer finds that the target portion of the patient cannot be overlapped with the three-dimensional body surface reference image by moving the patient support device, the wearer needs to move the patient on the patient support device so that the target portion of the patient overlaps with the three-dimensional body surface reference image.
It should be noted that, the radiotherapy device is usually located in the treatment room, and when the patient is positioned, the wearer needs to wear the head display device and adjust the position of the patient in the treatment room. When the patient is positioned, the radiotherapy device needs to treat the patient, and the wearer needs to come out of the treatment room. In this case, the wearer may still wear the head-display device so that the wearer can observe the course of treatment of the patient in real time. In order to enable the wearer to observe the course of treatment of the patient in real time, the position adjustment method may further comprise the following steps 305 to 307.
Step 305, acquiring a third image of a target part of the patient and a fourth image of the patient in real time during treatment of the patient by the radiotherapy device.
In the embodiment of the application, the head display device can acquire the third image of the target part of the patient and the fourth image of the patient in real time in the process of treating the patient by the radiotherapy device.
Illustratively, the radiotherapy system may further comprise: and the image acquisition equipment is in communication connection with the head display equipment and the plurality of second optical cameras.
The image acquisition equipment is used for acquiring a third image of the target part of the patient in the treatment process of the radiotherapy equipment on the patient in real time and sending the third image to the head display equipment in real time, so that the head display equipment can acquire the third image of the target part of the patient in real time. In the application, the image acquisition device can acquire the third images of the target part of a plurality of patients photographed from different visual angles in real time. In the patient positioning process, the image acquisition equipment can send third images of the target part of the patient photographed at different visual angles to the head display equipment in real time.
The plurality of second optical cameras are used for acquiring fourth images of the patient in the treatment process of the radiotherapy equipment on the patient in real time and sending the fourth images to the head display equipment in real time, so that the head display equipment can acquire the fourth images of the patient in real time. And the plurality of second optical cameras can be distributed on different positions of the patient support device, and the shooting angles of each second optical camera can be different, so that different second optical cameras can acquire fourth images under different visual angles. In the process of positioning the patient, each second optical camera can acquire a fourth image of the patient on the patient support device in real time and send the fourth image to the head display device in real time.
It should be noted that, when the head display device is a VR device, the plurality of second optical cameras in the above embodiment may be the same optical cameras as the plurality of first optical cameras.
Alternatively, the image acquisition device may be an image acquisition device used for image guidance during treatment of a patient by the radiotherapy device, in which case the image acquisition device may typically be integrated on the radiotherapy device. For example, the image acquisition device may include a Cone Beam CT (Cone Beam CT; CBCT) device.
The image content of the third image of the patient acquired by the image acquisition device may be the same as the image content of the first image. The third image may include not only a body surface image of the patient but also a body tissue image located inside the patient.
Step 306, generating a three-dimensional body surface real-time image of the target part of the patient based on the third image, and generating a second human body three-dimensional image of the patient based on the fourth image.
In the embodiment of the application, the head display device can generate a three-dimensional body surface real-time image of the target part of the patient based on the third image and generate a second human body three-dimensional image of the patient based on the fourth image.
For example, the head display device may acquire, in real time, third images of the target portion of the patient captured under a plurality of different view angles through the image capturing device, where each third image includes a body surface image of the patient, so the head display device may perform building processing on the body surface image of the patient based on the plurality of third images, so as to generate a three-dimensional body surface real-time image of the target portion of the patient in the treatment process of the patient.
Meanwhile, the head portrait equipment can acquire second images in real time through the plurality of second optical cameras, and because different second optical cameras can acquire fourth images at different visual angles, the head portrait equipment can reconstruct the fourth images at different visual angles in real time, so that a second human body three-dimensional image of a patient in the treatment process of the patient can be generated.
Step 307, after receiving the switching operation of the display content, displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image at the same time, or displaying only the second three-dimensional image of the human body.
In the embodiment of the application, after the head display device generates the three-dimensional body surface real-time image of the target part of the patient and the second human body three-dimensional image of the patient, the head display device can display the three-dimensional body surface reference image and the three-dimensional body surface real-time image at the same time or only display the second human body three-dimensional image.
In the application, when the wearer needs to switch the display content of the head display device, a switching command (for example, the wearer presses a button for switching the display content) can be sent to the head display device, so that the head display device can receive the switching operation of the display content, and further, the head display device can display the three-dimensional body surface reference image and the three-dimensional body surface real-time image at the same time, or only the second human body three-dimensional image is displayed.
Because the head display device can display the three-dimensional body surface reference image and the three-dimensional body surface real-time image simultaneously or only display the second human body three-dimensional image in the process of treating the patient by the radiotherapy device, the contents displayed by the head display device are different, and the functions of the head display device are also different, the embodiment of the application is schematically illustrated by taking the following two aspects as examples respectively:
In a first aspect, when the head-display device simultaneously displays the three-dimensional body surface reference image and the three-dimensional body surface real-time image, in order to enable the wearer to better distinguish the three-dimensional body surface reference image and the three-dimensional body surface real-time image, the head-display device simultaneously displays the three-dimensional body surface reference image and the three-dimensional body surface real-time image may include: the head display device processes the colors of the outline of the three-dimensional body surface reference image and the outline of the three-dimensional body surface real-time image into two different colors and then simultaneously displays the three-dimensional body surface reference image and the three-dimensional body surface real-time image.
For example, the head-mounted display device may process the color of the outline of the three-dimensional body surface reference image to red and process the outline of the three-dimensional body surface real-time image to blue.
In the present application, after the head display device displays the three-dimensional body surface reference image and the three-dimensional body surface real-time image simultaneously, the position adjustment method may further include: the head display device can real-timely determine whether the outline of the three-dimensional body surface real-time image exceeds the outline of the three-dimensional body surface reference image, and send out prompt information after determining that the outline of the three-dimensional body surface real-time image exceeds the outline of the three-dimensional body surface reference image. For example, the prompting information can be text information or voice information, and the prompting information is used for prompting the wearer that the target part of the current patient is not overlapped with the three-dimensional body surface reference image.
It should be noted that, since the first image and the third image each include an image of a body tissue inside the patient, the body tissue includes: bone of the patient. Thus, the head-display device may also generate a three-dimensional bone reference image of the bone of the patient based on the first image, and may also generate a three-dimensional bone real-time image of the bone of the patient based on the third image. In the process of treating a patient by radiotherapy equipment, the image of the patient needs to be guided in real time so as to further enable the target point of the patient to coincide with the isocenter of the radiotherapy equipment. The three-dimensional bone reference image is coincident with the three-dimensional bone real-time image after image guidance of the patient by the radiotherapy apparatus. Therefore, after the head display device sends out the prompt information, the wearer needs to watch whether the three-dimensional bone reference image and the three-dimensional bone real-time image are overlapped or not, and if the three-dimensional bone reference image and the three-dimensional bone real-time image are overlapped, the processing is not needed; if the two are not coincident, the radiotherapy equipment may fail, and in order to ensure the safety of the patient, the treatment of the patient needs to be stopped.
In the second aspect, when the head display device only displays the second three-dimensional image of the human body, the wearer can observe the reaction of the patient in the treatment process in real time through the head display device, so that the reaction of the patient observed by the wearer is more accurate.
It should be noted that, the sequence of the steps of the display method of the head display device provided in the embodiment of the present application may be appropriately adjusted, the steps may also be increased or decreased accordingly according to the situation, and any method that is easily conceivable to be changed by those skilled in the art within the technical scope of the disclosure of the present application should be covered within the protection scope of the present application, so that no further description is provided.
In summary, according to the position adjustment method provided by the embodiment of the application, the three-dimensional body surface reference image of the target part of the patient is generated through the head display device, and after the wearer wears the head display device, the head display device can display the three-dimensional body surface reference image at the preset position of the radiotherapy device. Because the preset position is the position of the target point of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment, when the wearer adjusts the position of the patient according to the observed actual position of the target point of the patient and the three-dimensional body surface reference image, the target point of the patient is coincident with the isocenter of the radiotherapy equipment when the target point of the patient is coincident with the three-dimensional body surface reference image of the target point of the patient, and the patient can be positioned. So, need not to adopt the laser lamp just can realize putting the position to the patient, the effectual improvement carries out the precision of putting the position to the patient, and then has improved the effect that adopts this radiotherapy equipment to treat the patient subsequently.
The embodiment of the application also provides the head display device, as shown in fig. 5, and fig. 5 is a structural block diagram of the head display device. The head display device 101 may include: a processor 101a and a display 101b. The processor 101a may be: a Central Processing Unit (CPU), a Microprocessor (MPU), a Digital Signal Processor (DSP) or a Field Programmable Gate Array (FPGA), a modem and other devices.
The processor 101a is configured to acquire a first image of a target portion of a patient, and generate a three-dimensional body surface reference image of the target portion of the patient based on the first image.
The display 101b is configured to display a three-dimensional body surface reference image at a preset position of the radiotherapy device by controlling the processor 101a after the head display device is worn by the wearer, so that the wearer adjusts the position of the patient according to the observed actual position of the target portion of the patient and the three-dimensional body surface reference image.
When the target point of the patient coincides with the isocenter of the radiotherapy equipment, the target position of the patient is located.
Optionally, the processor 101a is further configured to: after the three-dimensional body surface reference image is generated, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device.
Optionally, the processor 101a is further configured to: based on the first image, further generating a three-dimensional volumetric image within the three-dimensional body surface reference image; and adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the supporting surface of the patient supporting device in the coordinate system of the head display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.
Optionally, the processor 101a is configured to: a first image of a target site of a patient is acquired from a pre-established treatment plan for the patient.
Optionally, the target part of the patient is provided with a marker, and the three-dimensional body surface reference image is provided with a marker image corresponding to the marker; the display 101b is configured to: the three-dimensional body surface reference image with the marker image is displayed at a preset position of the radiotherapy apparatus by the control of the processor 101a, so that the wearer adjusts the position of the patient according to the observed marker and the marker image.
Optionally, the head-display device is an augmented reality AR device or a mixed reality MR device. The processor 101a is configured to: acquiring the position relation between the head display equipment and the radiotherapy equipment; based on the positional relationship between the head display device and the radiotherapy device, the display 101b is controlled to display a three-dimensional body surface reference image at a preset position of the radiotherapy device.
Optionally, the head-display device is a virtual reality VR device, and the processor 101a is configured to: acquiring a second image of a patient located on a patient support of the radiotherapy apparatus in real time; generating a first human three-dimensional image of the patient based on the second image; while the display 101b is controlled to display the three-dimensional image of the first human body, the display 101b is controlled to display the three-dimensional body surface reference image at a preset position of the radiotherapy apparatus.
Optionally, the processor 101a is further configured to: acquiring a third image of a target part of the patient in the treatment process of the patient by the radiotherapy equipment in real time; generating a three-dimensional body surface real-time image of the target part of the patient based on the third image; the control display 101b displays the three-dimensional body surface reference image and the three-dimensional body surface real-time image simultaneously.
Optionally, the processor 101a is configured to: after the colors of the outline of the three-dimensional body surface reference image and the outline of the three-dimensional body surface live image are processed into two different colors, the display 101b is controlled to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface live image.
Optionally, the processor 101a is further configured to: and sending out prompt information after determining that the outline of the three-dimensional body surface real-time image exceeds the outline of the three-dimensional body surface reference image.
Optionally, the processor 101a is further configured to: acquiring a fourth image of the patient in real time during the treatment of the patient by the radiotherapy equipment; generating a second three-dimensional image of the patient based on the fourth image; upon receiving the switching operation of the display contents, the display 101b is controlled to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or to display only the second human body three-dimensional image.
In summary, according to the head display device provided by the embodiment of the application, the three-dimensional body surface reference image of the target part of the patient is generated through the head display device, and after the head display device is worn by a wearer, the head display device can display the three-dimensional body surface reference image at the preset position of the radiotherapy device. Because the preset position is the position of the target point of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment, when the wearer adjusts the position of the patient according to the observed actual position of the target point of the patient and the three-dimensional body surface reference image, the target point of the patient is coincident with the isocenter of the radiotherapy equipment when the target point of the patient is coincident with the three-dimensional body surface reference image of the target point of the patient, and the patient can be positioned. So, need not to adopt the laser lamp just can realize putting the position to the patient, the effectual improvement carries out the precision of putting the position to the patient, and then has improved the effect that adopts this radiotherapy equipment to treat the patient subsequently.
The embodiment of the present application further provides a radiotherapy system, as shown in fig. 1, the radiotherapy apparatus 100 may include: a head-display device 101 and a radiotherapy device 102. The radiotherapy apparatus 102 may comprise: a patient support 102a, the patient support 102a for supporting a patient. The head display device 101 may be the head display device 101 shown in fig. 5.
Optionally, as shown in fig. 6, fig. 6 is a schematic structural diagram of another radiotherapy system provided in an embodiment of the present application, where the head display device in the radiotherapy system 100 is an AR device or an MR device. The head display device 101 has a camera 1011. The camera 1011 is used for acquiring an image of the radiotherapy apparatus 102.
In this case, the processor in the head-display device 101 is configured to determine a positional relationship between the head-display device 101 and the radiotherapy device 102 based on the image of the radiotherapy device 102 acquired by the camera 1011, and control the display in the head-display device 101 to display the three-dimensional body surface reference image based on the positional relationship between the head-display device 101 and the radiotherapy device 102 so that the three-dimensional body surface reference image displayed by the display coincides with a preset position of the radiotherapy device 102.
Optionally, as shown in fig. 7, fig. 7 is a schematic structural diagram of another radiotherapy system according to an embodiment of the present application, where the head display device in the radiotherapy system 100 is a VR device. The radiotherapy system 100 may further comprise: a plurality of first optical cameras 103. The plurality of first optical cameras 103 are configured to acquire a second image of a patient on the patient support 102a in real time, and send the second image to the processor of the head display device 101 in real time.
The processor in the head display device 101 is configured to generate a first human body three-dimensional image of the patient based on the second image, and control the display of the head display device 101 to simultaneously display the three-dimensional body surface reference image and the first human body three-dimensional image.
Optionally, as shown in fig. 8, fig. 8 is a schematic structural diagram of another radiotherapy system according to an embodiment of the present application, where the radiotherapy system 100 may further include: the image acquisition device 104. The image acquisition device 104 is configured to acquire a third image of a target portion of the patient in real time during the treatment process of the radiotherapy device 102 on the patient, and send the third image to the processor of the head display device 101 in real time.
The processor in the head display device 101 is configured to generate a three-dimensional body surface real-time image of the target portion of the patient based on the third image, and control the display of the head display device 101 to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image.
Optionally, as shown in fig. 8, the radiotherapy system further comprises: a plurality of second optical cameras 105. The plurality of second optical cameras 105 are configured to acquire a fourth image of the patient in real time during the treatment process of the radiotherapy device 102 on the patient, and send the fourth image to the processor of the head display device 101 in real time.
The processor in the head display device 101 is configured to generate a second three-dimensional image of the human body of the patient based on the fourth image, and after receiving the switching operation of the display content, control the display to display the three-dimensional body surface reference image and the three-dimensional body surface real-time image simultaneously, or display only the second three-dimensional image of the human body.
Optionally, the radiotherapy system further comprises: a medical tight for wearing by a patient. When the radiotherapy system is used for treating a patient, the patient can wear the medical tights. Therefore, when the patient is positioned, the target part of the patient can be overlapped with the three-dimensional body surface reference image more accurately.
In summary, the radiotherapy system provided by the embodiment of the present application includes: the head display device and the radiotherapy device are used for generating a three-dimensional body surface reference image of a target part of a patient through the head display device, and the head display device can display the three-dimensional body surface reference image at a preset position of the radiotherapy device after a wearer wears the head display device. Because the preset position is the position of the target point of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment, when the wearer adjusts the position of the patient according to the observed actual position of the target point of the patient and the three-dimensional body surface reference image, the target point of the patient is coincident with the isocenter of the radiotherapy equipment when the target point of the patient is coincident with the three-dimensional body surface reference image of the target point of the patient, and the patient can be positioned. So, need not to adopt the laser lamp just can realize putting the position to the patient, the effectual improvement carries out the precision of putting the position to the patient, and then has improved the effect that adopts this radiotherapy equipment to treat the patient subsequently.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the radiotherapy system and the head display device described above may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The embodiment of the application also provides a computer readable storage medium. The computer readable storage medium has instructions stored therein which, when executed on a processing component, cause the processing component to perform the position adjustment method shown in fig. 2 or 3.
In the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but is intended to cover all modifications, equivalents, alternatives, and improvements falling within the spirit and principles of the application.

Claims (20)

  1. A position adjustment method, characterized by being applied to a head display device, the method comprising:
    acquiring a first image of a target part of a patient, and generating a three-dimensional body surface reference image of the target part of the patient based on the first image;
    After wearing the head display device, the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image;
    the preset position is the position of the target part of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment.
  2. The method according to claim 1, wherein the method further comprises:
    after the three-dimensional body surface reference image is generated, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device.
  3. The method according to claim 2, wherein the method further comprises:
    generating a three-dimensional volumetric image within the three-dimensional body surface reference image based on the first image;
    adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device, wherein the method comprises the following steps:
    And adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the supporting surface of the patient supporting device in the radiotherapy device in the coordinate system of the head display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.
  4. The method of claim 1, wherein the acquiring a first image of the target site of the patient comprises:
    a first image of a target site of a patient is acquired from a pre-established treatment plan for the patient.
  5. The method of claim 1, wherein the target site of the patient has a marker and the three-dimensional body surface reference image has a marker image corresponding to the marker;
    displaying the three-dimensional body surface reference image at a preset position of a radiotherapy device, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image, and the method comprises the following steps:
    displaying the three-dimensional body surface reference image with the marker image at a preset position of the radiotherapy equipment so that the wearer can adjust the position of the patient according to the observed marker and the marker image.
  6. The method according to any one of claims 1 to 5, wherein the head-display device is an augmented reality AR device or a mixed reality MR device, the displaying the three-dimensional body surface reference image at a preset position of a radiotherapy device comprises:
    acquiring the position relation between the head display equipment and the radiotherapy equipment;
    and displaying the three-dimensional body surface reference image at a preset position of the radiotherapy equipment based on the position relation between the head display equipment and the radiotherapy equipment.
  7. The method according to any one of claims 1 to 5, wherein the head-display device is a virtual reality VR device, and the displaying the three-dimensional body surface reference image at the preset position of the radiotherapy device includes:
    acquiring a second image of a patient located on a patient support of the radiotherapy apparatus in real time;
    generating a first human three-dimensional image of the patient based on the second image;
    and displaying the three-dimensional body surface reference image at a preset position of the radiotherapy equipment while displaying the three-dimensional image of the first human body.
  8. The method according to any one of claims 1 to 5, further comprising:
    acquiring a third image of a target part of the patient in real time during the treatment of the patient by the radiotherapy equipment;
    Generating a three-dimensional body surface real-time image of the target part of the patient based on the third image;
    and simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image.
  9. The method of claim 8, wherein simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image comprises:
    and after the colors of the outline of the three-dimensional body surface reference image and the outline of the three-dimensional body surface real-time image are processed into two different colors, the three-dimensional body surface reference image and the three-dimensional body surface real-time image are displayed simultaneously.
  10. The method according to claim 9, wherein the method further comprises:
    and sending out prompt information after determining that the outline of the three-dimensional body surface real-time image exceeds the outline of the three-dimensional body surface reference image.
  11. The method of claim 8, wherein the method further comprises:
    acquiring a fourth image of the patient in real time during the treatment of the patient by the radiotherapy equipment;
    generating a second human three-dimensional image of the patient based on the fourth image;
    and after receiving the switching operation of the display content, simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or displaying only the second human body three-dimensional image.
  12. A head display device, characterized by comprising: a processor and a display;
    the processor is used for acquiring a first image of a target part of a patient and generating a three-dimensional body surface reference image of the target part of the patient based on the first image;
    the display is used for displaying the three-dimensional body surface reference image at a preset position of the radiotherapy equipment through the control of the processor after the head display equipment is worn by a wearer, so that the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image;
    the preset position is the position of the target part of the patient when the target point of the patient is coincident with the isocenter of the radiotherapy equipment.
  13. The head-up display device of claim 12, wherein the processor is further configured to:
    after the three-dimensional body surface reference image is generated, the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device in the coordinate system of the head display device.
  14. The head-up display device of claim 13, wherein the processor is further configured to:
    generating a three-dimensional volumetric image within the three-dimensional body surface reference image based on the first image;
    and adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head display device so that the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the supporting surface of the patient supporting device in the coordinate system of the head display device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy device.
  15. A radiation therapy system, comprising: a radiotherapy device and a head display device;
    the radiotherapy apparatus comprises a patient support device for carrying a patient;
    the head display device is the head display device according to any one of claims 12 to 14.
  16. Radiotherapy system according to claim 15, characterized in that the head-display device is an AR device or an MR device, which has a camera;
    the processor in the head display device is used for determining the position relation between the head display device and the radiotherapy device based on the image of the radiotherapy device acquired by the camera, and controlling the display in the head display device to display the three-dimensional body surface reference image based on the position relation between the head display device and the radiotherapy device so as to enable the three-dimensional body surface reference image displayed by the display to coincide with the preset position of the radiotherapy device.
  17. The radiotherapy system of claim 15 in which the head-mounted device is a VR device, the radiotherapy system further comprising:
    the first optical cameras are used for acquiring second images of a patient on the patient support device in real time and sending the second images to the processor of the head display device in real time;
    the processor is used for generating a first human body three-dimensional image of the patient based on the second image and controlling a display of the head display device to simultaneously display the three-dimensional body surface reference image and the first human body three-dimensional image.
  18. The radiotherapy system of any one of claims 15 to 17 in which the radiotherapy system further comprises:
    the image acquisition equipment is used for acquiring a third image of a target part of the patient in the process of treating the patient by the radiotherapy equipment in real time and sending the third image to the processor of the head display equipment in real time;
    the processor is used for generating a three-dimensional body surface real-time image of the target part of the patient based on the third image, and controlling a display of the head display device to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image.
  19. The radiotherapy system of claim 18, wherein the radiotherapy system further comprises:
    the plurality of second optical cameras are used for acquiring fourth images of the patient in the treatment process of the radiotherapy equipment on the patient in real time and sending the fourth images to the processor of the head display equipment in real time;
    the processor is configured to generate a second three-dimensional image of the human body of the patient based on the fourth image, and after receiving a switching operation of display contents, control the display to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or display only the second three-dimensional image of the human body.
  20. The radiotherapy system of any one of claims 15 to 17 in which the radiotherapy system further comprises: a medical tight for wearing by the patient.
CN202080108273.1A 2020-12-30 2020-12-30 Position adjustment method, head display device and radiotherapy system Pending CN116710018A (en)

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