CN101843500B - Method for judging accuracy of positioning result given by image guidance system - Google Patents
Method for judging accuracy of positioning result given by image guidance system Download PDFInfo
- Publication number
- CN101843500B CN101843500B CN2010101412617A CN201010141261A CN101843500B CN 101843500 B CN101843500 B CN 101843500B CN 2010101412617 A CN2010101412617 A CN 2010101412617A CN 201010141261 A CN201010141261 A CN 201010141261A CN 101843500 B CN101843500 B CN 101843500B
- Authority
- CN
- China
- Prior art keywords
- positioning result
- image
- guidance system
- image guidance
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention relates to a method for judging the accuracy of a positioning result given by an image guidance system. The positioning result is a patient position deviation calculated by the image guidance system according to a real-time image and a reference image. The method comprises the following steps: regenerating a reference image according to the positioning result; and comparing the new regenerated reference image with the real-time image given by the image guidance system to see whether the two images coincide with each other, if so, judging that the positioning result is accurate, else, judging that the positioning result is not accurate. The invention can accurately and reliably judge whether the positioning result is accurate in despite of the deviation magnitude of the positioning result. However, the prior art can only make a judgment on the positioning result with small deviation, but is not available for the positioning result with great deviation.
Description
Technical field
The present invention relates to a kind of whether accurately method of positioning result that image guidance system provides of judging.The positioning result here is that image guidance system is according to scheming in real time and the patient location deviation that goes out with reference to image calculation.When this method can be used for clinical treatment, based on the radioscopic image of real-time collection and treatment plan image (rebuild radiogram or generate the 3 D anatomical image of treatment plan) like reference number guide patient and therapeutic device relatively adjustment to reach the treatment position of the best.
Background technology
The radioscopic image bootstrap technique has been widely used at present comprising the insertion type treatment of radiotherapy, radiosurgery and cardiovascular disease etc. in the multiple medical procedure that these medical procedure need be put a certain location with patient usually.The radioscopic image guiding is exactly a kind of new tool that accurate patient location information is provided clinically.Before patient is treated, generally can gather focus that patient need treat or near the 3 D anatomical image the target area, like the CT image etc., and formulate treatment plan (comprising the centre of location and the reference number reconstruction radiogram that generates in advance when confirming treatment) in view of the above.Before treatment beginning or in treating, the treatment personnel handle the current real-time figure of x-ray imaging system collection patient; Image guiding software compares real-time figure through computerized algorithm and aforementioned reference number is rebuild radiogram (or 3 D anatomical image of generation treatment plan), confirms positioning result.
The medical procedure of applying X-ray image guiding often has higher requirement to the positioning accuracy of patient location; Thereby the accuracy of positioning result has very big influence to result and the quality of treatment, particularly can influence bigger according to the equipment of the position/angles of positioning result adjustment treatment to some.
Positioning result is that image guidance system is according to scheming in real time and the position deviation that goes out with reference to image calculation; Positioning result can comprise nearly the translation and nearly three rotations on axially on three directions, represent the current patient position and the deviation or the required position of doing of putting fully in theory between the patient location that puts in place are adjusted.The doctor can adjust patient location according to this result.Some equipment in addition can according to positioning result deflection accelerator with the adjustment ray direction of illumination.
Be generally the digital reconstruction radiogram with reference to image.The digital reconstruction radiogram is (hereinafter to be referred as DRR; Be digitally reconstructed radiograph) be imaging process and the orientation that the simulation X ray penetrates human body; According to patient's 3 D anatomical image (mainly being the CT image), with the digitized radiogram of computer reconstruction.Suppose normally that as the DRR of reference patient is in that some ad-hoc location (putting in place as putting fully) generates.These ad-hoc locations usually and be different from the pairing patient location of current positioning result.This has just brought a difficulty in the practical application-how the to confirm accuracy of the positioning result that image guidance system provides, especially under the bigger situation of positioning result and these ad-hoc location deviations.
The user interface of image guidance system software can provide some to be used to carry out the correlated instrument in manual picture position usually, as by cross labelling of same position (pixel) in representative two width of cloth images of mouse control etc.The user can use these instruments relatively real-time figure and corresponding reference number rebuild in the radiogram each anatomically cursor position whether coincide.When positioning result and these ad-hoc location deviations were very little, real-time figure and corresponding reference number were rebuild in the radiogram each the cursor position ground that can coincide are fine anatomically.But under the bigger situation of positioning result and these ad-hoc location deviations, each in real-time figure and corresponding reference number reconstruction radiogram cursor position anatomically also has than large deviation, so the user is difficult to the accuracy of affirmation positioning result.
Fig. 1 and Fig. 2 have described the situation of utilizing a kind of such instrument movement images position, ratio position.Left figure among Fig. 1 and Fig. 2 can represent according to putting the DRR that the situation that puts in place generates fully, and right figure represents real-time figure.The cursor position anatomically of cross mark position is coincide among Fig. 1 two figure, shows that two figure positions coincide better; The cursor position anatomically of cross mark position misfits among Fig. 2 two figure, shows that there is big gap two figure positions.When positioning result and these ad-hoc location deviations are bigger, will be similar to Fig. 2 than position situation, at this moment the user is difficult to judge whether positioning result is accurate, because the user is difficult to know the cursor position anatomically of cross mark position among two figure at this moment how many deviations should be arranged.
Summary of the invention
To the above-mentioned deficiency that prior art exists, the purpose of this invention is to provide whether accurately determination methods of positioning result that a kind of image guidance system provides, this method is particularly suitable for the situation of positioning result deviation when big.Certainly, whether this method can accurately provide accurately than hour positioning result the positioning result deviation is equally judged, though prior art can be accomplished.
Whether accurately technical scheme of the present invention is achieved in that positioning result that image guidance system provides determination methods, and said positioning result is an image guidance system according to figure and the patient location deviation that goes out with reference to image calculation in real time; This method determining step is:
(1) regenerates with reference to image according to said positioning result;
(2) compare based on the above-mentioned real-time figure that provides with reference to image and image guidance system that regenerates, see whether two figure coincide, if two figure coincide, then said positioning result is accurately, otherwise said positioning result is inaccurate.
Said image guidance system is the radioscopic image guidance system, and said real-time figure is that X ray is schemed in real time.
Said is the digital reconstruction radiogram with reference to image, and the digital reconstruction radiogram is that the simulation X ray penetrates the imaging process and the orientation of human body, according to patient's the 3 D anatomical image digitized radiogram with computer reconstruction.The 3 D anatomical image here can be CT striograph, nuclear magnetic resonance figure, positron emission computerized tomography figure or 3D rotational angiography figure.
If the positioning result deviation that image guidance system provides (positioning result deviation of the present invention refers to the deviation of the position of positioning result representative) is little, can judge by existing method whether positioning result is accurate.But under the big situation of positioning result deviation that image guidance system provides, prior art is whether accurately can not judge positioning result, and the present invention can judge accurately, reliably then whether positioning result is accurate, this unique distinction of the present invention just.Based on such judgement, the doctor just can determine whether adjust patient location or device location according to this positioning result.Accurate like positioning result, just can adjust patient or device location, to reach best therapeutic effect according to positioning result; Otherwise, then can not adjust in view of the above.
Description of drawings
The identical situation preferably in Fig. 1-two figure position;
There is the situation than big difference Fig. 2-two figure position;
Fig. 3-at the positioning result of Fig. 2 is accurately under the situation, the situation that should occur with reference to image and the comparative result of figure in real time that regenerates.
Cross labelling among the figure is represented the same position (pixel) in two width of cloth images.
The specific embodiment
In the prior art, if the positioning result deviation that image guidance system provides is little, the whether accurate relatively good judgement of this situation positioning result can be differentiated by existing method.Crucial under the big situation of positioning result deviation that image guidance system provides, whether accurately prior art then can not judge positioning result, lets alone based on positioning result and has adjusted.If the positioning result based on mistake is treated adjustment, might make patient's physical location and the deviation of putting fully between the position that puts in place is transferred bigger and bigger.If equipment according to the orientation of the positioning result adjustment treatment of mistake, then possibly miss focus and health tissues is damaged, consequence is even more serious.
The object of the invention just is being based on this; And whether accurately this positioning result determination methods proposed under the big situation of positioning result deviation that a kind of image guidance system provides; Certainly, whether this method can accurately provide accurately than hour positioning result the positioning result deviation equally and judge.The positioning result here is that image guidance system is according to scheming in real time and the patient location deviation that goes out with reference to image calculation.This method determining step is:
(1) regenerates with reference to image according to said positioning result, rebuild radiogram like numeral; Prior art can be accomplished this step.
(2) compare based on the above-mentioned real-time figure that provides with reference to image and image guidance system that regenerates, promptly relatively whether two figure coincide, if two figure coincide, then said positioning result is accurately, otherwise said positioning result is inaccurate.The if promptly the 1st) said positioning result accuracy is very high the step, among the DRR that generates according to this positioning result each anatomically cursor position should can be good at coincideing with the real-time figure that produces current positioning result, otherwise can not well coincide.
If the positioning result according to Fig. 2 regenerates with reference to image, at positioning result accurately under the situation, regenerate with reference to image with the comparative result of figure should be as shown in Figure 3 in real time.Zuo Tu among Fig. 3 representative regenerate with reference to image, right figure representative is real-time to be schemed.
About the judgement whether two figure coincide, prior art can realize (realizing than the position instrument or with computerized algorithm as using aforementioned craft), does not give unnecessary details at this.
Said image guidance system is the radioscopic image guidance system, and said real-time figure is that X ray is schemed in real time.The present invention can be applicable to the radioscopic image guiding of various energy, comprise megavolt (MV) and kilovolt (KV) X ray, and the radioscopic image guidance system can comprise one or more sets radioscopic image appearance.
Of the present inventionly rebuild radiogram with reference to image main index word in actual medical, the digital reconstruction radiogram is imaging process and the orientation that the simulation X ray penetrates human body, according to patient's the 3 D anatomical image digitized radiogram with computer reconstruction.Said 3 D anatomical image is CT striograph, nuclear magnetic resonance figure, positron emission computerized tomography figure or 3D rotational angiography figure.The digital reconstruction radiogram that generates can comprise soft tissue, skeletal tissue, and the external various information that is positioned at the object in the x-ray imaging system visual field can got rid of or comprise to the information of the object that implants (apparatus).The digital reconstruction radiogram that regenerates by positioning result can be done approximate, and degree of approximation can be by the position deviation decision of each spatial point in the x-ray imaging system visual field on the digital reconstruction radiogram.
In order to understand the present invention better, give one example at this and explain: supposing to have a task is to process a new counterweight heavy with standard test weight (like 5Kg); Can be placed on the scale after new counterweight is carried out and weigh; A balance is arranged simultaneously, and (roughly) equates whether can to compare counterweight weight, in order to confirm whether weighing results is accurate.If the weight that new counterweight weighs up is 5Kg, can the standard test weight of new counterweight and 5Kg be placed on the balance two ends relatively.If balance explains that new counterweight weight is 5Kg, the weight that weighs up is accurate; Otherwise the weight that weighs up is inaccurate.If but the weight that new counterweight weighs up is 6Kg; Whether then weigh up the 6Kg result who comes accurate; Can't confirm under above-mentioned (equipment) condition whether because the standard test weight of the new counterweight of 6Kg or 7Kg and 5Kg more all can cause a day balance-unbalance, it is accurate promptly can't to confirm to weigh up the 6Kg result who comes.So a solution is: make a standard test weight again by the weight that weighs up (6Kg) and compare on balance with this new counterweight, if the balance balance, the weighing results that then 6Kg is heavy is accurately, and is believable, otherwise inaccurate.Among the present invention; Image guidance system is equivalent to scale, promptly is equivalent to standard test weight with reference to image, and figure is equivalent to new counterweight in real time; Positioning result promptly is equivalent to scale and weighs up the result who comes and (can think 6Kg; Also can think both deviation 1Kg), the two figure counterweight balance whether of whether coincideing and promptly being equivalent to the balance two ends relatively regenerates with reference to image according to positioning result and to be equivalent to make the heavy standard test weight of a 6Kg according to the weighing results of 6Kg.
The present invention can judge accurately, reliably whether positioning result is accurate, and based on such judgement, the doctor just can determine whether adjust patient location or device location according to this positioning result.Accurate like positioning result, just can adjust patient or device location, to reach best therapeutic effect according to positioning result; Otherwise, then can not adjust in view of the above.
This method can be used for various use x-ray imaging systems and guides in the localized medical procedure; Like radiotherapeutic disease treatment processes of needs such as tumors; Certainly also be not limited to disease treatment; As long as adopted the principle of determination methods of the present invention, the use in other field all will be understood that it is in protection scope of the present invention.
Claims (2)
1. the positioning result that provides of image guidance system determination methods whether accurately; Said positioning result is that image guidance system is according to scheming in real time and the patient location deviation that goes out with reference to image calculation; Said image guidance system is the radioscopic image guidance system, and said real-time figure is that X ray is schemed in real time; It is characterized in that: this method determining step is:
(1) regenerates with reference to image according to said positioning result; Said is the digital reconstruction radiogram with reference to image, and the digital reconstruction radiogram is that the simulation X ray penetrates the imaging process and the orientation of human body, according to patient's the 3 D anatomical image digitized radiogram with computer reconstruction;
(2) compare based on the above-mentioned real-time figure that provides with reference to image and image guidance system that regenerates; Relatively whether two figure coincide; Whether what promptly regenerate coincide with reference to the cursor position anatomically among image and the above-mentioned real-time figure; If two figure coincide, then said positioning result is accurately, otherwise said positioning result is inaccurate.
2. accurately whether the positioning result that image guidance system according to claim 1 provides determination methods, it is characterized in that: said 3 D anatomical image is CT striograph, nuclear magnetic resonance figure, positron emission computerized tomography figure or 3D rotational angiography figure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101412617A CN101843500B (en) | 2010-04-07 | 2010-04-07 | Method for judging accuracy of positioning result given by image guidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101412617A CN101843500B (en) | 2010-04-07 | 2010-04-07 | Method for judging accuracy of positioning result given by image guidance system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101843500A CN101843500A (en) | 2010-09-29 |
| CN101843500B true CN101843500B (en) | 2012-05-23 |
Family
ID=42768457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101412617A Expired - Fee Related CN101843500B (en) | 2010-04-07 | 2010-04-07 | Method for judging accuracy of positioning result given by image guidance system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101843500B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110582235A (en) * | 2017-03-15 | 2019-12-17 | 豪洛捷公司 | Techniques for patient positioning quality assurance prior to mammography image acquisition |
| WO2019140637A1 (en) * | 2018-01-19 | 2019-07-25 | 深圳市奥沃医学新技术发展有限公司 | Positioning method and apparatus, and radiotherapy system |
| CN111615413B (en) * | 2018-12-26 | 2022-05-13 | 西安大医集团股份有限公司 | Positioning method and device and radiotherapy system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6125164A (en) * | 1996-07-11 | 2000-09-26 | The Board Of Trustees Of The Leland Stanford Junior University | High-speed inter-modality image registration via iterative feature matching |
| EP1260179A1 (en) * | 2001-05-22 | 2002-11-27 | BrainLAB AG | X-ray image registration device with a medical navigation system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7831295B2 (en) * | 2003-06-05 | 2010-11-09 | Aesculap Ag & Co. Kg | Localization device cross check |
| US7187792B2 (en) * | 2003-08-29 | 2007-03-06 | Accuray, Inc. | Apparatus and method for determining measure of similarity between images |
-
2010
- 2010-04-07 CN CN2010101412617A patent/CN101843500B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6125164A (en) * | 1996-07-11 | 2000-09-26 | The Board Of Trustees Of The Leland Stanford Junior University | High-speed inter-modality image registration via iterative feature matching |
| EP1260179A1 (en) * | 2001-05-22 | 2002-11-27 | BrainLAB AG | X-ray image registration device with a medical navigation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101843500A (en) | 2010-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Farace et al. | Pencil beam proton radiography using a multilayer ionization chamber | |
| CN102160064B (en) | Sequential stereo imaging for estimating trajectory and monitoring target position | |
| Castadot et al. | Adaptive radiotherapy of head and neck cancer | |
| Moseley et al. | Comparison of localization performance with implanted fiducial markers and cone-beam computed tomography for on-line image-guided radiotherapy of the prostate | |
| Mutic et al. | Quality assurance for computed‐tomography simulators and the computed‐tomography‐simulation process: report of the AAPM Radiation Therapy Committee Task Group No. 66 | |
| Maspero et al. | Feasibility of MR-only proton dose calculations for prostate cancer radiotherapy using a commercial pseudo-CT generation method | |
| Chang et al. | 6D image guidance for spinal non-invasive stereotactic body radiation therapy: Comparison between ExacTrac X-ray 6D with kilo-voltage cone-beam CT | |
| US9968321B2 (en) | Method and imaging system for determining a reference radiograph for a later use in radiation therapy | |
| EP2465435B1 (en) | Selection of optimal viewing angle to optimize anatomy visibility and patient skin dose | |
| CN106039576A (en) | Portal dosimetry systems, devices, and methods | |
| CN111870825B (en) | Radiation therapy accurate field-by-field positioning method based on virtual intelligent medical platform | |
| Ali et al. | Evaluation of the setup accuracy of a stereotactic radiotherapy head immobilization mask system using kV on‐board imaging | |
| Santoro et al. | Evaluation of respiration‐correlated digital tomosynthesis in lung a | |
| JP4159227B2 (en) | Patient position deviation measuring device, patient positioning device using the same, and radiotherapy device | |
| de Bruin et al. | Markerless real-time 3-dimensional kV tracking of lung tumors during free breathing stereotactic radiation therapy | |
| CN101843500B (en) | Method for judging accuracy of positioning result given by image guidance system | |
| Yang et al. | Comparison of modeling accuracy between Radixact® and CyberKnife® Synchrony® respiratory tracking system | |
| Gurney-Champion et al. | Digital tomosynthesis for verifying spine position during radiotherapy: a phantom study | |
| KR20150065611A (en) | Cone-Beam CT / Magnetic Resonance hybrid simulation system and method for generating reference images for radiotherapy | |
| Zhuang et al. | An optimization algorithm for 3D real‐time lung tumor tracking during arc therapy using kV projection images | |
| Owen et al. | The detectability and localization accuracy of implanted fiducial markers determined on in-room computerized tomography (CT) and electronic portal images (EPI) | |
| Touchette | Artificial X-ray imaging system (AXIS)–design and evaluation on C-arm performance in operating room and educational settings | |
| Sorensen et al. | Cone-beam CT using a mobile C-arm: a registration solution for IGRT with an optical tracking system | |
| Kitamura et al. | A new method for assessing lung tumor motion in radiotherapy using dynamic chest radiography | |
| Flach et al. | Low dose tomographic fluoroscopy: 4D intervention guidance with running prior |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: CHONGQING WEIDU MEDICAL SYSTEMS, INC. Free format text: FORMER OWNER: MU ZHIPING Effective date: 20111125 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 400060 NANAN, CHONGQING TO: 401120 YUBEI, CHONGQING |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20111125 Address after: Mercury Technology Building 5 No. 401120 Chongqing hi tech park in northern New Mount Huangshan Avenue South Hebei Office Building 1 floor No. 3, No. 7, No. 9 Applicant after: CHONGQING WEIDU MEDICAL EQUIPMENT CO., LTD. Address before: Nanping Nan'an District of Chongqing City Road 400060 No. 159 No. 1 26-4 Applicant before: Mu Zhiping |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120523 Termination date: 20210407 |