CN102697560A - Non-invasive tumor locating system and method - Google Patents

Abstract

The invention relates to a non-invasive tumor locating system and a non-invasive tumor locating method. The time concept is introduced on the basis of a three-dimensional radiotherapy technology; the motion during the treatment process and the displacement error of fractionated treatment of anatomy tissue are fully considered, such as the situations at the aspects of changes of radiotherapy dose distribution and influences to the treatment plan caused by breathing peristalsis motion, daily positioning error, target region contraction and the like; and the tumor and the normal organs are monitored in real time by utilizing various kinds of advanced image devices before and during the treatment of patients, and the treatment conditions can be regulated according to the changes of the organ position, thus the radiation field follows the target region closely, and the accurate treatment is really achieved.

Description

A kind of noinvasive tumor-localizing system and localization method

Technical field

The present invention relates to a kind of noinvasive tumor-localizing system and localization method, relate in particular to a kind of noinvasive tumor-localizing system and localization method that reduces shift error through telltale mark point.

Background technology

Tumor more and more becomes the biggest threat of modern society's health of people, and along with development of science and technology, the oncotherapy technology has also had significant progress.Because tumor is positioned at health mostly, therefore, accurately remain the difficult point place in the location for tumor.Because the skin of body surface moves easily, therefore, only positioning through skin surface is to have bigger error.In the prior art, usually external devices is fixed on the health and positions, but like this can be painful greatly to the sufferer band.Because the patient is after carrying out tumor-localizing at bat CT image; Therapy system is formulated treatment plan according to the position of this CT image tumor usually, but usually clap the CT image with formal on the therapeutic bed treatment for some time, go up therapeutic bed again after; Its body position all can some variation; Can not be when clapping the CT image position just the same, therefore, have bigger position error.

Summary of the invention

The technical problem that the present invention solves is: make up a kind of noinvasive tumor-localizing system and localization method, overcome prior art in the tumor-localizing process, the location inaccuracy exists bigger position error to influence the technical problem of therapeutic effect.

Technical scheme of the present invention is: make up a kind of noinvasive tumor-localizing system; Comprise the telltale mark point that is used for the position patient tumor, according to patient's CT image reconstruction generate the DDR image image reconstruction unit, take patient tumors region D R image the shooting unit, DR image and DDR image are mated the matching unit of calculating, the positioning unit that obtains the acquiring unit of positional parameter, tumor is reorientated; Said shooting unit is taken at least two the DR images in patient tumors zone respectively from different perspectives; The DDR image that said image reconstruction unit is rebuild contains the mark of said telltale mark point; At least two DR images of said matching unit basis are the treatment coordinate with the Coordinate Conversion of telltale mark point; The coordinate that to treat the DDR framing gauge point of coordinate and said corresponding angle then matees calculating; Said acquiring unit obtains positional parameter according to coupling result calculated and the definite tumor coordinate of said treatment plan, and said positioning unit is reorientated tumor according to the positional parameter that said acquiring unit obtains.

Further technical scheme of the present invention is: said telltale mark point is for a plurality of, and said a plurality of telltale mark points are separately fixed at patient's diverse location on one's body, does not overlap mutually at many above telltale mark point of DR image of said shooting unit photographs.

Further technical scheme of the present invention is: the coupling result of calculation of the telltale mark point that said matching unit is corresponding with said DDR image respectively with a plurality of telltale mark points averages, and gets its average as final matching result of calculation.

Further technical scheme of the present invention is: also comprise the pedestal of fixing said telltale mark point, said pedestal is fixed on one's body the said patient.

Further technical scheme of the present invention is: said pedestal comprises dens supporter, said dens supporter and patient's dental articulation.

Further technical scheme of the present invention is: said image reconstruction unit is carried out the DDR image reconstruction with the central point of said CT image as the center of DRR image.

Technical scheme of the present invention is: a kind of noinvasive tumor-localizing method is provided, and said tumor-localizing system comprises the telltale mark point that is used for the position patient tumor, and said tumor-localizing method comprises the steps:

The telltale mark point is set: the telltale mark point is fixedly installed on patient's body surface;

Rebuild the DDR image: the CT image reconstruction that contains telltale mark point according to shooting generates the DDR image;

Take the DR image: take at least two the DR images in patient tumors zone respectively from different perspectives;

Coupling is calculated: the Coordinate Conversion according at least two DR framing gauge points is the treatment coordinate, and the coordinate that will treat the DDR framing gauge point of coordinate and said corresponding angle then matees and calculates coupling result of calculation;

Obtain positional parameter: obtain positional parameter according to coupling result of calculation and the definite tumor coordinate of said treatment plan;

Location: tumor is reorientated according to said positional parameter.

Further technical scheme of the present invention is: in telltale mark point step is set; Said telltale mark point is for a plurality of; Said a plurality of telltale mark point is separately fixed at patient's diverse location on one's body, does not overlap mutually at many above telltale mark point of DR image of said shooting unit photographs.

Further technical scheme of the present invention is: in the coupling calculation procedure, the coupling result of calculation of the telltale mark point that a plurality of telltale mark points are corresponding with said DDR image respectively averages, and gets its average as final matching result of calculation.

Further technical scheme of the present invention is: in rebuilding the DDR image step, carry out the DDR image reconstruction with the central point of said CT image as the center of DRR image.

Technique effect of the present invention is: make up a kind of noinvasive tumor-localizing system and localization method; On the basis of three-dimensional radiotherapy technology, introduced the notion of time; Taken into full account and dissected the motion that is organized in the therapeutic process and displacement error between interval procedure; As breathe that vermicular movement, daily pendulum bit error, target area contraction etc. cause the variation of radiotherapy dose distribution and to the situation of the aspects such as influence of treatment plan; Before patient treatment, the treatment in utilize various advanced persons' image documentation equipment that tumor and normal organ are carried out real-time monitoring; And can make irradiation field follow the target area closely according to the variation adjustment treatment condition of organ site, make it to accomplish accurate treatment truly.

Description of drawings

Fig. 1 is a structural representation of the present invention.

Fig. 2 is base construction figure of the present invention.

Fig. 3 is a flow chart of the present invention.

The specific embodiment

Below in conjunction with specific embodiment, technical scheme of the present invention is further specified.

As shown in Figure 1; The specific embodiment of the present invention is: make up a kind of noinvasive tumor-localizing system; Comprise the telltale mark point that is used for the position patient tumor, according to patient's CT image reconstruction generate the DDR image image reconstruction unit 1, take patient tumors region D R image shooting unit 2, DR image and DDR image are mated the matching unit 3 of calculating, the positioning unit 5 that obtains the acquiring unit 4 of positional parameter, tumor is reorientated; Said shooting unit 2 is taken at least two the DR images in patient tumors zone respectively from different perspectives; The DDR image that said image reconstruction unit 1 is rebuild contains the mark of said telltale mark point; At least two DR images of said matching unit 3 bases are the treatment coordinate with the Coordinate Conversion of telltale mark point; The coordinate that to treat the DDR framing gauge point of coordinate and said corresponding angle then matees calculating; Said acquiring unit 4 obtains positional parameter according to coupling result calculated and the definite tumor coordinate of said treatment plan, and said positioning unit 5 is reorientated tumor according to the positional parameter that said acquiring unit 4 obtains.

Of Fig. 1; Practical implementation process of the present invention is following: treatment planning systems receives patient's CT image through network or alternate manner; Image reconstruction unit 1 generates the DRR image with patient's CT image calculation, and said image reconstruction unit 1 is carried out the DDR image reconstruction with the central point of said CT image as the center of DRR image.Patient's telltale mark dot information is arranged on the said DRR image.When the patient positioned, the unit 2 of taking pictures on the therapy apparatus was taken the DR image of two angles of patient's patient part in real time.In the specific embodiment, the said unit 2 of taking pictures comprises flat panel detector and the photosphere pipe that sends the X-ray line.During treatment, send ray by the radiation head focusing.

Said matching unit 3 matees calculating with the DRR image of corresponding angle respectively with these two DR images, and detailed process is following:

At least two DR images of said matching unit 3 bases are the treatment coordinate with the Coordinate Conversion of telltale mark point:

$x=\frac{(x_3\×\cos \mathrm{\α}-a\×\sin \mathrm{\α})\×(z-a\×\cos \mathrm{\α})}{a\×\sin \mathrm{\α}-x_3\×\sin \mathrm{\α}-b\×\cos \mathrm{\α}}$

$y=\frac{y_3\×(x-a\×\sin \mathrm{\α})}{x_3\×\cos \mathrm{\α}-b\×\sin \mathrm{\α}}$

$z=\frac{(x_3\×\sin \mathrm{\α}+b\×\cos \mathrm{\α})\×(X_3\×\sin \mathrm{\β}+b\×\cos \mathrm{\β})\×(a\×\sin \mathrm{\α}-a\×\sin \mathrm{\β})+a\×\cos \mathrm{\α}\×}{(x_3\×\cos \mathrm{\α}-b\×\sin \mathrm{\α})\×(X_3\sin \mathrm{\β}+b\×\cos \mathrm{\β})-(X_3\×\cos \mathrm{\β}-a\×\sin \mathrm{\β})\×}$

$\frac{(x_3\×\cos \mathrm{\α}-b\×\sin \mathrm{\α})\×(X_3\×\sin \mathrm{\β}+b\×\cos \mathrm{\β})-a\×\cos \mathrm{\β}\×(X_3\×\cos \mathrm{\β}-b\×\sin \mathrm{\β})\×}{(x_3\×\sin \mathrm{\α}+b\×\cos \mathrm{\α})}$

$\frac{(x_3\×\sin \mathrm{\α}+b\×\cos \mathrm{\α})}{}$

Wherein: a is for treating focus to the distance between the flat panel detector, and b is the distance between radiation head and the flat panel detector.(this local sensation or improper.)

(x ₃, y ₃) for the point coordinates conversion in the DR image under angle [alpha] of telltale mark point comes, its coordinate system is initial point with the picture centre, is to the right the x axle, upwards is the y axle;

$\left\{\begin{array}{c}{x}_3=x_1-\frac{\mathrm{imagewidth}}{2}\\ y_3=y_1-\frac{\mathrm{<figure-callout\; id="2"\; label="imagelength"\; filenames="120516151240.png"\; state="\{\{state\}\}">imagelength</figure-callout>}}{2}\end{array}\right.$

(x ₁, y ₁) be the coordinate of telltale mark point DR image mid point under angle [alpha];

(X ₃, Y ₃) for the DR image mid point coordinate transform under angle beta of telltale mark point comes, its coordinate system is initial point with the picture centre, is to the right the x axle, upwards is the y axle:

$\left\{\begin{array}{c}{X}_3=X_1-\frac{\mathrm{imagewidth}}{2}\\ Y_3=Y_1-\frac{\mathrm{<figure-callout\; id="2"\; label="imagelength"\; filenames="120516151240.png"\; state="\{\{state\}\}">imagelength</figure-callout>}}{2}\end{array}\right.$

(X ₁, Y ₁) be the coordinate of telltale mark point DR image mid point under angle beta.

Thus, obtain the treatment coordinate (x, y, z) of this telltale mark point.DDR image according to this telltale mark point; The treatment coordinate (x, y, z) of this telltale mark point three-dimensional coordinate with the DDR image of this telltale mark point is subtracted each other respectively; Obtain the coordinate difference of this telltale mark point treatment coordinate (x, y, z) and the three-dimensional coordinate of the DDR image of this telltale mark point; Be patient's positional parameter, then, said positioning unit 5 is increased to this positional parameter on the corresponding coordinate of DDR image tumor coordinate; Obtain the new treatment coordinate of tumor, tumor is reorientated with the treatment coordinate that tumor is new.

In the preferred embodiment for the present invention, said telltale mark point is for a plurality of, and said a plurality of telltale mark points are separately fixed at patient's diverse location on one's body, and many above telltale mark point of DR image of 2 shootings do not overlap mutually in said shooting unit.The coupling result of calculation of the telltale mark point that said matching unit 3 is corresponding with said DDR image respectively with a plurality of telltale mark points averages, and gets its average as final matching result of calculation.Detailed process is following: if telltale mark point for a plurality of, then calculates respectively, obtained the treatment coordinate of this point by each telltale mark point; Draw the coordinate difference of telltale mark point separately then respectively; The average of getting coordinate difference is as positional parameter, and then, said positioning unit 5 is increased to this positional parameter on the corresponding coordinate of DDR image tumor coordinate; Obtain the new treatment coordinate of tumor, tumor is reorientated with the treatment coordinate that tumor is new.Can obtain accurate localization more like this.

As shown in Figure 2, in the preferred embodiment for the present invention, also comprise the pedestal A of fixing said telltale mark point, said pedestal A is fixed on one's body the said patient.In the specific embodiment, said pedestal A comprises dens supporter C, said dens supporter C and patient's dental articulation.Because dens supporter C and patient's dental articulation can play fixation well, avoided pedestal perhaps to bring painful technical problem to the patient with contacting built on the sand of the person.

As shown in Figure 3, the specific embodiment of the present invention is: a kind of tumor-localizing method is provided, and said tumor-localizing system comprises the telltale mark point that is used for the position patient tumor, and said tumor-localizing method comprises the steps:

Step 100: the telltale mark point is set, that is, the telltale mark point is fixedly installed on patient's body surface.

Step 200: rebuild the DDR image: the CT image reconstruction that contains telltale mark point according to shooting generates the DDR image.Detailed process is following: because the telltale mark point is fixedly installed on patient's body surface; Contain the telltale mark point in the CT image; Make up three-dimensional system of coordinate, the CT image reconstruction that contains telltale mark point according to shooting generates the DDR image, and it is rebuild on the DDR image that generates; Telltale mark point and knub position obtain its coordinate in this three-dimensional system of coordinate respectively; Treatment planning systems is made treatment plan then, and the three-dimensional coordinate of the target spot that promptly obtains medical treatment, telltale mark point also have the three-dimensional coordinate in this three-dimensional system of coordinate.In the process of reconstruction, carry out the DDR image reconstruction as the center of DRR image with the central point of said CT image.

Step 300: take the DR image, that is: take at least two the DR images in patient tumors zone respectively from different perspectives.

Step 400: coupling is calculated, that is: the Coordinate Conversion according at least two DR framing gauge points is the treatment coordinate, and the coordinate that will treat the DDR framing gauge point of coordinate and said corresponding angle then matees and calculates coupling result of calculation.

Detailed process is following: according at least two DR images the Coordinate Conversion of telltale mark point is the treatment coordinate:

$x=\frac{(x_3\&times;\cos \mathrm{\&alpha;}-a\&times;\sin \mathrm{\&alpha;})\&times;(z-a\&times;\cos \mathrm{\&alpha;})}{a\&times;\sin \mathrm{\&alpha;}-x_3\&times;\sin \mathrm{\&alpha;}-b\&times;\cos \mathrm{\&alpha;}}$

$y=\frac{y_3\&times;(x-a\&times;\sin \mathrm{\&alpha;})}{x_3\&times;\cos \mathrm{\&alpha;}-b\&times;\sin \mathrm{\&alpha;}}$

$z=\frac{(x_3\&times;\sin \mathrm{\&alpha;}+b\&times;\cos \mathrm{\&alpha;})\&times;(X_3\&times;\sin \mathrm{\&beta;}+b\&times;\cos \mathrm{\&beta;})\&times;(a\&times;\sin \mathrm{\&alpha;}-a\&times;\sin \mathrm{\&beta;})+a\&times;\cos \mathrm{\&alpha;}\&times;}{(x_3\&times;\cos \mathrm{\&alpha;}-b\&times;\sin \mathrm{\&alpha;})\&times;(X_3\sin \mathrm{\&beta;}+b\&times;\cos \mathrm{\&beta;})-(X_3\&times;\cos \mathrm{\&beta;}-a\&times;\sin \mathrm{\&beta;})\&times;}$

$\frac{(x_3\&times;\cos \mathrm{\&alpha;}-b\&times;\sin \mathrm{\&alpha;})\&times;(X_3\&times;\sin \mathrm{\&beta;}+b\&times;\cos \mathrm{\&beta;})-a\&times;\cos \mathrm{\&beta;}\&times;(X_3\&times;\cos \mathrm{\&beta;}-b\&times;\sin \mathrm{\&beta;})\&times;}{(x_3\&times;\sin \mathrm{\&alpha;}+b\&times;\cos \mathrm{\&alpha;})}$

$\frac{(x_3\&times;\sin \mathrm{\&alpha;}+b\&times;\cos \mathrm{\&alpha;})}{}$

Wherein: a is for treating focus to the distance between the flat panel detector, and b is the distance between radiation head and the flat panel detector.

(x ₃, y ₃) for the point coordinates conversion in the DR image under angle [alpha] of telltale mark point comes, its coordinate system is initial point with the picture centre, is to the right the x axle, upwards is the y axle,

$\left\{\begin{array}{c}{x}_3=x_1-\frac{\mathrm{imagewidth}}{2}\\ y_3=y_1-\frac{\mathrm{<figure-callout\; id="2"\; label="imagelength"\; filenames="120516151240.png"\; state="\{\{state\}\}">imagelength</figure-callout>}}{2}\end{array}\right.$

(x ₁, y ₁) be the coordinate of telltale mark point DR image mid point under angle [alpha];

(X ₃, Y ₃) for the DR image mid point coordinate transform under angle beta of telltale mark point comes, its coordinate system is initial point with the picture centre, is to the right the x axle, upwards is the y axle:

$\left\{\begin{array}{c}{X}_3=X_1-\frac{\mathrm{imagewidth}}{2}\\ Y_3=Y_1-\frac{\mathrm{<figure-callout\; id="2"\; label="imagelength"\; filenames="120516151240.png"\; state="\{\{state\}\}">imagelength</figure-callout>}}{2}\end{array}\right.$

(X ₁, Y ₁) be the coordinate of telltale mark point DR image mid point under angle beta.

Step 500: obtain positional parameter, that is: obtain positional parameter according to coupling result of calculation and the definite tumor coordinate of said treatment plan.Detailed process is following: the treatment coordinate (x, y, z) that obtains this telltale mark point.DDR image according to this telltale mark point; The treatment coordinate (x, y, z) of this telltale mark point three-dimensional coordinate with the DDR image of this telltale mark point is subtracted each other respectively; Obtain the coordinate difference of this telltale mark point treatment coordinate (x, y, z) and the three-dimensional coordinate of the DDR image of this telltale mark point, i.e. patient's positional parameter.

Step 600: location: tumor is reorientated according to said positional parameter.Detailed process is following: this positional parameter is increased on the corresponding coordinate of DDR image tumor coordinate, obtains the new treatment coordinate of tumor, with the treatment coordinate that tumor is new tumor is reorientated.

In the preferred embodiment for the present invention, said telltale mark point is for a plurality of, and said a plurality of telltale mark points are separately fixed at patient's diverse location on one's body, and many above telltale mark point of DR image of 2 shootings do not overlap mutually in said shooting unit.The coupling result of calculation of the telltale mark point that said matching unit 3 is corresponding with said DDR image respectively with a plurality of telltale mark points averages, and gets its average as final matching result of calculation.Detailed process is following: if telltale mark point for a plurality of, then calculates respectively, obtained the treatment coordinate of this point by each telltale mark point; Draw the coordinate difference of telltale mark point separately then respectively; The average of getting coordinate difference is as positional parameter, and then, said positioning unit 5 is increased to this positional parameter on the corresponding coordinate of DDR image tumor coordinate; Obtain the new treatment coordinate of tumor, tumor is reorientated with the treatment coordinate that tumor is new.Can obtain accurate localization more like this.

Technique effect of the present invention is: make up a kind of noinvasive tumor-localizing system and localization method; On the basis of three-dimensional radiotherapy technology, introduced the notion of time; Taken into full account and dissected the motion that is organized in the therapeutic process and displacement error between interval procedure; As breathe that vermicular movement, daily pendulum bit error, target area contraction etc. cause the variation of radiotherapy dose distribution and to the situation of the aspects such as influence of treatment plan; Before patient treatment, the treatment in utilize various advanced persons' image documentation equipment that tumor and normal organ are carried out real-time monitoring; And can make irradiation field follow the target area closely according to the variation adjustment treatment condition of organ site, make it to accomplish accurate treatment truly.

Above content is to combine concrete preferred implementation to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.

Claims (10)

1. noinvasive tumor-localizing system; It is characterized in that; Comprise the telltale mark point that is used for the position patient tumor, according to patient's CT image reconstruction generate the DDR image image reconstruction unit, take patient tumors region D R image the shooting unit, DR image and DDR image are mated the matching unit of calculating, the positioning unit that obtains the acquiring unit of positional parameter, tumor is reorientated; Said telltale mark point is arranged on patient's body surface; Said shooting unit is taken at least two the DR images in patient tumors zone respectively from different perspectives; The DDR image that said image reconstruction unit is rebuild contains the mark of said telltale mark point; At least two DR images of said matching unit basis are the treatment coordinate with the Coordinate Conversion of telltale mark point; The coordinate that to treat the DDR framing gauge point of coordinate and said corresponding angle then matees calculating, and said acquiring unit obtains positional parameter according to coupling result calculated and the definite tumor coordinate of said treatment plan, and said positioning unit is reorientated tumor according to the positional parameter that said acquiring unit obtains.

2. noinvasive tumor-localizing according to claim 1 system; It is characterized in that; Said telltale mark point is for a plurality of, and said a plurality of telltale mark points are separately fixed at patient's diverse location on one's body, does not overlap mutually at many above telltale mark point of DR image of said shooting unit photographs.

3. noinvasive tumor-localizing according to claim 2 system; It is characterized in that; The coupling result of calculation of the telltale mark point that said matching unit is corresponding with said DDR image respectively with a plurality of telltale mark points averages, and gets its average as final matching result of calculation.

4. noinvasive tumor-localizing according to claim 1 system is characterized in that, also comprises the pedestal of fixing said telltale mark point, and said pedestal is fixed on one's body the said patient.

5. noinvasive tumor-localizing according to claim 4 system is characterized in that said pedestal comprises dens supporter, said dens supporter and patient's dental articulation.

6. noinvasive tumor-localizing according to claim 1 system is characterized in that said image reconstruction unit is carried out the DDR image reconstruction with the central point of said CT image as the center of DRR image.

7. a noinvasive tumor-localizing method is characterized in that, said tumor-localizing system comprises the telltale mark point that is used for the position patient tumor, and said tumor-localizing method comprises the steps:

The telltale mark point is set: the telltale mark point is fixedly installed on patient's body surface;

Rebuild the DDR image: the CT image reconstruction that contains telltale mark point according to shooting generates the DDR image;

Take the DR image: take at least two the DR images in patient tumors zone respectively from different perspectives;

Coupling is calculated: the Coordinate Conversion according at least two DR framing gauge points is the treatment coordinate, and the coordinate that will treat the DDR framing gauge point of coordinate and said corresponding angle then matees and calculates coupling result of calculation;

Obtain positional parameter: obtain positional parameter according to coupling result of calculation and the definite tumor coordinate of said treatment plan;

Location: tumor is reorientated according to said positional parameter.

8. according to the said noinvasive tumor-localizing of claim 7 method; It is characterized in that; In telltale mark point step is set; Said telltale mark point is for a plurality of, and said a plurality of telltale mark points are separately fixed at patient's diverse location on one's body, does not overlap mutually at many above telltale mark point of DR image of said shooting unit photographs.

9. said according to Claim 8 noinvasive tumor-localizing method; It is characterized in that; In the coupling calculation procedure, the coupling result of calculation of the telltale mark point that a plurality of telltale mark points are corresponding with said DDR image respectively averages, and gets its average as final matching result of calculation.

10. according to the said noinvasive tumor-localizing of claim 7 method, it is characterized in that, in rebuilding the DDR image step, carry out the DDR image reconstruction as the center of DRR image with the central point of said CT image.

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