CN103566471A - Lump movement following protective cover system for lung cancer radiotherapy - Google Patents
Lump movement following protective cover system for lung cancer radiotherapy Download PDFInfo
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- CN103566471A CN103566471A CN201310479309.9A CN201310479309A CN103566471A CN 103566471 A CN103566471 A CN 103566471A CN 201310479309 A CN201310479309 A CN 201310479309A CN 103566471 A CN103566471 A CN 103566471A
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Abstract
The invention provides a lump movement following protective cover system for lung cancer radiotherapy. The lump movement following protective cover system for the lung cancer radiotherapy comprises a data processor, a breathing detector, a radioactive source detector, a movement following protective cover and a protective cover controller, wherein the movement following protective cover is used for being placed on the top of a treatment table of an existing radiotherapy device, and a blocking cover is arranged on the movement following protective cover. According to the implementation of a first blocking cover, the first blocking cover can move around the movement following protective cover along with a radioactive source, and blades of the first blocking cover can be changed according to outlines of tumors on different parts. According to the implementation of a second blocking cover, the fact that the radioactive source carries out one time of radiation in an equal angle interval mode is taken into consideration, namely, all the needed blocking outlines and all the needed thicknesses of the second blocking cover are made in a customization mode according to a preset angle and ray intensity. The protective cover controller is connected with the data processor and the movement following protective cover, and is used for receiving a movement control instruction sent out by the data processor, and controlling the movement following protective cover to move along with breathing. The lump movement following protective cover system for the lung cancer radiotherapy can move along with movement of a tumor lump from multiple dimensions, and achieve accurate blocking of rays around the tumor lump.
Description
Technical field
The invention belongs to medical apparatus and instruments auxiliary treatment apparatus field, be specifically related to a kind of radiotherapy in lung cancer lump motion accompanying shield system.
Background technology
In the process of radiotherapy in lung cancer, the caused tumor motion of patient respiration can produce considerable influence to radiotherapy.For this impact, mainly contain at present three kinds of solutions.First method is to expand target of prophylactic radiotherapy fully to cover the tumor of motion, adopts and can make in this way the more normal structure of patient receive roentgenization.Second method is gate radiotherapy technology, only patient, hold one's breath or the period is carried out radiotherapy to tumor region at breathing end, thereby can reduce to a certain extent the impact of tumor motion, as name is called " Method and system for physiological gating of radiation therapy " american documentation literature (US6690965B1), by optics or video image system, detect the well-regulated physiological movement of patient, when motion surpasses a certain threshold value, just start gate-control signal, suspend the irradiation of radioactive source.Its major defect is that patient's breathing and state are had to certain requirement, and can increase the time of radiotherapy.
The third method is the dynamic radiotherapy technology occurring in recent years, according to the tumor motion situation detecting in real time, dynamically adjusts the position of beam or tumor, realizes beam and tumor is alignd substantially, thereby reduces the border of target area.As name is called " image guiding and tracking method based on prediction " (publication number is CN101428154A) and is called the patent documentation of " real-time tracking method for dynamic tumor " (publication number is CN101423198A), by tumor anatomical structure image and the breathing state feature set of input are quantized and are analyzed, set up the dependency of respiratory movement and tumor motion, and the image of Real-time Obtaining dynamic tumor and breathing state feature, by the breathing state feature after prediction time delay, determine corresponding shape of tumor constant interval image sequence, it is mated with the dynamic tumor image of Real-time Obtaining and also therefrom choose best shape of tumor figure, to realize the motion tracking to tumor.These two patent documentations carry out tracking of knub position by the registration of multiple image, calculate more consuming time, can not meet the requirement of real-time tracking tumor motion, in addition, how this patent documentation is to not providing effective method by the result of tracking of knub motion for Patients During Radiotherapy.
Termed image-guided radiotherapy (image-guided radiotherapy, IGRT) technology is carried out real-time tracking to the kinestate of tumor in Patients During Radiotherapy, according to the motion of tumor, dynamically adjust the position of radioactive source or patient's position, make the focus of radioactive source and the center-aligned of tumor.The american documentation literature that is called " Dynamic tracking of moving targets " (publication number is US20060074292) as name has been introduced a kind of method that dynamic tumor is followed the tracks of radiotherapy, before treatment, utilize three-dimensional computed tomography (the three-dimensional computed tomography gathering, 3D-CT) image sequence or other 3-D view are set up four-dimensional mathematical model, to determine the relation between tumor target and anatomic region three-dimensional position, in treatment, the tumor image of Real-time Collection and digital reconstruction radiotherapy image are carried out to registration, thereby complete tracking and the real-time positioning of tumor target.This technical scheme also needs to obtain by image registration the position of tumor, cannot meet the requirement of real-time tracking.The CyberKnife robot radiotherapy system that Accuray company produces, by X ray linear accelerator (linear accelerator, LINAC) be arranged in an industrial robot arm, breathe tracing system and make medical personnel can in therapeutic process, continue tracking, detecting and proofread and correct tumor and move, and do not need patient to hold one's breath or use respiratory control technology.And automatically positional information being sent to robots arm, robots arm can, by six-freedom degree reorientation x-ray, make it to prospective tumor.CyberKnife robot radiotherapy system has been applied to clinical at present.Existing IGRT equipment can reduce the impact of respiratory movement on radiotherapy to a certain extent, but these IGRT equipment prices are expensive, 2 to 3 times of conventional radiotheraphy equipment price, Jin You minority hospital has been equipped with IGRT equipment at present, in in recent years, most of hospital will continue to use legacy equipment and traditional method to carry out radiotherapy to patient, even if some hospitals have been equipped with IGRT equipment, also can use traditional radiotherapy apparatus simultaneously.
Intensity modulated radiation therapy (intens ity modulated radiat ion therapy, IMRT) is that strength regulated shape-adapted radiation therapeutic is a kind of of three dimensional conformal radiation therapy, requires dose intensity in radiation field size to regulate by certain requirement.It is throughout under the radiation field size condition consistent with target area profile, for the concrete anatomy relationship of target area 3D shape and critical organ and target area, beam intensity is regulated.As patent documentation " a kind of focus type strength regulated shape-adapted radiation therapeutic machine " (publication number is CN101058005) carries out three-shaft linkage by data processing equipment gated sweep location bed, make to focus on focus layering and irradiate patient's tumor focus and constantly change instant scanning speed with rectilinear direction scanning or along isodose scanning, realize the conformal distribution of exposure dose and adjust strong.
Patent documentation " the auxiliary mattress system of image and breathing guiding " (publication number is CN101972515A) has been realized based on image and respiration parameter and having been detected, through date processing guiding mattress, move to compensate the motion of pulmonary masses, to realize the vernier focusing to patient's pulmonary masses.
For the detection of breathing, mainly contain at present pressure transducer method, inductance volume graphical method, critesistor method, by ecg information obtain, the method such as impedance spirography and infrared camera detection.The patent documentation that is CN2885122Y as publication number discloses a kind of < < electro-optical abdominal breathing sensor > >, publication number is that the patent documentation of CN101212930 also discloses a kind of < < device for detecting respiratory > >, all can be for detection of the breathing state that obtains human body.
Summary of the invention
The present invention proposes a kind of radiotherapy in lung cancer lump motion accompanying shield system, object is to make this system to guard shield, to adjust in real time according to the motion of patient's pulmonary masses, realization is accurately blocked ray around lump, make under the tumor locus irradiation in radioactive source all the time, the destruction of tumor normal surrounding tissue being reduced to minimum.
A kind of radiotherapy in lung cancer lump motion accompanying shield system provided by the invention, is characterized in that, this system comprises data processor, apnea detector, motion accompanying guard shield and guard shield controller;
Apnea detector is connected with the data processor signal of telecommunication with motion accompanying guard shield, and guard shield controller is connected with the motion accompanying guard shield signal of telecommunication;
Data processor is for setting up the relational model between breathing state and tumor displacement, and the relational model of setting up source positions, motion accompanying guard positions and tumor shape; And according to the positional information prediction of the breathing state receiving and radioactive source, motion accompanying guard shield with calculate the required displacement of motion accompanying guard shield, then to guard shield controller, send motion control instruction, change the position of motion accompanying guard shield;
Apnea detector is for detection of patient's breathing state, if thorax variation, abdominal part fluctuations, vital capacity, the motion of tabula mould are, the motion of lung tissue sends to data processor by breathing state by wired or wireless mode;
Motion accompanying guard shield is made by radiation proof material, moves, for realizing blocking the accurate location of knub position and the outer position of tumor under the control of guard shield controller;
Guard shield controller is for receiving the motion control instruction that data processor sends, and controlled motion is followed guard shield motion.
System of the present invention can, according to patient's breathing state, realize blocking the accurate location of patient tumors and the outer position of tumor.System of the present invention can coordinate existing radiotherapy apparatus to use together, without existing radiotherapy apparatus is transformed, just can make it have the radiotherapy function of image guiding, thereby realize, only needs lower cost just can strengthen the object of the function of existing radiotherapy apparatus.This system can dope the displacement of tumor in real time, more exactly, and according to the tumor displacement of prediction, motion accompanying guard positions is adjusted.
Motion accompanying guard shield is used radiation proof material to make, and farthest reduces patient's the suffered beam toxicity of normal structure.Meanwhile, this system is set up patient's breathing state and the relation between tumor displacement according to the breathing state of synchronous acquisition and tumor anatomical structure image, and patient's breathing is not had to special requirement, therefore has good versatility.
In a word, system of the present invention can realize lump accurately blocking of ray around, makes under the tumor locus irradiation in radioactive source all the time, the destruction of tumor normal surrounding tissue being reduced to minimum.
Accompanying drawing explanation
Fig. 1 is the structure chart of system of the present invention;
Fig. 2 is the structural representation of a kind of specific embodiment of the present invention;
Fig. 3 is the structural representation of the motion accompanying guard shield of example of the present invention, and wherein, 3a is top view, and 3b is front view; 3c is the first hood for protecting rider schematic diagram.
Fig. 4 is the scheme of installation of the first hood for protecting rider;
Fig. 5 is the structural representation based on the first hood for protecting rider;
Fig. 6 is the scheme of installation of the second hood for protecting rider on guard shield of the present invention;
Fig. 7 is the structural representation of the apnea detector that provides of example of the present invention;
Fig. 8 is the actual breathing state and prediction breathing state schematic diagram of example of the present invention;
Fig. 9 is the predicting tumors displacement diagram of example of the present invention;
Description of reference numerals: 1-data processor; 2-apnea detector; 3-radioactive source detector; 4-motion accompanying guard shield; 5-assisted movement breath controller; 6-image processing module; 7-breathing state and tumor displacement relation analysis module; 8-tumor displacement prediction module; 9-motion-control module; 21-impedance electrodes; 22-electrical impedance analyser; 3-radioactive source detector; 401-guard shield, 402-x radiation x groove, 403-the first hood for protecting rider, 404-guard shield base, 405-guard shield holddown groove, 406-guide rail and slide block, 407-ball-screw, 408-shaft coupling, 409-mounting base, 410-servomotor, 411-guide rail fixed base plate.Wherein the first hood for protecting rider 403 is comprised of blade driving motor 4031, hood for protecting rider blade 4032, hood for protecting rider drive motors 4033, driving wheel 4034.501-the second hood for protecting rider, 502-hood for protecting rider lump profile, 503-dividing plate, 504-fixed connecting plate.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.At this, it should be noted that, for the explanation of these embodiments, be used for helping to understand the present invention, but do not form limitation of the invention.In addition,, in each embodiment of described the present invention, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
As shown in Figure 1, the radiotherapy in lung cancer lump motion accompanying shield system of the present invention's design, comprises data processor 1, apnea detector 2, motion accompanying guard shield 4 and guard shield controller 5.
Apnea detector 2 be any can be for detection of the device of patient respiratory state, this device is for detection of patient's breathing state, if thorax variation, abdominal part fluctuations, vital capacity, the motion of tabula mould are, the motion of lung tissue etc. send to data processor 1 by breathing state by wired or wireless mode.
Motion accompanying guard shield 4, for being placed on the therapeutic bed top of existing radiotherapy apparatus, moves under the control of guard shield controller 5, for realizing blocking the accurate location of knub position and the outer position of tumor.
The motion control instruction that guard shield controller 5 sends for receiving data processor 1, controlled motion is followed guard shield 4 motions.
Illustrate the structure of data processor 1 below, as shown in Figure 2, in data processor, be provided with image processing module 6, breathing state and tumor displacement relation analysis module 7, tumor displacement prediction module 8 and motion-control module 9;
The tumor anatomical structure image sequence I that in chronological order arrange of image processing module 6 for data processor 1 is received
1, I
2..., I
k, wherein k is the width number of the tumor anatomical structure image that receives while setting up the relational model of breathing state and tumor displacement, then to this tumor anatomical structure image sequence I
1, I
2..., I
kprocess, from tumor anatomical structure image sequence, determine the position of tumor, generate tumor Displacement Sequence D
1, D
2..., D
k, and by tumor Displacement Sequence D
1, D
2..., D
koffer breathing state and tumor displacement relation analysis module 7.Breathing state and tumor displacement relation analysis module 7, for the breathing state of reception is arranged in chronological order, form the first breathing state sequence A
1, A
2..., A
k, according to this first breathing state sequence A
1, A
2..., A
kwith the tumor Displacement Sequence D receiving
1, D
2..., D
k, adopt curve fitting algorithm to set up the relational model between breathing state and tumor displacement, and this relational model offered to tumor displacement prediction module 8;
Tumor displacement prediction module 8 is arranged in chronological order for breathing state data processor 1 being received in breathing state prediction model parameters deterministic process, forms the second breathing state sequence B
1, B
2..., B
m, the breathing state number that m receives when determining the parameter of breathing state forecast model, then with this second breathing state sequence B
1, B
2..., B
mfor training dataset, determine the parameter of breathing state forecast model, and predict patient m+1 breathing state constantly, obtain m+1 prediction breathing state B ' constantly
m+1; If i is for counting the moment of reception breathing state, initial value is m+1, in actual use, and for the breathing state B constantly receiving at i according to data processor 1
iwith i prediction breathing state B constantly
i' between difference, the parameter of breathing state forecast model is adjusted, and is predicted patient i+1 breathing state B ' constantly
i+1; According to i+1 prediction breathing state B ' constantly
i+1with the relational model of breathing state and tumor displacement, calculate i+1 predicting tumors displacement D ' constantly
i+1;
Motion-control module 9 is for according to the i+1 of tumor displacement prediction module 8 prediction predicting tumors displacement D constantly
i+1' with i predicting tumors displacement D constantly
i' between deviation calculate the quantity of motion M that motion accompanying guard shield 4 needs motion
i+1.
Illustrate the work process of system of the present invention below:
(1), when system of the present invention is used, first set up according to the following steps patient's breathing state and the relational model between tumor displacement:
(1) data processor 1 receives patient by apnea detector 2 and medical imaging devices synchronous acquisition breathing state and the tumor anatomical structure image in the breathing cycle by wired or wireless mode, and tumor anatomical structure image is arranged in chronological order and generated tumor anatomical structure image sequence I
1, I
2..., I
k, by wired or wireless mode, send to data processor 1.
(2) the tumor anatomical structure image sequence I that 6 pairs of data processors of image processing module 1 receive
1, I
2..., I
kprocess, generate tumor Displacement Sequence D
1, D
2..., D
k, and by tumor Displacement Sequence D
1, D
2..., D
koffer breathing state and tumor displacement relation analysis module 7.
(3) breathing state that breathing state and tumor displacement relation analysis module 7 receive data processor 1 is arranged in chronological order, forms the first breathing state sequence A
1, A
2..., A
k, according to the first breathing state sequence A
1, A
2..., A
kwith the tumor Displacement Sequence D receiving
1, D
2..., D
k, adopt curve fitting algorithm to set up the relational model between breathing state and tumor displacement, and this relational model offered to tumor displacement prediction module 8.Curve fitting algorithm can adopt method of least square, B batten or other fitting algorithms.
(2) after setting up patient's breathing state and the relational model between tumor displacement, gather in advance according to the following steps breathing state, determine the parameter of breathing state forecast model:
(1) motion accompanying guard shield 4 is placed on to the therapeutic bed top of radiotherapy apparatus, guard shield is carried out to initial alignment;
(2) utilize apnea detector 2 to gather the breathing state of at least one breathing cycle of patient on therapeutic bed that lies low, and breathing state is sent to the image processing module 6 of data processor 1 by wired or wireless mode;
(3) breathing state that tumor displacement prediction module 8 provides image processing module 6 is arranged in chronological order, forms the second breathing state sequence B
1, B
2..., B
m, then with the second breathing state sequence B
1, B
2..., B
mfor training dataset, determine the parameter of breathing state forecast model, and predict patient m+1 breathing state B ' constantly
m+1, determine that the parameter of breathing state forecast model and prediction m+1 breathing state constantly can adopt Kalman filter, minimum mean square self-adaption filter, artificial neural network or other Forecasting Methodology.
(3) after having determined the parameter of breathing state forecast model, use according to the following steps system of the present invention:
(1) at i (i initial value is m+1), constantly by apnea detector 2, detect in real time patient's breathing state B
i, and by breathing state B
iby wired or wireless mode, send to data processor 1;
(2) the breathing state B that tumor displacement prediction module 8 receives according to data processor 1
iwith the i predicting breathing state B ' constantly
ibetween difference, the parameter of breathing state forecast model is adjusted;
(3) the breathing state B that tumor displacement prediction module 7 receives according to data processor 1
i, l-1 the breathing state B constantly receiving before
i+1, B
i-l+2..., B
i-1with the parameter of adjusting breathing state forecast model afterwards, prediction patient i+1 breathing state B ' constantly
i+1, l is constant here, the number of needed historical data while representing prediction, and prediction patient's breathing state is identical with the method for the parameter of definite breathing state forecast model with the method that the parameter of adjusting breathing state forecast model adopts;
(4) tumor displacement prediction module is according to the i+1 of prediction breathing state B ' constantly
i+1with the relational model of breathing state and tumor displacement, calculate i+1 predicting tumors displacement D ' constantly
i+1;
(5) motion-control module 9 is according to i+1 predicting tumors displacement D ' constantly
i+1with i predicting tumors displacement D ' constantly
ibetween deviation calculate the quantity of motion M that motion accompanying guard shield 4 needs motion
i+1, and in guard shield controller 5, send motion control instruction by data processor 1;
(6) guard shield controller 5 is followed guard shield 4 according to the motion control instruction controlled motion receiving and is moved, thus make i+1 constantly the center of the tumor in patient body in radioactive source.
(7) whether the time that judges radiotherapy completes, if the time of radiotherapy does not arrive, makes i=i+1, forwards (1) to and proceeds radiotherapy; Otherwise Patients During Radiotherapy finishes.
Example:
In this example, select computer as data processor 1.Apnea detector 2 can adopt existing various respiration detection sensor or checkout gear, also can adopt structure as shown in Figure 7, and it is comprised of impedance detecting electrode 21 and electrical impedance analyser 22.Use this apnea detector to detect while breathing, by 4 electrode a, b, c, d is attached to patient's back, by lateral electrode a and d, introduces constant current drive, detects the voltage of two of inner sides electrode b and c.Use electrical impedance analyser 22 encourage and test.The respiratory impedance value obtaining is exported by wired or wireless data-interface.
Two kinds of specific implementations of motion accompanying guard shield 4 have been proposed in example, Fig. 3, Fig. 4, Fig. 5 has described the guard shield based on the first hood for protecting rider, Fig. 6 has described the guard shield based on the second hood for protecting rider, has only marked the part different with Fig. 4 and proposed the realization of the another kind of kind of drive in Fig. 6.Two kinds of kinds of drive are all applicable to the first hood for protecting rider and the second hood for protecting rider.As shown in Figure 3, described motion accompanying guard shield 4 comprises guard shield 401, x radiation x groove 402, the first hood for protecting rider 403, guard shield base 404, guard shield holddown groove 405, slide block 406, ball screw 407, shaft coupling 408, mounting base 409, servomotor 410 and guide rail fixed base plate 411 to guard shield based on the first hood for protecting rider.
Roller bearing screw mandrel 407, shaft coupling 408, servomotor 410 and mounting base 409 are all arranged on guide rail fixed base plate 411.Servomotor 410 drives 407 rotations of roller bearing screw mandrel by universal driving shaft 408, thereby guard shield base 404 is moved on guide rail, drives guard shield 401 motions.
On guard shield 401, be provided with x radiation x groove 402, the first hood for protecting rider 403 is installed on this x radiation x groove 402.The first hood for protecting rider 403 comprises blade driving motor 4031, hood for protecting rider blade 4032, hood for protecting rider drive motors 4033 and driving wheel 4034.Hood for protecting rider blade 4032 is arranged on the top of guard shield 401, rotation by hood for protecting rider drive motors 4031 makes hood for protecting rider blade 4302 move around guard shield, each hood for protecting rider blade 4032 is with corresponding blade driving motor 4031, blade driving motor 4031 can adopt micromachine, and rotatablely moving of motor is become to the rectilinear motion of blade by leading screw.Transmission in Fig. 4 is to rely on the guard shield firm banking on the left side to move to drive guard shield to move, and the guard shield firm banking on the right moves under the drive of guard shield.
When adopting the first hood for protecting rider, system also needs to configure radioactive source detector 3, and as shown in Figure 5, radioactive source detector 3 is connected with data processor 1 communication.It can use photographic head to realize, and detects radioactive source and motion accompanying guard shield 4 present positions, then location drawing picture is sent to data processing module 6 and the motion-control module 9 in data processor 1 by wired or wireless mode.
For the first hood for protecting rider, motion-control module 9 need to calculate the required moving displacement of hood for protecting rider and each blade of hood for protecting rider, then to guard shield controller 5 sending controling instructions.When the position of radioactive source changes, radioactive source detector 3 arrives data processor 1 by the image emissions of radioactive source and motion accompanying guard shield 4, image processing module 6 is analyzed radioactive source and motion accompanying guard shield 4 positions, and positional information is directly sent to motion-control module 9.
Fig. 4 is the scheme of installation of the guard shield part based on the first hood for protecting rider.
Fig. 5 is the structural representation based on the first hood for protecting rider, than the difference of Fig. 2, is to have added radioactive source detector 3.
Fig. 6 is the guard shield scheme of installation based on the second hood for protecting rider, motion accompanying guard shield 4 comprises guard shield 401, x radiation x groove 402, guard shield base 404, guard shield holddown groove 405, slide block 406, ball screw 407, shaft coupling 408, mounting base 409, servomotor 410 and guide rail fixed base plate 411, the second hood for protecting rider 501, dividing plate 503, and fixed connecting plate 504.The installation of guard shield 401 is identical with the structure in Fig. 4, guard shield 401 is arranged on guard shield base 405 li of guard shield holddown grooves on 404, guard shield base 404 is arranged on slide block 406, and slide block 406 is arranged on guide rail, and guide rail is by the both sides of guide rail fixed base plate 411 fixed beds; Fixed connecting plate 504 connects the slide block of the right and left.
The second hood for protecting rider 501 is fixed on guard shield 401 tops, on the second hood for protecting rider 501, there is the matching used hood for protecting rider lump profile 502 distributing according to certain angle, hood for protecting rider lump profile 502 is as the use accessory of system of the present invention, and the thickness of contour area customizes according to patient's lump 3D shape.Guard shield 401 is placed in the guard shield holddown groove 405 in guard shield base 404.Dividing plate 503 is arranged between fixed connecting plate 504 and the second hood for protecting rider 501, for for separating patient and fixed connecting plate.
The implementation of Fig. 6 has two places different with Fig. 4.First because radioactive source is also discontinuous, around guard shield, irradiate, but irradiate once every certain angle (as 10 degree), the second hood for protecting rider 501 covers whole x radiation x groove, according to certain angle interval, one by one lump profile is accomplished on hood for protecting rider, do not need radioactive source tracker 3, can realize simplification to a certain degree.In intensity modulated radiation therapy, the lump profile of different angles is different, and the transmitted intensity that in same angle, different launched fields need is also different, and lump outline portion is not simple lump profiled orifice, but according to the shielding thickness of the transmitted intensity customization of required adjustment, can realize more accurate ray radiotherapy.
Another difference is the kind of drive, transmission in Fig. 4 is to rely on the guard shield firm banking on the left side to move to drive guard shield to move, the guard shield firm banking on the right moves under the drive of guard shield, the another kind of kind of drive is proposed in Fig. 6, as shown in Figure 6, use a ball screw on the ball screw of the left side, a slide block is used on the right, at ball screw with add fixed connecting plate 504 between slim slide block, thereby moving fixed connecting plate 504 motions of ball screw Sports band move the right slide block.The benefit of this transmission is to make more stable transmission.But need between fixed connecting plate 504 and patient, place dividing plate 503.At therapeutic bed, do not have other local placement mats that need of dividing plate to make whole bed level.
Motion accompanying guard shield 4 can also adopt other multiple Design of Mechanical Structure to realize, as adopted rack-and-pinion drive mechanism and stepper motor driven mode to realize.
According to example, illustrate the workflow of system of the present invention:
(1) before radiotherapy, gather according to the following steps tumor anatomical structure image sequence and breathing state sequence, set up patient's breathing state and the relational model between tumor displacement, this example selects x-ray image that digital radiography machine obtains as the tumor anatomical structure image of this example, select thorax to change as breathing state, select minimum mean square self-adaption filter as breathing state Forecasting Methodology, select method of least square as the method for setting up the relational model between breathing state and tumor displacement:
(1) patient lies low on the therapeutic bed of digital radiography machine, by the impedance electrodes of apnea detector 2 21 (a, b, c, the d) patient's of notice back, and be connected with electrical impedance analyser 22, open the on and off switch of electrical impedance analyser 22 and digital radiography machine;
(2) use digital radiography machine and x-ray image and breathing state in the breathing cycle of apnea detector 2 synchronous acquisition patient, x-ray image is according to time sequence generated to x-ray image I afterwards
1, I
2..., I
k, by wired mode, send to computer, wherein k is the width number of the x-ray image that receives while setting up the relational model of breathing state and tumor displacement, the electrical impedance analyser 22 of apnea detector 2 sends to computer by breathing state;
(3) the x-ray image sequence I that 6 pairs of computers of image processing module receive
1, I
2..., I
kprocess, generate tumor Displacement Sequence D
1, D
2..., D
k, and by tumor Displacement Sequence D
1, D
2..., D
koffer breathing state and tumor displacement relation analysis module 7;
(4) breathing state that breathing state and tumor displacement relation analysis module 7 receive computer is arranged in chronological order, forms the first breathing state sequence A
1, A
2..., A
k, then by the first breathing state sequence A
1, A
2..., A
kwith the tumor Displacement Sequence D receiving
1, D
2..., D
kbe mapped one by one in chronological order, be about to A
i(i=1,2 ..., k) and D
icorrespondence, then according to the first breathing state sequence A after correspondence
1, A
2..., A
kwith the tumor Displacement Sequence D receiving
1, D
2..., D
k, adopt method of least square to carry out curve fitting to the relational model between breathing state and tumor displacement, as shown in Figure 6, and this relational model is offered to tumor displacement prediction module 8.
For the first hood for protecting rider, need to set up the relational model of source positions, the first hood for protecting rider position and tumor shape, use medical imaging devices to obtain patient at different angles image sequence I
1, I
2..., I
j.Wherein j represents the figure film size number that different angles obtain.Image processing module 6 analysis image sequences, determine the lump shape of different images, determine the needed transmitted intensity of the different launched fields of each image, determine the position of the first hood for protecting rider on guard shield and each blade shift position of the first hood for protecting rider.And according to this opening relationships model.
For the second hood for protecting rider, according to the required transmitted intensity of the different launched fields of each angle, customize in advance and block profile and thickness as required.Because each patient's lump shape differs, so different needs of patients are customized to the second different hood for protecting riders.
(2) after having set up patient's breathing state and the relational model between tumor displacement, gather in advance according to the following steps breathing state, determine the parameter of breathing state forecast model:
(1) impedance electrodes of apnea detector 2 21 is attached to patient's back, and is connected with electrical impedance analyser 22, open the on and off switch of electrical impedance analyser 22; Allow patient lie low on therapeutic bed, motion accompanying guard shield 4 is placed on the therapeutic bed of radiotherapy apparatus, guard shield is carried out to initial alignment;
(2) adopt apnea detector 2 to gather the breathing states of at least 1 breathing cycle of patient, by the electrical impedance analyser 22 of apnea detector 2, respiratory impedance data are sent to computer;
(3) breathing state that tumor displacement prediction module 8 receives computer is arranged in chronological order, forms the second breathing state sequence B
1, B
2..., B
m, then with the second breathing state sequence B
1, B
2..., B
mfor training dataset, adopt minimum mean square self-adaption filter to determine the parameter of breathing state forecast model, and predict patient m+1 breathing state constantly, obtain m+1 prediction breathing state B ' constantly
m+1.
(3) after having determined the parameter of breathing state forecast model, use according to the following steps system of the present invention:
(1) at i, constantly by apnea detector 2, detect in real time patient respiratory state B
i, and by the electrical impedance analyser 22 of apnea detector 2 by breathing state B
isend to the tumor displacement prediction module 8 in computer;
(2) the breathing state B that tumor displacement prediction module 8 receives constantly according to i
iwith i prediction breathing state B ' constantly
ibetween difference, adopt minimum mean square self-adaption filter to adjust the parameter of breathing state forecast model;
(3) tumor displacement prediction module 8 is according to the breathing state B receiving
i, l-1 the breathing state B constantly receiving before
i-l+1, B
i-l+2..., B
i-1with the parameter of adjusting breathing state forecast model afterwards, adopt minimum mean square self-adaption filter prediction patient i+1 breathing state B ' constantly
i+1, the length of minimum mean square self-adaption filter equals l.
(4) tumor displacement prediction module 8 is according to i+1 prediction breathing state B ' constantly
i+1with the relational model of breathing state and tumor displacement, calculate i+1 predicting tumors displacement D ' constantly
i+1, its schematic diagram as shown in Figure 7;
(5) motion-control module 9 is according to i+1 predicting tumors displacement D ' constantly
i+1with i predicting tumors displacement D ' constantly
ibetween deviation calculate the quantity of motion M that motion accompanying guard shield 4 needs motion
i+1;
For the first hood for protecting rider, motion-control module, according to source positions information and current hood for protecting rider positional information, calculates the required quantity of motion of the first hood for protecting rider, and the required moving displacement of each blade of the first hood for protecting rider.Finally by data processor 1, to guard shield controller 5, send motion control instruction;
For the second hood for protecting rider, it is fixed on above guard shield, follows guard shield motion, only needs radioactive source to irradiate according to the angle intervals of appointment.
(6) servomotor 410 that guard shield controller 5 is followed in guard shield 4 according to the motion control instruction controlled motion receiving rotates, servomotor 410 rotates the leading screw rotation of ordering about ball-screw 407, the leading screw of ball-screw 407 rotates and drives the nut of ball-screw 407 to move, thereby drive guard shield base 404 to move, make guard shield 401 follow the motion of patient tumors; Drive the radiation source movements of following on the first hood for protecting rider 403 simultaneously, and drive hood for protecting rider blade to change shape adaptation lump profile.
(7) whether the time that judges radiotherapy completes, if the time of radiotherapy does not arrive, makes i=i+1, forwards (1) to and proceeds radiotherapy; Otherwise Patients During Radiotherapy finishes.
The above is preferred embodiments of the present invention, but the present invention should not be confined to the disclosed content of this example and accompanying drawing.So every, do not depart from the equivalence completing under spirit disclosed in this invention or revise, all falling into the scope of protection of the invention.
Claims (4)
1. a radiotherapy in lung cancer lump motion accompanying shield system, is characterized in that, this system comprises data processor (1), apnea detector (2), motion accompanying guard shield (4) and guard shield controller (5);
Apnea detector (2) is connected with data processor (1) signal of telecommunication with motion accompanying guard shield (4), and guard shield controller (5) is connected with motion accompanying guard shield (4) signal of telecommunication;
Data processor is for setting up the relational model between breathing state and tumor displacement, and the relational model of setting up source positions, motion accompanying guard shield (4) position and tumor shape; And according to the positional information prediction of the breathing state receiving and radioactive source, motion accompanying guard shield (4) with calculate the required displacement of motion accompanying guard shield (4), then to guard shield controller (5), send motion control instruction, change the position of motion accompanying guard shield (4);
Apnea detector (2) is for detection of patient's breathing state, if thorax variation, abdominal part fluctuations, vital capacity, the motion of tabula mould are, the motion of lung tissue sends to data processor (1) by breathing state by wired or wireless mode;
Motion accompanying guard shield (4) is made by radiation proof material, moves, for realizing blocking the accurate location of knub position and the outer position of tumor under the control of guard shield controller (5);
The motion control instruction that guard shield controller (5) sends for receiving data processor (1), controlled motion is followed guard shield (4) motion.
2. radiotherapy in lung cancer lump motion accompanying shield system according to claim 1, it is characterized in that, in data processor, be provided with image processing module (6), breathing state and tumor displacement relation analysis module (7), tumor displacement prediction module (8) and motion-control module (9);
The tumor anatomical structure image sequence I that in chronological order arrange of image processing module (6) for data processor (1) is received
1, I
2..., I
k, wherein k is the width number of the tumor anatomical structure image that receives while setting up the relational model of breathing state and tumor displacement, then to this tumor anatomical structure image sequence I
1, I
2..., I
kprocess, from tumor anatomical structure image sequence, determine the position of tumor, generate tumor Displacement Sequence D
1, D
2..., D
k, and by tumor Displacement Sequence D
1, D
2..., D
koffer breathing state and tumor displacement relation analysis module (7); Breathing state and tumor displacement relation analysis module (7), for the breathing state of reception is arranged in chronological order, form the first breathing state sequence A
1, A
2..., A
k, according to this first breathing state sequence A
1, A
2..., A
kwith the tumor Displacement Sequence D receiving
1, D
2..., D
k, adopt curve fitting algorithm to set up the relational model between breathing state and tumor displacement, and this relational model offered to tumor displacement prediction module (8);
Tumor displacement prediction module (8) is arranged in chronological order for breathing state data processor (1) being received in breathing state prediction model parameters deterministic process, forms the second breathing state sequence B
1, B
2..., B
m, the breathing state number that m receives when determining the parameter of breathing state forecast model, then with this second breathing state sequence B
1, B
2..., B
mfor training dataset, determine the parameter of breathing state forecast model, and predict patient m+1 breathing state constantly, obtain m+1 prediction breathing state B ' constantly
m+1; If i is for counting the moment of reception breathing state, initial value is m+1, in actual use, and for the breathing state B constantly receiving at i according to data processor (1)
iwith i prediction breathing state B constantly
i' between difference, the parameter of breathing state forecast model is adjusted, and is predicted patient i+1 breathing state B ' constantly
i+1; According to i+1 prediction breathing state B ' constantly
i+1with the relational model of breathing state and tumor displacement, calculate i+1 predicting tumors displacement D ' constantly
i+1;
Motion-control module (9) is for according to the i+1 of tumor displacement prediction module (8) prediction predicting tumors displacement D constantly
i+1' with i predicting tumors displacement D constantly
i' between deviation calculate the quantity of motion M that motion accompanying guard shield (4) needs motion
i+1; By guard shield controller (5), according to the motion control instruction controlled motion receiving, follow guard shield (4) and move, thereby make the center of the tumor in i+1 moment patient body under radioactive source.
3. radiotherapy in lung cancer lump motion accompanying shield system according to claim 1 and 2, it is characterized in that, described motion accompanying guard shield (4) comprises guard shield (401), x radiation x groove (402), the first hood for protecting rider (403), guard shield base (404), guard shield holddown groove (405), guide rail and slide block (406), ball screw (407), shaft coupling (408), mounting base (409), servomotor (410) and guide rail fixed base plate (411);
The guard shield holddown groove (405) that guard shield (401) is arranged on guard shield base (404) is inner, guard shield base (404) is arranged on guide rail and slide block (406), guide rail and slide block (406) are arranged on the both sides of bed, and guide rail is fixing by guide rail fixed base plate (411);
On guard shield (401), be provided with described x radiation x groove (402), on this x radiation x groove (402), described the first hood for protecting rider (403) is installed, the first hood for protecting rider (403) comprises blade driving motor (4031), hood for protecting rider blade (4032), hood for protecting rider drive motors (4033) and driving wheel (4034); The first hood for protecting rider (403) is arranged on the top of guard shield (401), each hood for protecting rider blade (4032) is with corresponding blade driving motor (4031), and the rotation of hood for protecting rider drive motors (4031) makes hood for protecting rider blade (4032) move around guard shield.This system also comprises the radioactive source detector (3) being connected with data processor (1) communication; Radioactive source detector (3), for detection of radioactive source and motion accompanying guard shield (4) present position, then sends to data processor (1) by location drawing picture by wired or wireless mode.
4. radiotherapy in lung cancer lump motion accompanying shield system according to claim 1 and 2, it is characterized in that, described motion accompanying guard shield (4) comprises guard shield (401), guard shield base (404), guard shield holddown groove (405), guide rail and slide block (406), the second hood for protecting rider (501), dividing plate (503), and fixed connecting plate (505);
The second hood for protecting rider (501) is fixed on guard shield (401) top, at the second hood for protecting rider (501), for matching used hood for protecting rider lump profile (502) is installed, guard shield (401) is placed in the guard shield holddown groove (405) in guard shield base (404); Fixed connecting plate (504) connects the slide block of the right and left; Dividing plate (503), for separating patient and fixed connecting plate, is arranged on fixed connecting plate top;
It is inner that guard shield (401) is arranged on guard shield base the guard shield holddown groove (405) on (404), guard shield base (404) is arranged on slide block (406), slide block (406) is arranged on guide rail, and this guide rail is fixedly mounted on two of bed by guide rail fixed base plate (411).
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| CN201310479309.9A CN103566471B (en) | 2013-10-14 | 2013-10-14 | Radiotherapy in lung cancer lump motion accompanying shield system |
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| CN103566471B CN103566471B (en) | 2016-01-20 |
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