CN104764420A - Leveling register instrument based on optical positioning system - Google Patents

Leveling register instrument based on optical positioning system Download PDF

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Publication number
CN104764420A
CN104764420A CN201510207967.1A CN201510207967A CN104764420A CN 104764420 A CN104764420 A CN 104764420A CN 201510207967 A CN201510207967 A CN 201510207967A CN 104764420 A CN104764420 A CN 104764420A
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China
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positioning system
level
instrument
coordinate
described
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CN201510207967.1A
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Chinese (zh)
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CN104764420B (en
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杨雅迪
葛云
张婕
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南京大学
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Abstract

The invention provides a leveling register instrument based on an optical positioning system. The leveling register instrument comprises a bubble type leveling instrument, small positioning balls, fixing supports, fine adjustment screws and a pointing arrow. The leveling register instrument is used in cooperation with the optical positioning system and a computer; the computer is provided with a rotational angle calculation software module, CT image information is stored in the computer, and therefore the rotational angle of an accelerator treatment table can be worked out.

Description

A kind of registration of the level based on optical positioning system instrument

Technical field

The present invention relates to accelerator table rotation angle measurement field, particularly relating to a kind of method for calculating as the anglec of rotation of linear accelerator therapeutic bed at radiotherapy equipment based on optical positioning system.

Background technology

Medical accelerator is a kind of device that can accelerate charged particle.Can produce X ray after accelerated high-energy particle bombardment metallic target, this kind of X ray of generation often can be used in tumor resection.So medical accelerator is usually called as X ray cutter again.Carrying out in radiocurable process, requiring that X ray needs accurately to beat at knub position, otherwise treatment just can be caused not thorough, or injury human normal tissue cell.But use in the process of medical accelerator in reality, doctor generally reflects the anglec of rotation of bed of having no idea to obtain medical treatment, and likely affects radiotherapy in the treatment quality.

With existing technology, after therapeutic bed rotates, the effective way of anglec of rotation neither one for accelerator table can be measured.Recovery after therapeutic bed rotates, does not have a kind of effective device can measure it yet and whether gets back to original position.

Therefore, be necessary to provide a kind of method accurately can measuring the therapeutic bed anglec of rotation to solve the problem.

Summary of the invention

For the deficiencies in the prior art, the object of the present invention is to provide a kind of based on optical positioning system, accurately can measure the method for the therapeutic bed anglec of rotation.

For achieving the above object, the invention provides a kind of level based on optical positioning system registration instrument, comprise air bubble type level meter, the fixed support be fixed on above-mentioned level meter, scribble special reflectorized material location bead, for the fine adjustment screw that regulates and the directional arrow for direction.

For achieving the above object, optical positioning system and computing machine need be coordinated jointly to use.Described computer installation has anglec of rotation software for calculation module, comprise, according to optical positioning system, the data acquisition module of data acquisition and the data processing module to Data Analysis Services are carried out to accelerator table locus, store corresponding CT image information in simultaneous computer, and can process CT image coordinate.

As a further improvement on the present invention, the design of the described registration of the level based on optical positioning system instrument follows following principle:

1) described location bead is fixed on fixed support, and bead number is three, and scribbles special reflectorized material;

2) putting position of described location bead conforms to: three location beads are connected to form a triangle in turn, and this leg-of-mutton a certain bar limit is parallel with the transverse axis scale mark of air-bubble level, and three location beads are all positioned at the circumferentially same of level meter;

3) described location bead is fixed on a surface level, and is parallel to air-bubble level plane.

As a further improvement on the present invention, the manufacturing accuracy of the described registration of the level based on optical positioning system instrument is less than or equal to 0.5mm.

As a further improvement on the present invention, described infrared track positioning system is Polaris optical tracking system.

For achieving the above object, present invention also offers a kind of method of the calculating radiation therapeutical bed locus based on above-mentioned level registration instrument, described Computing Principle comprises the following steps (shown in composition graphs 3,4):

1) provide infrared track positioning system read level to register the locus coordinate of three location beads on instrument, calculate the wire length between two between bead, wherein the longest line section place straight line is the X-direction vector of therapeutic bed coordinate system.

2) determine a plane according to the volume coordinate of three location beads, namely the normal vector calculating this plane obtains medical treatment the Z-direction vector of a coordinate system.

3) by the X-axis that obtains and Z-axis direction amount multiplication cross, the Y direction vector of a coordinate system that obtains medical treatment.

For achieving the above object, present invention also offers a kind of method of the computation accelerator therapeutic bed anglec of rotation based on above-mentioned level registration instrument, described Computing Principle comprises the following steps:

1) infrared track positioning system is provided, utilizes this infrared track positioning system read the spatial positional information of location bead and this locus is sent to computing machine;

2) computing machine carries out calculating the initial position message Z1 recording accelerator table according to the spatial positional information of location bead;

3) in radiation therapy process, utilize coordinate information Z2 during this infrared track positioning system acquisition patient treatment, by coordinate information Z2, the CT picture of patient coordinate information Z3 of comparing calculation patient, obtain the anglec of rotation of Current therapeutic bed with the therapeutic bed initial position message Z1 recorded.

The invention has the beneficial effects as follows: a kind of registration of the level based on optical positioning system of the present invention instrument can gather the locus of accelerator table by optical positioning system, in conjunction with CT image, reach the object of the accurate Calculation accelerator table anglec of rotation.

Accompanying drawing explanation

Fig. 1 is the structural map of a kind of registration of the level based on optical positioning system of the present invention instrument.

Fig. 2 is the system principle diagram of a kind of registration of the level based on optical positioning system of the present invention instrument.

Fig. 3 is the schematic diagram that a kind of registration of the level based on optical positioning system of the present invention instrument calculates therapeutic bed coordinate system Z-direction vector.

Fig. 4 is the schematic diagram that a kind of registration of the level based on optical positioning system of the present invention instrument calculates therapeutic bed coordinate system Y direction vector.

Embodiment

Describe the present invention below with reference to each embodiment shown in the drawings.But these embodiments are not restricted to the present invention, the structure that those of ordinary skill in the art makes according to these embodiments, method or conversion functionally are all included in protection scope of the present invention.

Shown in composition graphs 1, a kind of registration of the level based on optical positioning system of the present invention instrument comprises air bubble type level meter, location bead, fixed support, fine adjustment screw and directional arrow.The manufacture of the described registration of the level based on optical positioning system instrument follows following principle:

Described location bead is fixed on fixed support, and bead number is three, and bead surface scribbles special reflectorized material coating, can reflective infrared light.The relative position of described location bead conforms to: three location beads are all positioned at the circumferentially same of level meter, and be connected to form a triangle in turn, this leg-of-mutton a certain bar limit is parallel with the transverse axis scale mark of air-bubble level.Described location bead need be on a surface level, makes bead plane be parallel to air-bubble level plane by the adjustment of fine adjustment screw.The manufacturing accuracy of the described registration of the level based on optical positioning system instrument is less than or equal to 0.5mm.

Shown in composition graphs 2, a kind of registration of the level based on optical positioning system of the present invention instrument, by the anglec of rotation coordinating optical positioning system and computer calculate to draw accelerator table.Wherein said computing machine is intel pentium 4 more than processor 2.2Ghz, and is provided with anglec of rotation software for calculation module.Described anglec of rotation software for calculation module comprises the data acquisition module that gathers according to the spatial position data of infrared track positioning system to therapeutic bed and the data processing module to dynamic data analyzing and processing.Described Computer Storage has CT image information, and can process the coordinate information of CT image.Described infrared track positioning system is Polaris optical tracking positioning system (Polaris Optical TrackingSystem), and the detection accuracy of this infrared track positioning system has the resolution of more than 0.5mm.

A kind of registration of the level based on optical positioning system of the present invention instrument, uses step as follows:

1) accelerator irradiation field is opened, will speed up device therapeutic bed and be increased to the centre-heights such as treatment, level being registered instrument is placed in therapeutic bed, the transverse axis scale mark making level register instrument overlaps with accelerator irradiation field horizontal line, directional arrow points to the direction of accelerator head, adjusts longitudinal axis scale mark simultaneously and overlaps with accelerator irradiation field vertical curve.Three fine adjustment screws on the registration of adjustment level afterwards instrument make the bubble of level meter be in the central ring of scale mark.

2) infrared track positioning system is provided, utilizes this infrared track positioning system read level register the locus of instrument and this locus is sent to computing machine;

3), during treatment, this infrared track positioning system is utilized to read the location coordinate information of patient at that time in therapeutic bed.

4) computing machine calculates according to the coordinate information of the CT image of above-mentioned data and storage the angle that accelerator table rotates, by result of calculation display over the display.

By obtaining above, spatial positional information when a kind of level based on optical positioning system of the present invention registration instrument gathers therapeutic bed, patient treatment respectively by infrared track positioning system, in conjunction with the CT image location information of patient, accurately calculate the anglec of rotation of therapeutic bed.

Be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.

A series of detailed description listed is above only illustrating for feasibility embodiment of the present invention; they are also not used to limit the scope of the invention, all do not depart from the skill of the present invention equivalent implementations done of spirit or change all should be included within protection scope of the present invention.

Claims (8)

1., based on a level registration instrument for optical positioning system, it is characterized in that: described level registration instrument comprises air bubble type level meter, the fixed support be fixed on above-mentioned level meter, scribble reflectorized material location bead, for the fine adjustment screw that regulates and the directional arrow being used to indicate direction.
2. a kind of level based on optical positioning system registers instrument as claimed in claim 1, it is characterized in that: described location bead scribbles special reflectorized material, can reflective infrared light.
3., as a kind of registration of the level based on the optical positioning system instrument in claim 1 or 2 as described in any one, its design is based on following principle:
1) the location bead described in is fixed on fixed support, and bead number is three;
2) putting position of described location bead conforms to: three location beads are connected to form a triangle in turn, the transverse axis scale mark of this leg-of-mutton a certain bar limit and air-bubble level point-blank, and three location beads be all positioned at the circumferentially same of level meter;
3) described location bead is fixed on a surface level, and is parallel to air-bubble level plane.
4. a kind of registration of the level based on the optical positioning system instrument required by aforesaid right, is characterized in that: described level registration instrument manufacturing accuracy is within 0.5mm.
5., based on a method for the calculating radiation therapeutical bed volume coordinate of above-mentioned level registration instrument, described Computing Principle comprises the following steps:
Infrared track positioning system reads out the locus coordinate of three location beads on level registration instrument, the wire length of computer calculate between two between bead, and the longest line section place straight line is the X-axis vector direction of therapeutic bed coordinate system;
Volume coordinate according to three location beads determines a plane, and namely the normal vector calculating this plane obtains medical treatment the Z axis vector direction of a coordinate system;
By the X-axis that obtains before and Z-axis direction amount multiplication cross, the Y-axis vector direction of a coordinate system that obtains medical treatment.
6., based on a method for the calculating radiation therapeutical bed anglec of rotation of above-mentioned level registration instrument, described Computing Principle comprises the following steps:
Infrared track positioning system is provided, utilizes this infrared track positioning system read level register the locus coordinate of three location beads on instrument and this locus coordinate is sent to computing machine;
Computing machine carries out calculating the initial position message Z1 recording accelerator table according to the spatial positional information of location bead;
In radiation therapy process, utilize coordinate information Z2 during this infrared track positioning system acquisition patient treatment, by coordinate information Z2, the CT picture of patient coordinate information Z3 of comparing calculation patient, obtain the anglec of rotation of Current therapeutic bed with the therapeutic bed initial position message Z1 recorded.
7. as the Computing Principle as described in arbitrary in claim 5 or 6, it is characterized in that computer installation has anglec of rotation software for calculation module, comprise, according to optical positioning system, the data acquisition module of data acquisition and the data processing module to Data Analysis Services are carried out to accelerator table locus, store corresponding CT image information in simultaneous computer, and can process CT image coordinate.
8. the method for a kind of calculating radiation therapeutical bed anglec of rotation based on level registration instrument required by aforesaid right, is characterized in that: described infrared track positioning system is Polaris optical tracking system.
CN201510207967.1A 2015-04-27 2015-04-27 A kind of horizontal registration instrument based on optical positioning system CN104764420B (en)

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CN87201170U (en) * 1987-03-28 1988-05-18 蒋传铿 Universal level-metre
WO2001006924A1 (en) * 1999-07-23 2001-02-01 University Of Florida Ultrasonic guidance of target structures for medical procedures
CN2902196Y (en) * 2006-03-01 2007-05-23 南方医科大学 Apparatus for precisely positioning part of human body used for radiation therapy
CN1896707A (en) * 2006-06-07 2007-01-17 南京大学 Mechanical precision digital tester for radiotherapetutical equipment
CN101099673A (en) * 2007-08-09 2008-01-09 上海交通大学 Surgical instrument positioning method using infrared reflecting ball as symbolic point
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