CN104764420B - A kind of horizontal registration instrument based on optical positioning system - Google Patents
A kind of horizontal registration instrument based on optical positioning system Download PDFInfo
- Publication number
- CN104764420B CN104764420B CN201510207967.1A CN201510207967A CN104764420B CN 104764420 B CN104764420 B CN 104764420B CN 201510207967 A CN201510207967 A CN 201510207967A CN 104764420 B CN104764420 B CN 104764420B
- Authority
- CN
- China
- Prior art keywords
- registration instrument
- positioning
- bead
- horizontal registration
- horizontal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Radiation-Therapy Devices (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The present invention provides a kind of horizontal registration instrument based on optical positioning system, including air bubble type level meter, positioning bead, fixed support, fine adjustment screw, directional arrow.By coordinating optical positioning system and computer, the computer installation has anglec of rotation software for calculation module and is stored with CT image informations, so as to realize the anglec of rotation for calculating accelerator table.
Description
Technical field
The present invention relates to accelerator table rotation angle measurement field, more particularly to it is a kind of based on optical positioning system
Method for the anglec of rotation calculating in radiotherapy equipment such as linear accelerator therapeutic bed.
Background technology
Medical accelerator, it is a kind of device that charged particle can be accelerated.Accelerated high-energy particle bombardment metallic target it
After can produce X ray, caused this kind of X ray tends to be used for tumor resection.So medical accelerator is usually claimed again
For X ray knife.During radiotherapy is carried out, it is desirable to which X ray needs accurately to beat in knub position, otherwise will cause
Treatment is not thorough, or injury human normal tissue cell.But during medical accelerator is actually used, Yi Shengpu
Have no idea to obtain medical treatment all over reflection the anglec of rotation of bed, it is possible to influence radiotherapy in the treatment quality.
With existing technology, after therapeutic bed rotation, effectively done for the anglec of rotation neither one of accelerator table
Method can measure.Recovery after therapeutic bed rotation, also it can measure whether it returns to original without a kind of effective device
Beginning position.
Therefore, it is necessary to a kind of method that can accurately measure the therapeutic bed anglec of rotation is provided to solve the above problems.
The content of the invention
In view of the shortcomings of the prior art, it is an object of the invention to provide a kind of based on optical positioning system, Ke Yijing
The really method of the measurement therapeutic bed anglec of rotation.
For achieving the above object, the invention provides a kind of horizontal registration instrument based on optical positioning system, including
Air bubble type level meter, the fixed support being fixed on above-mentioned level meter, the positioning bead for scribbling special reflectorized material, for adjusting
Fine adjustment screw and for direction instruction directional arrow.
For achieving the above object, optical positioning system and computer need to be coordinated to be used in conjunction with.The computer installation
There is anglec of rotation software for calculation module, including data acquisition is carried out to accelerator table locus according to optical positioning system
Data acquisition module and the data processing module to Data Analysis Services, corresponding CT images letter is stored in simultaneous computer
Breath, and CT image coordinates can be handled.
As a further improvement on the present invention, the design method of the horizontal registration instrument based on optical positioning system follows
Following principle：
1) the positioning bead is fixed on fixed support, and bead number is three, and scribbles special reflectorized material；
2) putting position of the positioning bead conforms to：Three positioning beads are sequentially connected with to form a triangle, this
Certain a line of triangle is parallel with the transverse axis graduation mark of air-bubble level, and three positioning beads are all located at the same of level meter
On circumference；
3) the positioning bead is fixed on a horizontal plane, and parallel to air-bubble level plane.
As a further improvement on the present invention, the accuracy of manufacture of the horizontal registration instrument based on optical positioning system is less than
Equal to 0.5mm.
As a further improvement on the present invention, the infrared track alignment system is Polaris optical tracking systems.
For achieving the above object, present invention also offers a kind of calculating radiotherapy based on above-mentioned horizontal registration instrument
The method of bed locus, the Computing Principle comprise the following steps (with reference to shown in Fig. 3,4)：
1) the locus coordinate of three positioning beads on infrared track alignment system read level registration instrument is provided, calculated
Wire length between bead two-by-two, wherein straight line where most long line section is the X-direction vector of therapeutic bed coordinate system.
2) plane is determined according to the space coordinates of three positioning beads, the normal vector for calculating this plane obtains medical treatment
The Z-direction vector of bed coordinate system.
3) by obtained X-axis and Z axis vector multiplication cross, the Y direction vector for a coordinate system that obtains medical treatment.
For achieving the above object, present invention also offers a kind of computation accelerator based on above-mentioned horizontal registration instrument to control
The method for treating the bed anglec of rotation, the Computing Principle comprise the following steps：
1) infrared track alignment system is provided, the space bit confidence of positioning bead is read using the infrared track alignment system
Cease and the locus is sent to computer；
2) computer carries out calculating the initial bit for recording accelerator table according to the spatial positional information of positioning bead
Confidence ceases Z1；
3) in radiation therapy process, coordinate information Z2 during patient's treatment is obtained using the infrared track alignment system,
By the coordinate information Z2 of comparing calculation patient, CT picture of patient coordinate information Z3, with the therapeutic bed initial bit confidence recorded
Breath Z1 obtains the anglec of rotation of Current therapeutic bed.
The beneficial effects of the invention are as follows：A kind of horizontal registration instrument based on optical positioning system of the present invention can pass through optics
Alignment system gathers the locus of accelerator table, with reference to CT images, reaches the accurate computation accelerator therapeutic bed anglec of rotation
The purpose of degree.
Brief description of the drawings
Fig. 1 is a kind of structural map of the horizontal registration instrument based on optical positioning system of the present invention.
Fig. 2 is a kind of system principle diagram of the horizontal registration instrument based on optical positioning system of the present invention.
Fig. 3 be a kind of horizontal registration instrument meter based on optical positioning system of the present invention calculate therapeutic bed coordinate system Z-direction to
The schematic diagram of amount.
Fig. 4 be a kind of horizontal registration instrument meter based on optical positioning system of the present invention calculate therapeutic bed coordinate system Y direction to
The schematic diagram of amount.
Embodiment
Below with reference to each embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are not
The present invention is limited to, structure that one of ordinary skill in the art is made according to these embodiments, method or functionally
Conversion is all contained in protection scope of the present invention.
With reference to shown in Fig. 1, a kind of horizontal registration instrument based on optical positioning system of the present invention includes air bubble type level meter, determined
Position bead, fixed support, fine adjustment screw and directional arrow.The manufacture of the horizontal registration instrument based on optical positioning system
Follow following principle：
The positioning bead is fixed on fixed support, and bead number is three, and bead surface scribbles special reflective material
Expect coating, infrared light can be reflected.The relative position of the positioning bead conforms to：Three positioning beads are all located at level meter
Same circumference on, be sequentially connected with to form a triangle, certain a line of this triangle and the transverse axis scale of air-bubble level
Line is parallel.The positioning bead need to be on a horizontal plane, by the regulation bead plane of fine adjustment screw parallel to bubble
Level meter plane.The accuracy of manufacture of the horizontal registration instrument based on optical positioning system is less than or equal to 0.5mm.
With reference to shown in Fig. 2, a kind of horizontal registration instrument based on optical positioning system of the present invention, by coordinating optical alignment system
The anglec of rotation of accelerator table is calculated in system and computer.Wherein described computer is the processor of intel pentium 4
More than 2.2Ghz, and it is provided with anglec of rotation software for calculation module.The anglec of rotation software for calculation module is included according to infrared
The data acquisition module and analyzed and processed to dynamic data that tracing-positioning system is acquired to the spatial position data of therapeutic bed
Data processing module.The computer is stored with CT image informations, and the coordinate information of CT images can be handled.Institute
It is Polaris optical tracking alignment system (Polaris Optical Tracking System) to state infrared track alignment system,
The detection accuracy of the infrared track alignment system has more than 0.5mm resolution ratio.
A kind of horizontal registration instrument based on optical positioning system of the present invention, it is as follows using step：
1) accelerator irradiation field is opened, accelerator table is increased to the centre-heights such as treatment, by level registration instrument pendulum
It is placed in therapeutic bed so that the transverse axis graduation mark of level registration instrument overlaps with accelerator irradiation field horizontal line, and directional arrow points to
The direction of accelerator head, while adjust longitudinal axis graduation mark and overlapped with accelerator irradiation field vertical curve.The horizontal registration of regulation afterwards
Three fine adjustment screws on instrument cause the bubble of level meter to be in the central ring of graduation mark.
2) infrared track alignment system is provided, the locus of instrument is registered using the infrared track alignment system read level
And the locus is sent to computer；
3) when treating, patient's location coordinate information in therapeutic bed at that time is read using the infrared track alignment system.
4) computer calculates accelerator table rotation according to the coordinate information of above-mentioned data and the CT images of storage
Angle, result of calculation is shown over the display.
It can be obtained more than, a kind of horizontal registration instrument based on optical positioning system of the present invention can be positioned by infrared track is
System gathers spatial positional information when therapeutic bed, patient's treatment respectively, with reference to the CT image location informations of patient, accurately calculates
The anglec of rotation of therapeutic bed.
It should be appreciated that although the present specification is described in terms of embodiments, not each embodiment only includes one
Individual independent technical scheme, this narrating mode of specification is only that those skilled in the art will should say for clarity
For bright book as an entirety, the technical scheme in each embodiment may also be suitably combined to form those skilled in the art can
With the other embodiment of understanding.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included in the scope of the protection.
Claims (5)
- A kind of 1. horizontal registration instrument based on optical positioning system, it is characterised in that：The level construction design is as follows：1) the positioning bead described in is fixed on fixed support, and bead number is three；2) putting position of the positioning bead conforms to：Three positioning beads are sequentially connected with to form a triangle, this triangle Certain a line of shape and the transverse axis graduation mark of air-bubble level point-blank, and three positioning beads be all located at level meter On same circumference；3) the positioning bead is fixed on a horizontal plane, and parallel to air-bubble level plane；The horizontal registration instrument is to be used for the computation accelerator therapeutic bed anglec of rotation, and calculation procedure includes：(1) infrared track alignment system is provided, utilizes positioning fixed on infrared track alignment system read level registration instrument The coordinate of bead, and the coordinate is sent to computer；(2) computer calculates according to the coordinate of the positioning bead received and records the initial position Z1 of accelerator table；(3) in treatment, the small spherical coordinates Z2 of positioning with patient is read using infrared track alignment system, is schemed with reference to patient CT As the anglec of rotation of therapeutic bed is calculated in coordinate information Z3, and Z1.
- A kind of 2. horizontal registration instrument based on optical positioning system as claimed in claim 1, it is characterised in that：The positioning is small Ball scribbles special reflectorized material, can reflect infrared light.
- A kind of 3. horizontal registration instrument based on optical positioning system as claimed in claim 1, it is characterised in that：The step (2) specific calculation procedure includes：(1) for the horizontal bead number registered on instrument as 3, computer calculates the wire length between bead two-by-two, most long company Straight line where line segment is defined as the X-axis vector direction of therapeutic bed coordinate system；(2) plane is determined according to the space coordinates of three positioning beads, calculates the normal vector of this plane, be defined as therapeutic bed The Z axis vector direction of coordinate system；(3) by the X-axis obtained before and Z axis vector multiplication cross, the Y-axis vector direction for a coordinate system that obtains medical treatment.
- A kind of 4. horizontal registration instrument based on optical positioning system as claimed in claim 1, it is characterised in that：The computer Anglec of rotation software for calculation module is provided with, including data are carried out to accelerator table locus according to optical positioning system The data acquisition module of collection and the data processing module to Data Analysis Services, corresponding CT figures are stored in simultaneous computer As information, and CT image coordinates can be handled.
- A kind of 5. horizontal registration instrument based on optical positioning system as claimed in claim 1, it is characterised in that：In the step (1) before, the use of the horizontal registration instrument should be in accordance with the following steps：Accelerator irradiation field is opened, by accelerator table liter The up to centre-height such as treatment, horizontal registration instrument is placed in therapeutic bed so that the transverse axis graduation mark of level registration instrument is with adding Fast device irradiation field horizontal line overlaps, and directional arrow points to the direction of accelerator head, while adjusts longitudinal axis graduation mark and accelerator Irradiation field vertical curve overlaps, and three fine adjustment screws on the horizontal registration instrument of regulation afterwards cause the bubble of level meter to be in graduation mark Central ring in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510207967.1A CN104764420B (en) | 2015-04-27 | 2015-04-27 | A kind of horizontal registration instrument based on optical positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510207967.1A CN104764420B (en) | 2015-04-27 | 2015-04-27 | A kind of horizontal registration instrument based on optical positioning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104764420A CN104764420A (en) | 2015-07-08 |
| CN104764420B true CN104764420B (en) | 2018-02-16 |
Family
ID=53646400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510207967.1A Active CN104764420B (en) | 2015-04-27 | 2015-04-27 | A kind of horizontal registration instrument based on optical positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104764420B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111664813B (en) * | 2020-05-15 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Free surface arbitrary hole normal vector measuring device and method and compensation method |
| CN112402815A (en) * | 2020-11-18 | 2021-02-26 | 北京市医疗器械检验所 | Method for detecting horizontal deviation of accelerator treatment couch under different loads |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87201170U (en) * | 1987-03-28 | 1988-05-18 | 蒋传铿 | Universal level-metre |
| CN1896707A (en) * | 2006-06-07 | 2007-01-17 | 南京大学 | Mechanical precision digital tester for radiotherapetutical equipment |
| 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 |
| 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 |
| CN202366342U (en) * | 2011-12-08 | 2012-08-08 | 河南科技大学第一附属医院 | Three-dimensional positioning body frame |
| CN104204852A (en) * | 2012-03-08 | 2014-12-10 | 约翰霍普金斯大学 | A method and apparatus for real-time mechanical and dosimetric quality assurance measurements in radiation therapy |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1217947A4 (en) * | 1999-07-23 | 2005-01-19 | Univ Florida | Ultrasonic guidance of target structures for medical procedures |
-
2015
- 2015-04-27 CN CN201510207967.1A patent/CN104764420B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87201170U (en) * | 1987-03-28 | 1988-05-18 | 蒋传铿 | Universal level-metre |
| 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 |
| CN202366342U (en) * | 2011-12-08 | 2012-08-08 | 河南科技大学第一附属医院 | Three-dimensional positioning body frame |
| CN104204852A (en) * | 2012-03-08 | 2014-12-10 | 约翰霍普金斯大学 | A method and apparatus for real-time mechanical and dosimetric quality assurance measurements in radiation therapy |
Non-Patent Citations (3)
| Title |
|---|
| 放疗新技术的研究进展;王冬等;《中国医疗设备》;20150228;第30卷(第2期);第69-71页 * |
| 放疗自动实时跟踪定位系统的研制;郁洋等;《医疗卫生装备》;20081130;第29卷(第11期);参见正文第第2页左栏倒数第1-2段、右栏第1段、图3 * |
| 红外定位系统在精确放疗中的应用;于龙珍;《中国医学物理学杂志》;20100731;第27卷(第4期);第1993-1994页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104764420A (en) | 2015-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12042671B2 (en) | Method of calibration of a stereoscopic camera system for use with a radio therapy treatment apparatus | |
| CN109464757B (en) | Method, system, device and storage medium for determining position of target object | |
| CN110582328B (en) | Radiotherapy emergent beam monitoring method and system | |
| CN101336120B (en) | Device and method for positioning a patient in a radiation therapy apparatus | |
| EP2662115B1 (en) | Control device for radiation therapy device and programme for same | |
| US8471222B2 (en) | Radiotherapy apparatus control method and radiotherapy apparatus control apparatus | |
| US9480860B2 (en) | System and methods for processing images to measure multi-leaf collimator, collimator jaw, and collimator performance utilizing pre-entered characteristics | |
| CN108744310A (en) | Multi-mode guides adaptive radiotherapy system | |
| US20120105969A1 (en) | Method for calibrating a multileaf collimator | |
| US9393444B2 (en) | Treatment planning device, treatment planning method, and program therefor | |
| US8005190B2 (en) | Radiotherapy apparatus controller and irradiation method | |
| CN105167788A (en) | Dual-image C-shaped arm system | |
| van Sörnsen de Koste et al. | Markerless tracking of small lung tumors for stereotactic radiotherapy | |
| CN110075428A (en) | A kind of beam examines, measurement method and device | |
| US10737120B2 (en) | Detecting consistency between radiation field and light field | |
| CN103025246A (en) | Adjustable dynamic x-ray filter | |
| CN104764420B (en) | A kind of horizontal registration instrument based on optical positioning system | |
| CN102579061A (en) | Positioning method realized by aid of C-shaped arm and guiding system | |
| Harris et al. | Feasibility of fully automated detection of fiducial markers implanted into the prostate using electronic portal imaging: A comparison of methods | |
| CN116563456B (en) | Three-dimensional dose reconstruction method and system based on EPID image | |
| CN102670237B (en) | Gamma radiation positioning system | |
| CN112566693B (en) | Therapy system, calibration method, and storage medium | |
| Ono et al. | Geometric and dosimetric accuracy of dynamic tumor‐tracking conformal arc irradiation with a gimbaled x‐ray head | |
| CN101559256A (en) | United autonomous respiration control on-line alignment technique using iodized oil image to guide image-guided radiotherapy | |
| CN112133412A (en) | Method and device for determining rotation angle of rack |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |