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 PDF

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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
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China
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registration instrument
positioning
horizontal registration
bead
kind
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CN201510207967.1A
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Chinese (zh)
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CN104764420A (en
Inventor
杨雅迪
葛云
张婕
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南京大学
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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

A kind of horizontal registration instrument based on optical positioning system

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)

  1. 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.
  2. 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.
  3. 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.
  4. 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.
  5. 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.
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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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

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