CN105031833A - Dosage verification system for radiotherapy apparatus - Google Patents

Dosage verification system for radiotherapy apparatus Download PDF

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Publication number
CN105031833A
CN105031833A CN201510537536.1A CN201510537536A CN105031833A CN 105031833 A CN105031833 A CN 105031833A CN 201510537536 A CN201510537536 A CN 201510537536A CN 105031833 A CN105031833 A CN 105031833A
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image
dosage
dose
dimensional
plan
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CN105031833B (en
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周付根
吴大可
姚进
刘博�
李超
许轩昂
郭斌
梁斌
廖华宣
韦崇高
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Rui Dima Medical Science And Technology Co Ltd
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Rui Dima Medical Science And Technology Co Ltd
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Abstract

The invention discloses a dosage verification system for radiotherapy apparatus, belonging to the field of medical equipment. The dosage verification system is composed of a data transmission module, an image registration module, a profile mapping module, a tissue variation analyzing module, a four-dimensional image modeling module, a dosage remodeling module and a dosage estimation module. According to the invention, the dosage verification system can, based on associated image information acquired during the therapy process, analyze the dosages of radiation that a target area and a normal organ are actually exposed to, analyze variations of the organ and tissue of a patient and remodel the dosage of the radiation, and provide a basis for the radiotherapy apparatus to implement online and offline self-adaptationof the therapy plan.

Description

The dosage verifying system of radiotherapy unit
art:
The invention belongs to field of medical device, be specifically related to a kind of dosage verifying system of radiotherapy unit.
background technology:
Along with the development of radiotherapy technology and equipment, radiotherapy advances towards the target of " accurate radiotherapy ", namely requires to carry out Precise Diagnosis, accurately location, accurately plan and accurate treatment in radiation therapy process.Therefore, strengthen for the quality control of radiotherapy and the quality assurance most important, wherein dosage verifying technology is one of them means.In use film making checking means in conventional radiotheraphy, but the film making dosage verifying of two dimension can only be carried out, 3-dimensional dose distribution real-time verification can't be realized.Some image guided radiation therapy (Image-guidedRadiotherapy, IGRT) equipment, adopt cone beam x-ray tomography scanning (CBCT) as image documentation equipment, the guiding in real time realizing tumor target follows the trail for the treatment of, but in successive treatment, the form of tumor can change, such as Tumor shrank, tissue morphology disappear, the treatment plan started if continue, exposure dose then can be caused uneven, and if reformulate plan, then need to re-start CT scan, time expand, increase cost.
Therefore, the accurate conformal radiation therapy of motion tumor is one of subject matter of facing of current cancer field of radiation therapy.In recent years, kinds of tumors tracking treatment technology is suggested with solving this problem and achieving reasonable effect.Tumor follow the trail for the treatment of technology by carrying out modeling to the characteristics of motion of tumor, over the course for the treatment of real-time estimate tumor position and according to this dynamic conditioning colimated light system (such as the position etc. of MLC leaf position, robot collimator) carry out tracking treat.In addition, information relevant for treatment also can be treated in journal file, for the checking of successive treatment quality according to the write of certain frequency by tumor tracking therapeutic equipment over the course for the treatment of.The treatment relevant information of record goes out the position etc. of number, the knub position tracked, colimated light system including, but not limited to ray.But routine does not consider the change of colimated light system position in the motion of tumor in therapeutic process and therapeutic process based on the dosage verifying method of CBCT image, therefore can not be applicable to the dosage verifying that tumor follows the trail for the treatment of technology.
A kind of novel radiation therapy technology based on image-guided stereotactic surgery/radiotherapy.Compared to the stereotactic surgery/radiotherapy technology of routine, do not use bone to locate the motion of (skeletalfixation) device restriction patient over the course for the treatment of based on image-guided stereotactic surgery/radiotherapy, but utilize imaging methods periodically to detect the change of patient body position.If monitor the position chanP of patient and change within the scope that can compensate, then the position of dynamic conditioning colimated light system realizes the accurate irradiation of tumor.If patient body position's change is beyond the scope that can compensate, then suspends treatment and continual cure behind position is put again to patient.Over the course for the treatment of, information relevant for treatment can be treated in journal file, for the checking of successive treatment quality according to the write of certain frequency by image-guided stereotactic surgery/radiotherapy apparatus.The treatment relevant information of record goes out the position etc. of number, the knub position tracked, colimated light system including, but not limited to ray.But routine does not consider the change of patient body position in therapeutic process and the adjustment of colimated light system position based on the dosage verifying method of CBCT image, therefore can not be applicable to the dosage verifying based on image-guided stereotactic surgery/radiotherapy technology.
summary of the invention:
The object of the invention is to cause prescribed dose misalignment because of the change of patient target area to overcome existing radiotherapy unit, the extended treatment time, increase the defect for the treatment of cost, for people provide a kind of dosage verifying system of radiotherapy unit, can according to the relevant image information gathered in therapeutic process, analyze target area and the actual exposure dose of bearing of normal organ, patient tissue organ mutation analysis function and exposure dose Reconstruction of The Function are provided, provide foundation for radiotherapy unit realizes the online and off-line self-adaptative adjustment for the treatment of plan.
The object of the invention is to be realized by following technical proposals:
The dosage verifying system of radiotherapy unit of the present invention, it is characterized in that dosage verifying system forms primarily of data transmission module, image registration module, profile mapping block, tissue change analysis module, four-dimensional image modeling module, dose reconstruction module and dosage evaluation module, wherein, data transmission module is connected with data server, and data transmission module is also connected with dose reconstruction module with image registration module, profile mapping block, four-dimensional image modeling module respectively; Image registration module is connected with dosage evaluation module with profile mapping block, four-dimensional image modeling module respectively; Profile mapping block is connected with dosage evaluation module with tissue change analysis module respectively through the online tissue contours of patient; Tissue change analysis module is connected with four-dimensional (4D) radiotherapy treatment planning system with data transmission module; Four-dimensional image modeling module is connected with dose reconstruction module; Dose reconstruction module is connected with dose assessment module; Dose assessment module is connected with 4D radiotherapy treatment planning system with data transmission module.
In such scheme, described data transmission module is communicated with data server by network connection, obtains the related data needed for dosage verifying, the result is stored into data server.
In such scheme, described image registration module provides rigid body and deformable registration method, the registration of phase 3-D view of not sharing a common fate for four-dimensional CT/CBCT in four-dimensional image modeling module; For planning the deformable registration of CT image and CBCT image in profile mapping block.
Deformation vectors field between the plan CT that in such scheme, described profile mapping block utilizes the planning contours information of patient, Registration of Measuring Data module provides and online CBCT image, calculates the mapping of planning contours to CBCT image; After profile mapping result is modified, obtain the online tissue contours of patient; Profile mapping block comprises following submodule: a) three-dimensional grid builds submodule: according to tissue three-dimensional contour line, builds the three-dimensional grid surface model of tissue; Be specially: first utilize the initial three-dimensional profile reconstruction of tissue to go out the three-dimensional grid surface of tissue, then Deformation Field interpolation technique is utilized, the deformation vectors on each three-dimensional grid summit is obtained from the deformation vectors field that registration obtains, and coordinate transform is carried out to grid vertex, obtain the three-dimensional grid surface model under profile mapping objects image coordinate system; B) three-dimensional module cutting submodule: utilize the three-dimensional grid surface model cutting after deformation to go out three-dimensional contour line on arbitrary plane; Be specially: according to target image section place plane, cutting is carried out to three-dimensional grid surface model, calculates the slice location of cutting and each three-dimensional grid, and by connecting grid cutting point in order, obtain corresponding contour line; C) profile range conversion submodule: utilize tissue three-dimensional contour line to obtain the three-dimensional distance figure of its correspondence; Be specially: first according to original contour line computation profile binary map and profile distance map, the image coordinate system of profile distance map is consistent with the image for sketching outline line, the voxel value being positioned at contoured interior in range image is just, the voxel value of profile exterior is negative, and its absolute value is the minimum distance of this point to three-D profile surface; Then utilize deformation vectors field to carry out deformation conversion to three-dimensional distance figure, obtain the profile distance map under profile mapping objects image space coordinate; Finally in extraction distance map, on each faultage image, pixel value is the contour of 0, and this contour is the mapping result of three-dimensional contour line.
In such scheme, described tissue change analysis module by Quantitative Comparison patient care plan profile and the online tissue contours of patient analyze histoorgan in position, the change of volume and vpg connection, and by data transmission module, online for patient tissue contours is saved in data server; Also can check simultaneously and analyze the form in multiple gradation undertissue, display organization directly perceived is along with the situation of change of therapeutic process.
In such scheme, the deformation vectors field between the different phase of the four-dimensional CT image that described four-dimensional image modeling module utilizes image registration module to provide, sets up the four-dimensional iconic model of patient; Mainly comprise image registration and four-dimensional movement modeling two submodules: a) image registration submodule carries out registration between two to group 3-D view each in 4DCT/4DCBCT according to the order of breathing phase, obtains the deformation vectors field between two adjacent groups 3-D view; B) four-dimensional movement modeling submodule fully utilizes each group of deformation vectors field that image registration submodule obtains, according to respirometric seriality, periodic characteristics, build B-spline motion model or Based PC A(principal component analysis) motion model, thus improve the accuracy of movable information.
In such scheme, the dosage that described dose reconstruction module utilizes four-dimensional iconic model or three-dimensional CBCT image reconstruction to go out current gradation patient to bear, mainly comprises electron density and demarcates submodule and radiacmeter operator module:
A) electron density demarcates submodule by planning CT image registration on CBCT image, obtains voxel in CBCT image correspondence position on plan CT image , then utilize the HU value at place replaces voxel in CBCT image the HU value at place, the final HU image generating one group of simulation is used for determination and the Rapid Dose Calculation of organizing electronic density;
B) Rapid Dose Calculation submodule carries out Rapid Dose Calculation based on the CBCT demarcating electron density, estimates patient's actual dosage accepted in interval procedure;
Fractionated dose for static target area is rebuild, and Rapid Dose Calculation submodule considers the impact of patient body position's change on acceptable dose in therapeutic process;
Fractionated dose for motion target area is rebuild, Rapid Dose Calculation submodule considers target area and other related organizations actual motion situation over the course for the treatment of, target area and follows the trail of the situation for the treatment of, thus estimate patient's acceptable dose more accurately, be specially: for each launched field, from treatment procedure file, dissecting needle is to the movement locus of collimator during each launched field motion compensation and range of movement, and movement locus is divided into N number of subarc of equidistant intervals; Obtain the position at center, target area, each subarc mean place place, and obtain corresponding 3 d image data according to center, target area interpolation from four-dimensional iconic model, finally carry out Rapid Dose Calculation according to these data; The roentgenization machine jumping figure (MU) of each subarc, for treatment head comes and goes in multiple periodic movement process, MU number sum between this subsegment; By carrying out above-mentioned Rapid Dose Calculation flow process to each subarc respectively, obtain N group 3-dimensional dose field , right be weighted the 3-dimensional dose field of suing for peace and obtaining for each launched field; Then carry out above-mentioned Rapid Dose Calculation for all launched fields, add up, finally obtain the dosage field of whole treatment plan; Wherein, from four-dimensional iconic model, the operating process of the 3 d image data that interpolation acquisition is corresponding is: first carry out interpolation according to center, target area to target area four-dimensional movement model, obtains breathing phase corresponding in four-dimensional iconic model ; Then basis with the distance determination interpolation weights of adjacent two corresponding phases of 3-D view ; Finally utilize motion vector field between these two groups of 3-D views to carry out deformation conversion to reference to phase, finally obtain for 3-D view corresponding to this treatment subarc.
In such scheme, described dose assessment module utilizes the difference between dose reconstruction interpretation of result patient care plan's dosage and interval procedure dosage, multiple gradation cumulative dose; Comprise dosage map submodule and dosage analysis submodule: deformation vectors field a) between the dosage map submodule plan CT image that utilizes image registration module to obtain and CBCT image, under the fractionated dose field that dose reconstruction module calculates being mapped to plan CT image coordinate system, obtaining gradation and map dosage field; The mapping dosage field of multiple gradation is utilized to bear dosage to the accumulation calculating patient, for comparing with intended dose; B) dosage analysis submodule carries out analysis and comparison to intended dose field and the irradiation of rebuilding dosage related organization after the match by amount, adjusts, revise the actual deviation measured by amount and plan of patient to treatment plan; By the intended dose and reconstruction dosage that compare die body plan, carried out to system the QA(quality assurance); The function provided comprises: the contrast of isodose, isodose surface display, DVH(dose volume histogram) contrast display, the contrast display of section dosage and difference display, dosage field 3DGamma(gamma) analyze.
In such scheme, the dosage verifying system of described radiotherapy unit is as follows for the step of online dosage verifying:
A. utilize non-rigid body model method to put the 3DCBCT image registration of position to plan CT by being used for patient, obtain the deformation vectors field of planning CT to 3DCBCT, wherein deformation vectors field have recorded every bit in plan CT p i the deformation vectors of corresponding point in 3DCBCT;
B. utilize above-mentioned deformation vectors field to be mapped on 3DCBCT by the related organization's profile on plan CT, obtain the online tissue contours information of patient:
A) for each related organization, the three-dimensional masking-out image comprising this tissue is in space built; In masking-out image, the value of each voxel represents profile containment relationship, and when this voxel is positioned at occluding contour inside, value is 1; When this voxel is positioned at occluding contour outside, value is 0;
B) utilize MarchingCube isosurface extraction method extract voxel value be 1 three-dimensional equivalent table surface model;
C) the deformation vectors field utilizing steps A to obtain, converts each summit of three-dimensional equivalent table surface model, obtains the three-D profile surface model after deformation;
D) for every one deck two dimension axle bit image of target 3DCBCT, the plane of coincideing with this two-dimensional image position is utilized to carry out cutting to the three-dimensional equivalent table surface model after deformation, the point obtaining 3 d surface model and this Plane intersects or the straight line overlapped; These points are connected in order with straight line, the contour line organized after obtaining corresponding to the deformation of this two-dimentional axle bit image;
E) contour line on all two-dimentional axle bit images of integration objective 3DCBCT, is and maps the online tissue contours information of the patient obtained by profile;
C. calculate the deformation vectors field of 3DCBCT image to plan CT image, deformation vectors field have recorded every bit in 3DCBCT p i the deformation vectors of corresponding point in plan CT; Utilize plan HU (HounsfieldUnit) value of CT and the transformational relation of electron density, calculate the electron density of this voxel according to the HU value of each voxel of 3DCBCT corresponding position in plan CT, thus obtain organizing electronic density map corresponding to 3DCBCT image; When calculating deformation vectors field, the plan CT image first obtained steps A is to the deformation vectors field of this 3DCBCT image dFcarry out inversion calculation; Then utilize method for registering images using this inverse transformation as initial value, plan CT is registrated to 3DCBCT, obtain 3DCBCT image to plan CT deformation vectors field accurately;
D. the organizing electronic density map utilizing 3DCBCT image corresponding calculates the exposure dose that the current gradation of patient is born;
E. the deformation utilizing the 3DCBCT image of different gradation collection and the exposure dose of calculating to carry out the multiple fractionation of radiation dosage of patient adds up; The deformation of exposure dose is cumulative to be needed to choose a certain group of image image as a reference, and wherein reference picture is the 3DCBCT of plan CT or gradation collection arbitrarily; When deformation adds up, first the correspondence position of each voxel in other gradation 3DCBCT image in the computing reference image of deformation vectors field is utilized, and utilize cubic interpolation method to obtain the dosage of this position, finally the dosage that interpolation obtains is added up, obtain the deformation cumulative dose at certain voxel location place;
F. quantitative analysis related organization Geometrical change situation and caused by it exposure dose change; Geometrical change comprises the change of tissue volume and position of centre of gravity, the coincidence factor in change front and rear profile region; For the analysis of exposure dose change, the situation of change of single fractionation of radiation dosage and multiple gradation cumulative dose can be analyzed; The change of dosage comprises the change that tissue bears maximum, minimum, average, median dose and dose-volume relation; Consider the tissue change situation of multiple gradation, calculate indices along with the change curve of interval procedure and rate of change.
In such scheme, the dosage verifying system of described radiotherapy unit is as follows for the step of the dose reconstruction comprising movable information:
A. 4DCBCT data are utilized to set up the four-dimensional iconic model comprising histokinesis's information; Four-dimensional iconic model comprise many groups of three-dimensional CBCT under phase of not sharing a common fate and different time alternate histoorgan movable information;
A) according to the order of breathing phase, registration is between two carried out to group 3-D view each in 4DCBCT, obtain the deformation vectors field between two adjacent groups 3-D view;
B) fully utilize each group of deformation vectors field, according to features such as respirometric seriality, periodicity, build the motion model of B-spline motion model or Based PC A, improve the accuracy of movable information;
Automatically delineating B. based on related organization's contour line on the 4DCBCT of contour line Means of Deformation Mapping Approach:
A) each group 3DCBCT image registration is to plan CT by 4DCBCT to utilize non-rigid body model method, and obtain the deformation vectors field of planning CT to 3DCBCT, wherein deformation vectors field have recorded every bit in plan CT p i the deformation vectors of corresponding point in each group 3DCBCT;
B) utilize above-mentioned deformation vectors field to be mapped on each group 3DCBCT by the related organization's profile on plan CT, obtain the online tissue contours information of patient;
C. in calculating 4DCBCT, each group 3DCBCT image is to the deformation vectors field of plan CT, and wherein deformation vectors field have recorded every bit in 3DCBCT p i the deformation vectors of corresponding point in plan CT; Utilize HU value and the electron density transformational relation of plan CT, calculate the electron density of this voxel according to the HU value of each voxel of 3DCBCT corresponding position in plan CT, thus finally obtain the organizing electronic density map that in 4DCBCT, each group 3DCBCT image is corresponding; Calculate each group 3DCBCT image to when planning the deformation vectors field of CT, first to the deformation vectors field of this 3DCBCT image, inversion calculation is carried out to the plan CT image that step B obtains, then utilize method for registering images using this inverse transformation as initial value, plan CT is registrated to 3DCBCT, obtains the accurate deformation vectors field of 3DCBCT image to plan CT;
D. according to the treatment journal file recorded in therapeutic process, the checking dosage comprising motion tumor tracked information is calculated:
A) for each launched field B i, from treatment journal file, analyze the movement locus and range of movement that obtain collimator when dynamic tracing motion target area is treated, and movement locus is divided into N number of subsegment of equidistant intervals, wherein N can be selected as required by doctor;
B) obtain the position at center, target area, each subsegment mean place place according to treatment journal file, and obtain corresponding three-dimensional CT images data I according to center, target area interpolation from 4D iconic model iwith organizing electronic density map;
I. the target area contour line on each group 3DCBCT obtained according to step B, calculates the curve movement along with center, patient respiratory phase target area;
ii.calculate the correspondence position of center, target area, each subsegment mean place place on the central motion curve of target area, determine the patient respiratory phase that current subsegment is corresponding t;
Iii. find out from 4DCBCT and patient respiratory phase ttwo groups of adjacent 3DCBCT, are respectively t i with t j , wherein t i≤ t ≤ t j ; According to the position relationship breathing phase, utilize linear interpolation method, from the organizing electronic density map interpolation that two groups of 3DCBCT are corresponding, obtain the three-dimensional CT images data I that this treatment subsegment is corresponding iwith organizing electronic density map;
C) image I is utilized icalculate the collimator dosage that patient bears when this subsegment is moved, wherein Rapid Dose Calculation MU number is that in the process of collimator back and forth movement tracking target area, in this subsegment, dosage goes out to restraint MU sum;
D) said method is utilized, respectively to projection B ieach subsegment carry out above-mentioned Rapid Dose Calculation, obtain N group 3-dimensional dose field D i, then select a certain group of image image as a reference, to N group 3-dimensional dose field D icarry out deformation to add up; Reference picture can be a certain group of 3DCBCT in plan CT or 4DCBCT, or on many group reference pictures, carry out deformation cumulative;
E) then carry out above-mentioned Rapid Dose Calculation for all launched fields, add up, finally obtain the dosage field of whole treatment plan;
E. adopt gamma to analyze and dose-volume histogram method, that compares related organization under different situations bears dosage, and provides multiple quantitative analytical data, determines whether to need to carry out Plan rescheduling; The intended dose of more single gradation and deformation cumulative dose; Or the cumulative dose of more multiple gradation intended dose, and the cumulative dose of the deformation cumulative dose of multiple gradation.
The present invention is mated with the deformation planned CT in planning system or plan 4DCT image by CBCT image, utilize the change of CBCT image on-line analysis patient target area and other histoorgans, calculate the actual acceptable dose of patient, the dosage field designed with treatment plan compares online, different fractionated dose is added up simultaneously, thus reach the object of dose reconstruction and checking, analyze by the kinetic dose difference of organ deformation, interval procedure Set-up errors and patient and target area, the adaptive radiation therapy guided for dosage provides dosiology foundation.
The beneficial effect of scheme of the present invention is:
The invention provides patient tissue organ mutation analysis function and exposure dose Reconstruction of The Function, use in conjunction with 4D radiotherapy treatment planning system, the online and off-line self-adaptative adjustment for the treatment of plan can be realized.Before the treatment, treatment planning systems is utilized to design the treatment plan of patient and carry out interval procedure.Complete after patient puts position at each interval procedure, the profile that the profile mapping function that doctor can provide by dosage verifying system and tissue change analytic function carry out tissue of interest on pendulum position CBCT is delineated and mutation analysis, and the adaptive planning module using 4D radiotherapy treatment planning system to provide where necessary carries out on-line tuning to treatment plan, and implement the treatment plan after adjustment.After interval procedure completes, doctor can carry out by dosage verifying system reconstruction and the assessment that patient bears dosage; And where necessary off-line adjustment is carried out to Patient treatment plan, then implement follow-up treatment, until treatment terminates.
The 3DCBCT that the present invention gathers when utilizing the treatment journal file that records in therapeutic process and patient to put, the dynamic position adjustment of the motion of tumor in the change in location of therapy area in therapeutic process, therapeutic process and colimated light system can be taken into account, obtain patient's exposure dose more accurately and implement radiotherapy checking.Be applicable to the dose reconstruction of image-guided stereotactic surgery/radiotherapy and comprise the dose reconstruction of movable information, improve the accuracy of radiotherapy unit, expand the scope of application of radiotherapy unit.
In sum, instant invention overcomes existing radiotherapy unit and can cause prescribed dose misalignment because of the change of patient target area, the extended treatment time, increase the defect for the treatment of cost, the dosage verifying system of the radiotherapy unit provided can according to the relevant image information gathered in therapeutic process, analyze target area and the actual exposure dose of bearing of normal organ, patient tissue organ mutation analysis function and exposure dose Reconstruction of The Function are provided, provide foundation for radiotherapy unit realizes the online and off-line self-adaptative adjustment for the treatment of plan.
accompanying drawing illustrates:
Fig. 1 is composition schematic diagram of the present invention.
Fig. 2 is that three-dimensional grid of the present invention builds submodule schematic diagram.
Fig. 3 is profile range conversion submodule schematic diagram of the present invention.
Fig. 4 is the radiotherapy unit schematic diagram that the embodiment of the present invention one adopts.
In accompanying drawing, 1: electron linear accelerator; 2: secondary collimator; 3: slur machine people C arm system; 3-1:C jib pedestal; 3-2:C jib; 3-3:X radiographic source; 3-4:X line detector; 3-5: positioning runner; 4: robot therapeutic bed; 4-1: therapeutic bed; 4-2: robot; 5: breathe tracker; 6: Therapy robot.
detailed description of the invention:
Be described in further detail the present invention below in conjunction with drawings and Examples, but the present invention is not limited only to described embodiment.
Embodiment one
The dosage verifying system of the radiotherapy unit of this example, the radiotherapy unit be suitable for as shown in Figure 4, for one divides quadrant radiotherapy unit, comprise compact electronic linear accelerator 1, secondary collimator 2, slur machine people C arm system 3, robot therapeutic bed 4, breathe tracker 5, Therapy robot 6 and 4D treatment planning systems, described Therapy robot 6 is arranged at robot therapeutic bed 4 opposite position place, compact electronic linear accelerator 1 is installed on Therapy robot 6 movable end, described secondary collimator 2 is installed on the end of compact electronic linear accelerator 1, described robot therapeutic bed 4 is arranged at slur machine people C arm system 3 opposite position place, described slur machine people C arm system 3 comprises C jib pedestal 3-1, C jib 3-2 and two cover photoimaging systems, described C jib 3-2 is in " C " glyph shape, C jib pedestal 3-1 has positioning runner 3-5, C jib 3-2 is slidably mounted in the positioning runner 3-5 of C jib pedestal 3-1, two cover photoimaging systems lay respectively at two ends inside described C jib 3-2, and two cover photoimaging systems correspondences are arranged, described Therapy robot 6, robot therapeutic bed 4, slur machine people C arm system 3 are connected with integrating control subsystem by bus with breathing tracker 5, are provided with data server in integrating control subsystem.
This routine described slur machine people C arm system 3 can rotate around C jib axis+and-110 °, realize 3DCBCT imaging, also can realize 4DCBCT imaging in conjunction with breathing tracker 5, CBCT image is used for patient and puts position and checking, target area dynamic tracing and real-time dosage verifying.
This routine described dosage verifying system, as shown in Figure 1, form primarily of data transmission module, image registration module, profile mapping block, tissue change analysis module, four-dimensional image modeling module, dose reconstruction module and dosage evaluation module, wherein, data transmission module is connected with data server, and data transmission module is also connected with dose reconstruction module with image registration module, profile mapping block, four-dimensional image modeling module respectively; Image registration module is connected with dosage evaluation module with profile mapping block, four-dimensional image modeling module respectively; Profile mapping block is connected with dosage evaluation module with tissue change analysis module respectively through the online tissue contours of patient; Tissue change analysis module is connected with 4D radiotherapy treatment planning system with data transmission module; Four-dimensional image modeling module is connected with dose reconstruction module; Dose reconstruction module is connected with dose assessment module; Dose assessment module is connected with 4D radiotherapy treatment planning system with data transmission module.
Data transmission module is communicated with data server by network connection, obtains the related data needed for dosage verifying, the result is stored into data server;
Wherein, the related data of acquisition comprises: a) planning data: plan CT/4DCT image, profile information, treatment plan, dosage field; B) interval procedure information: the treatment daily record data recorded in interval procedure process, CBCT/4DCBCT image; C) dosage field is rebuild: the reconstruction dosage field of having implemented to treat gradation; D) tissue contours that treatment gradation is delineated has been implemented;
The content stored comprises: a) rebuild dosage field: the reconstruction dosage field of current gradation; B) patient tissue profile: the tissue contours delineated on CBCT image.
Image registration module map provides rigid body and deformable registration method as registration module, the registration of phase 3-D view of not sharing a common fate for four-dimensional CT/CBCT in four-dimensional image modeling module; For planning the deformable registration of CT image and CBCT image in profile mapping block.
Deformation vectors field between the plan CT that profile mapping block utilizes the planning contours information of patient, Registration of Measuring Data module provides and online CBCT image, calculates the mapping of planning contours to CBCT image; The online tissue contours of patient is obtained after profile mapping result is modified; Profile mapping block comprises following submodule: a) three-dimensional grid builds submodule (as shown in Figure 2): the three-dimensional grid surface model building tissue according to tissue three-dimensional contour line; Be specially: first utilize the initial three-dimensional profile reconstruction of tissue to go out the three-dimensional grid surface of tissue, then Deformation Field interpolation technique is utilized, the deformation vectors on each three-dimensional grid summit is obtained from the deformation vectors field that registration obtains, and coordinate transform is carried out to grid vertex, obtain the three-dimensional grid surface model under profile mapping objects image coordinate system; B) three-dimensional module cutting submodule: utilize the three-dimensional grid surface model cutting after deformation to go out three-dimensional contour line on arbitrary plane; Be specially: according to target image section place plane, cutting is carried out to three-dimensional grid surface model, calculates the slice location of cutting and each three-dimensional grid, and by connecting grid cutting point in order, obtain corresponding contour line; C) profile range conversion submodule (as shown in Figure 3): utilize tissue three-dimensional contour line to obtain the three-dimensional distance figure of its correspondence; Be specially: first according to original contour line computation profile binary map and profile distance map, the image coordinate system of profile distance map is consistent with the image for sketching outline line, the voxel value being positioned at contoured interior in range image is just, the voxel value of profile exterior is negative, and its absolute value is the minimum distance of this point to three-D profile surface; Then utilize deformation vectors field to carry out deformation conversion to three-dimensional distance figure, obtain the profile distance map under profile mapping objects image space coordinate; Finally in extraction distance map, on each faultage image, pixel value is the contour of 0, and this contour is the mapping result of three-dimensional contour line.
Tissue change analysis module by Quantitative Comparison patient care plan profile and the online tissue contours of patient analyze histoorgan in position, the change of volume and vpg connection, and by data transmission module, online for patient tissue contours is saved in data server; Also can check simultaneously and analyze the form in multiple gradation undertissue, display organization directly perceived is along with the situation of change of therapeutic process.
The four-dimensional iconic model of patient is set up in deformation vectors field between the different phase of the four-dimensional CT image that four-dimensional image modeling module utilizes image registration module to provide; Mainly comprise image registration and four-dimensional movement modeling two submodules: a) image registration submodule carries out registration between two to group 3-D view each in 4DCT/4DCBCT according to the order of breathing phase, obtains the deformation vectors field between two adjacent groups 3-D view; B) four-dimensional movement modeling submodule fully utilizes each group of deformation vectors field that image registration submodule obtains, according to respirometric seriality, periodic characteristics, build the motion model of B-spline motion model or Based PC A, thus improve the accuracy of movable information.
The dosage that dose reconstruction module utilizes four-dimensional iconic model or three-dimensional CBCT image reconstruction to go out current gradation patient to bear, mainly comprises electron density and demarcates submodule and radiacmeter operator module:
A) electron density demarcates submodule by planning CT image registration on CBCT image, obtains voxel in CBCT image correspondence position on plan CT image , then utilize the HU value at place replaces voxel in CBCT image the HU value at place, the final HU image generating one group of simulation is used for determination and the Rapid Dose Calculation of organizing electronic density;
B) Rapid Dose Calculation submodule carries out Rapid Dose Calculation based on the CBCT demarcating electron density, estimates patient's actual dosage accepted in interval procedure;
Fractionated dose for static target area is rebuild, and Rapid Dose Calculation submodule considers the impact of patient body position's change on acceptable dose in therapeutic process;
Fractionated dose for motion target area is rebuild, Rapid Dose Calculation submodule considers target area and other related organizations actual motion situation over the course for the treatment of, target area and follows the trail of the situation for the treatment of, thus estimate patient's acceptable dose more accurately, be specially: for each launched field, from treatment procedure file, dissecting needle is to the movement locus of collimator during each launched field motion compensation and range of movement, and movement locus is divided into N number of subarc of equidistant intervals; Obtain the position at center, target area, each subarc mean place place, and obtain corresponding 3 d image data according to center, target area interpolation from four-dimensional iconic model, finally carry out Rapid Dose Calculation according to these data; Each subarc roentgenization machine jumping figure (MU), for treatment head comes and goes in multiple periodic movement process, MU number sum between this subsegment; By carrying out above-mentioned Rapid Dose Calculation flow process to each subarc respectively, obtain N group 3-dimensional dose field , right be weighted the 3-dimensional dose field of suing for peace and obtaining for each launched field; Then carry out above-mentioned Rapid Dose Calculation for all launched fields, add up, finally obtain the dosage field of whole treatment plan; Wherein, from four-dimensional iconic model, the operating process of the 3 d image data that interpolation acquisition is corresponding is: first carry out interpolation according to center, target area to target area four-dimensional movement model, obtains breathing phase corresponding in four-dimensional iconic model ; Then basis with the distance determination interpolation weights of adjacent two corresponding phases of 3-D view ; Finally utilize motion vector field between these two groups of 3-D views to carry out deformation conversion to reference to phase, finally obtain for 3-D view corresponding to this treatment subarc.
Dose assessment module utilizes the difference between dose reconstruction interpretation of result patient care plan's dosage and interval procedure dosage, multiple gradation cumulative dose; Comprise dosage map submodule and dosage analysis submodule: deformation vectors field a) between the dosage map submodule plan CT image that utilizes image registration module to obtain and CBCT image, under the fractionated dose field that dose reconstruction module calculates being mapped to plan CT image coordinate system, obtaining gradation and map dosage field; The mapping dosage field of multiple gradation is utilized to bear dosage to the accumulation calculating patient, for comparing with intended dose; B) dosage analysis submodule carries out analysis and comparison to intended dose field and the irradiation of rebuilding dosage related organization after the match by amount, adjusts, revise the actual deviation measured by amount and plan of patient to treatment plan; By the intended dose and reconstruction dosage that compare die body plan, carried out to system the QA(quality assurance); The function provided comprises: the contrast of isodose, isodose surface display, DVH(dose volume histogram) contrast display, the contrast display of section dosage and difference display, dosage field 3DGamma(gamma) analyze.
The dosage verifying system of the radiotherapy unit of this example is as follows for the step of online dosage verifying:
A. utilize non-rigid body model method to put the 3DCBCT image registration of position to plan CT by being used for patient, obtain the deformation vectors field of planning CT to 3DCBCT, wherein deformation vectors field have recorded every bit in plan CT p i the deformation vectors of corresponding point in 3DCBCT;
B. utilize above-mentioned deformation vectors field to be mapped on 3DCBCT by the related organization's profile on plan CT, obtain the online tissue contours information of patient:
A) for each related organization, the three-dimensional masking-out image comprising this tissue is in space built; In masking-out image, the value of each voxel represents profile containment relationship, and when this voxel is positioned at occluding contour inside, value is 1; When this voxel is positioned at occluding contour outside, value is 0;
B) utilize MarchingCube isosurface extraction method extract voxel value be 1 three-dimensional equivalent table surface model;
C) the deformation vectors field utilizing steps A to obtain, converts each summit of three-dimensional equivalent table surface model, obtains the three-D profile surface model after deformation;
D) for every one deck two dimension axle bit image of target 3DCBCT, the plane of coincideing with this two-dimensional image position is utilized to carry out cutting to the three-dimensional equivalent table surface model after deformation, the point obtaining 3 d surface model and this Plane intersects or the straight line overlapped; These points are connected in order with straight line, the contour line organized after obtaining corresponding to the deformation of this two-dimentional axle bit image;
E) contour line on all two-dimentional axle bit images of integration objective 3DCBCT, is and maps the online tissue contours information of the patient obtained by profile;
C. calculate the deformation vectors field of 3DCBCT image to plan CT image, deformation vectors field have recorded every bit in 3DCBCT p i the deformation vectors of corresponding point in plan CT; Utilize the plan HU value of CT and the transformational relation of electron density, calculate the electron density of this voxel according to the HU value of each voxel of 3DCBCT corresponding position in plan CT, thus obtain organizing electronic density map corresponding to 3DCBCT image; When calculating deformation vectors field, the plan CT image first obtained steps A is to the deformation vectors field of this 3DCBCT image dFcarry out inversion calculation; Then utilize method for registering images, using this inverse transformation as initial value, plan CT is registrated to 3DCBCT, obtain 3DCBCT image to plan CT deformation vectors field accurately;
D. the organizing electronic density map utilizing 3DCBCT image corresponding calculates the exposure dose that the current gradation of patient is born;
E. the deformation utilizing the 3DCBCT image of different gradation collection and the exposure dose of calculating to carry out the multiple fractionation of radiation dosage of patient adds up; The deformation of exposure dose is cumulative to be needed to choose a certain group of image image as a reference, and wherein reference picture is the 3DCBCT of plan CT or gradation collection arbitrarily; When deformation adds up, first the correspondence position of each voxel in other gradation 3DCBCT image in the computing reference image of deformation vectors field is utilized, and utilizing cubic interpolation method to obtain the dosage of this position, the dosage finally obtained interpolation carries out the cumulative deformation cumulative dose obtaining certain voxel location place;
F. quantitative analysis related organization Geometrical change situation and caused by it exposure dose change; Geometrical change comprises the change of tissue volume and position of centre of gravity, the coincidence factor in change front and rear profile region; For the analysis of exposure dose change, the situation of change of single fractionation of radiation dosage and multiple gradation cumulative dose can be analyzed; The change of dosage comprises the change that tissue bears maximum, minimum, average, median dose and dose-volume relation; Consider the tissue change situation of multiple gradation, calculate indices along with the change curve of interval procedure and rate of change.
The dosage verifying system of the radiotherapy unit of this example is as follows for the step of the dose reconstruction comprising movable information:
A. 4DCBCT data are utilized to set up the four-dimensional iconic model comprising histokinesis's information; Four-dimensional iconic model comprise many groups of three-dimensional CBCT under phase of not sharing a common fate and different time alternate histoorgan movable information;
A) according to the order of breathing phase, registration is between two carried out to group 3-D view each in 4DCBCT, obtain the deformation vectors field between two adjacent groups 3-D view;
B) fully utilize each group of deformation vectors field, according to features such as respirometric seriality, periodicity, build the motion model of B-spline motion model or Based PC A, improve the accuracy of movable information;
Automatically delineating B. based on related organization's contour line on the 4DCBCT of contour line Means of Deformation Mapping Approach:
A) each group 3DCBCT image registration is to plan CT by 4DCBCT to utilize non-rigid body model method, and obtain the deformation vectors field of planning CT to 3DCBCT, wherein deformation vectors field have recorded every bit in plan CT p i the deformation vectors of corresponding point in each group 3DCBCT;
B) utilize above-mentioned deformation vectors field to be mapped on each group 3DCBCT by the related organization's profile on plan CT, obtain the online tissue contours information of patient;
C. in calculating 4DCBCT, each group 3DCBCT image is to the deformation vectors field of plan CT, and wherein deformation vectors field have recorded every bit in 3DCBCT p i the deformation vectors of corresponding point in plan CT; Utilize HU value and the electron density transformational relation of plan CT, calculate the electron density of this voxel according to the HU value of each voxel of 3DCBCT corresponding position in plan CT, thus finally obtain the organizing electronic density map that in 4DCBCT, each group 3DCBCT image is corresponding; Calculate each group 3DCBCT image to when planning the deformation vectors field of CT, first to the deformation vectors field of this 3DCBCT image, inversion calculation is carried out to the plan CT image that step B obtains, then utilize method for registering images, using this inverse transformation as initial value, plan CT is registrated to 3DCBCT, obtain the accurate deformation vectors field of 3DCBCT image to plan CT;
D. according to the treatment journal file recorded in therapeutic process, the checking dosage comprising motion tumor tracked information is calculated:
A) for each launched field B i, from treatment journal file, analyze the movement locus and range of movement that obtain collimator when dynamic tracing motion target area is treated, and movement locus is divided into N number of subsegment of equidistant intervals, wherein N can be selected as required by doctor;
B) obtain the position at center, target area, each subsegment mean place place according to treatment journal file, and obtain corresponding three-dimensional CT images data I according to center, target area interpolation from 4D iconic model iwith organizing electronic density map;
I. the target area contour line on each group 3DCBCT obtained according to step B, calculates the curve movement along with center, patient respiratory phase target area;
ii.calculate the correspondence position of center, target area, each subsegment mean place place on the central motion curve of target area, namely determine the patient respiratory phase that current subsegment is corresponding t;
Iii. find out from 4DCBCT and patient respiratory phase ttwo groups of adjacent 3DCBCT, are respectively t i with t j , wherein t i≤ t ≤ t j ; According to the position relationship breathing phase, utilize linear interpolation method, from the organizing electronic density map interpolation that two groups of 3DCBCT are corresponding, obtain the three-dimensional CT images data I that this treatment subsegment is corresponding iwith organizing electronic density map;
C) image I is utilized icalculate the collimator dosage that patient bears when this subsegment is moved, wherein Rapid Dose Calculation MU number is that in the process of collimator back and forth movement tracking target area, in this subsegment, dosage goes out to restraint MU sum;
D) said method is utilized, respectively to projection B ieach subsegment carry out above-mentioned Rapid Dose Calculation, obtain N group 3-dimensional dose field D i, then select a certain group of image image as a reference, to N group 3-dimensional dose field D icarry out deformation to add up; Reference picture can be a certain group of 3DCBCT or carry out deformation add up on many group reference pictures in plan CT or 4DCBCT;
E) then carry out above-mentioned Rapid Dose Calculation for all launched fields, add up, finally obtain the dosage field of whole treatment plan;
E. adopt gamma to analyze and dose-volume histogram method, that compares related organization under different situations bears dosage, and provides multiple quantitative analytical data, determines whether to need to carry out Plan rescheduling; The intended dose of more single gradation and deformation cumulative dose; Or the cumulative dose of more multiple gradation intended dose, and the cumulative dose of the deformation cumulative dose of multiple gradation.
The dosage verifying system of the radiotherapy unit of this example is as follows for the step of the dose reconstruction of image-guided stereotactic surgery/radiotherapy:
A. analyze the journal file of therapeutic process, according to patient body position's situation of change in therapeutic process, whole therapeutic process be divided into multiple treatment stage:
A) treat the incipient stage, gather the 3DCBCT image CBCT of patient 0, by CBCT 0carry out starting therapeutic process after registration implements the initial pendulum position of patient with plan CT;
B) analyze therapeutic process journal file, a patient body position often occurs and changes the therapeutic process then terminated on last stage, start a new treatment stage.If treatment journal file have recorded N position chanP, so whole therapeutic process will be divided into N+1 treatment stage.If if patient body position does not change over the course for the treatment of, so only has a treatment stage;
B. analyze the journal file of therapeutic process, obtain the patient CBCT data required for each treatment stage dose reconstruction:
A) corresponding beginning treatment stage, uses initial pendulum position image CBCT 0carry out dose reconstruction;
If b) patient body position's change exceed system can extent of amendment, so need again to put position to patient.After again putting position, system utilizes puts position acquisition image CBCT again icarry out dose reconstruction;
If c) patient body position changes and can in extent of amendment over the course for the treatment of, so according to the CBCT data CBCT that the position chanP amount for the treatment of journal file record obtains last time pendulum position icarry out Rigid Body In Space conversion, utilize the CBCT after spatial alternation icarry out dose reconstruction;
C. analyze the journal file of therapeutic process, obtain the launched field information in each treatment stage, and the CBCT of the correspondence utilizing step 2 to obtain carries out dose reconstruction (not limiting the method for CBCT Rapid Dose Calculation).
D. according to the rigid body translation between the corresponding CBCT of each treatment stage and plan CT, adding up carrying out dosage under the dosage map under CBCT space to plan CT coordinate system, obtaining the dose reconstruction result of whole treatment stage.
E. adopt gamma analysis and dose-volume histogram Measures compare intended dose and rebuild dosage; Can more single gradation intended dose and rebuild dosage; Or the cumulative dose etc. of the cumulative dose of more multiple gradation intended dose and the reconstruction dosage of multiple gradation.
Embodiment two
The dosage verifying system of the radiotherapy unit of this example, the radiotherapy unit be suitable for is a kind of robot radiation therapy device, described robot radiation therapy device is made up of robot arm, radiographic source, numerical control therapeutic bed, respiratory movement tracing system, C arm real-time imaging system, 4D radiotherapy treatment planning system and dosage verification system, described robot arm, radiographic source, numerical control therapeutic bed, respiratory movement tracing system, C arm real-time imaging system, telecommunication connection between treatment planning systems and dosage verification system.Described radiographic source is arranged on robot system end, for irradiating target area; Described numerical control therapeutic bed is installed relative to robot system, for carrying out supporting to patient and locating; Described 4D radiotherapy treatment planning system, comprises just reverse radiotherapy treatment planning, for carrying out plan to patient.
This routine described C arm real-time imaging system is single flat planar image system, and for carrying out realtime imaging to patient target area, it is by C arm slide rail, the rotating shaft of C arm, base and be arranged on the x-ray source at C arm slide rail two ends, x-ray detector forms; X-ray source can be 150KV, C arm slide rail guides x-ray source and X-ray detector to do to be greater than 180 ° of motions, carry out the CBCT(cone beam volume imaging of patient target area) imaging or carry out target area 4DCBCT imaging in conjunction with respiratory movement tracing system, carry out dose reconstruction and checking for target area real-time tracing and dosage verification system.
All the other are with embodiment one.
Embodiment three
The dosage verifying system of the radiotherapy unit of this example, the radiotherapy unit be suitable for is the Truebeam radiotherapy unit of Varian, and described Truebeam radiotherapy unit hardware components comprises rotary frame, electron linear accelerator, X ray image system, EPID(electronic portal image device) and therapeutic bed.Described electron linear accelerator is installed on rotary frame upper end; Described X ray image system, comprises X-ray bulb and flat panel detector, is opposedly installed in the middle part of rotary frame; Described EPID(electronic portal image device), opposedly with electron linear accelerator be installed on rotary frame bottom.Software system comprises the strong arc therapy planning system of adjustment with volume, breathes dynamic gate Ore-controlling Role and integrating control operating system.X ray image system in this example can carry out CBCT imaging along with the rotation of rotary frame, and then carries out patient and put position, dynamically target area with CBCT is image-guided and follow the trail of and dosage verifying in real time.
The dosage verifying system of this example is with embodiment one.

Claims (10)

1. the dosage verifying system of a radiotherapy unit, it is characterized in that dosage verifying system forms primarily of data transmission module, image registration module, profile mapping block, tissue change analysis module, four-dimensional image modeling module, dose reconstruction module and dosage evaluation module, wherein, data transmission module is connected with data server, and data transmission module is also connected with dose reconstruction module with image registration module, profile mapping block, four-dimensional image modeling module respectively; Image registration module is connected with dosage evaluation module with profile mapping block, four-dimensional image modeling module respectively; Profile mapping block is connected with dosage evaluation module with tissue change analysis module respectively through the online tissue contours of patient; Tissue change analysis module is connected with Four dimensional radiotherapy planning system with data transmission module; Four-dimensional image modeling module is connected with dose reconstruction module; Dose reconstruction module is connected with dose assessment module; Dose assessment module is connected with Four dimensional radiotherapy planning system with data transmission module.
2. the dosage verifying system of radiotherapy unit according to claim 1, is characterized in that described data transmission module is connected by network and communicates with data server, obtain the related data needed for dosage verifying, the result is stored into data server.
3. the dosage verifying system of radiotherapy unit according to claim 1, is characterized in that described image registration module provides rigid body and deformable registration method, the registration of phase 3-D view of not sharing a common fate for four-dimensional CT/CBCT in four-dimensional image modeling module; For planning the deformable registration of CT image and CBCT image in profile mapping block.
4. the dosage verifying system of radiotherapy unit according to claim 1, it is characterized in that the deformation vectors field between described profile mapping block utilizes the planning contours information of patient, Registration of Measuring Data module provides plan CT and online CBCT image, calculate the mapping of planning contours to CBCT image; After profile mapping result is modified, obtain the online tissue contours of patient; Profile mapping block comprises following submodule: a) three-dimensional grid builds submodule: according to tissue three-dimensional contour line, builds the three-dimensional grid surface model of tissue; Be specially: first utilize the initial three-dimensional profile reconstruction of tissue to go out the three-dimensional grid surface of tissue, then Deformation Field interpolation technique is utilized, the deformation vectors on each three-dimensional grid summit is obtained from the deformation vectors field that registration obtains, and coordinate transform is carried out to grid vertex, obtain the three-dimensional grid surface model under profile mapping objects image coordinate system; B) three-dimensional module cutting submodule: utilize the three-dimensional grid surface model cutting after deformation to go out three-dimensional contour line on arbitrary plane; Be specially: according to target image section place plane, cutting is carried out to three-dimensional grid surface model, calculates the slice location of cutting and each three-dimensional grid, and by connecting grid cutting point in order, obtain corresponding contour line; C) profile range conversion submodule: utilize tissue three-dimensional contour line to obtain the three-dimensional distance figure of its correspondence; Be specially: first according to original contour line computation profile binary map and profile distance map, the image coordinate system of profile distance map is consistent with the image for sketching outline line, the voxel value being positioned at contoured interior in range image is just, the voxel value of profile exterior is negative, and its absolute value is the minimum distance of this point to three-D profile surface; Then utilize deformation vectors field to carry out deformation conversion to three-dimensional distance figure, obtain the profile distance map under profile mapping objects image space coordinate; Finally in extraction distance map, on each faultage image, pixel value is the contour of 0, and this contour is the mapping result of three-dimensional contour line.
5. the dosage verifying system of radiotherapy unit according to claim 1, it is characterized in that described tissue change analysis module by Quantitative Comparison patient care plan profile and the online tissue contours of patient analyze histoorgan in position, the change of volume and vpg connection, and by data transmission module, online for patient tissue contours is saved in data server; Also can check simultaneously and analyze the form in multiple gradation undertissue, display organization directly perceived is along with the situation of change of therapeutic process.
6. the dosage verifying system of radiotherapy unit according to claim 1, is characterized in that the deformation vectors field between the four-dimensional CT image difference phase that described four-dimensional image modeling module utilizes image registration module to provide, sets up the four-dimensional iconic model of patient; Mainly comprise image registration and four-dimensional movement modeling two submodules: a) image registration submodule carries out registration between two to group 3-D view each in 4DCT/4DCBCT according to the order of breathing phase, obtains the deformation vectors field between two adjacent groups 3-D view; B) four-dimensional movement modeling submodule fully utilizes each group of deformation vectors field that image registration submodule obtains, according to respirometric seriality, periodic characteristics, build B-spline motion model or the motion model based on principal component analysis, thus improve the accuracy of movable information.
7. the dosage verifying system of radiotherapy unit according to claim 1, it is characterized in that the dosage that described dose reconstruction module utilizes four-dimensional iconic model or three-dimensional CBCT image reconstruction to go out current gradation patient to bear, mainly comprise electron density and demarcate submodule and radiacmeter operator module:
A) electron density demarcation submodule passes through CBCT image registration to planning, on CT image, to obtain voxel in CBCT image , then utilize the HU value at place replaces voxel in CBCT image the HU value at place, the final HU image generating one group of simulation is used for determination and the Rapid Dose Calculation of organizing electronic density;
B) Rapid Dose Calculation submodule carries out Rapid Dose Calculation based on the CBCT demarcating electron density, estimates patient's actual dosage accepted in interval procedure;
Fractionated dose for static target area is rebuild, and Rapid Dose Calculation submodule considers the impact of patient body position's change on acceptable dose in therapeutic process;
Fractionated dose for motion target area is rebuild, Rapid Dose Calculation submodule considers target area and other related organizations actual motion situation over the course for the treatment of, target area and follows the trail of the situation for the treatment of, thus estimate patient's acceptable dose more accurately, be specially: for each launched field, from treatment procedure file, dissecting needle is to the movement locus of collimator during each launched field motion compensation and range of movement, and movement locus is divided into N number of subarc of equidistant intervals; Obtain the position at center, target area, each subarc mean place place, and obtain corresponding 3 d image data according to center, target area interpolation from four-dimensional iconic model, finally carry out Rapid Dose Calculation according to these data; The roentgenization machine jumping figure of each subarc, for treatment head comes and goes in multiple periodic movement process, jumping figure sum between this subsegment; By carrying out above-mentioned Rapid Dose Calculation flow process to each subarc respectively, obtain N group 3-dimensional dose field , right be weighted the 3-dimensional dose field of suing for peace and obtaining for each launched field; Then carry out above-mentioned Rapid Dose Calculation for all launched fields, add up, finally obtain the dosage field of whole treatment plan; Wherein, from four-dimensional iconic model, the operating process of the 3 d image data that interpolation acquisition is corresponding is: first carry out interpolation according to center, target area to target area four-dimensional movement model, obtains breathing phase corresponding in four-dimensional iconic model ; Then basis with the distance determination interpolation weights of adjacent two corresponding phases of 3-D view ; Finally utilize motion vector field between these two groups of 3-D views to carry out deformation conversion to reference to phase, finally obtain for 3-D view corresponding to this treatment subarc.
8. the dosage verifying system of radiotherapy unit according to claim 1, is characterized in that described dose assessment module utilizes the difference between dose reconstruction interpretation of result patient care plan's dosage and interval procedure dosage, multiple gradation cumulative dose; Comprise dosage map submodule and dosage analysis submodule: deformation vectors field a) between the dosage map submodule plan CT image that utilizes image registration module to obtain and CBCT image, under the fractionated dose field that dose reconstruction module calculates being mapped to plan CT image coordinate system, obtaining gradation and map dosage field; The mapping dosage field of multiple gradation is utilized to bear dosage to the accumulation calculating patient, for comparing with intended dose; B) dosage analysis submodule carries out analysis and comparison to intended dose field and the irradiation of rebuilding dosage related organization after the match by amount, adjusts, revise the actual deviation measured by amount and plan of patient to treatment plan; By the intended dose and reconstruction dosage that compare die body plan, carried out to system the quality assurance; The function provided comprises: the contrast display of isodose, isodose surface, the contrast display of dose volume histogram, and the contrast display of section dosage and difference display, dosage field 3D gamma is analyzed.
9. the dosage verifying system of radiotherapy unit according to claim 1, is characterized in that the dosage verifying system of described radiotherapy unit is as follows for the step of online dosage verifying:
Utilize deformable registration method to put the 3DCBCT image registration of position to plan CT by being used for patient, obtain the deformation vectors field of planning CT to 3DCBCT, wherein deformation vectors field have recorded every bit in plan CT p i the deformation vectors of corresponding point in 3DCBCT;
Utilize above-mentioned deformation vectors field to be mapped on 3DCBCT by the related organization's profile on plan CT, obtain the online tissue contours information of patient:
For each related organization, build the three-dimensional masking-out image comprising this tissue in space; In masking-out image, the value of each voxel represents profile containment relationship, and when this voxel is positioned at occluding contour inside, value is 1; When this voxel is positioned at occluding contour outside, value is 0;
Utilize isosurface extraction method extract voxel value be 1 three-dimensional equivalent table surface model;
The deformation vectors field utilizing steps A to obtain, converts each summit of three-dimensional equivalent table surface model, obtains the three-D profile surface model after deformation;
For every one deck two dimension axle bit image of target 3DCBCT, the plane of coincideing with this two-dimensional image position is utilized to carry out cutting to the three-dimensional equivalent table surface model after deformation, the point obtaining 3 d surface model and this Plane intersects or the straight line overlapped; These points are connected in order with straight line, the contour line organized after obtaining corresponding to the deformation of this two-dimentional axle bit image;
Contour line on all two-dimentional axle bit images of integration objective 3DCBCT, is and maps the online tissue contours information of the patient obtained by profile;
Calculate the deformation vectors field of 3DCBCT image to plan CT image, deformation vectors field have recorded every bit in 3DCBCT p i the deformation vectors of corresponding point in plan CT; Utilize the plan HU value of CT and the transformational relation of electron density, calculate the electron density of this voxel according to the HU value of each voxel of 3DCBCT corresponding position in plan CT, thus obtain organizing electronic density map corresponding to 3DCBCT image; When calculating deformation vectors field, the plan CT image first obtained steps A is to the deformation vectors field of this 3DCBCT image dFcarry out inversion calculation; Then utilize method for registering images using this inverse transformation as initial value, plan CT is registrated to 3DCBCT, obtain 3DCBCT image to plan CT deformation vectors field accurately;
The organizing electronic density map utilizing 3DCBCT image corresponding calculates the exposure dose that the current gradation of patient is born;
The deformation utilizing the 3DCBCT image of different gradation collection and the exposure dose of calculating to carry out the multiple fractionation of radiation dosage of patient adds up; The deformation of exposure dose is cumulative to be needed to choose a certain group of image image as a reference, and wherein reference picture is the 3DCBCT of plan CT or gradation collection arbitrarily; When deformation adds up, first the correspondence position of each voxel in other gradation 3DCBCT image in the computing reference image of deformation vectors field is utilized, and utilize cubic interpolation method to obtain the dosage of this position, finally the dosage that interpolation obtains is added up, obtain the deformation cumulative dose at certain voxel location place;
The Geometrical change situation of quantitative analysis related organization and the exposure dose change caused by it; Geometrical change comprises the change of tissue volume and position of centre of gravity, the coincidence factor in change front and rear profile region; For the analysis of exposure dose change, the situation of change of single fractionation of radiation dosage and multiple gradation cumulative dose can be analyzed; The change of dosage comprises the change that tissue bears maximum, minimum, average, median dose and dose-volume relation; Consider the tissue change situation of multiple gradation, calculate indices along with the change curve of interval procedure and rate of change.
10. the dosage verifying system of radiotherapy unit according to claim 1, is characterized in that the dosage verifying system of described radiotherapy unit is as follows for the step of the dose reconstruction comprising movable information:
4DCBCT data are utilized to set up the four-dimensional iconic model comprising histokinesis's information; Four-dimensional iconic model comprise many groups of three-dimensional CBCT under phase of not sharing a common fate and different time alternate histoorgan movable information;
According to the order of breathing phase, registration is between two carried out to group 3-D view each in 4DCBCT, obtains the deformation vectors field between two adjacent groups 3-D view;
Fully utilize each group of deformation vectors field, according to features such as respirometric seriality, periodicity, build B-spline motion model or the motion model based on principal component analysis, improve the accuracy of movable information;
Based on automatically delineating of related organization's contour line on the 4DCBCT of contour line Means of Deformation Mapping Approach:
Each group 3DCBCT image registration is to plan CT by 4DCBCT to utilize non-rigid body model method, and obtain the deformation vectors field of planning CT to 3DCBCT, wherein deformation vectors field have recorded every bit in plan CT p i the deformation vectors of corresponding point in each group 3DCBCT;
Utilize above-mentioned deformation vectors field to be mapped on each group 3DCBCT by the related organization's profile on plan CT, obtain the online tissue contours information of patient;
In calculating 4DCBCT, each group 3DCBCT image is to the deformation vectors field of plan CT, and wherein deformation vectors field have recorded every bit in 3DCBCT p i the deformation vectors of corresponding point in plan CT; Utilize HU value and the electron density transformational relation of plan CT, calculate the electron density of this voxel according to the HU value of each voxel of 3DCBCT corresponding position in plan CT, thus finally obtain the organizing electronic density map that in 4DCBCT, each group 3DCBCT image is corresponding; Calculate each group 3DCBCT image to when planning the deformation vectors field of CT, first to the deformation vectors field of this 3DCBCT image, inversion calculation is carried out to the plan CT image that step B obtains, then utilize method for registering images using this inverse transformation as initial value, plan CT is registrated to 3DCBCT, obtains the accurate deformation vectors field of 3DCBCT image to plan CT;
According to the treatment journal file recorded in therapeutic process, calculate the checking dosage comprising motion tumor tracked information:
For each launched field B i, from treatment journal file, analyze the movement locus and range of movement that obtain collimator when dynamic tracing motion target area is treated, and movement locus be divided into N number of subsegment of equidistant intervals;
Obtain the position at center, target area, each subsegment mean place place according to treatment journal file, and according to center, target area interpolation from 4D iconic model, obtain corresponding three-dimensional CT images data I iwith organizing electronic density map;
According to the target area contour line on each group 3DCBCT that step B obtains, calculate the curve movement along with center, patient respiratory phase target area;
Calculate the correspondence position of center, target area, each subsegment mean place place on the central motion curve of target area, determine the patient respiratory phase that current subsegment is corresponding t;
Find out from 4DCBCT and patient respiratory phase ttwo groups of adjacent 3DCBCT, are respectively t i with t j , wherein t i≤ t ≤ t j ; According to the position relationship breathing phase, utilize linear interpolation method, from the organizing electronic density map interpolation that two groups of 3DCBCT are corresponding, obtain the three-dimensional CT images data I that this treatment subsegment is corresponding iwith organizing electronic density map;
Utilize image I icalculate the collimator dosage that patient bears when this subsegment is moved, wherein Rapid Dose Calculation roentgenization machine jumping figure is that in the process of collimator back and forth movement tracking target area, in this subsegment, dosage goes out beam line irradiation machine jumping figure sum;
Utilize said method, respectively to projection B ieach subsegment carry out above-mentioned Rapid Dose Calculation, obtain N group 3-dimensional dose field D i, then select a certain group of image image as a reference, to N group 3-dimensional dose field D icarry out deformation to add up; Reference picture can be a certain group of 3DCBCT in plan CT or 4DCBCT, or on many group reference pictures, carry out deformation cumulative;
Then carry out above-mentioned Rapid Dose Calculation for all launched fields, add up, finally obtain the dosage field of whole treatment plan;
E. adopt gamma to analyze and dose-volume histogram method, that compares related organization under different situations bears dosage, and provides multiple quantitative analytical data, determines whether to need to carry out Plan rescheduling; The intended dose of more single gradation and deformation cumulative dose; Or the cumulative dose of more multiple gradation intended dose, and the cumulative dose of the deformation cumulative dose of multiple gradation.
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Cited By (22)

* Cited by examiner, † Cited by third party
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CN105854191A (en) * 2016-04-26 2016-08-17 中国科学院合肥物质科学研究院 System and method for three-dimensional dose verification in radiosurgery
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