CN105664376B  A kind of device and equipment of dosage distribution determination and radiotherapy treatment planning optimization  Google Patents
A kind of device and equipment of dosage distribution determination and radiotherapy treatment planning optimization Download PDFInfo
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 CN105664376B CN105664376B CN201511031048.XA CN201511031048A CN105664376B CN 105664376 B CN105664376 B CN 105664376B CN 201511031048 A CN201511031048 A CN 201511031048A CN 105664376 B CN105664376 B CN 105664376B
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Classifications

 A—HUMAN NECESSITIES
 A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
 A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
 A61N5/00—Radiation therapy
 A61N5/10—Xray therapy; Gammaray therapy; Particleirradiation therapy
 A61N5/1042—Xray therapy; Gammaray therapy; Particleirradiation therapy with spatial modulation of the radiation beam within the treatment head
 A61N5/1045—Xray therapy; Gammaray therapy; Particleirradiation therapy with spatial modulation of the radiation beam within the treatment head using a multileaf collimator, e.g. for intensity modulated radiation therapy or IMRT
 A61N5/1047—Xray therapy; Gammaray therapy; Particleirradiation therapy with spatial modulation of the radiation beam within the treatment head using a multileaf collimator, e.g. for intensity modulated radiation therapy or IMRT with movement of the radiation head during application of radiation, e.g. for intensity modulated arc therapy or IMAT

 A—HUMAN NECESSITIES
 A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
 A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
 A61N5/00—Radiation therapy
 A61N5/10—Xray therapy; Gammaray therapy; Particleirradiation therapy
 A61N5/103—Treatment planning systems
 A61N5/1036—Leaf sequencing algorithms

 A—HUMAN NECESSITIES
 A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
 A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
 A61N5/00—Radiation therapy
 A61N5/10—Xray therapy; Gammaray therapy; Particleirradiation therapy
 A61N5/1048—Monitoring, verifying, controlling systems and methods
 A61N5/1071—Monitoring, verifying, controlling systems and methods for verifying the dose delivered by the treatment plan
Abstract
Description
Technical field
Present application relates generally to field of radiation therapy more particularly to radiotherapy treatment planning optimization method and equipment, Yi Jifang Penetrate the determination method and apparatus for the treatment of plan middle dosage distribution.
Background technique
Multidiaphragm collimator (MLC) is the equipment for generating the radiation field size of suitable shape, is widely used in medical domain. Multidiaphragm collimator usually reaches launched field dynamic or static forming by the movement of each blade.It is real in radiotherapy treatment planning optimization The key of the function of existing multidiaphragm collimator includes the determination of Ziye shape and intensity.
In the prior art, when determining Ziye shape and intensity, there are following challenges.
The continuous moving of blade is realized difficult in radiotherapy optimization problem.When formulating reverse optimization plan, need The shift position of MLC blade in each Ziye shape is provided, usually by piecing together some penbundle elements (beamlet) dose matrix To realize.At this moment blade can only navigate to the edge of penbundle element, and the mobile minimum range of blade is a penbundle element, therefore leaf The mobile continuity of piece is limited by the resolution ratio of penbundle element；Resolution ratio is too low, and the minimum range for causing blade mobile is excessive, from And the controllability of blade shift position is reduced, expected effect of optimization is not achieved；And resolution ratio is excessively high, then can make beam The dose matrix data volume of member increased dramatically, and extend the calculating time significantly.
In addition, the data volume of penbundle element dose matrix is excessive.In VMAT planning optimization process, first have to calculate penbundle element Dose matrix is used to store the penbundle element penbundle element dosage deposition (cGy/ of sampled point or voxel (voxel) nearby MU).In order to preferably control the distribution of the dosage on each organ in some multiple organ cases, the number selection of voxel is relatively more, This allows for that mass data can be generated in the lower situation of the resolution ratio in penbundle element, causes to consume a large amount of memory money Source, and occupy and calculate the time.In addition, calculating speed is also one of problem of the prior art slowly.In the optimization of radiotherapy treatment planning In the process, need to calculate the dosage distribution situation on current voxel, and according to present dose distribution situation, to determine in next step Blade moving direction；Each more new dosage distribution situation or change leaf position require to do accumulative place to Ziye dosage Reason reduces optimal speed so that calculation amount be made to increase.
For example, Jiang, Men and Jia are in 2011 in the U.S. Patent application that number of patent application is US 13/695,015 In mention, using columngeneration (column generation) method, solve Ziye shape and strong respectively in two problems Degree.This method has certain effect for solving Largescale Optimization Problems, but this method variable space is big, consumes compared with multicomputer Resource, and Segment weight and shape are separately optimized in optimization process, it is not that local optimum is found in global scope Solution.
For another example, it is added by building network model, and by the mobile constraint of blade in United States Patent (USP) US 2013/0077751A1 In, which more focuses on the mobile continuity of blade, and ignores the effect of optimization relatively, and its Ziye shape and Segment weight And be separately optimized.
In above two patents, the moveable position of blade be all it is discrete, moveable position is still limited by beam Member, therefore its intense adjustment ability will will receive limitation largely.
Summary of the invention
According to the one side of the disclosure, a kind of determination method of radiotherapy treatment planning middle dosage distribution includes by beam and sense Interest region is discrete respectively to turn to multiple penbundle elements and multiple voxels, determines each penbundle element to the dose contribution of each voxel Value；Determine the integral dose on each voxel with the continuously distributed of penbundle element according to the dose contribution value；And according to described The continuously distributed dosage distribution calculated at current vane position.
According to an embodiment of this aspect, determine the integral dose on each voxel with beam according to the dose contribution value The continuously distributed of member further comprises depositing dose contribution value of each penbundle element to the voxel by row to each voxel Storage, the row are parallel with the moving direction of blade；To the penbundle element of every row, calculate after each penbundle element is sequentially overlapped, the body Integral dose on element with penbundle element distribution；And the integral dose is carried out with the distribution of penbundle element using fitting function Fitting is to obtain the integral dose on the voxel with the continuously distributed of penbundle element.The fitting function can be onedimensional functions, The integral dose is integral dose with the curve of change in location with the continuously distributed of penbundle element.Alternatively, the fitting letter Number can be twodimensional function, and the integral dose is integral dose with the song of position and line number variation with the continuously distributed of penbundle element Face.
According to this aspect further embodiment, the integral dose on all voxels is obtained with the continuous of penbundle element in fitting It further include being modified to the integral dose being fitted on the obtained voxel with the continuously distributed of penbundle element after distribution.Root According to another embodiment, the integral dose on the voxel obtained using interpolation method to fitting is with the continuously distributed of penbundle element It is modified.According to further embodiments, the integral dose on the voxel obtained to fitting divides with the continuous of penbundle element Cloth, which is modified, further comprises: the Optimized model of radiotherapy treatment planning is established, it is tired on each voxel obtained using fitting Dosage is counted with the initial solution of the continuously distributed calculating Optimized model of penbundle element, according to the initial solution location to each Integral dose on voxel is modified with the continuously distributed of penbundle element.Further, according to the initial solution location to every Integral dose on a voxel with penbundle element it is continuously distributed be modified may include to each voxel, it is true according to the initial solution Surely the position range for needing modified penbundle element, using interpolation method to accumulative in the position range for needing modified penbundle element Dosage is modified.
According to another aspect of the present disclosure, a kind of radiotherapy treatment planning optimization method includes by beam and areaofinterest point Taking leave of dispersion is multiple penbundle elements and multiple voxels, determines each penbundle element to the dose contribution value of each voxel；According to described Dose contribution value determines the integral dose on each voxel with the continuously distributed of penbundle element；Establish the optimization mould of radiotherapy treatment planning Type；And using the integral dose on each voxel with the optimal solution of the continuously distributed calculating Optimized model of penbundle element, and Optimum results as radiotherapy treatment planning.
According to an embodiment of this aspect, determine the integral dose on each voxel with beam according to the dose contribution value The continuously distributed of member further comprises depositing dose contribution value of each penbundle element to the voxel by row to each voxel Storage, the row are parallel with the moving direction of blade；To the penbundle element of every row, calculate after each penbundle element is sequentially overlapped, the body Integral dose on element with penbundle element distribution；And the integral dose is carried out with the distribution of penbundle element using fitting function Fitting is to obtain the integral dose on the voxel with the continuously distributed of penbundle element.The fitting function can be onedimensional functions, The integral dose is integral dose with the curve of change in location with the continuously distributed of penbundle element.Alternatively, the fitting letter Number can be twodimensional function, and the integral dose is integral dose with the song of position and line number variation with the continuously distributed of penbundle element Face.
According to the another embodiment of this aspect, the integral dose on all voxels is obtained in fitting and is divided with the continuous of penbundle element It further include being modified to the integral dose being fitted on the obtained voxel with the continuously distributed of penbundle element after cloth.For example, The integral dose on the voxel obtained using interpolation method to fitting is modified with the continuously distributed of penbundle element.
According to further embodiments, the integral dose on the voxel obtained to fitting is with the continuously distributed of penbundle element The integral dose on each voxel obtained including the use of fitting is modified with the continuously distributed calculating optimization of penbundle element The initial solution of model, according to the initial solution location to the integral dose on each voxel with penbundle element it is continuously distributed into Row amendment.
According to the another embodiment of this aspect, according to the initial solution location to the integral dose on each voxel with The continuously distributed of penbundle element is modified including determining the position for needing modified penbundle element according to the initial solution to each voxel Range is set, the integral dose in the position range for needing modified penbundle element is modified using interpolation method.Further Embodiment may also include the continuously distributed calculating optimal solution feelings according to the integral dose on the revised voxel with penbundle element Dosage distribution under condition.
The disclosure further includes equipment corresponding with abovementioned various aspects.
Detailed description of the invention
Fig. 1 is the example being distributed according to the penbundle element dosage of one embodiment of the disclosure.
Fig. 2 is the example being distributed according to the penbundle element dose accumulation of one embodiment of the disclosure.
Fig. 3 is the example according to the beam variable matrix uniline fitting result of one embodiment of the disclosure.
Fig. 4 is the result example that piecewise interpolation is carried out to accumulative penbundle element section according to one embodiment of the disclosure.
Specific embodiment
Various aspects will now be described with reference to the drawings.In the following description, numerous details are elaborated for explanatory purposes To provide the thorough understanding to one or more aspects.It will, however, be evident that can also be practiced without these details such In terms of (class).
This disclosure relates to determination method and apparatus, the radiotherapy treatment planning optimization method of the distribution of radiotherapy treatment planning middle dosage And equipment.For example, all aspects of this disclosure can relate to, but are not limited to it is following one or more: by the method for curve matching come Construct blade can continuous moving Optimized model；Beam variable matrix is replaced with resulting parameter is fitted, to greatly reduce Data scale；The continuously distributed of integral dose is determined with the method for fitting, so that the flatness of optimization problem is enhanced, so that Ideal solution can be converged to, the resolution ratio of penbundle element is not only restricted to；Optimal solution is quickly found using analytic method, for quasi It closes error to correct using such as interpolation method, and calculating speed and precision can have been taken into account based on amendment come reoptimization.
The various specific embodiments of the disclosure are given below.It will be appreciated that the specific embodiment of the disclosure is to show Example and what infinite mode provided, the protection scope of the disclosure is not limited in any specific embodiment.Specifically, this public affairs Claimed range is opened to be limited only by the claims.For example, this disclosure relates to but being not limited to multidiaphragm collimator blade Position Filled function.As one of ordinary skill understandable, the disclosure is equally adaptable to other related applications.
According to the aspect of the disclosure, multiple penbundle elements can be turned to by beam and areaofinterest are discrete respectively (beamlet) and multiple voxels (voxel), determine each penbundle element to the dose contribution value of each voxel；And according to described Dose contribution value determines the integral dose on each voxel with the continuously distributed of penbundle element.
For example, determining that each penbundle element may include calculating penbundle element dose matrix to the dose contribution value of each voxel.It can Further by calculated penbundle element dose matrix by row storage.Skilled person will appreciate that, it is possible to use other storage sides Formula, by column storage etc., without departing from the scope of the present disclosure.According to an embodiment, the capable moving direction with blade can be Parallel.
Fig. 1 shows the dosage distribution situation of each penbundle element of a voxel in a row according to an exemplary embodiment, Wherein xaxis can be the position of the penbundle element at the row from left to right, and yaxis can be penbundle element for the dose contribution value of the voxel (cGy/MU), and it can remember that the corresponding dose contribution value of ith of penbundle element is b_{i}。
According to further exemplary and nonlimiting embodiment, the optimization method of the disclosure may include from left to right right The dose contribution value of penbundle element adds up, to obtain the distribution of the integral dose on the voxel.Such as those of ordinary skill in the art It will be appreciated, the disclosure is not limited to add up from left to right, but can have other cumulative directions and/or side Formula.For example, to the penbundle element of every row, can calculate each penbundle element dose contribution value be sequentially overlapped after, it is tired on the voxel Dosage is counted with the distribution of penbundle element position.
According to an example, which can be as shown in Fig. 2, wherein xaxis be penbundle element position from left to right, yaxis For corresponding position penbundle element dose contribution value it is cumulative after dosage aggregatevalue.For example, y_{i}It can be the agent of ith of penbundle element The dosage aggregatevalue on the voxel after contribution margin adds up is measured, can for example be calculated as shown in following formula (1):
y_{i}=y_{i1}+b_{i} (1)
According to further exemplary and nonlimiting embodiment, according to the continuously distributed calculating current vane position The dosage distribution at place may further include to be fitted to obtain to integral dose using fitting function with the distribution of penbundle element Integral dose on to the voxel is with the continuously distributed of penbundle element, such as may include choosing fitting function to tired on the voxel Meter dosage distribution is fitted.According to nonlimiting example, S type fitting function can be chosen, the integral dose on the voxel is distributed It is fitted.The choosing method of the fitting function has very much, the nonlimiting example as exemplary, than if any Logistics Curve, Gompertz curve, Bertalanffy curve, bent tangent function (tanh (x)), polynomial function etc..
In the following, for convenient for explaining, in conjunction with being illustrated for Logistics function to embodiment of the disclosure.Using it His curve can be readymade for those of ordinary skill in the art on the basis of the disclosure come the example being fitted, so by including Within the scope of this invention.
For example, typical Logistics function can be written as:
Wherein a, b and K can be undetermined parameter.
For example, in order to be fitted using such Logistics function to the integral dose distribution on such as voxel, it can By being adjusted such that integral dose distribution and Logistics function to any one or more of undetermined parameter a, b and K Reach best fit.Target it is, for example, possible to use least meansquare error as fitting function.For example, mean square error minimizes It can be written as:
Wherein N represents the number of penbundle element, by Optimum Theory it is found that then existing for example, by seeking local derviation to a, b, K respectively Following equation group (4) a, b, K value corresponding when setting up is the optimal solution of the optimization problem.
Those of ordinary skill in the art can correspondingly adjust its parameter it is found that if having selected other fitting functions It saves so that integral dose distribution function and selected fitting function reach best fit.
It is as shown in Figure 3 to the fitting result of beam variable matrix at uniline according to an exemplary embodiment.For each voxel For, N number of data in beam variable matrix on original every row can be replaced with 3 parameters K, a, b after fitting, thus The data volume having shared by beam variable matrix can be greatly reduced, reduce storage and/or transmit occupied resource.Not only such as This, can also further accelerate the calculating of objective function and/or variable derivative using analytic method.
In upper example, fitting function can be onedimensional functions, and integral dose is accumulative with the continuously distributed of penbundle element Dosage with change in location curve.In another embodiment, which can be twodimensional function, and integral dose is with penbundle element The continuously distributed curved surface changed for integral dose with position and line number.
For example, in an exemplary and nonlimiting example, for example, still by taking Logistics function as an example, it is twodimensional quasi Closing function can be written as:
Wherein x represents leaf position, and r indicates the row where blade.The available further compression of data volume in this way, Cost is to might have corresponding precision to reduce.
Determined the integral dose on each voxel with penbundle element it is continuously distributed after, on the one hand, can be according to described The continuously distributed dosage distribution calculated at current vane position.
According to another aspect of the present disclosure, determined the integral dose on each voxel with penbundle element according to dose contribution value It is continuously distributed after, can further establish the Optimized model of radiotherapy treatment planning, and utilize the integral dose on each voxel With the optimal solution of the continuously distributed calculating Optimized model of penbundle element, and the optimum results as radiotherapy treatment planning.
According to the one side of the disclosure, a kind of analytic method of Optimized model that establishing radiotherapy treatment planning may include set it is excellent The catalogue scalar functions of change are F, then F is the function about Ziye leaf position x and Segment weight w:
F=F (x, w)=F (d (x, w)) (5)
Wherein d is d_{j}The vector of composition, d_{j}For the dose value at jth of voxel (or sampled point), expression formula can be Such as:
K is the number of Ziye；w_{k}For the weight of kth of Ziye, the range of k is from 1 to K；R is the line number of MLC blade；R is Row, in the range of R；WithThe position of the left and right blade of respectively kth Ziye r row；For kth of Ziye r The fitting function of jth of voxel of row.
Then above formula need to only be substituted by calculating the dosage distribution situation at current vane position, without again to beam The value of first dose matrix adds up.As a result, objective function can be calculated with accelerate.Accumulative agent is determined with the method for fitting The continuously distributed flatness for enhancing optimization problem of amount, allows to converge to ideal solution.
On the other hand, using based on gradient optimization method carry out radiotherapy treatment planning when it needs to be determined that each variable is led Number, can also very easily be acquired using above formula:
(7)
Wherein
Wherein flag is mark, works as x^{k,r}It is flag=1, x for lobus sinister piece^{k,r}Flag=1 when for lobus dexter piece.
Thus, it is possible to the derivative at current variable is readily available, for the such as, but not limited to optimization based on gradient Method etc..
There may be certain errors for the dosage summation curve and truth obtained for example, by abovementioned fitting.Therefore After obtaining preliminary solution using analytic method as escribed above, need to be modified using accurate penbundle element dosage.As example Property and not limiting example, using various interpolation methods to the integral dose on the obtained voxel of fitting with the continuous of penbundle element Distribution is modified.It is, for example, possible to use polynomial interopolation, such as Lagrangian (Lagrange) interpolation, newton (Newton) Interpolation；Hermit interpolation；Piecewise interpolation；Spline interpolation etc..
Accoding to exemplary embodiment, it after establishing the Optimized model of radiotherapy treatment planning, can use for example, by aforementioned Integral dose on obtained each voxel is fitted with the initial solution of the continuously distributed calculating Optimized model of penbundle element, then root The integral dose on each voxel is modified with the continuously distributed of penbundle element according to the initial solution location.
According to an exemplary embodiment, for example, accurately modified penetrate can be needed to determine first according to current vane position Beam member position range.Such as to each voxel, modified beam can be needed to determine according to based on the obtained initial solution of fitting First position range.Then, the integral dose in the modified penbundle element position range of needs is modified using interpolation method. According to an exemplary embodiment, interpolation can be carried out to the section, so as to obtain one using each penbundle element position as node By the exact dose change curve of each penbundle element integral dose value.
In an exemplary and nonlimiting example, it is modified using hermit interpolation.It is exemplary in Fig. 4 Ground is shown centered on 300, to section 260360 using arriving after 3 hermit interpolation of segmentation as a result, wherein xaxis Unit can be millimeter (mm).
As from institute in Fig. 4 as it can be seen that being wherein true penbundle element position at ' * ', solid line is the result after interpolation.Utilize the party After method amendment, exact dose of the available blade in specific location.
According to a further exemplary embodiment, the optimization process of aforementioned analytic method can be repeated based on this, from And preliminary result can be corrected.For example, can be according to the integral dose on the revised voxel with the company of penbundle element Continuous distribution, to calculate the dosage distribution in the case of optimal solution.Optimal solution quickly is found by using fitting process, fitting is missed Difference is corrected using such as interpolation method, and has taken into account calculating speed and precision based on amendment come reoptimization.
Summarized according to the process of the exemplary and nonlimiting embodiment of the disclosure one can include:
(1) penbundle element is calculated, dosage is deposited by each voxel and is for example added up by row, accumulative agent discrete on the row is obtained Saltation point is measured, the point on these positions is fitted using such as ' S ' type curve, the parameter after record fitting is based on subsequent It calculates；
(2) using for example based on the optimal method of gradient, the optimal solution of solving optimization model, solve dosage it is accumulative and It can use existing fitting parameter when derivative quickly to calculate；
(3) point centered on leaf position obtained in (2) is chosen a small section as correcting region, is utilized Interpolation method carries out local correction to the optimum results in (2), obtains exact dose distribution situation, and correct locally optimal solution.
It similarly, equally can be with class after being optimized using for example foregoing twodimentional fitting function with analytic method As be modified using interpolation method.
Realize various advantages according to disclosed method and equipment, including but not limited to for example it is following one or more:
1. reducing the data volume of penbundle element.Penbundle element agent is replaced with fitting parameter according to disclosed method and equipment Moment matrix is substantially reduced data volume, to reduce the required stock number occupied of storage/transmission and greatly improve the efficiency.
2. utilizing fitting parameter, calculated locating for dosage distribution situation and each blade under current shape by analytic method The derivative of position greatly accelerates the iteration speed of optimization compared with dosage stacking method.
3. the flatness of increased Optimized model, accelerates the convergence rate of optimization problem and to approach problem more optimal Solution.
4. using two step optimisation strategies, the first step quickly orients the rough position of locally optimal solution using approximating method It sets；Second step makes up the error in approximating method using interpolation method, accurately corrects locally optimal solution.Do not losing optimization precision Under the premise of, increase substantially optimal speed.
It will be recognized by one of ordinary skill in the art that the beneficial effect of the disclosure is not by any single embodiment Lai all real It is existing.Various combinations, modification and replacement are that those of ordinary skill in the art are illustrated on the basis of the disclosure.
In addition, term "or" is intended to indicate that inclusive "or" and nonexcludability "or".That is, unless otherwise specified or from upper and lower Text can be clearly seen, otherwise phrase " X uses A or B " be intended to indicate that it is any naturally can and arrangement.That is, phrase " X using A or B " is met by example any in following instance: X uses A；X uses B；Or X uses both A and B.In addition, the application and The article " one " used in the appended claims and " certain " are generally to be understood as indicating " one or more ", unless in addition It states or can be apparent from from the context to refer to singular.
Various aspects or feature by by may include several equipment, component, module, and the like system in the form of be in It is existing.It should be understood that and understand, various systems may include optional equipment, component, module etc., and/or can not include in conjunction with attached drawing Armamentarium, component, module for being discussed etc..Also the combination of these methods can be used.
It can be with general in conjunction with various illustrative logicals, logical block, module and the circuit that presently disclosed embodiment describes Processor, digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA) or it is other can Programmed logic device, discrete door or transistor logic, discrete hardware component or its be designed to carry out function described herein Any combination realize or execute.General processor can be microprocessor, but in alternative, and processor, which can be, appoints What conventional processor, controller, microcontroller or state machine.Processor is also implemented as calculating the combination of equipment, example Such as DSP and the combination of microprocessor, multimicroprocessor, one or more microprocessors cooperateed with DSP core or any Other such configurations.In addition, at least one processor may include may act on execute one or more steps described above and/ Or one or more modules of movement.
In addition, the method that describes in conjunction with aspect disclosed herein or the step of algorithm and/or movement can be directly hard Implement in part, in the software module executed by processor or in combination of the two.
The element of the various aspects described in the whole text in the disclosure is that those of ordinary skill in the art are currently or hereafter known Equivalent scheme in all structures and functionally is clearly included in this by citation, and is intended to be intended to be encompassed by the claims. In addition, any content disclosed herein is all not intended to contribute to the public  it is no matter such open whether in claim It is explicitly recited in book.
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