CN106880906B - A kind of real-time verification device and method for putting position for patient in radiotherapy - Google Patents
A kind of real-time verification device and method for putting position for patient in radiotherapy Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
- A61N5/1031—Treatment planning systems using a specific method of dose optimization
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1059—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using cameras imaging the patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
Abstract
The present invention relates to patient position verification technique fields in radiation therapy process, more particularly, to a kind of real-time verification device and method for putting position for patient in radiotherapy.Including the first optical camera being arranged in around therapeutic bed, second optical camera and third optical camera, every optical camera is mounted on corresponding bracket, wherein the front of face therapeutic bed is arranged in the first optical camera, second optical camera and third optical camera are separately positioned on the two sides of therapeutic bed, three optical cameras are connected on video frequency collection card by video line, video frequency collection card is mounted on graphics workstation, video scaling board corresponds to the head of patient, foot, left side, right side is arranged in therapeutic bed, video scaling board acquires uncalibrated image respectively and carrys out calibrating camera, graphics workstation carries out the real-time verification that patient puts position by algorithm and software control video camera.It, which can be realized, carries out the guidance of accurate pendulum position and verifying to patient, substantially increases the precision of radiotherapy.
Description
Technical field
The present invention relates to patient position verification technique fields in radiation therapy process, control more particularly, to one kind for radiating
Patient puts the real-time verification device and method of position in treatment.
Background technique
Radiotherapy (abbreviation radiotherapy) is one of three big technological means for the treatment of of cancer, and accurate radiotherapy is radiotherapy area research
Forward position and hot spot.Patient accurately puts the premise and basis that position is accurate radiotherapy, execute radiotherapy planning in must to patient into
The accurate pendulum position of row, could obtain desired good therapeutic effect.In clinical treatment, lesion target area center can be because to trouble
Person puts the unintentional motion of the inaccuracy and patient of position in the treatment and generates variation, prevents ray from being accurately radiated at patient's
On lesion target location, carry out biggish error to treatment zone, to cannot thoroughly heal a sufferer of his infirmity, while as right
The excessive irradiation of patient's normal tissue is so as to cause complication.Therefore, how quickly accurate pendulum position verifying is carried out simultaneously to patient
The real-time monitoring patient position deviation that unintentional motion generates in the treatment is to implement the key point of accurate radiotherapy.
The termed image-guided radiotherapy patient of mainstream puts position verification technique and mainly uses x-ray imaging, kV grade in the prior art
Conical beam CT (CBCT) and MRI imaging technique to put position verifying and the amendment of Set-up errors carrying out gradation to patient.Its
It has the drawback that imaging is not clear enough, or additional dose of radiation can be brought to patient's normal tissue, have and cause patient simultaneously
Send out the possibility of disease.It works together after its acquisition image, needs longer registration time of fusion to verify the pendulum position of patient, cannot accomplish reality
When pendulum position verifying.
So problem of the existing technology is to make patient by additional dose of radiation in imaging process, increase
The risk of patient's normal tissue illness；The algorithm calculation step for carrying out the verifying of pendulum position using the image of acquisition simultaneously is more multiple
It is miscellaneous, it is difficult to accomplish to put position verifying in real time, the patient that has an impact treats the possibility of curative effect.
Summary of the invention
The purpose of the present invention is to solve the shortcomings of the prior art providing a kind of reality for putting position for patient in radiotherapy
When verify device and method.To effectively solve the problems of the prior art.
To achieve the above object, the technical scheme adopted by the invention is as follows: described one kind is for patient's pendulum in radiotherapy
The real-time verification device of position, its main feature is that including the first optical camera being arranged in treat around indoor therapeutic bed, second
Optical camera and third optical camera, every optical camera are mounted on corresponding bracket, wherein the first optical camera
The front of face therapeutic bed is arranged in machine, and the second optical camera and third optical camera are separately positioned on the two of therapeutic bed
Side, three optical cameras are connected on video frequency collection card by video line, and video frequency collection card is mounted on graphics workstation, depending on
Head, foot, left side, the right side that frequency marking fixed board corresponds to patient are arranged in therapeutic bed, and video scaling board acquires calibration maps respectively
As carrying out calibrating camera, graphics workstation carries out the real-time verification that patient puts position by algorithm and software control video camera.
The therapeutic bed position rotary therapeutic bed, the support height of first optical camera are 1.8 meter -2.0
The support height of rice, the second optical camera and third optical camera is 1.2 meters -2.0 meters, the bracket of three optical cameras
2.5 meters -3.0 meters of horizontal distance of the pedestal apart from therapeutic bed center, the second optical camera and third optical camera put position
Line is set perpendicular to therapeutic bed and passes through therapeutic bed center, the trouble that video camera shoots therapeutic bed from the top down and is fixed thereon
Person.
A kind of real-time verification method for putting position for patient in radiotherapy, its main feature is that including the following steps:
(1) patient puts the acquisition of position and standard reference image for the first time: patient is for the first time when therapeutic room receives to treat, Jiang Santai
Video camera is connected according to the verifying device setting, opens the control software on verifying device figure work station；According to controlling
The patient for treating planning system output puts position parameter and puts position to patient, passes through conventional DR by conventional pendulum position verification method and sets
The image of standby acquisition and the DRR image registration for the treatment of planning systems output use image work to determine the correct pendulum position of patient
Algorithm software on standing obtains the canonical reference pendulum position optical imagery of each camera, and by the optical image storage in database
In；
(2) acquisition of error image: in the subsequent interval procedure of progress patient, the real-time video figure of each camera shooting
The standard reference image of picture and the camera carries out difference calculating, i.e., subtracts the rgb value of each pixel of every frame realtime graphic
The rgb value of each pixel of the standard reference image of corresponding camera, obtains set-up deviation image；
(3) acquisition of area-of-interest: in the mean filter and 7*7 for using set-up deviation image 5*5 kernel first
The Gaussian filter of core carries out smothing filtering, and the error image after smothing filtering is carried out contours extract using canny operator and is obtained
It takes comprising the contoured maximum rectangular area coordinate of institute, i.e. area-of-interest coordinate；
(4) patient puts position verifying: calculating on the standard reference image and real time video image in area-of-interest coordinate
Angle point, and the angle point of two images is matched；The grid deviation value of matching angle point is obtained, if deviation is less than setting
1 millimeter of threshold value it is correct then to assert that patient puts position, if deviation puts patient according to deviation greater than 1 millimeter again
Position；
(5) it obtains patient's set-up deviation: the ROI region coordinate of acquisition is mapped to reference picture and and real time video image
On, improved ORB (Oriented FAST and Rotated BRIEF) angle point grid registration Algorithm is passed through to the region of mapping
Angle point is extracted, the angle point in two images in ROI region is registrated；；It is extracted in the ROI region obtained automatically using ORB algorithm
Angle point and the description operator for obtaining angle point, according on the good real time video image of standard reference image angle point and corner description calculate
Son is matched；And ORB algorithm is improved, wherein coordinate position, direction are deleted and describes the completely the same background angle point of operator；
The position deviation value between registration angle point is being calculated under the same coordinate system, is being calculated according to the calibrating parameters to each camera
The actual deviation distance of collocation point under the camera；
(6) patient put position verifying: if in some or several cameras the angular coordinate deviation of video image and its
The angular coordinate being registrated on corresponding standard reference image is greater than 1 millimeter, then according to the position of camera and angular coordinate deviation
Value guides medical worker to put position to patient and is corrected adjustment, the operation of step (2) is re-started after adjustment, until patient is every
The standard reference image deviation of video image and the camera under a camera meets treatment and requires then originally less than 1 millimeter
Invention device outputs signal to treatment control system, starts to treat；
(7) patient body position in real time monitoring treatment: in patient treatment procedure, the body of three camera real time monitoring patients
Position, the real time video image of camera and respective standard reference image carry out difference operation, carry out certainly to difference operation image
Dynamic contours extract, the contour area of acquisition then need to stop treating if it is greater than 10 squares, carry out pendulum position tune to patient
It is whole, if contour area is less than 10 squares, continual cure；
(8) patient puts position real time monitoring: during patient's treatment, camera monitors patient in real time, when the nothing of patient
When difference value between video image caused by psychomotor and pendulum position reference picture is greater than 1 millimeter of threshold value of setting, system will
Issue signal and pass to treatment control system, control system stops radiotherapy, medical worker according to set-up deviation parameter to patient into
Row puts position again, then resumes treatment.
The beneficial effects of the present invention are: a kind of real-time verification device and side for putting position for patient in radiotherapy
Method, design are tested using the method that multichannel ordinary optical video camera multi-angle is imaged to carry out quickly accurate pendulum position to patient
The signal that operation obtains is fed back to radiotherapy control system, to trouble by card, and the position state of real-time monitoring patient in the treatment
Person carries out the guidance of accurate pendulum position and verifying, substantially increases the precision of radiotherapy.Its advantage further include: (1) its is cheap, imaging
Precision is high；(2) optical camera imaging does not increase any additional dose of radiation to patient, effectively reduces patient and is treating
Shi Yinwei is suffered from the risk of complication by additional radiation dosage；(3) modified hydrothermal process increases arithmetic speed, can be to trouble
Person quickly guide and verify in string pendulum position；(4) monitoring patient's unintentional motion can be monitored in real time, one it is found that patient
Appearance Set-up errors, which can take immediate steps, protects patient；(5) time that patient puts position can be effectively reduced, is objectively reduced
The risk that patient and operator are irradiated by additional radiation dosage；(6) reduce the pendulum position time, radiotherapy can be effectively reduced
The waiting time of accelerator, it is thus possible to reduce treatment cost；(7) shadow of the not treated indoor electromagnetic interference of optical imaging system
It rings, can adapt to electromagnetic environment complicated in therapeutic room, it is adaptable.
Detailed description of the invention:
Fig. 1 is the device of the invention structural schematic diagram；
Fig. 2 is implementation method flow structural schematic diagram of the invention；
Fig. 3 is the standard reference image of three cameras；
Fig. 4 is the angle point that the first optical camera extracts and its registration picture；
Fig. 5 is the angle point that the second optical camera extracts and its registration picture；
Fig. 6 is the angle point that third optical camera extracts and its registration picture.
It is as shown in the figure: 1. first optical cameras；2. the second optical camera；3. third optical camera；4. therapeutic bed；
5. video frequency collection card；6. graphics workstation；7. video scaling board；8. bracket.
Specific embodiment
It is described in further detail below in conjunction with preferred example shown in attached drawing:
As illustrated in fig. 1 and 2, a kind of real-time verification device for putting position for patient in radiotherapy, its main feature is that
The first optical camera 1, the second optical camera 2 and third optics including being arranged in around the indoor therapeutic bed 4 for the treatment of are taken the photograph
Camera 3, every optical camera are mounted on corresponding bracket 8, wherein face therapeutic bed is arranged in the first optical camera 1
Front, the second optical camera 2 and third optical camera 3 are separately positioned on the two sides of therapeutic bed 4, and three optical cameras are logical
It crosses video line to be connected on video frequency collection card 5, video frequency collection card 5 is mounted on graphics workstation 6, and video scaling board 7 is corresponding to suffer from
Head, foot, left side, the right side of person is arranged in therapeutic bed 4, and video scaling board 7 acquires uncalibrated image respectively to demarcate camera shooting
Machine, graphics workstation 6 carry out the real-time verification that patient puts position by algorithm and software control video camera.
The therapeutic bed position rotary therapeutic bed, the support height of first optical camera 1 are 1.8 meter -2.0
The support height of rice, the second optical camera 2 and third optical camera 3 is 1.2 meters -2.0 meters, the branch of three optical cameras
2.5 meters -3.0 meters of horizontal distance of 8 pedestal of frame apart from therapeutic bed center, the second optical camera 2 and third optical camera 3 are put
Position line is put perpendicular to therapeutic bed and passes through 4 center of therapeutic bed, video camera shoots therapeutic bed from the top down and is fixed on it
On patient.
A kind of real-time verification method for putting position for patient in radiotherapy, its main feature is that including the following steps:
(1) patient puts the acquisition of position and standard reference image for the first time: patient is for the first time when therapeutic room receives to treat, Jiang Santai
Video camera is connected according to the verifying device setting, opens the control software on verifying device figure work station；According to controlling
The patient for treating planning system output puts position parameter and puts position to patient, passes through conventional DR by conventional pendulum position verification method and sets
The image of standby acquisition and the DRR image registration for the treatment of planning systems output use image work to determine the correct pendulum position of patient
Algorithm software on standing obtains the canonical reference pendulum position optical imagery of each camera, and by the optical image storage in database
In；
(2) acquisition of error image: in the subsequent interval procedure of progress patient, the real-time video figure of each camera shooting
The standard reference image of picture and the camera carries out difference calculating, i.e., subtracts the rgb value of each pixel of every frame realtime graphic
The rgb value of each pixel of the standard reference image of corresponding camera, obtains set-up deviation image；
(3) acquisition of area-of-interest: in the mean filter and 7*7 for using set-up deviation image 5*5 kernel first
The Gaussian filter of core carries out smothing filtering, and the error image after smothing filtering is carried out contours extract using canny operator and is obtained
It takes comprising the contoured maximum rectangular area coordinate of institute, i.e. area-of-interest coordinate；
(4) patient puts position verifying: calculating on the standard reference image and real time video image in area-of-interest coordinate
Angle point, and the angle point of two images is matched；The grid deviation value of matching angle point is obtained, if deviation is less than setting
1 millimeter of threshold value it is correct then to assert that patient puts position, if deviation puts patient according to deviation greater than 1 millimeter again
Position；
(5) it obtains patient's set-up deviation: the ROI region coordinate of acquisition is mapped to reference picture and and real time video image
On, improved ORB (Oriented FAST and Rotated BRIEF) angle point grid registration Algorithm is passed through to the region of mapping
Angle point is extracted, the angle point in two images in ROI region is registrated；；It is extracted in the ROI region obtained automatically using ORB algorithm
Angle point and the description operator for obtaining angle point, according on the good real time video image of standard reference image angle point and corner description calculate
Son is matched；And ORB algorithm is improved, wherein coordinate position, direction are deleted and describes the completely the same background angle point of operator；
The position deviation value between registration angle point is being calculated under the same coordinate system, is being calculated according to the calibrating parameters to each camera
The actual deviation distance of collocation point under the camera；
(6) patient put position verifying: if in some or several cameras the angular coordinate deviation of video image and its
The angular coordinate being registrated on corresponding standard reference image is greater than 1 millimeter, then according to the position of camera and angular coordinate deviation
Value guides medical worker to put position to patient and is corrected adjustment, the operation of step (2) is re-started after adjustment, until patient is every
The standard reference image deviation of video image and the camera under a camera meets treatment and requires then originally less than 1 millimeter
Invention device outputs signal to treatment control system, starts to treat；
(7) patient body position in real time monitoring treatment: in patient treatment procedure, the body of three camera real time monitoring patients
Position, the real time video image of camera and respective standard reference image carry out difference operation, carry out certainly to difference operation image
Dynamic contours extract, the contour area of acquisition then need to stop treating if it is greater than 10 squares, carry out pendulum position tune to patient
It is whole, if contour area is less than 10 squares, continual cure；
(8) patient puts position real time monitoring: during patient's treatment, camera monitors patient in real time, when the nothing of patient
When difference value between video image caused by psychomotor and pendulum position reference picture is greater than 1 millimeter of threshold value of setting, system will
Issue signal and pass to treatment control system, control system stops radiotherapy, medical worker according to set-up deviation parameter to patient into
Row puts position again, then resumes treatment.
As shown in figure 3, the present invention is put for human emulation body mould, position guides specific embodiment and verifying is implemented, and uses three
Haikang prestige depending on high-definition camera be placed on the indoor human body plastic simulation of experiment from left and right, preceding upper three angle guiding in real time
Model puts position, and verifies the correctness of pendulum position, and camera is connected to graphics workstation meter by video line and video frequency collection card
On calculation machine, three camera real time video images are acquired, and determine the standard reference image of three cameras.Use a chessboard
Case marker fixed board is demarcated to each camera parameter, and the specification of gridiron pattern scaling board is each small lattice having a size of 5 millimeter of * 5 milli
Rice, gridiron pattern are 20 lattice *, 20 lattice.After human body plastic simulation model pendulum position is offset downward 20 millimeters, by video image and standard
Reference picture is calculated, and the deviation data of guidance pendulum position is obtained.Implement as shown in figure 4, guidance patient puts position, the first camera
The angle point of angle point and standard reference image such as Fig. 3 of real time video image area-of-interest are registrated, the image of 1 registration point of camera
Grid deviation average value x=1.95 pixel, y=21.17 pixel.According to the calibrating parameters of the first camera, 1.25 pixels=1 milli
Rice, can be calculated 1 image shift of camera is 17.01 millimeters, and the error with standard reference image pendulum position is 2.99 millimeters.Second
The angle point and standard reference image of 2 real time video image area-of-interest of camera are as shown in Figure 5.2 registration point of second camera
Image coordinate deviation average x=55.41 pixel, y=-2.01 pixel.According to the calibrating parameters of second camera 2,2.76
Pixel=1 millimeter, can be calculated 2 image shift of camera is 19.96 millimeters, and the error with standard reference image pendulum position is 0.04
Millimeter.The angle point of 3 real time video image area-of-interest of third camera and the angle point of standard reference image are registrated such as Fig. 6 institute
Show, the image coordinate deviation average x=-64.75 pixel of 3 registration point of camera, y=0.127 pixel.According to camera 3
Calibrating parameters, 3.43 pixel=1 millimeter, can be calculated 3 image shift of camera is -18.99 millimeters, is put with standard reference image
The error of position is 1.01 millimeters.Working as body mould is calculated according to the placement position of three cameras and their own calibrating parameters
The deviation of forward swing position and standard pendulum position is that body mould is maximum no more than 2.99 millis to the mobile distance in foot direction and actual shifts distance
Rice, and consider the general effect of three cameras, calculated result and actual range deviation are 0.04 millimeter, it was demonstrated that present invention dress
It sets and the feasibility of method, reaches the requirement of practical application.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of real-time verification device for putting position for patient in radiotherapy, its main feature is that including that indoor control is being treated in setting
The first optical camera, the second optical camera and the third optical camera of around bed are treated, every optical camera is mounted on
On corresponding bracket, wherein the front of face therapeutic bed, the second optical camera and third light is arranged in the first optical camera
The two sides that video camera is separately positioned on therapeutic bed are learned, three optical cameras are connected on video frequency collection card by video line, depending on
Frequency capture card is mounted on graphics workstation, and head, foot, left side, the right side that video scaling board corresponds to patient, which are arranged, is treating
On bed, video scaling board acquires uncalibrated image respectively and carrys out calibrating camera, and graphics workstation is imaged by algorithm and software control
Machine come carry out patient put position real-time verification；The therapeutic bed is rotary therapeutic bed, first optical camera
Support height is 1.8 meters -2.0 meters, and the support height of the second optical camera and third optical camera is 1.2 meters -2.0 meters,
2.5 meters -3.0 meters of horizontal distance of the bracket base of three optical cameras apart from therapeutic bed center, the second optical camera and
Third optical camera placement position line is perpendicular to therapeutic bed and passes through therapeutic bed center, and video camera shoots treatment from the top down
Bed and the patient being fixed thereon.
2. a kind of real-time verification method for putting position for patient in radiotherapy, it is characterised in that be to include the following steps:
(1), patient puts the acquisition of position and standard reference image for the first time: for the first time when therapeutic room receives to treat, Jiang Santai takes the photograph patient
Camera is connected according to the verifying device setting, opens the control software on verifying device figure work station；According to treatment
The patient of planning system output puts position parameter and puts position to patient, passes through conventional DR equipment by conventional pendulum position verification method
The DRR image registration of image and the treatment planning systems output of acquisition uses image workstation to determine the correct pendulum position of patient
On algorithm software obtain the canonical reference pendulum position optical imagery of each camera, and by the optical image storage in database
In；
(2), the acquisition of error image: in the subsequent interval procedure of progress patient, the real time video image of each camera shooting
Difference calculating is carried out with the standard reference image of the camera, i.e., is subtracted the rgb value of each pixel of every frame realtime graphic pair
The rgb value of each pixel of the standard reference image of camera is answered, set-up deviation image is obtained；
(3), the acquisition of area-of-interest: the mean filter and 7*7 kernel of 5*5 kernel are used set-up deviation image first
Gaussian filter carries out smothing filtering, and the error image after smothing filtering is carried out contours extract using canny operator and obtains packet
Containing the contoured maximum rectangular area coordinate of institute, i.e. area-of-interest coordinate；
(4), patient puts position verifying: calculating the angle on the standard reference image and real time video image in area-of-interest coordinate
Point, and the angle point of two images is matched；The grid deviation value of matching angle point is obtained, if deviation is less than the 1 of setting
Millimeter threshold value it is correct then to assert that patient puts position, if deviation puts patient according to deviation greater than 1 millimeter again
Position；
(5), obtain patient's set-up deviation: by the ROI region coordinate of acquisition be mapped to reference picture and on real time video image,
The region of mapping is mentioned by improved ORB (Oriented FAST and Rotated BRIEF) angle point grid registration Algorithm
Angle point is taken, the angle point in two images in ROI region is registrated；Angle point is extracted using ORB algorithm in the ROI region obtained automatically
And the description operator for obtaining angle point, according on the good real time video image of standard reference image angle point and corner description operator into
Row matching；And ORB algorithm is improved, wherein coordinate position, direction are deleted and describes the completely the same background angle point of operator；Same
The position deviation value between registration angle point is calculated under one coordinate system, is calculated according to the calibrating parameters to each camera at this
The actual deviation distance of collocation point under camera；
(6), patient puts position verifying: if the angular coordinate deviation of video image is corresponding in some or several cameras
Standard reference image on the angular coordinate that is registrated be greater than 1 millimeter, then drawn according to the position of camera and angular coordinate deviation
It leads medical worker and adjustment is corrected to patient's pendulum position, the operation of step (2) is re-started after adjustment, until patient takes the photograph each
As the standard reference image deviation of video image and the camera under head is less than 1 millimeter, meet treatment require it is then of the invention
Device outputs signal to treatment control system, starts to treat；
(7), the patient body position in real time monitoring treatment: in patient treatment procedure, the position of three camera real time monitoring patients,
The real time video image of camera and respective standard reference image carry out difference operation, carry out to difference operation image automatic
Contours extract, the contour area of acquisition then need to stop treating if it is greater than 10 squares, carry out the adjustment of pendulum position to patient,
If contour area is less than 10 squares, continual cure；
(8), patient puts position real time monitoring: during patient's treatment, camera monitors patient in real time, unconscious as patient
When difference value between video image caused by moving and pendulum position reference picture is greater than 1 millimeter of threshold value of setting, system will be issued
Signal passes to treatment control system, and control system stops radiotherapy, and medical worker carries out weight to patient according to set-up deviation parameter
New pendulum position, then resumes treatment.
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