CN107007944A - The method for putting position is calibrated by human projection in a kind of radiotherapy operation - Google Patents

The method for putting position is calibrated by human projection in a kind of radiotherapy operation Download PDF

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Publication number
CN107007944A
CN107007944A CN201710126867.5A CN201710126867A CN107007944A CN 107007944 A CN107007944 A CN 107007944A CN 201710126867 A CN201710126867 A CN 201710126867A CN 107007944 A CN107007944 A CN 107007944A
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Prior art keywords
projection
coordinate system
positioner
patient
human
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CN201710126867.5A
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纪铭曦
陈韵霞
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Nanjing University
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Nanjing University
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00Radiation therapy
    • A61N5/10X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048Monitoring, verifying, controlling systems and methods
    • A61N5/1075Monitoring, verifying, controlling systems and methods for testing, calibrating, or quality assurance of the radiation treatment apparatus
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00Radiation therapy
    • A61N5/10X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048Monitoring, verifying, controlling systems and methods
    • A61N5/1075Monitoring, verifying, controlling systems and methods for testing, calibrating, or quality assurance of the radiation treatment apparatus
    • A61N2005/1076Monitoring, verifying, controlling systems and methods for testing, calibrating, or quality assurance of the radiation treatment apparatus using a dummy object placed in the radiation field, e.g. phantom
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00Radiation therapy
    • A61N5/10X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092Details
    • A61N2005/1097Means for immobilizing the patient

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)

Abstract

The invention discloses calibrate the method for putting position by human projection in a kind of radiotherapy operation.In order to allow patient to be kept when treatment, a posture is motionless, and doctor can be fixed to some patients using radiotherapy localization film.But it is due to that the position that patient is lain on orientation room's bed board and therapeutic room's bed board always there are some deviations, film can be allowed to deform when causing to buckle radiotherapy localization film to patient, largely effect on the effect of radiotherapy.Method disclosed by the invention can first calibrate position of the human body on accelerator bed board before radiotherapy localization film is buckled to patient, make position of the patient on therapeutic room's bed board substantially consistent with orientation room, so as to reduce the deformation of film, it is ensured that radiotherapy quality.

Description

The method for putting position is calibrated by human projection in a kind of radiotherapy operation
Technical field
The present invention discloses in a kind of radiotherapy operation and calibrates the method for putting position by human projection.
Background technology
Radiotherapy position be exactly physics teacher and operating personnel by Mobile treatment table and human body, the tumor center of patient is put To the isocentric process of accelerator.Tumor center is that doctor is determined by medical images such as CT, the dosimeter in treatment plan Calculate, irradiation field setting is all on the basis of this tumor center.The centers such as accelerator refer to accelerator therapy center, an acceleration After device is installed, it etc. center be exactly determine, unique point in space.During radiotherapy, if tumor center and accelerator Deng center superposition, patient is with regard to that can obtain best therapeutic effect.But if pendulum position is inaccurate, in tumor center and accelerator etc. There will be deviation between the heart, normal tissue will be can't accept foot by extra irradiation, pathological tissues when radiotherapy The irradiation of enough dosage, causes the probability of tumor recurrence to substantially increase.
Domestic radiotherapy position scheme is still based on conventional X-ray and CT simulator locatings.First in orientation room, doctor makes Tumour in patient body is positioned with radiotherapy simulative generator, detailed process is as follows:Allow patient to lie on accelerator bed board, use radiotherapy Patient is fixed on bed board by orientation film, and then scanning determines tumor center, is being put according to the laser indicator lamp of accelerator computer room Treat and do cross hairs mark in orientation film.Then patient goes to therapeutic room to receive radiotherapy, the mechanical parameter of orientation room's analog machine, several What parameter is such as therapeutic room, if so the position that lies on therapeutic room's bed board of patient and the position one lain in orientation room Cause, the tumor center of patient just can be with the center superposition such as accelerator.For the position consistency for allowing patient to lie, doctor can be fixed with radiotherapy The laser indicator lamp of reticle alignment computer room on the film of position carries out pendulum position.
In fact, the position that patient lies in therapeutic room can't be so accurate, always more or less there is deviation, at this moment make Film will be allowed to deform with radiotherapy localization film, so as to substantially reduce therapeutic effect.But if before using radiotherapy localization film first really Recognize the position suitable that patient lies, then the deformation of film will be within the acceptable range.
In view of the above problems, it is necessary to find a kind of using calibration human body location method on bed board before radiotherapy localization film.
The content of the invention
In view of the shortcomings of the prior art, present invention solves the technical problem that being the position for calibrating human body on accelerator bed board Put, reduce the deformation of radiotherapy localization film, improve the quality of radiotherapy.The method of use be treatment when use radiotherapy localization film before, Position of the human body on bed board is calibrated first.
In order to solve the above technical problems, the technical proposal of the invention is realized in this way:
Present invention is disclosed the method for putting position is calibrated by human projection in a kind of radiotherapy operation, comprise the following steps:
B1:Obtain the projection of body side profile and infrared monitoring device coordinate in medical image coordinate system and be tied to medical science figure The step of transition matrix of picture coordinate system;
B2:The step of obtaining body side profile in infrared monitoring device coordinate system;
B3:Calculate the step of deviation of human body side outline projection under Two coordinate system is to adjust patient location.
The step B1 comprises the following steps:S1:Multiple positioners are pasted on orientation room's accelerator bed board, patient is entered Row medical imaging;S2:Independent development software is opened, the medical image of patient is imported, to the human body in image along vertical coronal The direction in face is projected, and projection is designated as A;S3:Sketch the contours of positioner in image in software, obtain all positioners it Between relative position relation;S4:Same location fixation in therapeutic room's bed board and same number of positioner in S1, are opened red Outer monitoring device;S5:Infrared monitoring equipment follows the trail of the coordinate for the positioner being fixed on bed board and is transferred to computer, calculates Position relationship between the positioner obtained in machine combination step S3, registration, calculating obtain infrared monitoring device coordinate system and doctor Learn the transition matrix between image coordinate system.
In at least one embodiment of the present invention, it is fixed on the quantity of orientation room and the positioner on therapeutic room's bed board Preferably more than three, six-freedom degree in three dimensions can fully be shown with the motion for ensureing the positioner detected The change of (translation and rotation in three-dimensional system of coordinate on three directions).If using less than three positioners, can influence fixed Position precision, or even Wrong localization.The positioner of more than three can be typically selected, in order to avoid occur because positioning is lost caused by blocking By mistake.
In at least one embodiment of the present invention, the positioner is can be recognized by infrared monitoring equipment infrared fixed Position bead, but the technical staff in the field is without creative work, just it should be appreciated that there is obvious infrared spy using other The other shapes mark object that the material levied is made replaces described positioning bead.Therefore similar technical scheme is also not above Presently disclosed and claimed scope.
In at least one embodiment of the present invention, projection is done in the direction to the human body in image along vertical coronal-plane is Refer on the side outline projection of patient to bed board.
In at least one embodiment of the present invention, the infrared monitoring equipment can recognize the positioner and return The real-time coordinates of positioner.Infrared monitoring equipment is the equipment that can obtain positioner three-dimensional coordinate, but the field Technical staff without creative work, just it should be appreciated that the equipment for obtaining positioner coordinate by other principles and approach. Therefore similar technical scheme is also not above presently disclosed and claimed scope.
The step B2 comprises the following steps:S6:Patient is allowed to lie on therapeutic room's bed board and according to body surface cross hairs mark Put position;S7:Swiped through along the side vertical of human body with profile brush, infrared monitoring equipment transmits profile and paints positioner in real time Coordinate is to software;S8:The movement locus that direction of the software along vertical bed board paints positioner to profile is projected, projection note For B;
In at least one embodiment of the present invention, the profile brush is independently invented, and the positioner is fixed on The top of profile brush, the centre of profile brush is a straight-bar, and an inclinometer is fixed in bottom, and straight-bar and water is shown in inclinometer Square to angulation.The positioner is the infrared positioning bead that can be recognized by the infrared monitoring equipment, but institute The technical staff in field is stated without creative work, just it should be appreciated that having what the material of obvious infrared signature was made using other Other shapes mark object replaces described positioning bead.Therefore similar technical scheme be also not above it is presently disclosed simultaneously Claimed scope.
The step B3 comprises the following steps:S9:S5 is calculated obtained transition matrix and acts on projection B by computer, is made It is transferred under projection A coordinate system, is calculated the deviation between two projections and is correspondingly adjusted the position of patient.S10:Repeat weight The multiple step S6~S9 is until deviation is in certain threshold value.
The beneficial effects of the present invention are:Position of the human body on bed board can be calibrated, reduces the deformation of radiotherapy localization film, from And improve the quality of radiotherapy.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the present invention.
Fig. 2 is the schematic diagram of the instrument profile brush used in the present invention.
Fig. 3 is the result schematic diagram that software is obtained.
Fig. 4 is application scenarios schematic diagram.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair The present invention is described in detail.
With reference to Fig. 2, the positioner that profile is painted is the infrared positioning bead that can be recognized by infrared monitoring equipment.It is infrared fixed Position bead surface, which covers one layer, can reflect the material of most directs light.Infrared monitoring equipment launches infrared light quilt Bead is reflected, and infrared monitoring equipment receives the infrared light reflected, and analyze data calculates the three-dimensional position for obtaining bead Coordinate is put, the purpose of monitoring positioner is realized.
With reference to Fig. 2, inclinometer is fixed on straight-bar, can test straight-bar from the horizontal by angle.Using profile brush When measuring human body side profile, it is ensured that the registration of inclinometer is at 90 degree.Ensure that projection of the positioner coordinate on bed board is exactly straight Bar and projection of human contact's point coordinates on bed board.Straight-bar bottom is the bottom plate of one piece of level, bottom plate be with straight-bar it is vertical, For aiding in straight-bar to keep vertical state.
With reference to Fig. 3, software obtains the trajectory coordinates of positioner, and the projection in vertical bed board direction is done to it.With patient's Projection of the medical anatomy structural images on the direction of vertical human coronary face is made comparisons, and software provides the adjustment direction of patient location With distance.
With reference to Fig. 4, detailed process of the invention is as follows:
S1:Multiple positioners are fixed on orientation room's accelerator bed board, medical imaging is carried out to patient;
S2:Independent development software is opened, the medical image of patient is imported, to the human body in image along vertical coronal-plane Direction is projected, and projection is designated as A;
S3:Positioner is sketched the contours of in image in software, the relative position relation between all positioners is obtained;
S4:Fix and set with same number of positioner in S1, opening infrared monitoring in the same location of therapeutic room's bed board It is standby;
S5:Infrared monitoring equipment follows the trail of the coordinate for the positioner being fixed on bed board and is transferred to computer, computer With reference to the position relationship between the positioner obtained in step S3, registration, calculating obtain infrared monitoring device coordinate system and medical science Transition matrix between image coordinate system.
S6:Allow patient to lie on therapeutic room's bed board and position is put according to body surface cross hairs mark;
S7:Swiped through along the side vertical of human body with profile brush, infrared monitoring equipment transmits profile and paints positioning dress in real time The coordinate put is to software;
S8:The movement locus that direction of the software along vertical bed board paints positioner to profile is projected, and projection is designated as B;
S9:S5 is calculated obtained transition matrix and acts on projection B by computer, it is transferred under projection A coordinate system, Calculate the deviation between two projections and correspondingly adjust the position of patient.
S10:Repeating said steps S6~S9 is repeated until deviation is in certain threshold value.

Claims (9)

1. the method for putting position is calibrated by human projection in a kind of radiotherapy operation, it is characterised in that:Methods described includes:
Obtain the projection of body side profile and infrared monitoring device coordinate in medical image coordinate system and be tied to medical image coordinate The transition matrix of system;
Obtain body side profile in infrared monitoring device coordinate system;
The deviation of human body side outline projection under Two coordinate system is calculated to adjust patient location.
2. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as claimed in claim 1, it is characterised in that institute State and obtain in medical image coordinate system the projection of body side profile and infrared monitoring device coordinate is tied to medical image coordinate system Transition matrix the step of comprise the following steps:S1:Multiple positioners are pasted on orientation room's accelerator bed board, patient is carried out Medical imaging;S2:Independent development software is opened, the medical image of patient is imported, to the human body in image along vertical coronal-plane Direction project, projection be designated as A;S3:Positioner is sketched the contours of in image in software, is obtained between all positioners Relative position relation;S4:Same location fixation in therapeutic room's bed board and same number of positioner in S1, are opened infrared Monitoring device;S5:Infrared monitoring equipment follows the trail of the coordinate for the positioner being fixed on bed board and is transferred to computer, computer With reference to the position relationship between the positioner obtained in step S3, registration, calculating obtain infrared monitoring device coordinate system and medical science Transition matrix between image coordinate system.
3. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as claimed in claim 2, it is characterised in that institute It is the infrared positioning bead that can be recognized by the infrared monitoring equipment to state positioner.
4. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as claimed in claim 2, it is characterised in that institute It is more than three to state and be fixed on therapeutic room and the quantity of positioner on orientation room's bed board.
5. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as claimed in claim 2, it is characterised in that institute It is that the coordinate system of the infrared monitoring equipment is transformed under medical image coordinate system to state transition matrix, can by the transition matrix So that certain coordinate value of point under the coordinate system of infrared monitoring equipment to be converted to the coordinate value under medical image coordinate system.
6. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as claimed in claim 1, it is characterised in that institute Stating the step of obtaining body side profile in infrared monitoring device coordinate system includes:S6:Patient is allowed to lie on therapeutic room's bed board simultaneously Position is put according to body surface cross hairs mark;S7:Swiped through along the side vertical of human body with profile brush, infrared monitoring equipment is transmitted in real time Profile paints the coordinate of positioner to software;S8:Direction of the software along vertical bed board paints the fortune of positioner to profile Dynamic rail mark is projected, and projection is designated as B.
7. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as claimed in claim 6, it is characterised in that institute State profile brush to be made up of four parts, be respectively:(1) positioner on straight-bar top, (3) are fixed on for fixing in straight-bar, (2) The horizonal base plate of straight-bar, (4) are fixed on the inclinometer of straight-bar tail end.
8. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as described in right will go 7, it is characterised in that institute It is the infrared positioning bead that can be recognized by the infrared monitoring equipment to state positioner.
9. the method for putting position is calibrated by human projection in a kind of radiotherapy operation as claimed in claim 1, it is characterised in that institute The step of deviation for calculating human body side outline projection under Two coordinate system is stated to adjust patient location includes:S9:Computer is by S5 Calculate obtained transition matrix and act on projection B, it is transferred under projection A coordinate system, calculate the deviation between two projections And correspondingly adjust the position of patient.S10:Repeating said steps S6~S9 is until deviation is in certain threshold value.
CN201710126867.5A 2017-02-27 2017-02-27 The method for putting position is calibrated by human projection in a kind of radiotherapy operation Pending CN107007944A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107510470A (en) * 2017-09-30 2017-12-26 苏州众志医疗科技有限公司 Positioner and localization method for medical imaging device
CN108434612A (en) * 2018-01-05 2018-08-24 沈阳东软医疗系统有限公司 A kind of QAT quality assurance test method and device
CN112675442A (en) * 2020-12-30 2021-04-20 北京凯佰特科技股份有限公司 Positioning system for boron neutron capture therapy

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2676831Y (en) * 2003-10-09 2005-02-09 江苏富科思科技有限公司 Radiation therapy infrared location system
CN103736208A (en) * 2013-12-20 2014-04-23 山东新华医疗器械股份有限公司 Infrared locating automatic positioning system for radiotherapy
CN105266902A (en) * 2015-12-02 2016-01-27 浙江成达医疗科技有限公司 Method for monitoring human body surface states during operations
CN105361950A (en) * 2015-11-26 2016-03-02 江苏富科思科技有限公司 Computer-assisted puncture navigation system and computer-assisted puncture navigation method under infrared guidance

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2676831Y (en) * 2003-10-09 2005-02-09 江苏富科思科技有限公司 Radiation therapy infrared location system
CN103736208A (en) * 2013-12-20 2014-04-23 山东新华医疗器械股份有限公司 Infrared locating automatic positioning system for radiotherapy
CN105361950A (en) * 2015-11-26 2016-03-02 江苏富科思科技有限公司 Computer-assisted puncture navigation system and computer-assisted puncture navigation method under infrared guidance
CN105266902A (en) * 2015-12-02 2016-01-27 浙江成达医疗科技有限公司 Method for monitoring human body surface states during operations

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107510470A (en) * 2017-09-30 2017-12-26 苏州众志医疗科技有限公司 Positioner and localization method for medical imaging device
CN108434612A (en) * 2018-01-05 2018-08-24 沈阳东软医疗系统有限公司 A kind of QAT quality assurance test method and device
CN108434612B (en) * 2018-01-05 2020-07-10 东软医疗系统股份有限公司 Quality assurance testing method and device
CN112675442A (en) * 2020-12-30 2021-04-20 北京凯佰特科技股份有限公司 Positioning system for boron neutron capture therapy

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