CN108231199B - Radiotherapy plan simulation method and device - Google Patents
Radiotherapy plan simulation method and device Download PDFInfo
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- CN108231199B CN108231199B CN201711481833.4A CN201711481833A CN108231199B CN 108231199 B CN108231199 B CN 108231199B CN 201711481833 A CN201711481833 A CN 201711481833A CN 108231199 B CN108231199 B CN 108231199B
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Abstract
The invention provides a radiotherapy plan simulation method and a radiotherapy plan simulation device. The radiotherapy plan simulation method comprises the following steps: a. acquiring a first position of a plurality of characteristic points in a real space; b. acquiring images of the plurality of feature points, and acquiring second positions of the plurality of feature points in the images based on the images; c. calculating a projective transformation relationship according to the first positions and the second positions of the plurality of feature points; mapping one or both of a treatment head three-dimensional model, a treatment couch three-dimensional model, and a patient three-dimensional model to a display interface according to the projective transformation relationship to simulate movement of one or both of the treatment head, the treatment couch, and the patient in the display interface and also simulate movement of the patient when the movement of the treatment couch is simulated in the display interface, wherein the movement of the treatment head, the treatment couch, and the patient is at least partially dictated by the radiotherapy plan.
Description
Technical Field
The invention mainly relates to radiotherapy plans, in particular to a radiotherapy plan simulation method and a radiotherapy plan simulation device.
Background
Radiotherapy (abbreviated as radiotherapy) is a commonly used means for treating malignant tumor, and the basic principle is to destroy the chromosomes of cells by using energy generated by a large amount of rays, so as to stop the growth of the cells, thereby eliminating the malignant tumor cells which can divide and grow rapidly. Wherein the radiation may be alpha radiation, beta radiation, gamma radiation, X-ray, electron beam, proton beam, etc.
In the actual radiotherapy process, high-energy rays are required to be emitted into the body of a patient from different angles in sequence, so that the rays are focused on a focus to kill tumor tissues. The mechanical structure of radiotherapy equipment is usually composed of two parts, i.e. a treatment head and a treatment couch, which have respective rotating shafts, and the two parts can be matched with each other to flexibly control the incident angle of rays in space. However, because the two parts can move freely, the treatment head and the treatment bed sometimes collide with the patient during the moving process, and such accidents have been reported.
In order to avoid the dangerous situation in clinic, a hospital technician usually makes the radiotherapy apparatus Run the motion tracks of the treatment head and the treatment couch all over the whole treatment process in a state of not outputting beams (i.e. not outputting rays) before the patient is laid on the treatment couch for performing real radiotherapy, so as to verify whether the treatment head collides with the patient, wherein the process is called "Dry Run" in the terminology of radiotherapy. Through observation of the whole movement process and manual intervention and protection, after the inspection process of the Dry Run is completed for one time, collision can be prevented in subsequent treatment.
However, there is still a certain danger in the inspection process of Dry Run because if a collision is found to occur, a technician who performs the Dry Run needs to react quickly and stop the movement of the radiotherapy equipment immediately, which brings a certain psychological burden to the patient; without placing the patient, the overall procedure of Dry Run requires the technician to assume the patient's volume and specific location on the patient's bed, which, while eliminating any impact on the patient, is less accurate.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a radiotherapy plan simulation method and a radiotherapy plan simulation device, which can accurately detect whether a radiotherapy plan collides or not under the condition of not influencing a patient.
In order to solve the above technical problem, the present invention provides a radiotherapy plan simulation method, which is suitable for simulating the motion of radiotherapy equipment in a radiotherapy plan, wherein the radiotherapy equipment comprises a treatment head and a treatment couch, and the simulation method comprises: a. acquiring a first position of a plurality of characteristic points in a real space; b. acquiring images of the plurality of feature points, and acquiring second positions of the plurality of feature points in the images based on the images; c. calculating a projective transformation relationship according to the first positions and the second positions of the plurality of feature points; mapping one or both of a treatment head three-dimensional model, a treatment couch three-dimensional model, and a patient three-dimensional model to a display interface according to the projective transformation relationship to simulate movement of one or both of the treatment head, the treatment couch, and the patient in the display interface and also simulate movement of the patient when the movement of the treatment couch is simulated in the display interface, wherein the movement of the treatment head, the treatment couch, and the patient is at least partially dictated by the radiotherapy plan.
In an embodiment of the invention, the characteristic points comprise corner points of the treatment couch.
In an embodiment of the invention, the first positions of the feature points are calculated by reading a third position of the center point of the treatment couch in the real space and combining the size of the treatment couch.
In an embodiment of the present invention, the first position includes three-dimensional coordinates of the feature point on a world coordinate system, the second position includes two-dimensional coordinates of the feature point on the image, and the projective transformation relation includes a projective transformation matrix.
In an embodiment of the invention, simulating the motion of the treatment head in the display interface comprises changing the position of the three-dimensional model of the treatment head mapped on the display interface according to the motion track of the treatment head generated by the radiotherapy plan.
In an embodiment of the invention, the patient lies on the treatment couch while simulating the movement of the treatment head in the display interface.
In an embodiment of the invention, simulating the motion of the patient in the display interface comprises changing the position of the three-dimensional model of the patient mapped on the display interface according to the motion trail of the treatment couch generated by the radiotherapy plan.
In an embodiment of the present invention, the motion trajectory is obtained by interpolating a plurality of trajectory points in the radiotherapy plan.
In an embodiment of the invention, the three-dimensional model of the patient is constructed according to the outline data of the skin of the patient in the actual space.
In an embodiment of the present invention, the skin outline data is obtained by skin segmentation of a CT sequence image set of the patient.
In one embodiment of the invention, the three-dimensional model of the patient comprises a closed geometry dimensionally surrounding the patient.
In one embodiment of the invention, the treatment isocenter of the three-dimensional model of the patient is aligned with the isocenter of the radiotherapy apparatus while simulating the motion of the patient in the display interface.
In an embodiment of the present invention, when the motion of the treatment head and the patient is simulated in the display interface at the same time, the radiotherapy plan simulation method further comprises: e. and calculating the position where the three-dimensional model of the treatment head and the three-dimensional model of the patient can collide.
In one embodiment of the invention, when the three-dimensional model of the treatment head and the three-dimensional model of the patient move to the position where the collision is possible, a prompt is sent out visually and/or audibly.
In one embodiment of the invention, the treatment head three-dimensional model and/or the patient three-dimensional model are highlighted on the display interface when the treatment head three-dimensional model and the patient three-dimensional model move to the position where collision may occur.
In one embodiment of the invention, when the three-dimensional model of the treatment head and the three-dimensional model of the patient move to the position where the collision is possible, one or more track points which are suggested to avoid the collision position are provided on the display interface.
In an embodiment of the present invention, the radiotherapy plan simulation method further receives an interactive operation of the user, and performs one or more of suspending simulation, continuing simulation, and selecting a trajectory point according to the interactive operation.
Another aspect of the present invention provides a radiotherapy plan simulation apparatus, comprising: the image acquisition module is used for acquiring an image in front of the eyes of a user in real time; the display module is used for displaying the image acquired by the image acquisition module and/or the image output by the processor; a memory for storing instructions executable by the processor; a processor for executing the instructions to implement the method as described above.
Another aspect of the present invention provides a computer readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a processor, perform the method as described above.
Compared with the prior art, the invention has the following advantages:
the invention adopts the augmented reality technology, simulates and displays the movement of at least one of the treatment head, the treatment bed and the patient in the radiotherapy plan in the display interface, so that a user can accurately observe whether the radiotherapy plan is collided through the display interface, and can detect whether the radiotherapy plan is collided through a geometric figure intersection algorithm in the graphics, thereby accurately detecting whether the radiotherapy plan is collided under the condition of not influencing the patient.
Drawings
Fig. 1 is a schematic structural diagram of a radiotherapy apparatus according to an embodiment of the present invention.
Fig. 2 is a basic block diagram of a radiotherapy plan simulation apparatus according to an embodiment of the present invention.
Fig. 3 is a basic flowchart of a radiotherapy plan simulation method according to an embodiment of the present invention.
Fig. 4 is a basic flowchart of a radiotherapy plan simulation method according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of a world coordinate system in accordance with an embodiment of the present invention.
Fig. 6 is a basic flowchart of a radiotherapy plan simulation method according to another embodiment of the present invention.
FIG. 7 is a basic flow diagram of a method of constructing a three-dimensional model of a patient's entire body, according to one embodiment of the present invention.
Fig. 8 is a basic flowchart of a radiotherapy plan simulation method according to another embodiment of the present invention.
Fig. 9 is a schematic diagram of display interfaces of a three-dimensional model of a treatment head, a three-dimensional model of a patient and a three-dimensional model of a treatment couch at positions where collisions may occur according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
As used in this application and in the claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified steps or elements as not constituting an exclusive list and that the method or apparatus may comprise further steps or elements.
Fig. 1 is a mechanical structure of a radiotherapy apparatus according to an embodiment of the present invention. Referring to fig. 1, a radiotherapy apparatus 100 may include a couch 10, a stationary gantry 20, a rotating gantry 30, a positioning light source 40, and a treatment head 31.
The couch 10 is mounted outside the stationary gantry 20 and may have multiple degrees of freedom of movement. The degrees of freedom of the couch 10 may include up and down, right and left, front and back, and rotation, as indicated by the arrows in fig. 1.
The rotating gantry 30 is able to rotate relative to the stationary gantry 20 with a trajectory of rotation indicated by the dashed circle C and an axis of rotation indicated by X. The axis of rotation X passes through the isocenter O of the system. This isocenter O may be defined by a positioning light source 40 external to the radiotherapy apparatus 100. The positioning light source 40 may include 3 laser lamps configured to emit laser beams from three directions perpendicular to each other, respectively, and intersect at the isocenter O of the radiotherapy apparatus 100. The isocenter O of the radiotherapy apparatus 100 is an intersection of the rotation axis of the rotating gantry 30 and the beam axis of the beam of the treatment head 31. The treatment head 31 is arranged on the rotating frame 30. The treatment head 31 may emit radiation for radiation treatment of a patient on the couch 10. The beam axis of the beam of the treatment head 31 is Y in the figure.
The radiotherapy plan includes planning of the motion trajectory of the treatment couch 10 and the treatment head 31 to achieve the sequential injection of high-energy radiation into the patient from different angles to focus the radiation at the lesion to kill the tumor tissue. The treatment couch 10 has the freedom degrees of up and down, left and right, front and back, rotation, etc., and the treatment head 31 can rotate relative to the fixed frame 20, so that it can be seen that there are many freedom degrees between the treatment couch 10 and the treatment head 31, and if the movement paths of the treatment couch 10 and the treatment head 31 are not well planned in the radiotherapy plan, there is a high possibility that the treatment head 31 collides with the treatment couch 10 or the patient during the radiotherapy. In order to accurately detect whether a radiotherapy plan is collided or not under the condition of not influencing a patient, the invention provides the detection by utilizing an Augmented Reality (AR) technology. The augmented reality technology is a technology for calculating the position and angle of a camera image in real time and adding a corresponding image, and aims to sleeve a virtual world on a screen in the real world and interact with the virtual world.
Fig. 2 is a basic block diagram of a radiotherapy plan simulation apparatus according to an embodiment of the present invention. Referring to fig. 2, the radiotherapy plan simulation apparatus 200 includes an image acquisition module 210, a display module 220, a processor 230, and a memory 240. The image acquisition module 210 is used to acquire an image of the front of the eye of the user in real time, for example, an image of the radiotherapy apparatus 100 shown in fig. 1 is acquired. The display module 220 is used for displaying the image acquired by the image acquisition module 210 and/or the image output by the processor 230. Memory 240 is used to store instructions that may be executed by processor 250. The processor 230 is configured to execute instructions stored in the memory 240 to implement or assist in detecting whether a radiotherapy plan will collide using augmented reality techniques. It is understood that the radiotherapy plan simulation apparatus 200 may be a personal computer, a tablet computer, a smart phone, smart glasses, etc., wherein the smart glasses may be, for example, HoloLens of Microsoft corporation, Google Glass of Google corporation, etc.
Fig. 3 is a basic flowchart of a radiotherapy plan simulation method according to an embodiment of the present invention. Referring to fig. 3, a radiotherapy plan simulation method 300 includes:
step 310: a first position of a plurality of feature points in a real space is obtained. Wherein the plurality of feature points may include corner points where two sides of the treatment couch intersect. In an alternative embodiment, the first positions of the corner points of the treatment couch may be calculated by reading the third position of the center point of the treatment couch in real space, in combination with the size of the treatment couch. It is understood that the corner point may be a vertex where two edges intersect, or may be a circular arc connecting two edges, which is not limited by the present invention. It is to be understood that the feature points may be other easily identifiable objects or parts of objects on the radiotherapy apparatus, or may be easily identifiable objects or parts of objects outside the radiotherapy apparatus, which is not limited by the present invention. In some embodiments, the first location of the feature point in real space may comprise three-dimensional coordinates of the feature point on a world coordinate system.
Step 320: and acquiring images of the plurality of characteristic points, and acquiring second positions of the plurality of characteristic points in the images based on the images. In an alternative embodiment, the second position of the feature point in the image may comprise two-dimensional coordinates of the feature point in the image. In an embodiment, the image acquired in step 320 is the treatment couch 10 in the radiotherapy apparatus 100 shown in fig. 1, the feature points may be corner points of the treatment couch 10, and the second positions of the feature points in the image may include two-dimensional coordinates of the corner points in the image.
Step 330: and calculating a projective transformation relation according to the first positions and the second positions of the plurality of feature points. The projective transformation relation is used to represent a mapping relation between the first position and the second position of the feature point, which may include, for example, a projective transformation matrix to relate three-dimensional coordinates of the feature point in a world coordinate system to two-dimensional coordinates in the image. It is understood that an object in real space can be projected to an image through the projective transformation relationship.
Step 340: one or both of the treatment head three-dimensional model, the treatment couch three-dimensional model, and the patient three-dimensional model are mapped to a display interface according to a projective transformation relationship to simulate movement of one or both of the treatment head, the treatment couch, and the patient in the display interface and also simulate movement of the patient when the movement of the treatment couch is simulated in the display interface. Wherein the motion of the treatment head, the treatment couch, and the patient is at least partially dictated by the radiotherapy plan. It should be noted that the component which does not simulate the motion in the display interface should move in the real space according to the radiotherapy plan synchronously with the component which simulates the motion in the display interface, for example, the treatment couch does not simulate the motion in the display interface, the treatment head simulates the motion in the display interface, and the treatment couch should move in the real space according to the radiotherapy plan synchronously with the treatment head simulated in the display interface. It is to be appreciated that one or more of translation, rotation, uniform motion, and variable motion of at least one of the treatment head, the treatment couch, and the patient, etc. can be simulated in the display interface according to the radiotherapy plan.
In an embodiment, the image of the non-simulated component acquired by the image acquisition module is displayed in the display interface, and the projection of the three-dimensional model of the simulated component is superimposed on the image, so as to show the motion of the simulated component and the non-simulated component in the display interface simultaneously, so as to determine whether the components collide with each other during the motion in step 340.
In another embodiment, the display interface in step 340 may be a semi-transparent display interface through which the user can view components in the physical space, such as a treatment couch, a treatment head, a patient, etc. in the physical space. In this embodiment, the projection of the simulated component may be displayed on the semi-transparent display interface, and the user may view the image on the display interface and the component in the real space through the semi-transparent display interface simultaneously, so that, for the user, the image displayed in the display interface and the component in the real space are superimposed, so as to display the motion of the simulated component and the motion of the non-simulated component simultaneously, and conveniently observe whether the components collide during the motion.
In an alternative embodiment, the radiotherapy plan simulation method 300 may further include:
step 350: and receiving the interactive operation of the user, and executing corresponding operation according to the interactive operation.
In step 350, interactive functions such as user selection of a trace point, pausing the simulation, resuming the simulation, etc. may be provided. For example, the user can select a track point through the prompt information of the possible collision position which is warned in advance, so that the simulation is paused near the track point where the collision is likely to occur, the possibility of the collision is observed conveniently, and a scheme for avoiding the collision is searched for, and the like. In some embodiments, the user's interaction operation may be a gesture operation, a touch operation, or the like.
It is understood that the radiotherapy plan simulation method 300 can be implemented in the radiotherapy plan simulation apparatus 200 shown in fig. 2, wherein the image acquiring module 210 is used for acquiring images of the treatment couch in real time, the display module 220 is used for simulating the movement of the treatment head in the display interface thereof, and the processor 230 is used for performing calculation, image processing and the like according to instructions stored in the memory 240.
Fig. 4 is a basic flowchart of a radiotherapy plan simulation method according to an embodiment of the present invention. Referring to fig. 4, a radiotherapy plan simulation method 400 includes:
Step 410: and acquiring three-dimensional coordinates of the plurality of characteristic points on a world coordinate system. The world coordinate system may be a coordinate system formed by taking the isocenter O of the radiotherapy apparatus as an origin, taking the X-axis forward direction from left to right, the Z-axis forward direction from the floor to the ceiling, and the Y-axis forward direction from near to far when the isocenter O of the radiotherapy apparatus is directly opposite to the radiotherapy apparatus main body (i.e., the user is located on the rotation axis shown in fig. 1 and faces the treatment head 30), as shown in fig. 5. In one embodiment, the plurality of feature points may include corner points where two sides of the treatment couch intersect.
Step 420: and acquiring images of the plurality of characteristic points, and acquiring two-dimensional coordinates of the plurality of characteristic points in the images based on the images.
Step 430: and calculating a projection transformation matrix according to the three-dimensional coordinates of the characteristic points on the world coordinate system and the two-dimensional coordinates of the characteristic points on the image.
Step 440: and simulating the motion of the treatment head on a display interface according to the treatment head three-dimensional model constructed in the world coordinate system, the motion track of the treatment head generated according to the radiotherapy plan and the projection transformation matrix. It should be noted that, in step 440, the motion of the treatment head is only simulated in the display interface, and the treatment couch and the patient are not simulated, and during the process of simulating the motion of the treatment head in the display interface, the treatment couch and/or the patient can move synchronously in the real space according to the radiotherapy plan.
In an embodiment, the radiotherapy plan simulation method 400 may further include:
step 450: and receiving the interactive operation of the user, and executing corresponding operation according to the interactive operation.
In step 450, interactive functions such as user selection of a trace point, pausing the simulation, resuming the simulation, etc. may be provided. For example, the user can enable the three-dimensional model of the treatment head and/or the treatment bed (the patient can lie on the treatment bed) to stop near the track point where the collision is likely to happen through the prompting information of the possible collision position which is warned in advance, so that the possibility of the collision is observed conveniently, and a scheme for avoiding the collision is searched. In some embodiments, the user's interaction operation may be a gesture operation, a touch operation, or the like.
The radiotherapy plan simulation method 400 can be implemented in the radiotherapy plan simulation apparatus 200 shown in fig. 2, wherein the image acquiring module 210 is configured to acquire images of the treatment couch in real time, the display module 220 is configured to simulate the movement of the treatment head in the display interface thereof, and the processor 230 is configured to perform calculations, image processing, and the like according to instructions stored in the memory 240.
In step 410, if the feature points are corner points of the treatment couch, the three-dimensional coordinates of the feature points on the world coordinate system can be obtained by reading the three-dimensional coordinates of the center point of the treatment couch on the world coordinate system in real time and calculating the three-dimensional coordinates by combining the size of the treatment couch. For example, assuming that the length direction of the treatment couch is parallel to the Y-axis at the beginning, the coordinates of the center point of the treatment couch are (0,0,0), the length of the treatment couch is l, and the width of the treatment couch is w, the coordinates of the four corner points of the treatment couch are (-w/2, -l/2,0), (-w/2, l/2,0), (w/2, l/2,0), respectively.
In step 420, the two-dimensional coordinates of the plurality of feature points on the image may be coordinates in an image coordinate system. The image coordinate system may be an image pixel coordinate system in units of pixels, or may be an image physical coordinate system in units of distances.
In step 430, a projective transformation matrix may be computed using computer vision techniques. In computer vision, the relationship between the three-dimensional coordinates of a feature point on a world coordinate system and the two-dimensional coordinates of the feature point on an image can be calculated as follows:
P′＝Mproj·Pcamera (1)
wherein, PcameraAs three-dimensional coordinates of feature points in the world coordinate system, MprojFor projective transformation matrix, P' is taken as feature point through projective transformation matrixThree-dimensional coordinates (the coordinates are expressed as vector coordinates with a length of 4, because they are expressed in a homogeneous coordinate system) projected on a viewing plane. Because the P 'point is positioned on the view plane, the z value is equal to the distance between the camera and the view plane, which is the set value of the system is a known quantity, and the position of the P' point in the two-dimensional screen coordinate system can be obtained through the following coordinate transformation,
wherein Ws,HsWidth and height of the window of the display screen, Wp,HpRepresenting the width and height of the viewing plane, these four values being preset system constants, (x) p,yp) The first two dimensional coordinate values of point P' (x)s,ys) Indicating that the P' point is transformed to two-dimensional coordinates in the screen.
In one embodiment, the projective transformation matrix MprojMay have the form:
wherein r, t, f, n are four variables. It should be noted that the projective transformation matrix MprojIs a formula in the OpenGL three-dimensional rendering industry standard.
In an embodiment, a linear equation set may be formed according to three-dimensional coordinates of four corner points of the treatment couch on the world coordinate system and two-dimensional coordinates of the four corner points on the image, and then the values of the variables r, t, f, n may be obtained, so as to obtain the projective transformation matrix Mproj. It will be appreciated that the projective transformation matrix M may be used to obtain images at different locationsprojThe four variables r, t, f, n in (1) may have different values.
In step 440, the three-dimensional model of the treatment head constructed in the world coordinate system and the trajectory points of the treatment head in the radiotherapy plan can be stored in the memory 240 of the radiotherapy plan simulation apparatus 200, or can be stored in the radiotherapy plan simulation apparatusThe device 200 may have other memories with data connections, as the invention is not limited in this respect. When the three-dimensional model of the treatment head, the motion track of the treatment head and the projection transformation matrix M are obtained projThen, the treatment head three-dimensional model in the world coordinate system can be projected and displayed on a display interface by calling the relevant interface of a three-dimensional drawing engine such as OpenGL or DirectX, so as to simulate the movement of the treatment head on the display interface. Specifically, the treatment head of the radiotherapy equipment can only do circular motion around the isocenter of the machine, so that continuous motion track points are obtained by a method such as linear interpolation aiming at track point data of the treatment head in a to-be-performed radiotherapy plan, the three-dimensional model of the treatment head is subjected to rotation coordinate transformation according to the continuous motion track points, new coordinates of the three-dimensional model of the treatment head on each track point can be obtained, then the three-dimensional model of the treatment head on the new coordinates is subjected to projection transformation, and the motion of the treatment head can be simulated on a display interface.
In a preferred embodiment, the radiotherapy plan simulation method 400 may be performed with the patient lying on a couch, so that whether the couch collides with the patient can be observed on the display interface. In one embodiment, images of the treatment couch and the patient can be displayed on the display interface in real time and displayed in an overlapping mode with the three-dimensional model of the treatment head, so that whether the three-dimensional model of the treatment head collides with the patient or not during movement can be observed conveniently. In another embodiment, the display interface can be a semi-transparent interface, and the treatment head three-dimensional model is displayed on the display interface, and is used for being superposed with the treatment bed and the patient in the actual space so as to observe whether the treatment head three-dimensional model collides with the patient during movement.
Fig. 6 is a basic flowchart of a radiotherapy plan simulation method according to another embodiment of the present invention. Referring to fig. 6, a radiotherapy plan simulation method 500 includes:
step 510: and acquiring three-dimensional coordinates of the plurality of characteristic points on a world coordinate system. The world coordinate system may be a coordinate system formed by taking the isocenter O of the radiotherapy apparatus as an origin, taking the X-axis forward direction from left to right, the Z-axis forward direction from the floor to the ceiling, and the Y-axis forward direction from near to far when the isocenter O of the radiotherapy apparatus is directly opposite to the radiotherapy apparatus main body (i.e., the user is located on the rotation axis shown in fig. 1 and faces the treatment head 30), as shown in fig. 5. In one embodiment, the plurality of feature points may include corner points where two sides of the treatment couch intersect.
Step 520: and acquiring images of the plurality of characteristic points, and acquiring two-dimensional coordinates of the plurality of characteristic points in the images based on the images.
Step 530: and calculating a projection transformation matrix according to the three-dimensional coordinates of the characteristic points on the world coordinate system and the two-dimensional coordinates of the characteristic points on the image.
Step 540: and simulating the motion of the patient and/or the treatment couch on a display interface according to the three-dimensional model of the patient and/or the three-dimensional model of the treatment couch, the motion trail of the treatment couch generated according to the radiotherapy plan and the projection transformation matrix, wherein the three-dimensional model of the patient and/or the three-dimensional model of the treatment couch is constructed in the world coordinate system. It will be appreciated that in embodiments where only the motion of the patient is simulated in the display interface, the treatment head and the couch may be moved synchronously in real space according to the radiotherapy plan during the simulation, and the three-dimensional model of the patient follows the couch in the display interface. In an embodiment in which the movement of the patient and the couch is simulated simultaneously in the display interface, the treatment head may be moved synchronously in real space according to the radiotherapy plan during the simulation.
In an embodiment, the radiotherapy plan simulation method 500 may further include:
step 550: and receiving the interactive operation of the user, and executing corresponding operation according to the interactive operation.
In step 550, interactive functions such as user selection of trace points, pausing of simulation, resuming of simulation, etc. may be provided. For example, the user can stop one or more of the treatment head, the treatment couch (or the three-dimensional model of the treatment couch) and the three-dimensional model of the patient near the track points where the collision may occur through the warning information of the possible collision positions, so as to conveniently observe the possibility of the collision, find a scheme for avoiding the collision, and the like. In some embodiments, the user's interaction operation may be a gesture operation, a touch operation, or the like.
The radiotherapy plan simulation method 500 may be implemented in the radiotherapy plan simulation apparatus 200 shown in fig. 2, wherein the image acquiring module 210 is configured to acquire images of the treatment couch in real time, the display module 220 is configured to simulate that the patient lies on the treatment couch or the three-dimensional model of the treatment couch in the display interface thereof, and the processor 230 is configured to perform calculation, image processing and the like according to instructions stored in the memory 240.
The step 510- projAnd thus will not be described in detail herein.
In step 540, the three-dimensional model of the patient and/or the three-dimensional model of the treatment couch constructed in the world coordinate system may be stored in the memory 240 of the radiotherapy plan simulation apparatus 200, or may be stored in another memory having a data connection with the radiotherapy plan simulation apparatus 200, which is not limited by the invention.
In one embodiment, the three-dimensional patient model may be constructed from the data of the outer skin contours of the patient in the world coordinate system. Specifically, the skin segmentation can be performed on the CT sequence image set of the patient to obtain the skin outline data of the patient in the world coordinate system, and then the three-dimensional model of the patient can be established by using the skin outline data.
Generally, the skin boundary in the CT image set of the patient provides an accurate outer contour of the three-dimensional model of the patient, but this outer contour is usually only a part of the torso of the patient and is not sufficient to construct a three-dimensional model of the whole body of the patient. In one embodiment of the invention, a three-dimensional model of the entire body of the patient may be constructed from the actual lateral view of the entire body of the patient at the time of the entry setup and the set of CT sequence images of the patient. Referring to FIG. 7, a method 600 of constructing a three-dimensional model of a patient's entire body includes:
Step 610: and carrying out skin segmentation on the CT sequence image set to obtain the outer contour of the skin.
Step 620: and (3) carrying out human body boundary segmentation on the whole body lateral position picture shot when the patient is in position, and obtaining the outer contour of the whole body lateral surface of the patient.
Step 630: the outer contour of the side of the whole body of the patient is used as a central axis, and an outer enclosure box capable of completely containing the patient is constructed by combining the outer contour of the skin. In a preferred embodiment, the outer enclosure box is obtained by calculating the outer contour of the whole body of the patient to be expanded by a predetermined distance. The predetermined distance may be, for example, 0.5 cm, 1 cm, 3 cm, 5 cm.
In another embodiment, the three-dimensional model of the patient may include a closed geometric shape that dimensionally encloses the patient, such as a rectangular outer enclosure. In a more specific embodiment, the rectangular outer enclosure can be constructed with the greatest length, width, and height in the entire body of the patient. In another more specific embodiment, the rectangular outer bounding box can be constructed based on the thickness of the patient, the length of the couch, and the width of the couch, so that collisions with validated radiotherapy plans can be avoided as much as possible.
Similar to the radiotherapy plan simulation method 400, when a three-dimensional model of the patient, a three-dimensional model of the treatment couch, and a projective transformation matrix M have been acquired projThen, the three-dimensional model of the patient and/or the three-dimensional model of the treatment bed in the world coordinate system can be projected and displayed on a display interface by calling the relevant interface of a three-dimensional drawing engine such as OpenGL or DirectX, so that the patient can be simulated to lie on the treatment bed on the display interface. In one embodiment, the treatment isocenter of the three-dimensional model of the patient is aligned with the isocenter of the radiotherapy apparatus when the display interface simulates the patient lying on the treatment couch or the three-dimensional model of the treatment couch.
In one embodiment, the images of the treatment bed and/or the treatment head in the actual space can be displayed on the display interface in real time and displayed in an overlapping mode with the three-dimensional model of the patient, so that whether the treatment head collides with the three-dimensional model of the patient during movement can be observed conveniently. In another embodiment, the display interface may be a semi-transparent interface, and the three-dimensional patient model and/or the three-dimensional treatment bed model are displayed on the display interface, and the three-dimensional patient model and/or the three-dimensional treatment bed model using the display interface are overlapped with the treatment bed and/or the treatment head in the actual space, so as to observe whether the treatment head collides with the three-dimensional patient model during movement.
Fig. 8 is a basic flowchart of a radiotherapy plan simulation method according to another embodiment of the present invention. Referring to fig. 8, a radiotherapy plan simulation method 700 includes:
Step 710: and acquiring three-dimensional coordinates of the plurality of characteristic points on a world coordinate system. The world coordinate system may be a coordinate system formed by taking the isocenter O of the radiotherapy apparatus as an origin, taking the X-axis direction from left to right, the Z-axis direction from the floor to the ceiling, and the Y-axis direction from near to far when the isocenter O of the radiotherapy apparatus is directly aligned with the radiotherapy apparatus main body (i.e., the user is located on the rotation axis shown in fig. 1 and faces the treatment head 30), as shown in fig. 5. In one embodiment, the plurality of feature points may include corner points where two sides of the treatment couch intersect.
Step 720: and acquiring images of the plurality of characteristic points, and acquiring two-dimensional coordinates of the plurality of characteristic points in the images based on the images.
Step 730: and calculating a projection transformation matrix according to the three-dimensional coordinates of the characteristic points on the world coordinate system and the two-dimensional coordinates of the characteristic points on the image.
Step 740: and simulating the motion of the treatment head on a display interface according to the treatment head three-dimensional model constructed in the world coordinate system, the motion track of the treatment head generated according to the radiotherapy plan and the projection transformation matrix.
Step 750: and simulating the motion of the patient on a display interface according to the three-dimensional model of the patient built in the world coordinate system, the motion trail of the treatment couch generated according to the radiotherapy plan and the projection transformation matrix. It should be noted that, in the radiotherapy plan simulation method 700, the motion of the treatment head and the patient is simulated in the display interface at the same time, the treatment couch is not simulated, and the treatment couch can move synchronously in the actual space according to the radiotherapy plan while the motion of the treatment head and the patient is simulated in the display interface.
The radiotherapy plan simulation method 700 may be implemented in the radiotherapy plan simulation apparatus 200 shown in fig. 2, wherein the image acquiring module 210 is configured to acquire images of the treatment couch in real time, the display module 220 is configured to simulate the movement of the treatment head and simulate the patient lying on the treatment couch in the display interface thereof, and the processor 230 is configured to perform calculations, image processing, and the like according to instructions stored in the memory 240.
The step 710-projAnd thus will not be described in detail herein.
Step 740 may simulate the motion of the treatment head in the same manner as step 440 in the radiotherapy plan simulation method 400, and thus will not be described in detail herein.
Step 750 may simulate the patient lying on the couch in the same manner as step 540 of the radiotherapy plan simulation method 500, and therefore will not be described in detail herein.
In an embodiment, the radiotherapy plan simulation method 700 may further include:
step 760: and calculating the position where the three-dimensional model of the treatment head and the three-dimensional model of the patient are likely to collide.
In step 760, a continuous motion trajectory can be obtained by linear interpolation or other methods for the trajectory points of the treatment head in the upcoming radiotherapy plan, and a geometric intersection algorithm in graphics is invoked for each spatial position point in the motion trajectory in combination with the pre-obtained three-dimensional model of the patient, so as to pre-calculate the position where collision may occur. In step 760, the user may also be alerted visually and/or audibly to the location where the collision may occur. In one embodiment, the client may be notified of the potential collision location in a particular display, such as highlighting the track points, or upon entering the potential collision location, highlighting the virtual treatment head three-dimensional model and/or the patient three-dimensional model, as shown in FIG. 9. In a preferred embodiment, when the three-dimensional model of the treatment head and the three-dimensional model of the patient move to the position where the collision is likely, one or more suggested track points avoiding the collision position can be provided on the display interface.
In another embodiment, the radiotherapy plan simulation method 700 may further include:
step 770: and receiving the interactive operation of the user, and executing corresponding operation according to the interactive operation.
In step 770, interactive functions such as user selection of a trace point, pausing of simulation, resuming of simulation, etc. may be provided. For example, the user can stop the virtual treatment head three-dimensional model and/or the patient three-dimensional model near the track point where the collision is likely to occur through the warning information of the possible collision position in advance, so as to conveniently observe the possibility of the collision, search a scheme for avoiding the collision, and the like. In some embodiments, the user's interaction operation may be a gesture operation, a touch operation, or the like.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing disclosure is by way of example only, and is not intended to limit the present application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, although not explicitly described herein. Such alterations, modifications, and improvements are intended to be suggested herein and are intended to be within the spirit and scope of the exemplary embodiments of this application.
Also, this application uses specific language to describe embodiments of the application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means a feature, structure, or characteristic described in connection with at least one embodiment of the application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.
Moreover, those skilled in the art will appreciate that aspects of the present application may be illustrated and described in terms of several patentable species or situations, including any new and useful combination of processes, machines, manufacture, or materials, or any new and useful improvement thereof. Accordingly, aspects of the present application may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. Furthermore, aspects of the present application may be represented as a computer product, including computer readable program code, in one or more computer readable media.
A computer readable signal medium may comprise a propagated data signal with computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer readable signal medium may be propagated over any suitable medium, including radio, electrical cable, fiber optic cable, radio frequency signals, or the like, or any combination of the preceding.
Computer program code required for operation of various portions of the present application may be written in any one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C + +, C #, VB.NET, Python, and the like, a conventional programming language such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, a dynamic programming language such as Python, Ruby, and Groovy, or other programming languages, and the like. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any form of network, such as a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet), or in a cloud computing environment, or as a service using, for example, software as a service (SaaS).
Additionally, unless explicitly recited in the claims, the order of processing elements and sequences, use of numbers and letters, or use of other designations in this application is not intended to limit the order of the processes and methods in this application. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Similarly, it should be noted that in the preceding description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single disclosed embodiment.
Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit-preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the above embodiments are merely illustrative of the present invention, and various equivalent changes and substitutions may be made without departing from the spirit of the invention, and therefore, it is intended that all changes and modifications to the above embodiments within the spirit and scope of the present invention be covered by the appended claims.
Claims (19)
1. A radiotherapy plan simulation method is suitable for simulating the motion of a radiotherapy device in a radiotherapy plan, wherein the radiotherapy device comprises a treatment head and a treatment couch, and the radiotherapy plan simulation method comprises the following steps:
a. acquiring first positions of a plurality of feature points in a real space; the plurality of feature points comprise feature points of a radiotherapy device;
b. acquiring images of the plurality of feature points, and acquiring second positions of the plurality of feature points in the images based on the images;
c. calculating a projective transformation relationship according to the first positions and the second positions of the plurality of feature points; and
d. mapping one or both of a treatment head three-dimensional model, a treatment couch three-dimensional model, and a patient three-dimensional model to a display interface according to the projective transformation relationship to simulate movement of one or both of the treatment head, the treatment couch, and the patient in the display interface and also simulate movement of the patient when the movement of the treatment couch is simulated in the display interface, wherein the movement of the treatment head, the treatment couch, and the patient is at least partially dictated by the radiotherapy plan, the patient three-dimensional model being constructed from a CT sequence image set of a patient.
2. Radiotherapy plan simulation method according to claim 1, characterized in that the feature points comprise corner points of the treatment couch.
3. Radiotherapy plan simulation method according to claim 2, characterized in that the first positions of the plurality of feature points are calculated by reading a third position of the treatment couch center point in real space in combination with the size of the treatment couch.
4. Radiotherapy plan simulation method according to claim 1, wherein the first position comprises three-dimensional coordinates of the feature point on a world coordinate system, the second position comprises two-dimensional coordinates of the feature point on the image, and the projective transformation relation comprises a projective transformation matrix.
5. The radiotherapy plan simulation method of claim 1, wherein simulating the motion of the treatment head in the display interface comprises changing the position on the display interface to which the three-dimensional model of the treatment head is mapped according to a motion trajectory of the treatment head generated by the radiotherapy plan.
6. Radiotherapy plan simulation method according to claim 1, wherein the patient lies on the treatment couch while simulating the movement of the treatment head in the display interface.
7. The radiotherapy plan simulation method of claim 1, wherein simulating the motion of the patient in the display interface comprises changing the position of the three-dimensional model of the patient mapped on the display interface according to the motion trajectory of the couch generated by the radiotherapy plan.
8. Radiotherapy plan simulation method according to claim 5 or 7, characterized in that the motion trajectory is interpolated from a plurality of trajectory points in the radiotherapy plan.
9. The radiotherapy plan simulation method of claim 1, wherein the three-dimensional model of the patient is constructed according to the skin outline data of the patient in the actual space.
10. The radiotherapy plan simulation method of claim 9, wherein the skin outline data is obtained by skin segmentation of the CT sequence image set of the patient.
11. The radiotherapy plan simulation method of claim 1, wherein the three-dimensional model of the patient comprises a closed geometry dimensionally surrounding the patient.
12. Radiotherapy plan simulation method according to claim 1, characterized in that the treatment isocenter of the three-dimensional model of the patient is aligned with the isocenter of the radiotherapy apparatus while simulating the motion of the patient in the display interface.
13. The radiotherapy plan simulation method of claim 1, wherein when the motion of the treatment head and the patient is simulated simultaneously in the display interface, the radiotherapy plan simulation method further comprises: e. and calculating the position where the three-dimensional model of the treatment head and the three-dimensional model of the patient can collide.
14. The radiotherapy plan simulation method of claim 13, wherein a visual and/or audible alert is issued when the treatment head three-dimensional model and the patient three-dimensional model move to the position where collision may occur.
15. Radiotherapy plan simulation method according to claim 14, characterized in that the treatment head three-dimensional model and/or the patient three-dimensional model are highlighted on the display interface when the treatment head three-dimensional model and the patient three-dimensional model move to the position where collision is likely to occur.
16. Radiotherapy plan simulation method according to claim 14, characterized in that when the treatment head three-dimensional model and the patient three-dimensional model move to the position where collision is likely, one or more trajectory points of suggested collision avoidable positions are provided on the display interface.
17. The radiotherapy plan simulation method of claim 1, further receiving an interactive operation of a user, and performing one or more of pause simulation, continue simulation, and select trajectory points according to the interactive operation.
18. A radiotherapy plan simulation apparatus comprising:
the image acquisition module is used for acquiring an image in front of the eyes of a user in real time;
the display module is used for displaying the image acquired by the image acquisition module and/or the image output by the processor;
a memory for storing instructions executable by the processor;
a processor for executing the instructions to implement the method of any one of claims 1-17.
19. A computer readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed by a processor, perform the method of any of claims 1-17.
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| CN111275825B (en) * | 2020-01-14 | 2024-02-27 | 上海联影医疗科技股份有限公司 | Positioning result visualization method and device based on virtual intelligent medical platform |
| CN111437522B (en) * | 2020-04-24 | 2023-11-21 | 上海联影医疗科技股份有限公司 | Anti-collision method, device, equipment and storage medium |
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