CN108939318A - Radiotherapy apparatus and the method that image scanning is carried out on radiotherapy apparatus - Google Patents
Radiotherapy apparatus and the method that image scanning is carried out on radiotherapy apparatus Download PDFInfo
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- CN108939318A CN108939318A CN201810524519.8A CN201810524519A CN108939318A CN 108939318 A CN108939318 A CN 108939318A CN 201810524519 A CN201810524519 A CN 201810524519A CN 108939318 A CN108939318 A CN 108939318A
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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
- A61N5/103—Treatment planning systems
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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
- A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source
- A61N2005/1062—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source using virtual X-ray images, e.g. digitally reconstructed radiographs [DRR]
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Abstract
The method that this application involves a kind of to carry out image scanning on radiotherapy apparatus, the radiotherapy apparatus includes the radiotherapy component and image-forming assembly that equal centers are overlapped, the radiotherapy component includes treatment source, the image-forming assembly includes the imaging source and detector for executing the image scanning, which comprises the motion track information of the movable part of the radiotherapy apparatus is obtained from radiotherapy planning；Obtain the location information of hospital bed；Collision detection is carried out according to the motion track information of the location information of the hospital bed and the movable part；Wherein, if detecting, the hospital bed will collide with the movable part, after the hospital bed carries out preset displacement and updates the location information of the hospital bed, continue the collision detection.Hospital bed is controlled when will collide by detecting and carries out preset displacement, effectively hospital bed is avoided to collide in subsequent progress image scanning, so as to effectively promote the safety of the radiotherapy apparatus such as radiotherapy efficiency and hospital bed.
Description
Technical field
The present invention relates to the field of medical instrument technology, carry out more particularly to a kind of radiotherapy apparatus and on radiotherapy apparatus at
As the method for scanning.
Background technique
Conical beam CT (Cone Beam Computed Tomography, abbreviation CBCT) is widely used in radiation and controls
In treatment, to carry out the operations such as amendment pendulum position, the movement of detection target area.
Radiotherapy is formulated according to clinical demand in radiotherapy treatment planning system (Treatment Plan System, abbreviation TPS)
When plan, due in radiotherapy planning and not including the location information of hospital bed, so that during executing radiotherapy planning, i.e.,
When carrying out CBCT scanning to sufferer after the completion of putting position, other movable parts such as hospital bed (or patient) and treatment head easily occur
Collision between part.
Although currently, the detection that can be collided by artificial mode, and mobile disease artificial when detecting collision
Bed, is collided to avoid hospital bed or patient by other movable parts.But artificial detection and artificial when moving bed and not only will increase treatment
Between, radiotherapy efficiency is reduced, and safety cannot ensure, also will affect therapeutic process, or even can threaten sufferer on hospital bed
Personal safety.
Summary of the invention
Based on this, it is necessary to which a kind of method for providing radiotherapy apparatus and carrying out image scanning on radiotherapy apparatus can be applied
During executing radiotherapy planning, by automatic collision detect and move bed, with effectively avoid over the course for the treatment of hospital bed (or suffer from
Person) and the movable parts such as treatment head, rack, detector between while collide, reduce treatment time, promote radiotherapy
Efficiency, and can also effectively promote the safety of radiotherapy apparatus, so ensure therapeutic process be normally carried out and the person peace of patient
Entirely.
A method of carrying out image scanning on radiotherapy apparatus, the radiotherapy apparatus includes the combination radiotherapy group for waiting centers to be overlapped
Part and image-forming assembly, the radiotherapy component include treatment source, the image-forming assembly include for execute the image scanning at
Image source and detector, which comprises
The motion track information of the movable part of the radiotherapy apparatus is obtained from radiotherapy planning；Wherein, the movable part
Part includes the treatment source, the imaging source, the detector, at least one in rack；
Obtain the location information of hospital bed；
Collision detection is carried out according to the motion track information of the location information of the hospital bed and the movable part；
Wherein, if detecting, the hospital bed will collide with the movable part, and the hospital bed carries out default position
After the location information for moving and updating the hospital bed, continue the collision detection；And
If detecting, the hospital bed will not collide with the movable part, carry out imaging with the image-forming assembly and sweep
It retouches.
The above-mentioned method that image scanning is carried out on radiotherapy apparatus can be applicable to radiotherapy apparatus and execute radiotherapy planning
In the process, and the radiotherapy component of the radiotherapy apparatus is overlapped with centers such as image-forming assemblies, i.e., by according to the location information of hospital bed and
The motion track information of movable part carries out collision detection, accurately to detect hospital bed in the mistake of subsequent execution radiotherapy planning
Whether will collide in journey, and control hospital bed when detecting will collide and carry out preset displacement, and then come effective
It avoids hospital bed (or patient) from colliding in subsequent progress image scanning (i.e. cone beam CT scan), is put so as to effectively be promoted
The safety of the radiotherapy apparatus such as curative effect rate and hospital bed, moreover it is possible to ensure the personal safety of sufferer.
In an alternative embodiment, the motion track information for obtaining the movable part is based on radiotherapy planning
And obtain.
In an alternative embodiment, the radiotherapy planning includes multiple control points, and each dominating pair of vertices should be put
Treat information；The method also includes:
Based on the radiotherapy planning, between the adjacent control point, the motion profile rule of the movable part are carried out
It draws, to obtain the position locus information of the movable part.
In an alternative embodiment, multiple sub- control points are obtained between the adjacent control point, and are spaced
The sub- control point of predetermined number carries out the primary collision detection.
In an alternative embodiment, the movable part further includes the treatment head for being connected to the rack；And
The collision detection includes:
The location information of motion track information and the hospital bed based on the treatment head judges carrying out image scanning
When, whether the treatment head will collide with the hospital bed.
In an alternative embodiment, the hospital bed carries out preset displacement, comprising:
The hospital bed automatically moves default along the direction that position extends to the isocenter point of the image-forming assembly is presently in
Displacement.
In an alternative embodiment, when the hospital bed carries out preset displacement, the movable part remain stationary state；
And
After the image-forming assembly executes the image scanning, the hospital bed automatically resets at the position to image scanning.
Present invention also provides a kind of radiotherapy apparatus, including rack, the radiotherapy apparatus further include:
Radiotherapy component, the treatment source including being connected to the rack, for executing radiotherapy planning；The radiotherapy planning includes
Radiotherapy information corresponding to multiple control points and each control point；
Image-forming assembly, including the imaging source and detector being connected in the rack；The equal centers of the image-forming assembly with
The equal centers of the radiotherapy component are to be overlapped；
Position sensor, for acquiring the location information of hospital bed；
Trajectory planning equipment, for carrying out the Motion trajectory of movable part between the adjacent control point；Institute
The position locus information that control point includes the movable part is stated, the movable part includes the rack, the treatment source, institute
State imaging source, at least one in the detector；
Crash detection device, for according to the location information of the hospital bed and the motion track information of the movable part,
Carry out collision detection；
Wherein, when carrying out image scanning by the image-forming assembly, if detecting, the hospital bed will be with the activity
Component collides, and the hospital bed carries out preset displacement, and the location information based on the updated hospital bed, carries out institute again
State collision detection；Otherwise, the crash detection device controls the image-forming assembly and carries out image scanning.
Above-mentioned radiotherapy apparatus, the equal centers of the image-forming assembly as included by it are to be overlapped with the equal centers of radiotherapy component
, therefore during executing radiotherapy planning, the collision between movable part and hospital bed easily occurs；So in the radiotherapy apparatus
During executing radiotherapy planning, using crash detection device according to the location information of hospital bed and the motion profile of movable part
Information carries out collision detection, accurately to predict whether hospital bed will touch during subsequent execution radiotherapy planning
It hits, and when detecting that the hospital bed will collide, control hospital bed carries out preset displacement, effectively to avoid hospital bed (or thereon
The patient carried) it is scanned imaging (when such as cone beam CT scan) subsequent and collides, to effectively promote radiotherapy effect
The safety of rate and each component of radiotherapy apparatus, it is ensured that the personal safety of sufferer.
In an alternative embodiment, the radiotherapy apparatus further includes the treatment head being connected in the rack；And
The crash detection device is used for according to the motion track information of the treatment head and the location information of the hospital bed,
Judge in the image-forming assembly when carrying out image scanning, whether the treatment head will collide with the hospital bed.
In an alternative embodiment, the hospital bed includes hospital bed ontology for carrying sufferer and described for driving
The driving device that hospital bed ontology is displaced；
Wherein, the crash detection device is used in the image-forming assembly when carrying out image scanning, detects the disease
After bed will collide, control the driving device and drive the hospital bed ontology, along the hospital bed ontology be presently in position to
The direction that the isocenter point extends, automatically moves preset displacement.
In an alternative embodiment, when the crash detection device control hospital bed carries out preset displacement automatically,
The movable part remain stationary state；And
The position sensor is used to acquire the location information of hospital bed；
Wherein, the hospital bed automatically resets the position to image scanning after the image-forming assembly carries out image scanning
Place.
Detailed description of the invention
Fig. 1 is the flow diagram for carrying out the method for image scanning in one embodiment on radiotherapy apparatus；
Fig. 2 is the connection schematic diagram in one embodiment in radiotherapy apparatus between each component；
Fig. 3 is the structural schematic diagram of radiotherapy apparatus in one embodiment；
Fig. 4 is the structural schematic diagram of radiotherapy apparatus in another embodiment；
Fig. 5 is the signal that anticollision detection and hospital bed displacement are carried out during carrying out image scanning on radiotherapy apparatus
Figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of method for carrying out image scanning on radiotherapy apparatus is provided in embodiments herein, can be applicable to radiotherapy
Radiotherapy apparatus that the centers such as component and image-forming assembly are overlapped (radiotherapy component and image-forming assembly as shown in Figure 3 in same straight line and
The radiotherapy apparatus or radiotherapy component as shown in Figure 4 that equal centers are overlapped are mutually perpendicular to image-forming assembly and centers are waited to be overlapped
Radiotherapy apparatus) on, this method is the position by the activity trajectory information and hospital bed that obtain the movable part of above-mentioned Medical Devices
After information, according to the motion track information of the location information of the hospital bed and movable part carry out collision detection, and detect by
When colliding, control hospital bed carries out scheduled displacement, and then avoids subsequent in operating process such as progress image scannings
Middle hospital bed collides；Wherein, above-mentioned movable part may include the rack of radiotherapy apparatus, image-forming assembly imaging source and
One or more of components such as the treatment source of radiotherapy component and detector, i.e., above-mentioned movable part can be in execution radiotherapy meters
It, can be with respect to the associated components that hospital bed is moved in radiotherapy apparatus when drawing.
For example, before being scanned imaging operation, can be put based on above-mentioned when using executing radiotherapy planning on conical beam CT
The plan for the treatment of obtains the motion track information of part or whole show component (such as treatment head, rack, detector) on conical beam CT,
And the location information of the hospital bed is obtained after hospital bed puts position, the motion track information and hospital bed further according to above-mentioned movable part
Location information carries out collision detection；If detect that hospital bed will collide, which can be automatically displaced, and same
Step is updated the location information of hospital bed, and after the location information to hospital bed is updated, according to updated hospital bed
Location information carries out collision detection again, circuits sequentially, until detecting hospital bed when collision detection in the period of setting or presetting
It will not collide in the parameter areas such as displacement.Meanwhile when detecting that hospital bed will not collide, then it can control conical beam CT
Cone beam CT scan (i.e. image scanning) is executed according to radiotherapy planning, correct the behaviour such as pendulum position, the movement of detection target area
Make, in order to carry out radiotherapy to fixed patient on one's sick bed.
In another alternative embodiment, whether above-mentioned collision detection can be used for detecting and will between treatment head and hospital bed
It can collide.For example, can be controlled during judging that rack rotates a circle according to rack and the motion track information for the treatment of head
Treat whether head will collide between hospital bed (and/or fixed patient on one's sick bed)；If colliding, the hospital bed is certainly
It is dynamic to remove the collision area occurred, and then avoid in subsequent progress cone beam CT scan, treatment head collides hospital bed and/or trouble
Person, so that detecting and evade automatically for collision is realized, since without manually participating, the technical solution in the present embodiment can
The time greatly saving collision detection and evading, and while improving efficiency, moreover it is possible to effectively ensure the suitable of radiotherapy planning
Benefit executes.
It is just explained in detail below in conjunction with attached drawing for the method and device of cone beam CT scan anticollision:
Fig. 1 is the flow diagram for carrying out the method for image scanning in one embodiment on radiotherapy apparatus.Such as Fig. 1 institute
Show, a method of it carrying out image scanning on radiotherapy apparatus, can be applicable to the process for executing radiotherapy planning using radiotherapy apparatus
In, above-mentioned radiotherapy apparatus may include rack, treatment head and the radiotherapy component and image-forming assembly for waiting centers to be overlapped, radiotherapy component
It may include the components such as treatment source, image-forming assembly may include the components such as imaging source and detector, and above-mentioned method may include following step
It is rapid:
Step S1 obtains the motion track information of the movable part of above-mentioned radiotherapy apparatus from radiotherapy planning.
For example, radiotherapy planning can be established and enforced based on clinical demand, and during executing the radiotherapy planning, base
In above-mentioned radiotherapy planning, the motion profile of all or part of movable part on radiotherapy apparatus (such as cone beam CT apparatus) is obtained
Information；Wherein, which may include the components such as rack, treatment head, treatment source, imaging source and detector.
Step S2 obtains the location information of hospital bed.
For example, can be after patient being fixed on the hospital bed cooperated with above-mentioned radiotherapy apparatus, according to clinical demand and radiotherapy
Plan, carries out pendulum bit manipulation to hospital bed, and may be selected after above-mentioned hospital bed carries out pendulum position, is sensed by sensor etc.
Element obtains the location information of current hospital bed in real time；Wherein, the location information of the hospital bed can be for relative to above-mentioned radiotherapy apparatus
Isocentric relative position information.
Step S3 judges that hospital bed is executing radiotherapy according to the motion track information of the location information of hospital bed and movable part
Whether will collide when plan；If above-mentioned hospital bed will collide, step S4 is continued to execute；Otherwise, it continues to execute
Step S6.
For example, can judge the disease based on the motion track information of above-mentioned acquired hospital bed location information and movable part
In subsequent execution radiotherapy planning, whether movable part will touch bed between hospital bed (patient carried on hospital bed)
It hits.If the hospital bed and/or patient will collide during subsequent such as scanning imagery, step is continued to execute
S4；Otherwise, then step S6 is continued to execute.
Step S4, hospital bed carry out preset displacement.
For example, can trigger or control when can detect that hospital bed (and/or patient) will collide in above-mentioned step S3
Hospital bed processed automatically carries out preset displacement, to evade the process in the operation of the scanning imageries such as subsequent execution cone beam CT scan
In collide；Wherein, above-mentioned preset displacement can be according to actual demand, so that hospital bed is made a reservation for according to preset direction
Spacing automatically moves, so that hospital bed has the function of evading collision automatically.Here, the movement of above-mentioned hospital bed can be not limited to
It is that automatically, can also be issued to user and prompt and allow user that hospital bed is manually operated to move.
Step S5 after updating hospital bed location information, continues step S3.
For example, being carried out again using location information of the above-mentioned position sensor to the hospital bed after carrying out preset displacement
Sensing, with the updated location information of the hospital bed of acquisition；Then, it is walked again based on above-mentioned updated hospital bed location information
Collision detection in rapid S3, i.e., according to the location information of the location information of above-mentioned movable part and updated hospital bed again into
Row collision detection continues to walk if detection hospital bed will will collide during subsequent execution radiotherapy planning
Rapid S4, circuits sequentially, until in collision detection in step s3, when detecting that hospital bed and patient will not collide, just after
It is continuous to execute step S5.
It in an alternative embodiment, can be in control disease in order to further enhance the efficiency and validity of hospital bed displacement
When bed carries out preset displacement so that hospital bed along current location to the isocenter point position extending direction of radiotherapy apparatus, it is mobile default
Distance is collided with effectively evading hospital bed in subsequent execution radiotherapy planning；In addition, mobile to radiotherapy meter in order to reduce hospital bed
The influence drawn, can be while hospital bed carries out above-mentioned mobile, so that other movable parts remain stationary shape on radiotherapy apparatus
State, until hospital bed completes above-mentioned preset displacement.
Step S6 executes image scanning.
For example, when in the collision detection of step S3, when detection hospital bed subsequent execution cone beam CT scan etc. at
It will not collide when as scan operation, then the radiotherapy apparatus continues to execute subsequent image scanning operation, and then is effectively evading
While hospital bed collides, it is efficiently completed entire radiotherapy planning and executes.
In addition, can be completed such as to further reduce the adverse effect generated due to Mobile sickbed to radiotherapy planning
After the operation of the scanning imageries such as cone beam CT scan, above-mentioned hospital bed is restored to the preoperative position of image scanning, i.e., it will be sick
Bed restores to carry out into step S2 at the position after pendulum position, in order to which radiotherapy apparatus continues to execute subsequent radiotherapy planning.
In an alternative embodiment, above-mentioned radiotherapy planning may include a series of running tracks along treatment head successively
Multiple control points (Control Point, abbreviation CP) of distribution, and each control point CP is corresponding with such as frame angle, standard
The radiotherapies information such as straight device angle, the position of each blade, the position of hospital bed and Radiotherapy dosimetry.Wherein, based on above-mentioned radiotherapy
It draws, carries out successively above-mentioned collision detection operation at each control point or the control point for being spaced predetermined number.
In another alternative embodiment, it in order to further enhance the precision of collision detection and timeliness, can be based on upper
The radiotherapy planning stated carries out above-mentioned movable part Motion trajectory between adjacent control point, to obtain multiple sub- controls
Point；Then, it is grasped based on the location information at the sub- control point of interval predetermined number and hospital bed to carry out above-mentioned collision detection
Make.For example, for treatment head, between two control points of arbitrary neighborhood, at interval of preset period (such as 50ms
Deng), a sub- control point is arranged in the movement velocity based on treatment head on the motion profile for the treatment of head, thus adjacent at two
Control point between, in multiple sub- control points are arranged on the motion profile for the treatment of head；Then, by sub- control point or at interval of
The sub- control point of predetermined number (number that sub- control point between two neighboring control point can be less than), according to above-mentioned hospital bed
Location information carries out primary collision detection, so that hospital bed collision occur when avoiding subsequent progress CBCT scanning.
Fig. 2 is the connection schematic diagram in one embodiment in radiotherapy apparatus between each component.As shown in Fig. 2, the application is also
A kind of radiotherapy apparatus 1 is provided, can be used for realizing the reality of any method for carrying out image scanning on radiotherapy apparatus in the application
Example is applied, which may include radiotherapy component 11, trajectory planning equipment (Trajectory Generator) 12, position biography
Sensor 13 and crash detection device 14, image-forming assembly 15 and hospital bed 2 etc.；Wherein, hospital bed 2 can be moved to according to actual demand and put
It treats near equipment 1 (as shown in Figure 2), can also remove according to actual needs and (i.e. the radiotherapy apparatus 1 can not far from radiotherapy apparatus 1
Including above-mentioned hospital bed 2, so that the hospital bed 2 carries out relevant operation or use as independent equipment).
In an alternative embodiment, shown in Figure 2, above-mentioned radiotherapy component 11 may include treatment source and radiation
Treatment plan equipment (Treatment Plan System, abbreviation TPS), and image-forming assembly 15 then may include imaging source and detection
Device etc., and the image-forming assembly 15 can be with the equal centers of radiotherapy component 11 and be overlapped；Treatment source can emit photon beam or electronics
Beam, imaging source can emit X-ray beam；Above-mentioned radiotherapy planning device can be used for according to clinical demand, image-forming assembly and put
It treats motion information of movable part in component etc. and formulates radiotherapy planning.Wherein, above-mentioned radiotherapy planning may include it is a series of with
The letter of radiotherapy corresponding to the related multiple control points of the motion profile of the movable parts such as treatment head and each control point
Breath.
In another alternative embodiment, above-mentioned hospital bed 2 can be used for carrying simultaneously immobilized patients, in order to be radiated
Treatment.Position sensor 13 then can be used for acquiring the location information that the hospital bed 2 behind position is put during executing radiotherapy planning.Rail
Mark planning apparatus 12 then can be used for according to received above-mentioned radiotherapy planning and hospital bed 2 location information, be based on radiotherapy planning,
Multiple sub- control points are cooked up between adjacent control point, and every sub- dominating pair of vertices should have on conical beam CT partly or entirely
The motion track information of movable part and the location information of hospital bed.Crash detection device 14 then can be used for the position according to hospital bed 2
The motion track information of information and movable part (such as treatment source, rack, imaging source and/or detector component), at interval of pre-
If the above-mentioned sub- control point of number carries out primary collision detection；Wherein, in above-mentioned collision detection operation, if detecting hospital bed
2 will collide with movable part (either component in such as rack, treatment head or image-forming assembly and radiotherapy component), then this is touched
Hitting detection device 14 can control or trigger the above-mentioned progress preset displacement of hospital bed 2, to evade to the collision that will occur.Separately
Outside, after above-mentioned hospital bed 2 carries out preset displacement, above-mentioned position sensor 13, which can synchronize, carries out more the location information of hospital bed 2
Newly, and crash detection device 14 can carry out again collision detection, and circuit sequentially according to the location information of updated hospital bed 2,
Until crash detection device 14 detects that hospital bed will not collide with above-mentioned movable part；If being grasped in above-mentioned collision detection
It when making, detects that hospital bed 2 or patient will not collide with movable part, then illustrates that current collision detection operation is completed, and
It can trigger or control image-forming assembly (such as conical beam CT) executes image scanning (such as cone beam CT scan) to patient, effectively to advise
The hospital bed during image scanning of radiotherapy planning is kept away to collide.
In an alternative embodiment, for the ease of carrying out collision detection operation, virtual area can be set on one's sick bed
Domain space represents patient, and by the virtual regional space and the space of the occupied regional space of hospital bed as a whole,
It is used as with reference to hospital bed, i.e., during collision detection operates, hospital bed is carried fixed patient with it and is considered as one
Global facility, and then in subsequent collision detection, as long as individually judging whether this will be with movable part (such as with reference to hospital bed
The components such as treatment head, rack, imaging source and/or detector) it collides, and when testing result, which will be, to collide, it can
Preset displacement is carried out according to bulk, the location information with reference to hospital bed etc., to reduce collision detection operation and movement
The difficulty of hospital bed.
In another alternative embodiment, when above-mentioned movable part includes the treatment that rack and the rack are driven
When first-class component, above-mentioned crash detection device 14 can be used for the movement rail of the motion track information according to the rack, treatment head
Mark information and the location information of hospital bed 2 etc. are carrying out image scanning to judge during executing above-mentioned radiotherapy planning
When (simulating the subsequent CBCT scanning that will be carried out), whether which will collide with hospital bed (for example, with reference to hospital bed),
And when colliding, the location information based on the hospital bed carries out preset displacement, and then realizes what hospital bed and treatment head collided
Automatically it detects and evades.
In an alternative embodiment, above-mentioned hospital bed 2 may include hospital bed ontology for carrying patient and for driving
Move the driving device (not shown) that the hospital bed ontology is translated or rotated；Wherein, when executing radiotherapy planning, work as inspection
After measuring hospital bed 2 and will colliding with movable part, crash detection device 14 can be used for controlling above-mentioned driving device driving
Hospital bed ontology is presently in the direction that position extends to the isocenter point of image-forming assembly along the hospital bed ontology, automatically moves default
Distance, to realize evading automatically for hospital bed collision.
In another alternative embodiment, in order to reduce the influence to radiotherapy planning, above-mentioned hospital bed 2 automatically into
When the above-mentioned preset displacement of row, all movable parts remain stationary state；Meanwhile after executing above-mentioned image scanning,
Hospital bed 2 can automatically reset at the position to image scanning.
Fig. 3 is the structural schematic diagram of radiotherapy apparatus in one embodiment, and Fig. 4 is the knot of radiotherapy apparatus in another embodiment
Structure schematic diagram.It as shown in figs. 34, can phase between radiotherapy component and image-forming assembly in the radiotherapy apparatus in the embodiment of the present application
It is mutually overlapped or is vertically arranged, so that its respective equal center can overlap.For example, as shown in figure 3, radiotherapy apparatus can wrap
Include hospital bed (couch) 2, treatment head (treatment head) 3, from rack (Gantry) extend treated arms 4 and electronics launched field
The components such as image documentation equipment (EPID) 6, rack drive treated arms 4 and then treatment head 3 are driven to be rotated along track 5；In this implementation
In example, radiotherapy component may include the first radiographic source (being not shown, i.e. treatment source) and electronics portal imaging equipment 6, and image-forming assembly can
Including the second radiographic source (not shown) being imaged for CBCT and detector, the second radiographic source (i.e. imaging source), which is integrated in, to be controlled
It treats in head 3, detector is opposite with second radiographic source, wherein detector can be integrated into one with aforementioned electronic portal imaging equipment 6
Body is replaced by the electronics portal imaging equipment 6.Wherein, when radiotherapy apparatus is in treatment mode, aforementioned first ray
Source can be configured to on 6 vertical axis of electronics portal imaging equipment as shown in Figure 3, be in imaging pattern in radiotherapy apparatus
When, aforementioned second radiographic source can be configured on the vertical axis of electronics portal imaging equipment 6.
In an alternative embodiment, it due to during radiotherapy, usually treatment head and hospital bed and lies in
It collides between patient on hospital bed, so when carrying out collision detection, to be carried simultaneously in view of hospital bed and thereon
Patient, i.e. hospital bed 2 may include hospital bed ontology 21 and the regional space 22 of the virtual patient on hospital bed ontology 21, the area
The citing of domain space 22 can be to be rectangular, i.e., subsequent carried out collision detection is for the hospital bed ontology conduct for carrying sufferer
One entirety carries out collision detection.
As shown in illustrative Fig. 4, in another alternative embodiment, the treatment head 72 in rack 71 and electricity are set
Sub- portal imaging equipment 74 is oppositely arranged, and treatment source is arranged in treatment head 72, and CBCT imaging source 73 then with 75 phase of detector
To setting, and the line between treatment head 72 and electronics portal imaging equipment 74 perpendicular to CBCT imaging source 73 and detector 75 it
Between line, while above-mentioned treatment head 72, electronics portal imaging equipment 74, CBCT radiographic source 73 be located at detector 75 it is same
On circumference, so that image-forming assembly is overlapped with the equal centers of radiotherapy component.Wherein, above-mentioned movable part may include from rack
The treated arms 71 of extension, the treatment head 72 for being connected to treated arms end, CBCT imaging source 73, electronics portal imaging equipment 74 and spy
Survey at least one of device 75.
A kind of radiotherapy equipment is additionally provided in another embodiment of the application, it may include rack, in the rack
Rotatable treatment head, relative to rack can independent translation or rotation hospital bed and crash detection device etc.；Wherein, radiotherapy is being executed
During plan, above-mentioned crash detection device can motion track information and hospital bed based on treatment head location information carry out
Collision detection, and when detecting that hospital bed will collide with treatment head, triggering or control hospital bed carry out preset displacement, usually
Automatically carry out preset displacement；Meanwhile after the location information for updating hospital bed, continue collision detection, until detecting
Until will not colliding between hospital bed and treatment head, hospital bed may occur with treatment head when effectively evading subsequent image scanning
Collision.In addition, then can trigger or control when detecting that hospital bed will not collide with treatment head in above-mentioned collision detection
Rack executes subsequent image scanning.
Fig. 5 is the signal that anticollision detection and hospital bed displacement are carried out during executing radiotherapy planning on radiotherapy apparatus
Figure.As shown in Fig. 2-3,5, below with reference to actual radiotherapy apparatus, anticollision detects when to above-mentioned image scanning method into
Row is discussed in detail:
As shown in figure 5, radiotherapy component 11 can formulate radiotherapy planning according to clinical demand based on structure shown in Fig. 2-3；
The radiotherapy planning may include a series of control point CP0, CP1 being sequentially distributed on the motion profile 81 for the treatment of head 3, CP2,
CP3……CPn-1,CPn；N is the natural number greater than 1.Meanwhile in the radiotherapy planning, wrapped for each control point CP is also corresponding
Include: when treatment head 3 moves to the control point, the angle of rack, collimator angle, the position of blade, hospital bed 2 position, tired
Radiotherapies information, the i.e. control systems of radiotherapy apparatus such as product Radiotherapy dosimetry can control each portion according to the radiotherapy information of control point CP
Part (such as rack, treatment head) moves to specified position, and using corresponding Radiotherapy dosimetry to the patient being fixed on hospital bed 2
Carry out radiotherapy.
As shown in Fig. 2, due in the prepared radiotherapy planning of radiotherapy component 11, corresponding each control point CP and not specified disease
The location information of bed 2, so the anticollision detection of hospital bed can not be carried out based on radiotherapy planning；In embodiments herein, lead to
Position sensor 13 or other similar equipment are crossed, to obtain the location information of hospital bed 2 in real time, while being based on above-mentioned combination radiotherapy group
The prepared radiotherapy planning of part 11 carries out collision detection and moves bed, and the collision detection of hospital bed 2 can be realized and evade.
In an alternative embodiment, as Figure 2-3, the radiotherapy planning system of above-mentioned radiotherapy apparatus can be according to clinic
Algorithm built in demand utilization formulates radiotherapy planning automatically, subsequent when executing the radiotherapy planning, can be by CP point and its corresponding
Radiotherapy information is issued to trajectory planning equipment 12；The trajectory planning equipment 12 then can be according to above-mentioned CP point and its corresponding radiotherapy
Information is based on preset interval time, between adjacent control point CP, generates multiple sub- control point CP '.For example, as in Fig. 5
It is shown, between control point CP2 and control point CP3, at interval of 30ms be sequentially generated sub- control point CP ' 1, sub- control point CP ' 2,
The totally five sub- control points sub- control point CP ' 3, sub- control point CP ' 4, sub- control point CP ' 5, and every sub- control point CP ' is corresponding
There are the location information and radiotherapy information of hospital bed 2.
Meanwhile trajectory planning equipment 12 can by acquired in position sensor 13 pendulum position after hospital bed 2 location information,
Update each sub- control point CP ', i.e. each at this time sub- control point CP ' be corresponding with hospital bed 2 location information and each activity
The trace information of component；Meanwhile when subsequent execution radiotherapy planning, each movable part on radiotherapy apparatus can be according to above-mentioned son
Control point CP ' is successively moved.
It is further, subsequent that collision detection is carried out according to the motion track information for the treatment of head 3 and the location information of hospital bed 2,
Prejudge whether motion profile of the treatment head 3 with hospital bed 2 in its planning will collide；In order to promote collision detection
Accuracy carries out comprehensive descision in combination with treatment head 3 and the motion track information of rack, whether will touch to hospital bed 2
It hits and is accurately prejudged.
It in another alternative embodiment, can be at interval of two in order to further promote the accuracy of collision detection
Sub- control point CP ' carries out primary above-mentioned collision detection.
Further, it is assumed that need to carry out image scanning by image-forming assembly between CP2 and CP4, in collision detection
In the process, when detecting that hospital bed 2 will will collide with treatment head 3 on a certain sub- control point CP ', it can control or touch
Bed 2 of falling ill carries out preset displacement.As shown in Figure 5, collision detection is carried out since CP2, is detected when on sub- control point CP ' 1
To when will collide between hospital bed 2 and treatment head 3, in order to promote the efficiency for evading collision, it can control the hospital bed 2 along current
The direction that position extends to isocenter point 8, (length of the L can be regular length to mobile preset distance L, can also be according to reality
Demand, corresponding that each or per several sub- control point CP ' different length is set), so that hospital bed 2 removes collision area
(i.e. treatment head 3 occupied area of space) and be located at the A of position；Then, position sensor 13 believes the position of hospital bed 2 at this time
Breath is updated by location information of the trajectory planning equipment 12 to hospital bed corresponding to the sub- control point CP ' in radiotherapy planning,
And the location information based on updated hospital bed carries out collision detection again, if still detecting at the sub- control point will send out
Raw collision then continues to move bed and updates the location information of the corresponding hospital bed in the sub- control point of this in radiotherapy planning, until detecting disease
Bed 2 is at sub- 1 position control point CP ', when will not collide with treatment head 3, just will do it next sub- control point CP ' 2,
And collision detection is carried out again, and so on, until proceeding to the node (such as control point CP4) of image scanning.As CP2 to CP4
Interior control point when above-mentioned collision detection process is identified and no longer collides, carries out image scanning.
In an alternative embodiment, it in order to reduce the influence for evading impact operations to radiotherapy planning, can be moved in hospital bed 2
Other movable parts on radiotherapy apparatus are kept to be in stationary state in dynamic process, while image scanning continuous in the completed
Afterwards, at the position before hospital bed 2 to be reset to image scanning.
In the embodiment above, it is described using treatment head as movable part, those of ordinary skill in the art can
To understand, which can also be used to refer to other component.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of method for carrying out image scanning on radiotherapy apparatus, the radiotherapy apparatus includes the radiotherapy component for waiting centers to be overlapped
And image-forming assembly, the radiotherapy component include treatment source, the image-forming assembly includes the imaging for executing the image scanning
Source and detector, which is characterized in that the described method includes:
The motion track information of the movable part of the radiotherapy apparatus is obtained from radiotherapy planning；Wherein, the movable part packet
Include the treatment source, the imaging source, the detector, at least one in rack；
Obtain the location information of hospital bed；
Collision detection is carried out according to the motion track information of the location information of the hospital bed and the movable part；
Wherein, if detecting, the hospital bed will collide with the movable part, and the hospital bed carries out preset displacement simultaneously
After the location information for updating the hospital bed, continue the collision detection；And
If detecting, the hospital bed will not collide with the movable part, carry out image scanning with the image-forming assembly.
2. the method as described in claim 1, which is characterized in that the radiotherapy planning includes multiple control points, and each control
Point is corresponding with radiotherapy information；The method also includes:
The Motion trajectory of the movable part is carried out between the adjacent control point based on the radiotherapy planning, with
Obtain the position locus information of the movable part.
3. method according to claim 2, which is characterized in that obtain multiple sub- controls between the adjacent control point
Point, and the sub- control point for being spaced predetermined number carries out the primary collision detection.
4. the method as described in claim 1, which is characterized in that the movable part further includes the treatment for being connected to the rack
Head；And
The collision detection includes:
The location information of motion track information and the hospital bed based on the treatment head judges when carrying out image scanning, institute
State whether treatment head will collide with the hospital bed.
5. the method as described in claim 1, which is characterized in that the hospital bed carries out preset displacement, comprising:
The hospital bed automatically moves default position along the direction that position extends to the isocenter point of the image-forming assembly is presently in
It moves.
6. the method as described in claim 1, which is characterized in that when the hospital bed carries out preset displacement, the movable part is protected
Hold stationary state；And
After the image-forming assembly executes the image scanning, the hospital bed automatically resets at the position to image scanning.
7. a kind of radiotherapy apparatus, including rack, which is characterized in that the radiotherapy apparatus further include:
Radiotherapy component, the treatment source including being connected to the rack, for executing radiotherapy planning；The radiotherapy planning includes multiple
Radiotherapy information corresponding to control point and each control point；
Image-forming assembly, including the imaging source and detector being connected in the rack；The equal centers of the image-forming assembly with it is described
The equal centers of radiotherapy component are to be overlapped；
Position sensor, for acquiring the location information of hospital bed；
Trajectory planning equipment, for carrying out the Motion trajectory of movable part between the adjacent control point；The control
System point include the movable part a position locus information, the movable part include the rack, the treatment source, it is described at
At least one in image source, the detector；
Crash detection device, for carrying out according to the location information of the hospital bed and the motion track information of the movable part
Collision detection；
Wherein, when carrying out image scanning by the image-forming assembly, if detecting, the hospital bed will be with the movable part
It collides, the hospital bed carries out preset displacement, and the location information based on the updated hospital bed, touches described in progress again
Hit detection；Otherwise, the crash detection device controls the image-forming assembly and carries out image scanning.
8. radiotherapy apparatus as claimed in claim 7, which is characterized in that the radiotherapy apparatus further includes treatment head；And
The crash detection device is used for according to the motion track information of the treatment head and the location information of the hospital bed, judgement
In the image-forming assembly when carrying out image scanning, whether the treatment head will collide with the hospital bed.
9. radiotherapy apparatus as claimed in claim 8, which is characterized in that the hospital bed includes the hospital bed ontology for carrying sufferer
With the driving device for driving the hospital bed ontology to be displaced；
Wherein, the crash detection device is used to detect that the hospital bed will when the image-forming assembly carries out image scanning
It after colliding, controls the driving device and drives the hospital bed ontology, be presently in position to described etc. along the hospital bed ontology
The direction that central point extends, automatically moves preset displacement.
10. radiotherapy apparatus as claimed in claim 8, which is characterized in that it is automatic that the crash detection device controls the hospital bed
When carrying out preset displacement, the movable part remain stationary state；And
The position sensor is used to acquire the location information of the hospital bed；
Wherein, the hospital bed automatically resets at the position to image scanning after the image-forming assembly carries out image scanning.
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Address after: No. 2258, Chengbei Road, Jiading District, Shanghai, 201800 Applicant after: Shanghai Lianying Medical Technology Co., Ltd Address before: No. 2258, Chengbei Road, Jiading District, Shanghai, 201800 Applicant before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |