CN109247915A - A kind of the detection labeling and real-time detection method of skin surface deformation - Google Patents
A kind of the detection labeling and real-time detection method of skin surface deformation Download PDFInfo
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- A61B5/44—Detecting, measuring or recording for evaluating the integumentary system, e.g. skin, hair or nails
- A61B5/441—Skin evaluation, e.g. for skin disorder diagnosis
- A61B5/442—Evaluating skin mechanical properties, e.g. elasticity, hardness, texture, wrinkle assessment
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Abstract
The invention belongs to technical field of medical equipment, are related to the detection labeling and real-time detection method of a kind of skin surface deformation.Skin surface deformation labeling provided by the invention includes successively from top to bottom printing layer, elastic layer, ground paper layer and the adhesive layer between elastic layer, ground paper layer, elastic force layer surface is divided into uniform square net by printing layer；Each square net fills a kind of color in the printing layer；Wherein, the Fill Color of adjacent side grid altogether is different.The present invention can carry out multi-point monitoring to the skin of deformation to be detected to skin surface deformation real-time detection method using above-mentioned inspection labeling, user can according to need, the size of grid is adjusted, to obtain the different deformation data of fine degree, obtains the real-time deformation data of skin comprehensively.It assists understanding human organ motion conditions by skin deformation, especially to the monitoring suitable for the non-autonomous movement of human body during radiotherapy of Breast Cancer.
Description
Technical field
The invention belongs to technical field of medical equipment, it is related to detection labeling and the real-time detection side of a kind of skin surface deformation
Method.
Background technique
Radiotherapy is the tumour three big therapeutic modality arranged side by side with chemotherapy, surgical operation.Radiotherapy is to kill tumour cell
While avoid normal surrounding tissue and jeopardize organ (OAR) being damaged.But since tumor tissues are surrounded by normal tissue,
Normal tissue can be damaged while killing tumour；And organ is influenced by physiological movement in radiation therapy process, is such as breathed
Pendulum in movement, filling of bladder, enterogastric peristalsis, the increase of tumour and reduction and the elastic deformation of organ itself, interval procedure
Position error etc., is allowed to not to be accurately positioned.In body portion radiotherapy, the body portion positioning framework that generallys use can only to tumour into
Row static immobilization, and can not real-time tracking due to physiological movement, such as the variation of knub position caused by breathing etc., so that
Ray target cannot be directed at tumor tissues always, so that more normal tissue be allowed to receive unnecessary radiation, reduce curative effect
And side effect is generated, directly influence the effect of oncotherapy.
The non-autonomous movement of human organ can be obtained by carrying out deformation monitoring to skin surface, it is especially respirometric
Period position judges the non-autonomous motion conditions of human organ for assisting.It is usually adopted in radiation therapy process in the prior art
Keep the duty cycle of beam synchronous with a certain specific respiratory phase with following three kinds of methods, makes remnants of the tumour in gate window
Movement is minimum:
(1) body surface marker technology, such as the Real-time Position of commercial Varian Associates, Inc. (US) 611 Hansen Way, Palo Alto, California 94303, U.S.A. are based on
Management System (RPM), the system rely on merely infrared imaging system tracking body surface variation, its shortcoming is that, it uses
Mark box and ball under different viewing angles tracking accuracy inaccuracy, need the position of manual adjustment infrared sensor, simultaneously
It is very high to infrared required precision due to relying on infrared imaging system merely, while the problem of infrared dead angle has also been introduced,
The problem of real-time can be brought, in addition, infrared external reflection ball itself is also a kind of consumptive material, and needs in the case where absolute dark
It uses, whole system price is higher, is not easy to promote the use of.
(2) based on the technology of respiratory flow, the respiratory flow that will be detected by respiro-flowmeter or spirometer etc.
It is converted into digital signal, flow threshold is set, gate-control signal is generated with this.Its shortcomings that, is: needing patient to match and wears masks
Etc. throughput is measured, tolerance is poor.
(3) based on the technology of pressure sensor, which is to pass through it using the breathing devices such as abdominal belt or deformation gauge
Internal pressure sensor measures the variation of pressure, thus generates gate-control signal.Its shortcomings that, is: abdominal belt or deformation measurement
Meter causes certain extruding to the abdomen of patient, brings sense of discomfort to patient, tolerance is very poor.
Currently, the technology based on tracking body surface variation developed in the prior art has: " a kind of laser aiming medical treatment is set
Standby automatic station-keeping system and method " (Chinese Patent Application No.: 201010552002.3), the patent application is based on the patient's body surface
Label is not easy to track, and patient respiration will lead to body surface marking and generate non-rigid shape deformations, is easily lost the problem of label etc., using logical
The method of image outline is crossed to obtain trace point, however, this exposes acquisition rate to such as illumination of extraneous objective factor and camera
Dependence is larger, easy to be lost or error tracking；
" method that digitlization breath gate-control signal is generated based on abdomen body-surface contour curve " (Chinese Patent Application No.:
200910105863.4) it, and specifically discloses and is acquired by data, the method for training breath sample realizes matching, this method
It is more demanding to the universality of the respiratory curve of 10s before patient, to respiratory variations of the patient in anaphase or mobile position
The system robustness for setting slight change is poor, while not based on abdomen body-surface contour line human skin partitioning algorithm precision itself
Height, it is poor for the precision identification of respiratory curve.
Summary of the invention
It is an object of the invention to provide to overcome the shortcomings of existing technologies a kind of skin surface shape changing detection labeling and
Detection method.
To achieve the above object, the invention adopts the following technical scheme:
A kind of skin surface deformation labeling successively includes printing layer, elastic layer, ground paper layer from top to bottom and is set to elastic force
Adhesive layer between layer, ground paper layer, is divided into uniform square net for elastic force layer surface by printing layer；In the printing layer
Each square net fills a kind of color；Wherein, the Fill Color of adjacent side grid altogether is different.
The square net of printing layer is filled altogether there are two types of different colours；Preferably, contain in one of grid filler pigment
There is fluorescent material, another kind does not include fluorescent material.
Figure or number mark are printed in the square net, in order to mark or position.
The grid element center is equipped with mark point, it is further preferred that including fluorescent material in the mark point.
The elastic layer is made of elastic material.
The elastic material is gel, rubber or silica gel.
The present invention also provides a kind of skin surface deformation real-time detection methods, include the following steps:
(1) position of the setting for the left and right video camera of shooting, wherein the company of the left and right video camera and target's center
Line is not arranged on the same straight line；The transition matrix B of left and right camera coordinate system and world coordinate system is determined respectively0L, B0R；
(2) skin surface deformation labeling is cut into the size to match with skin area to be detected；
(3) when skin surface to be detected product is minimum or deformation minimal instant T0, the undeformed labeling cut is sticked in
At skin to be detected；
(4) fixed subject, shooting contain at least one different moments (t in period P1,t2,…tn) several are to be detected
Image at deformation skin；Each grid element center point of any deformation moment t and t ', mass center or center of gravity are obtained in the figure of left video camera
As the coordinates matrix C in coordinate systemLt,CLt’And the coordinates matrix C in right camera coordinate systemRt,CRt’；
(5) according to the transition matrix B of left camera coordinate system and world coordinate system0LDetermine the to be checked of any t and t ' moment
Survey coordinates matrix A of the skin deformation center in world coordinate systemLtAnd ALt’, wherein ALt*B0L=CLt, ALt’*B0L=CLt’；
According to the transition matrix B of right camera coordinate system and world coordinate system0RDetermine the skin to be detected at any t and t ' moment
Coordinates matrix A of the skin deformation center in world coordinate systemRtAnd ARt’, wherein ARt*B0R=CRt, ARt’*B0R=CRt’；
Calculate ALtWith ARtAverage value, obtain t moment deformation central point, mass center or center of gravity in world coordinate system
Phasor coordinate
Calculate ALt’With ARt’Average value, obtain t ' moment deformation central point, mass center or the center of gravity in world coordinate system
Phasor coordinate
If certain deformation central point, mass center or center of gravity are only shot by single camera, with camera coordinate system conversion
World coordinate system coordinate of the phasor coordinate of world coordinate system as the point；
(6) any t and each grid element center of t ' moment skin surface deformation labeling, mass center or center of gravity are calculated in world coordinate system
In coordinate vector displacement.
T ' the moment includes skin surface product minimum or deformation minimal instant.
In step (1), the transition matrix of the determining left and right camera coordinate system and world coordinate system is further wrapped
Include following steps:
(i) equally distributed gridiron pattern is set in the front of left and right two video cameras, measures the reality of grid on gridiron pattern
Size；
(ii) according to coordinates matrix A tessellated in world coordinate system0And this in left camera coordinate system is tessellated
Matrix C0LObtain the transition matrix B of left video camera0L, wherein A01*B 0L=C01；
According to coordinates matrix A tessellated in world coordinate system0And the tessellated matrix of this in right camera coordinate system
C02Obtain the transition matrix B of right video camera0R, wherein A01*B0R=C02。
The invention has the following advantages:
The skin surface deformation real-time detection method provided through the invention can carry out the skin of deformation to be detected more
Point monitoring, user can according to need, and the size of grid be adjusted, so that the different deformation data of fine degree is obtained, thus entirely
Face obtains the real-time deformation data of skin, assists understanding human organ motion conditions by skin deformation, especially to suitable for mammary gland
The monitoring of the non-autonomous movement of human body in cancer radiation therapy process；In addition, in skin surface deformation labeling provided by the invention
Contain fluorescent material in printing layer, is also suitable for being operated in the dark in special circumstances, and detection accuracy can be greatly improved
And it is not easy loss detection target.
Detailed description of the invention
Fig. 1 is skin surface sticking construction schematic diagram in an example of the present invention embodiment.
Attached drawing mark:
100 skin surface deformation labelings,
101 grids, 101 ' grids,
10 printing layers, 20 elastic layers,
30 adhesive layers, 40 ground paper layers.
Fig. 2 is skin surface labeling online lattice distribution schematic diagram in an example of the present invention embodiment.
Fig. 3 is grid mark schematic diagram on skin surface labeling in an example of the present invention embodiment.
Specific embodiment
The present invention is further illustrated below in conjunction with drawings and examples.
A kind of skin surface deformation labeling 100 as shown in Figure 1, from top to bottom successively include printing layer 10, elastic layer 20,
Ground paper layer 40 and the adhesive layer 30 between elastic layer 20, ground paper layer 40, wherein passing through printing layer for 20 surface of elastic layer
It is divided into uniform several square nets 101,101 ' (as shown in Figure 2).Wherein each square net 101 in printing layer 10,
101 ' fill a kind of color；Wherein, the Fill Color of adjacent side grid altogether is different；The present embodiment is it is further preferred that printing layer
There are two types of different colours for filling altogether for 10 grid 101,101 '；It is further preferred that containing in 101 filler pigment of one of grid
There is fluorescent material, another kind 101 ' does not include fluorescent material.Wherein the size of above-mentioned grid, which can according to need, is adjusted, from
And obtain the different deformation data of fine degree.
The present embodiment it is further preferred that in square net 101,101 ' be printed on figure or number mark, in order to mark
Or positioning (as shown in Figure 3).
The present embodiment is it is further preferred that 101,101 ' center of grid can by the central point in labeling equipped with mark point
To judge the situation of change of deformation front and back grid element center point rapidly.
It is further preferred that including fluorescent material in each mark point, in order to observe in the dark in the present embodiment.
The present embodiment is it is further preferred that elastic layer is made of elastic material.
The present embodiment is it is further preferred that elastic material is gel, rubber or silica gel.
The present invention also provides a kind of skin surface deformation real-time detection methods, and this method comprises the following steps:
Step 210, position of the setting for the left and right video camera of shooting, the company of middle left and right video camera and target's center
Line is not arranged on the same straight line；The transition matrix B of left and right camera coordinate system and world coordinate system is determined respectively0L, B0R；
Wherein, the transition matrix of the left and right camera coordinate system of above-mentioned determination and world coordinate system further comprises walking as follows
It is rapid:
Step 211, equally distributed gridiron pattern is set in the front of left and right two video cameras, measures grid on gridiron pattern
Actual size；
Step 212, according to coordinates matrix A tessellated in world coordinate system0And chessboard in left camera coordinate system
The Matrix C of lattice0LObtain the transition matrix B of left video camera0L, wherein A01*B0L=C01；
According to coordinates matrix A tessellated in world coordinate system0And the tessellated matrix of this in right camera coordinate system
C02Obtain the transition matrix B of right video camera0R, wherein A01*B0R=C02；
Step 220, skin surface deformation labeling is cut into the size to match with skin area to be detected；
Step 230, when skin surface to be detected product is minimum or deformation minimal instant T0, the undeformed labeling cut is sticked
It is affixed at skin to be detected；
Step 240, fixed subject, shooting contain at least one different moments (t in period P1,t2,…tn) several are waited for
Detect the image at deformation skin；Each grid element center point of any deformation moment t and t ', mass center or center of gravity are obtained in left video camera
Image coordinate system in coordinates matrix CLt,CLt’And the coordinates matrix C in right camera coordinate systemRt,CRt’；
Step 250, according to the transition matrix B of left camera coordinate system and world coordinate system0LDetermine any t and t ' moment
Coordinates matrix A of the skin deformation center to be detected in world coordinate systemLtAnd ALt’, wherein ALt*B0L=CLt, ALt’*B0L=
CLt’；
According to the transition matrix B of right camera coordinate system and world coordinate system0RDetermine the skin to be detected at any t and t ' moment
Coordinates matrix A of the skin deformation center in world coordinate systemRtAnd ARt’, wherein ARt*B0R=CRt, ARt’*B0R=CRt’；
Calculate ALtWith ARtAverage value, obtain t moment deformation central point, mass center or center of gravity in world coordinate system
Phasor coordinate
Calculate ALt’With ARt’Average value, obtain t ' moment deformation central point, mass center or the center of gravity in world coordinate system
Phasor coordinate
If certain deformation central point, mass center or center of gravity are only shot by single camera, with camera coordinate system conversion
World coordinate system coordinate of the phasor coordinate of world coordinate system as the point；
Step 260, any t and each grid element center of t ' moment skin surface deformation labeling, mass center or center of gravity are calculated in the world
Coordinate vector displacement in coordinate system；
Wherein, in an example of the present invention embodiment, the coordinate of t moment grid element center is A (xt, yt, zt), when T '
The coordinate for carving certain grid element center is A ' (xt', yt', zt')；The T moment is displaced relative to the coordinate vector at T ' moment are as follows:
The present invention can also change to obtain according to the coordinate position of grid mass center before and after deformation or center of gravity mass center or center of gravity
Deformation vector.
In a preferred embodiment of the invention, the T ' moment includes skin surface product minimum or deformation minimal instant T0,
Therefore can learn the T moment relative to T0Coordinate vector displacement.
It will be understood to those skilled in the art that can adaptively be changed to the module in the equipment in embodiment
Become and they are arranged in one or more devices different from this embodiment.It can be the module or unit in embodiment
Or component is combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelements or son
Component.Other than such feature and/or at least some of process or unit exclude each other, any group can be used
It closes to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any
All process or units of method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint right
It is required that, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
As used in this, unless specifically stated, come using ordinal number " first ", " second ", " third " etc.
Description plain objects, which are merely representative of, is related to the different instances of similar object, and is not intended to imply that the object being described in this way must
Must have the time it is upper, spatially, sequence aspect or given sequence in any other manner.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
This hair can be understood and applied the above description of the embodiments is intended to facilitate those skilled in the art
It is bright.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to implementations here
Example, those skilled in the art's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be
Within protection scope of the present invention.
Claims (9)
1. a kind of skin surface deformation labeling successively includes printing layer, elastic layer, ground paper layer from top to bottom and is set to elastic force
Adhesive layer between layer, ground paper layer, it is characterised in that: elastic force layer surface is divided by uniform square net by printing layer；
Each square net fills a kind of color in the printing layer；Wherein, the Fill Color of adjacent side grid altogether is different.
2. skin surface deformation labeling according to claim 1, it is characterised in that: the square net of printing layer is filled with altogether
Two kinds of different colours；Preferably, fluorescent material is contained in one of grid filler pigment, another kind does not include fluorescent material.
3. skin surface deformation labeling according to claim 1, it is characterised in that: be printed on figure in the square net
Or number mark, in order to mark or position.
4. skin surface deformation labeling according to claim 1 or 3, it is characterised in that: the grid element center is equipped with mark
Point is remembered, it is further preferred that including fluorescent material in the mark point.
5. skin surface deformation labeling according to claim 1, it is characterised in that: the elastic layer is by elastic material system
At.
6. skin surface deformation labeling according to claim 5, it is characterised in that: the elastic material is gel, rubber
Glue or silica gel.
7. a kind of skin surface deformation real-time detection method, characterized by the following steps:
(1) position of the setting for the left and right video camera of shooting, wherein the left and right video camera and the line of target's center are not
On same straight line；The transition matrix B of left and right camera coordinate system and world coordinate system is determined respectively0L, B0R；
(2) skin surface deformation labeling is cut into the size to match with skin area to be detected；
(3) when skin surface to be detected product is minimum or deformation minimal instant T0, the undeformed labeling cut is sticked in be detected
At skin；
(4) fixed subject, shooting contain at least one different moments (t in period P1,t2,…tn) several deformation to be detected
Image at skin；Each grid element center point of any deformation moment t and t ', mass center or center of gravity is obtained to sit in the image of left video camera
Coordinates matrix C in mark systemLt,CLt’And the coordinates matrix C in right camera coordinate systemRt,CRt’；
(5) according to the transition matrix B of left camera coordinate system and world coordinate system0LDetermine the skin to be detected at any t and t ' moment
Coordinates matrix A of the skin deformation center in world coordinate systemLtAnd ALt’, wherein ALt*B0L=CLt, ALt’*B0L=CLt’；
According to the transition matrix B of right camera coordinate system and world coordinate system0RDetermine the skin shape to be detected at any t and t ' moment
Coordinates matrix A of the change center in world coordinate systemRtAnd ARt’, wherein ARt*B0R=CRt, ARt’*B0R=CRt’；
Calculate ALtWith ARtAverage value, obtain vector in world coordinate system of t moment deformation central point, mass center or center of gravity and sit
Mark
Calculate ALt’With ARt’Average value, obtain t ' the moment arrow of deformation central point, mass center or center of gravity in world coordinate system
Measure coordinate
If certain deformation central point, mass center or center of gravity are only shot by single camera, the world converted with the camera coordinate system
World coordinate system coordinate of the phasor coordinate of coordinate system as the point；
(6) any t and each grid element center of t ' moment skin surface deformation labeling, mass center or center of gravity are calculated in world coordinate system
Coordinate vector displacement.
8. skin surface deformation real-time detection method according to claim 7, it is characterised in that: the T ' moment includes
Skin surface product minimum or deformation minimal instant.
9. skin surface deformation real-time detection method according to claim 7, it is characterised in that: described true in step (1)
The transition matrix of fixed left and right camera coordinate system and world coordinate system further comprises following steps:
(i) equally distributed gridiron pattern is set in the front of left and right two video cameras, measures the practical ruler of grid on gridiron pattern
It is very little；
(ii) according to coordinates matrix A tessellated in world coordinate system0And the tessellated matrix of this in left camera coordinate system
C0LObtain the transition matrix B of left video camera0L, wherein A01*B0L=C01；
According to coordinates matrix A tessellated in world coordinate system0And the tessellated Matrix C of this in right camera coordinate system02?
To the transition matrix B of right video camera0R, wherein A01*B0R=C02。
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