CN111065436A - Anti-collision detection method and device for radiotherapy machine and radiotherapy machine - Google Patents
Anti-collision detection method and device for radiotherapy machine and radiotherapy machine Download PDFInfo
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- CN111065436A CN111065436A CN201880058825.5A CN201880058825A CN111065436A CN 111065436 A CN111065436 A CN 111065436A CN 201880058825 A CN201880058825 A CN 201880058825A CN 111065436 A CN111065436 A CN 111065436A
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Abstract
A method of collision avoidance detection for a radiation therapy machine, comprising: acquiring a contour (201) of a patient within the treatment space; determining whether a target contour point exists on the contour, wherein the distance between the target contour point and a moving object in the treatment space is smaller than a preset distance threshold (202); triggering a collision avoidance interlock (203) when the target contour point is present on the contour. The technical scheme can reduce the threat brought to the safety of the patient by the collision of the patient and the moving object in the treatment space. Also discloses an anti-collision detection device of the radiotherapy machine and the radiotherapy machine.
Description
The application relates to the field of medical equipment, in particular to an anti-collision detection method and device for a radiotherapy machine and the radiotherapy machine.
The radiotherapy machine is a medical equipment for eliminating and treating tumor focus by utilizing radiation. Before treatment, medical personnel usually need to put the patient's health in position for after the patient gets into the treatment space of radiotherapy machine, the tumour focus can coincide with treatment isocenter, and then, medical personnel can start the radiotherapy machine, make the radiation that the radiotherapy machine produced act on patient's tumour focus, in order to treat the patient. Since some objects in the treatment space move relative to the patient during the treatment, for example, in the case of a drum-type radiotherapy machine, the inner wall of the drum moves relative to the patient during the treatment, and the treatment head disposed inside the treatment space also moves relative to the patient, there is a possibility that the moving objects in the treatment space collide with the patient without any protection measures, which threatens the safety of the patient.
In the related technology, a contact switch can be arranged on a moving object in a treatment space, when the contact switch is triggered, the fact that a patient collides with the moving object can be determined, and at the moment, medical staff can respond timely to reduce the threat to the safety of the patient caused by the collision of the moving object and the patient.
However, the related art can only respond after the patient collides with the moving object in the treatment space, and still brings certain safety hazards to the patient.
Disclosure of Invention
The embodiment of the application provides an anti-collision detection method and device for a radiotherapy machine and the radiotherapy machine, which can reduce the threat to the safety of a patient caused by the collision of the patient and a moving object in a treatment space. The technical scheme is as follows:
in a first aspect, a method for collision avoidance detection of a radiation therapy machine having a treatment volume for receiving a patient is provided, the method comprising:
acquiring a contour of a patient within the treatment space;
determining whether a target contour point exists on the contour, wherein the distance between the target contour point and a moving object in the treatment space is smaller than a preset distance threshold;
triggering a collision avoidance interlock when the target contour point is present on the contour.
In a second aspect, there is provided a collision avoidance detection apparatus for a radiation therapy machine having a treatment volume for receiving a patient, the apparatus comprising:
an acquisition component for acquiring a contour of a patient within the treatment space;
a determining component for determining whether a target contour point exists on the contour, the distance between the target contour point and a moving object in the treatment space being less than a preset distance threshold;
a triggering component for triggering the anti-collision interlock when the target contour point exists on the contour.
Optionally, the acquisition component comprises a distance sensor and a first processor connected to each other, the distance sensor being disposed on a boundary of the treatment space;
the distance sensor is to measure a distance between the distance sensor and a plurality of points on an outer surface of the patient;
the first processor is used for acquiring the contour of the patient according to the distance measured by the distance sensor.
Optionally, the distance sensor is a laser distance sensor.
Optionally, the distance sensor includes a laser transmitter, a laser receiver and a rotating base, and the laser transmitter and the laser receiver are disposed on the rotating base.
Optionally, the trigger component is specifically configured to:
when the target contour point exists on the contour, the moving object is kept still, and/or the radiotherapy machine is controlled to give out an alarm.
In a third aspect, there is provided a radiotherapy machine comprising a radiotherapy machine collision avoidance detection apparatus as described in any one of the second aspects above.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
by acquiring the contour of a patient in the treatment space of the radiotherapy machine and triggering the anti-collision interlock when the contour is determined to have a target contour point, wherein the distance between the target contour point and a moving object in the treatment space is smaller than a preset distance threshold, the technical scheme provided by the embodiment of the application can perform the anti-collision interlock when the distance between any point on the contour of the patient and the moving object in the treatment space is smaller than the preset distance threshold when the patient is in the treatment space of the radiotherapy machine, so that the patient can respond before colliding with the moving object in the treatment space, and therefore, the threat brought by the collision between the patient and the object in the treatment space to the safety of the patient can be reduced.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a radiotherapy machine.
Fig. 2 is a flowchart of a collision avoidance detection method for a radiotherapy machine according to an embodiment of the present disclosure.
Fig. 3 is a flowchart of a collision avoidance detection method for a radiation therapy apparatus according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a set of imaginary lines provided by an embodiment of the present application.
Fig. 5 is a block diagram of a collision avoidance detection apparatus for a radiation therapy apparatus according to an embodiment of the present application.
Fig. 6 is a block diagram of an acquisition component provided in an embodiment of the present application.
FIG. 7 is a longitudinal cross-sectional view of a drum provided with a radiation therapy machine collision avoidance detection apparatus according to an embodiment of the present application.
Fig. 8 is a cross-sectional view of a drum provided with a radiation therapy machine collision avoidance detection device according to an embodiment of the present application.
FIG. 9 is a schematic cross-sectional view of a contour of an object within a treatment space provided by an embodiment of the present application.
FIG. 10 is a longitudinal cross-sectional view of a drum provided with a radiation therapy machine collision avoidance detection apparatus according to an embodiment of the present application.
FIG. 11 is a cross-sectional view of a drum with a radiation therapy machine collision avoidance detection device provided in accordance with an embodiment of the present application.
Fig. 12 is a schematic diagram of a distance sensor provided in an embodiment of the present application for measuring distance.
Fig. 13 is a schematic diagram of a distance sensor provided in an embodiment of the present application for measuring distance.
Fig. 14 is a schematic diagram of a distance sensor provided in an embodiment of the present application for measuring distance.
Fig. 15 is a schematic diagram of a distance sensor provided in an embodiment of the present application to measure a distance.
Fig. 16 is a schematic structural diagram of a laser distance sensor according to an embodiment of the present application.
Fig. 17 is a block diagram of a trigger component according to an embodiment of the present disclosure.
Fig. 18 is a block diagram of a trigger component according to an embodiment of the present disclosure.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The radiation therapy technology is a local therapy technology for treating tumors by using radiation, wherein the radiation can include α rays, β rays, gamma rays generated by radioactive isotopes, and x rays, electron beams, proton beams, other particle beams and the like generated by various x-ray therapy machines or accelerators.
Radiation therapy machines are an important medical device for implementing radiation therapy techniques. In practical applications, there are many structures of radiotherapy machines, fig. 1 is a schematic structural diagram of a conventional radiotherapy machine, and as shown in fig. 1, the radiotherapy machine may include a drum 110, a treatment couch 120, a motor and a treatment head (the motor and the treatment head are not shown in fig. 1), where a cylindrical space formed by the drum 110 is a treatment space of the radiotherapy machine, the treatment head may be disposed inside the drum 110 for generating radiation, the drum 110 may be rotated by the motor, the treatment head may rotate around an axis of the drum 110 along with the rotation of the drum 110, and the treatment couch 120 may perform a translational motion relative to the drum 110 along the axis of the drum 110.
When tumor treatment is carried out, a medical worker can position the body of a patient on the treatment couch 120, after the positioning is completed, the medical worker can control the treatment couch 120 to move horizontally to the inside of the roller 110 (namely, the treatment space of the radiotherapy machine), then, the roller 110 can rotate under the driving of the motor, so that the treatment head rotates around the axis of the roller 110 along with the rotation of the roller 110, and thus, radioactive rays generated by the treatment head can act on the tumor focus of the patient to kill the tumor focus.
As can be seen from the above description, the radiotherapy machine shown in FIG. 1, during the tumor treatment, moves in the treatment space, i.e. the inner wall of the treatment space and the components disposed on the inner wall of the treatment space, such as: the treatment head, the imaging system (including the bulb and the detector) will move relative to the patient, and therefore without protective measures, it is possible that moving objects in the treatment space will collide with the patient, which may pose a threat to the patient's safety.
In the related technology, in order to reduce the threat brought by the collision of the moving object in the treatment space and the patient to the safety of the patient, the moving object in the treatment space can be provided with a contact switch, when the contact switch is triggered, the contact switch is indicated to be contacted by the body of the patient, and at the moment, the collision of the patient and the moving object in the treatment space can be determined, and under the condition, medical staff can timely respond, so that the further injury brought to the patient by the collision accident of the patient and the moving object in the treatment space can be avoided.
However, the related art can respond only after the accident that the patient collides with the moving object in the treatment space occurs, and thus, it still poses a certain safety hazard to the patient.
The embodiment of the application provides an anti-collision detection method and device for a radiotherapy machine, which can further reduce the threat to the safety of a patient caused by the collision of the patient and a moving object in a treatment space. Hereinafter, the collision avoidance detecting method and apparatus of the radiotherapy machine will be described in the embodiments of the present application.
Fig. 2 is a flowchart of a collision avoidance detection method for a radiotherapy machine according to an embodiment of the present disclosure, which can be applied to a radiotherapy machine, and as shown in fig. 2, the collision avoidance detection method for a radiotherapy machine may include the following steps:
Wherein the treatment space refers to a treatment space in a radiation therapy machine, which treatment space can accommodate a patient.
The actual position relation between a moving object in the treatment space and the patient is obtained by calculating the contour of the patient in the treatment space, and whether a target contour point exists is further determined.
In summary, according to the anti-collision detection method for the radiotherapy machine provided by the embodiment of the present application, the contour of the patient in the treatment space of the radiotherapy machine is obtained, and the anti-collision interlock is triggered when the target contour point exists on the contour, wherein the distance between the target contour point and the moving object in the treatment space is smaller than the preset distance threshold, so that when the patient is in the treatment space of the radiotherapy machine, the technical scheme provided by the embodiment of the present application can perform the anti-collision interlock when the distance between any point on the contour of the patient and the moving object in the treatment space is smaller than the preset distance threshold, so that the patient can respond before colliding with the moving object in the treatment space, and therefore, the threat brought by the collision between the patient and the object in the treatment space to the safety of the patient can be reduced.
Fig. 3 is a flowchart of a collision avoidance detection method for a radiotherapy machine according to an embodiment of the present disclosure, which can be applied to a radiotherapy machine, and as shown in fig. 3, the collision avoidance detection method for a radiotherapy machine may include the following steps:
Alternatively, for a drum-type radiation therapy machine, the boundary of the treatment space may be the inner surface of the drum.
In an embodiment of the present application, a distance sensor may be disposed on a boundary of the treatment space, and the distance sensor may measure distances between a plurality of points on the outer surface of the patient and the distance sensor, wherein the distances measured by the distance sensor are distances between the plurality of points on the outer surface of the patient and the boundary of the treatment space.
It should be noted that, in general, a treatment couch for supporting a patient may be accommodated in the treatment space, and the treatment couch may collide with the moving object in the treatment space, thereby causing damage to the moving object in the treatment space.
In order to avoid that the couch collides with the moving object in the treatment space to damage the moving object, in the embodiment of the present application, the radiotherapy machine can acquire the distances between a plurality of points on the outer surface of the patient and the boundary of the treatment space, in addition to the distances between a plurality of points on the treatment couch and the boundary of the treatment space.
Therefore, in the subsequent steps, the radiotherapy machine can carry out the fitting of the contour of the patient and/or the contour of the treatment bed according to the distance between the points on the outer surface of the patient and the boundary of the treatment space and the distance between the points on the treatment bed and the boundary of the treatment space, and then the target contour point is searched through the calculation of the contour of the patient and/or the contour of the treatment bed, so that the anti-collision interlock is triggered, on one hand, the threat of the patient to the safety of the patient caused by the collision between the patient and the object in the treatment space can be reduced, and on the other hand, the damage to the moving object caused by the collision between the treatment bed and the moving object in the treatment.
It should also be noted that the radiation therapy machine can perform the technical process of step 301 before performing the radiation therapy, or can perform the technical process of step 301 during the radiation therapy.
Under the condition that the technical process of the step 301 is executed before radiotherapy, the radiotherapy machine can acquire the distances between a plurality of points on the outer surface of the patient and the boundary of the treatment space before the moving object in the treatment space moves, fit the contour of the patient according to the acquired distances, search for target contour points through calculation of the contour of the patient, and perform anti-collision interlocking, so that the patient can be prevented from getting in the bud, and the moving object in the treatment space is prevented from colliding with the patient after the moving object moves.
Under the condition that the technical process of the step 301 is executed in the radiation treatment process, the radiation therapy machine can acquire the distances between a plurality of points on the outer surface of the patient and the boundary of the treatment space in the process that the moving object in the treatment space moves, fit the contour of the patient according to the acquired distances, search for target contour points through calculation of the contour of the patient, and perform anti-collision interlocking, so that the response can be timely performed under the condition that the moving object in the treatment space possibly collides with the patient, and the safety of the patient is guaranteed.
And step 302, fitting according to the acquired distance to obtain the contour of the patient in the treatment space.
The radiotherapy machine may acquire a virtual connecting line between each point of the plurality of points and the boundary of the treatment space according to the acquired distance between the plurality of points on the outer surface of the patient and the boundary of the treatment space, thereby obtaining a virtual connecting line set. Referring to fig. 4, fig. 4 is a schematic diagram of a virtual connection set.
Then, the radiotherapy machine can fit to obtain an envelope (English: envelope) of the set of imaginary connecting lines, wherein the envelope is the outline of the patient in the treatment space.
As described above, the treatment volume may also house a couch, and the radiation therapy machine may also acquire the distances between points on the couch and the boundaries of the treatment volume, so that, in step 302, the radiation therapy machine may also acquire the contours of the patient and the couch within the treatment volume simultaneously.
In one embodiment of the present application, the profile in step 302 refers to a cross-sectional profile, by cross-section is meant a section perpendicular to the ground.
In the embodiment of the present application, the preset distance threshold may be preset by a technician, or may be set by a medical worker as needed, in other words, the preset distance threshold is adjustable in real time.
After the contour of the patient in the treatment space is obtained, the radiotherapy machine may calculate the contour to obtain the actual position relationship between the moving object and the patient in the treatment space, and then traverse points (also referred to as contour points) on the contour to detect whether the target contour point exists on the contour, and during the traversal, if the radiotherapy machine detects that the target contour point exists on the contour, the radiotherapy machine may stop the traversal.
It should be noted that, in step 303, only the contour acquired by the radiotherapy machine is taken as the contour of the patient in the treatment space for example, in practical implementation, the contour acquired by the radiotherapy machine may also be the contours of the patient and the treatment couch in the treatment space, and the embodiment of the present application is not described herein again.
When the target contour point exists on the contour of the patient in the treatment space, the possibility that the patient collides with a moving object in the treatment space is indicated, and in this case, the radiation therapy machine can trigger the anti-collision interlock so as to ensure the safety of the patient.
Of course, when the contour acquired by the radiotherapy machine is the contour of the patient and the treatment couch in the treatment space, if the target contour point exists on the contour, it indicates that the patient or the treatment couch has the possibility of collision with the moving object in the treatment space, and in this case, the radiotherapy machine can trigger the anti-collision interlock to ensure the safety of the patient and the moving object in the treatment space.
In the embodiment of the application, the anti-collision interlock refers to at least one of the following modes: 1. the radiotherapy machine controls the moving object in the treatment space to keep still, and 2, the radiotherapy machine gives an alarm.
Wherein, the control of the radiotherapy machine to keep the moving object in the treatment space still refers to the following steps: before radiotherapy, namely, when the moving object is in a static state, the radiotherapy machine prohibits the moving object from entering a moving state; during the course of radiation therapy, i.e., while the moving object is in motion, the radiation therapy machine controls the moving object to stop moving.
The radiation therapy machine gives an alarm, which means that: the radiotherapy machine emits a prompt tone and a prompt light, or the radiotherapy machine emits alarm information to a terminal connected to the radiotherapy machine.
In summary, according to the anti-collision detection method for the radiotherapy machine provided by the embodiment of the present application, the contour of the patient in the treatment space of the radiotherapy machine is obtained, and the anti-collision interlock is triggered when the target contour point exists on the contour, wherein the distance between the target contour point and the moving object in the treatment space is smaller than the preset distance threshold, so that when the patient is in the treatment space of the radiotherapy machine, the technical scheme provided by the embodiment of the present application can perform the anti-collision interlock when the distance between any point on the contour of the patient and the moving object in the treatment space is smaller than the preset distance threshold, so that the patient can respond before colliding with the moving object in the treatment space, and therefore, the threat brought by the collision between the patient and the object in the treatment space to the safety of the patient can be reduced.
Fig. 5 is a schematic diagram of a radiation therapy machine collision avoidance detection apparatus 500 according to an embodiment of the present disclosure, where the radiation therapy machine collision avoidance detection apparatus 500 may be disposed in a radiation therapy machine, and as shown in fig. 5, the radiation therapy machine collision avoidance detection apparatus 500 may include an acquisition component 501, a determination component 502, and a trigger component 503.
Wherein the acquisition component 501 is used for acquiring the contour of the patient in the treatment space.
A determining component 502 for determining whether a target contour point exists on the contour, a distance of the target contour point from the moving object within the treatment space being smaller than a preset distance threshold.
The determination component 502 calculates the contour of the patient in the treatment space to obtain the actual position relationship between the moving object in the treatment space and the patient, and then determines whether the target contour point exists.
A triggering component 503 for triggering a crash interlock when the target contour point exists on the contour.
In an embodiment of the present application, the obtaining component 501 is specifically configured to: obtaining distances between points on an outer surface of the patient and boundaries of the treatment space; and fitting according to the acquired distance to obtain the profile. Furthermore, the acquisition component 501 is used for acquiring the contour of the patient and the treatment couch in the treatment space under the condition that the treatment space accommodates the treatment couch.
Alternatively, as shown in fig. 6, the acquisition module 501 includes a distance sensor 5011 and a first processor 5012 connected to each other, wherein the distance sensor 5011 is disposed on a boundary of a treatment space, which is referred to as an inner wall of the drum in case of a drum type radiotherapy machine.
In operation, the distance sensor 5011 can measure the distance between the distance sensor 5011 and a plurality of points on the exterior surface of an object within the treatment space, where the object within the treatment space can be a patient or the object within the treatment space can be a patient and a treatment couch.
The first processor 5012 can acquire the profile of the object within the treatment space from the distance measured by the distance sensor 5011.
In the case where the radiotherapy apparatus is a drum type radiotherapy apparatus, as shown in a longitudinal sectional view of fig. 7, which is parallel to the axis of the drum, the patient H can lie on a couch C of the radiotherapy apparatus, which can be located inside the drum G, while tumor treatment is performed, the distance sensor 5011 provided on the inner wall of the drum G can measure the distance between a plurality of points (illustrated as points d1 to d10 in fig. 7) on the outer surface of the object (the object inside the treatment space in fig. 7 includes only the body of the patient H) inside the treatment space and the distance sensor 5011 when the drum G is stationary, and the distance sensor 5011 can transmit the measured distance to the first processor 5012.
In the case where the radiotherapy apparatus is a drum type radiotherapy apparatus, as shown in a cross-sectional view of fig. 8, which is perpendicular to the axis of the drum, the distance sensor 5011 provided on the inner wall of the drum G may also measure the distance between at least one point on the outer surface of the object within the treatment space (the object within the treatment space includes only the body of the patient H in fig. 8) and the distance sensor 5011 when the drum G rotates, wherein fig. 8 shows only a schematic view of the distance sensor 5011 measuring the distance between at least one point on the outer surface of the object within the treatment space and the distance sensor 5011 when the drum G rotates by 0 °, 90 °, 180 ° and 270 °, and the distance sensor 5011 may transmit the measured distance to the first processor 5012 after one rotation of the drum G.
It should be noted that, in the case that the radiotherapy machine is a drum type radiotherapy machine, the distance sensor 5011 may measure the distance between at least one point on the outer surface of the object in the treatment space and the distance sensor 5011 in real time during the rotation of the drum, or may measure the distance between at least one point on the outer surface of the object in the treatment space and the distance sensor 5011 at intervals of a preset time period, wherein the preset time period may be a time period required for the drum to rotate by a preset angle, for example, the preset angle may be 90 ° or 120 ° or the like.
The distance sensor 5011 measures the distances between a plurality of points on the outer surface of an object in a treatment space and the distance sensor 5011 when the roller is static, the patient contour is fitted, and then target contour points are searched by calculating the contour of the patient, so that the anti-collision detection device 500 of the radiotherapy machine can determine whether the patient possibly collides with a moving object in the roller before the roller rotates, the position of the patient can be adjusted under the condition that the patient possibly collides with the moving object in the roller, and thus, the accident that the patient collides with the moving object in the roller when the roller rotates can be avoided, and the potential safety hazard of the patient can be eliminated.
The distance sensor 5011 measures the distance between at least one point on the outer surface of an object in the treatment space and the distance sensor 5011 when the roller rotates to fit the contour of the patient, and then the target contour point is searched by calculating the contour of the patient, so that the anti-collision detection device 500 of the radiotherapy machine can determine whether the patient possibly collides with a moving object in the roller in the rotation process of the roller, and the roller can be stopped in time under the condition that the patient possibly collides with the moving object in the roller, therefore, the accident that the patient collides with the moving object in the roller during the rotation of the roller can be avoided, and the potential safety hazard of the patient can be eliminated.
The first processor 5012, upon receiving the distance value transmitted from the distance sensor 5011, can acquire the positions of a plurality of points on the outer surface of the object in the treatment space in the drum based on the distance measured by the distance sensor 5011 and fit the positions of the plurality of points in the drum to obtain the contour of the object in the treatment space. For example, the first processor 5012, upon receiving the distance value transmitted from the distance sensor 5011, may obtain an imaginary connection line between each of a plurality of points on the outer surface of the object in the treatment space and the distance sensor 5011 according to the distance value, thereby obtaining an imaginary connection line set. The first processor 5012 can then fit an envelope of the set of imaginary connecting lines, which is the contour of the object in the treatment space.
It is noted that the contour of the object in the treatment space may be the cross-sectional contour of the object in the treatment space, i.e. the contour of the object in the treatment space may be the cross-sectional contour of the patient, or the contour of the object in the treatment space may be the cross-sectional contours of the patient and the treatment couch.
When the distance between any point on the contour of the object in the treatment space and the moving object in the treatment space is smaller than the preset distance threshold, the patient or the treatment couch is likely to collide with the moving object in the treatment space, and at this time, the first processor 5012 may perform anti-collision interlocking to avoid the collision accident.
Fig. 9 is a schematic cross-sectional view of the contour L of the object in the treatment space, and as shown in fig. 9, the distance S between a point dn on the contour L of the object in the treatment space and the drum G (in the drum type radiotherapy machine, the inner wall of the drum G may be a moving object in the treatment space) is smaller than the preset distance threshold, and at this time, the first processor 5012 may perform the anti-collision interlock.
Alternatively, the first processor 5012 may be disposed in the radiotherapy machine, or disposed outside the radiotherapy machine (for example, the first processor 5012 may be disposed in a computer externally connected to the radiotherapy machine), and the first processor 5012 and the distance sensor 5011 may establish a communication connection in a wired or wireless manner. The preset distance threshold value can be preset by a technician or set by medical personnel operating the radiotherapy machine according to actual conditions, in other words, the preset distance threshold value can be adjusted in real time. In one embodiment of the present application, the preset distance threshold may be in the range of [1cm, 5cm ].
Alternatively, in the case where the radiotherapy machine is a drum-type radiotherapy machine, as shown in the longitudinal section of fig. 10, parallel to the axis of the drum, the anti-collision detection device 500 of the radiotherapy machine may comprise at least one distance sensor group ZZ (3 distance sensor groups ZZ are exemplarily shown in fig. 10), each distance sensor group ZZ comprising at least one distance sensor 5011 (each distance sensor group ZZ shown in fig. 10 comprises two distance sensors 5011).
As shown in fig. 10, the at least one distance sensor group ZZ may be sequentially arranged along the axial direction of the drum G (i.e., the direction of the axis m of the drum G), and in practical implementation, the at least one distance sensor group ZZ may be arranged equidistantly along the axial direction of the drum G, or may be arranged non-equidistantly along the axial direction of the drum G, which is not specifically limited in the embodiment of the present application.
Alternatively, the distance sensor group ZZ may be disposed inside the roller G at a position where the distance sensor group ZZ is relatively liable to collide with the body of the patient, for example, the distance sensor group ZZ may be disposed inside the roller G at a position adjacent to the crotch of the patient during the course of the oncology treatment, or the distance sensor group ZZ may be disposed inside the roller G at a position adjacent to the head of the patient during the course of the oncology treatment, and the position where the distance sensor ZZ is disposed in the embodiment of the present application is not particularly limited.
Alternatively, the distance sensors 5011 of each group ZZ may all be located on the same cross section of the cylinder G, wherein this cross section is perpendicular to the axis m of the cylinder G. For example, as shown in the sectional view of fig. 11, the group ZZ of distance sensors comprises 3 distance sensors 5011, the 3 distance sensors 5011 being all located on the same cross section J of the cylinder G, the cross section J being perpendicular to the axis m of the cylinder G.
Alternatively, when each distance sensor group ZZ includes at least two distance sensors 5011, the distance sensors 5011 included in each distance sensor group ZZ may be arranged equidistantly in the circumferential direction of the cross section in which the distance sensor group ZZ is located. For example, with continued reference to fig. 11, as shown in fig. 11, any two adjacent distance sensors 5011 of the 3 distance sensors 5011 are equal in distance in the circumferential direction of the cross section J, the distance being R.
In general, the provision of at least 3 distance sensors 5011 per distance sensor group ZZ enables the distance sensor group ZZ to measure the distance from points in various directions on the outer surface of the object in the treatment volume when the drum is stationary, so that the first processor 5012 can capture the overall contour of the object in the treatment volume when the drum is stationary, thereby improving the reliability of the collision avoidance detector 500 of the radiotherapy machine.
Therefore, in order to guarantee the reliability of the collision avoidance of the radiotherapy machine collision avoidance detection apparatus 500, in the embodiment of the present application, each distance sensor group ZZ may be provided with at least 3 distance sensors 5011, wherein, in order to save the deployment cost, optionally, each distance sensor group ZZ may be provided with 3 distance sensors 5011.
As shown in the cross-sectional views of fig. 12, 13 and 14, which are perpendicular to the axis of the drum, in case 3 distance sensors 5011 are provided in the distance sensor group ZZ, each distance sensor 5011 can measure the distance from a number of points on the outer surface of the object in the treatment space from different directions when the drum is stationary.
As shown in the cross-sectional view of fig. 15, which is perpendicular to the axis of the drum, the distances between the points in various directions on the outer surface of the object in the treatment space and the distance sensors 5011 can be obtained by combining the distances measured by the 3 distance sensors 5011 in fig. 12, 13 and 14, so that the first processor 5012 can acquire the positions of the points in various directions on the outer surface of the object in the treatment space and then can fit the overall contour of the object in the treatment space.
Alternatively, the distance sensor 5011 in the embodiment of the present application may be a laser distance sensor. As shown in the schematic diagram of fig. 16, the laser distance sensor may include a rotating base 2011 and a laser emitter 2012 and a laser receiver 2013 disposed on the rotating base 2011. The laser emitter 2012 is used for emitting laser, the laser receiver 2013 is used for receiving the laser emitted by the laser emitter 2012 after the laser emitted by the laser emitter 2012 is reflected by a point on the outer surface of an object in a treatment space, the laser distance sensor can obtain the distance between the laser distance sensor and the point on the outer surface of the object in the treatment space according to the time difference between the laser received by the laser receiver 2013 and the laser emitted by the laser emitter 2012, the rotating base 2011 can drive the laser emitter 2012 and the laser receiver 2013 to rotate, so that the laser emitter 2012 can emit laser in different directions, and the laser distance sensor can measure the distance between the point on the outer surface of the object in the treatment space and the laser distance sensor in different directions.
Optionally, the triggering component 503 is specifically configured to: when the target contour point exists on the contour of the object in the treatment space, the moving object in the treatment space is kept still, and/or the radiotherapy machine is controlled to give out an alarm.
Alternatively, as shown in fig. 17, the trigger assembly 503 may include a second processor 5031 and a motor 5032 connected to each other, wherein the motor 5032 is configured to move a moving object within the treatment volume.
It is to be noted that the second processor 504 and the first processor 5012 may be the same processor or different processors, which is not specifically limited in this embodiment of the application.
In the embodiment of the present application, the triggering component 503 may perform the collision avoidance interlocking, which includes the following two possible implementations:
the first and second processors 5031 switch the motor 5032 to a non-operating state when the target contour point exists on the contour of the object in the treatment space and the motor 5032 is in an operating state, so as to control the moving object in the treatment space to enter a static state from a moving state.
When the second processor 5031 has a target contour point on the contour in the treatment space and the motor 5032 is in the non-operating state, the motor 5032 is prohibited from entering the operating state, that is, the moving object in the treatment space is prohibited from entering the moving state, so that the moving object in the treatment space remains still.
In other words, in the case that the radiotherapy machine is a drum type radiotherapy machine, when the drum is in a rotating state, if the target contour point exists on the contour of the object in the treatment space, the second processor 5031 may control the drum to stop rotating; when the drum is in a stationary state, if there is a target contour point on the contour of the object in the treatment space, the second processor 5031 may prohibit the drum from entering a rotating state.
Alternatively, as shown in the schematic diagram of fig. 18, the triggering component 503 may include a second processor 5031 and a communication module 5033 connected to each other, and the communication module 5033 may establish a communication connection with the second processor 5031 in a wired or wireless manner.
In this case, the triggering component 503 may perform crash interlock by:
when there is a target contour point on the contour of the object in the treatment space, an alarm is sent to the preset terminal through the communication module 5033.
The preset terminal can be a computer externally connected to the radiotherapy apparatus, and the communication module 5033 can send an alarm to the preset terminal based on a bluetooth signal, a WIFI (Wireless-Fidelity) signal, an infrared signal or a Zigbee (Zigbee) signal, so that the medical staff can respond in time after viewing the alarm, thereby avoiding an accident that the body of the patient collides with a moving object in the treatment space.
In summary, the anti-collision detection device for a radiotherapy machine provided by the embodiment of the present application acquires the contour of the patient in the treatment space of the radiotherapy machine, and triggers the anti-collision interlock when it is determined that the contour has the target contour point, wherein the distance between the target contour point and the moving object in the treatment space is smaller than the preset distance threshold, so that when the patient is in the treatment space of the radiotherapy machine, the technical scheme provided by the embodiment of the present application can perform the anti-collision interlock when the distance between any point on the contour of the patient and the moving object in the treatment space is smaller than the preset distance threshold, so as to perform response before the patient collides with the moving object in the treatment space, and therefore, the threat brought by the collision between the patient and the object in the treatment space to the safety of the patient can be reduced.
The embodiment of the present application further provides a radiotherapy machine, which may include the collision avoidance detecting device 500 provided in the above embodiment, and optionally, in a case that the radiotherapy machine is a drum-type radiotherapy machine, the radiotherapy machine may further include a drum, a treatment head, a treatment couch, a motor, and the like, which is not described in detail again in the embodiment of the present application.
In the following, the present embodiment will briefly describe a method for using the collision avoidance detection device of a radiotherapy machine provided by the present embodiment by taking the radiotherapy machine as a drum-type radiotherapy machine as an example, and the method for using the collision avoidance detection device of a radiotherapy machine may include a method for using a drum when the drum is stationary and a method for using a drum when the drum rotates:
the use method of the roller when the roller is static: when the roller is still, the medical staff can start the collision-proof detection device of the radiotherapy machine, for example, the medical staff can start the collision-proof detection device of the radiotherapy machine by triggering a certain button arranged on the radiotherapy machine, or the collision-proof detection device of the radiotherapy machine can be automatically started when the roller enters a rotating state from a still state, after the collision-proof detection device of the radiotherapy machine is started, the distance sensor in the collision-proof detection device of the radiotherapy machine can measure the distances between a plurality of points on the outer surface of the object (which can be a patient or can be a patient and a treatment bed) in the roller and the distance sensor, then the distance sensor can transmit the measured distances to the first processor of the collision-proof detection device of the radiotherapy machine, and the first processor can acquire the outline of the object in the roller according to the distances measured by the distance sensor, when a target contour point exists on the contour, the radiation therapy machine collision avoidance detection device can perform collision avoidance interlocking, namely, execute a technical process of prohibiting the motor from entering a working state.
The use method when the roller rotates comprises the following steps: when the roller rotates, the medical staff can start the anti-collision detection device of the radiotherapy machine, for example, the medical staff can start the anti-collision detection device of the radiotherapy machine by triggering a certain button arranged on the radiotherapy machine, or the anti-collision detection device of the radiotherapy machine can be automatically started when the roller is in a rotating state, after the anti-collision detection device of the radiotherapy machine is started, the distance sensor in the anti-collision detection device of the radiotherapy machine can measure the distance between a plurality of points on the outer surface of an object (which can be a patient or can be a patient and a treatment bed) in the roller and the distance sensor, then the distance sensor can transmit the measured distance to the first processor of the anti-collision detection device of the radiotherapy machine, and the first processor can acquire the outline of the object in the roller according to the distance measured by the distance sensor, when the target contour point exists on the contour, the radiation therapy machine anti-collision detection device can carry out anti-collision interlocking, namely, a technical process of controlling the motor to be switched from a working state to a non-working state is executed.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (20)
- A method of collision avoidance detection for a radiation therapy machine having a treatment volume for receiving a patient, the method comprising:acquiring a contour of a patient within the treatment space;determining whether a target contour point exists on the contour, wherein the distance between the target contour point and a moving object in the treatment space is smaller than a preset distance threshold;triggering a collision avoidance interlock when the target contour point is present on the contour.
- The method of claim 1, wherein the obtaining a contour of the patient within the treatment space comprises:obtaining distances between a plurality of points on an outer surface of the patient and a boundary of the treatment space;and fitting according to the acquired distance to obtain the contour.
- The method of claim 1, wherein the treatment volume is further capable of housing a treatment couch, and the obtaining a contour of the patient within the treatment volume comprises:a contour of the patient and the treatment couch within the treatment space is acquired.
- The method of claim 1, wherein the contour is a cross-sectional contour of the patient.
- The method of claim 1, wherein triggering a collision avoidance interlock when the target contour point is present on the contour comprises:when the target contour point exists on the contour, the moving object is kept still, and/or the radiotherapy machine gives an alarm.
- The method of claim 1, wherein the predetermined distance threshold is adjustable in real time.
- A collision avoidance detection apparatus for a radiation therapy machine having a treatment volume for receiving a patient, the apparatus comprising:an acquisition component for acquiring a contour of a patient within the treatment space;a determining component for determining whether a target contour point exists on the contour, the distance between the target contour point and a moving object in the treatment space being less than a preset distance threshold;a triggering component for triggering the anti-collision interlock when the target contour point exists on the contour.
- The apparatus of claim 7, wherein the acquisition component is specifically configured to:obtaining distances between a plurality of points on an outer surface of the patient and a boundary of the treatment space;and fitting according to the acquired distance to obtain the contour.
- The apparatus according to claim 7, wherein the treatment space is further capable of accommodating a treatment couch, the acquisition assembly being in particular for:a contour of the patient and the treatment couch within the treatment space is acquired.
- The apparatus of any one of claims 7 to 9, wherein the acquisition component comprises a distance sensor and a first processor coupled to each other, the distance sensor being disposed on a boundary of the treatment volume;the distance sensor is to measure a distance between the distance sensor and a plurality of points on an outer surface of the patient;the first processor is used for acquiring the contour of the patient according to the distance measured by the distance sensor.
- The apparatus of claim 10, wherein the radiation therapy machine comprises a drum;the acquisition assembly comprises at least one distance sensor group which is sequentially arranged along the axial direction of the roller, and each distance sensor group comprises at least one distance sensor.
- The apparatus according to claim 11, wherein each of said distance sensor groups comprises distance sensors located on a same cross section of said drum, said cross section being perpendicular to the axis of said drum.
- The apparatus of claim 12, wherein each of the distance sensor sets comprises at least two distance sensors, wherein the at least two distance sensors are arranged equidistantly along a circumference of the cross-section.
- The apparatus of claim 13, wherein each of said distance sensor sets comprises 3 of said distance sensors.
- The apparatus of any one of claims 10 to 14, wherein the distance sensor is a laser distance sensor.
- The apparatus of claim 15, wherein the distance sensor comprises a laser transmitter, a laser receiver, and a rotating base on which the laser transmitter and the laser receiver are disposed.
- The apparatus according to claim 7, wherein the trigger component is specifically configured to:when the target contour point exists on the contour, the moving object is kept still, and/or the radiotherapy machine is controlled to give out an alarm.
- The device of claim 17, wherein the trigger assembly comprises a motor and a second processor coupled to each other, the motor configured to move the moving object;when the target contour point exists on the contour and the motor is in a working state, the second processor switches the motor to a non-working state to keep the moving object still;and when the target contour point exists on the contour and the motor is in a non-working state, the second processor prohibits the motor from entering a working state, so that the moving object keeps still.
- The apparatus of claim 17, wherein the triggering component comprises a communication module and a second processor coupled to each other;and when the target contour point exists on the contour, the second processor controls the communication assembly to send an alarm to a preset terminal.
- A radiotherapy machine characterized in that it comprises a radiotherapy machine collision avoidance detection device according to any of claims 7 to 19.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2018/098117 WO2020024177A1 (en) | 2018-08-01 | 2018-08-01 | Anti-collision detection method and device for radiation therapy machine and radiation therapy machine |
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