CN111870825A - Radiotherapy precise field-by-field positioning method based on virtual intelligent medical platform - Google Patents
Radiotherapy precise field-by-field positioning method based on virtual intelligent medical platform Download PDFInfo
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- CN111870825A CN111870825A CN202010763326.5A CN202010763326A CN111870825A CN 111870825 A CN111870825 A CN 111870825A CN 202010763326 A CN202010763326 A CN 202010763326A CN 111870825 A CN111870825 A CN 111870825A
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- 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
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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
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Abstract
The invention relates to the field of medical treatment, in particular to a radiotherapy precise field-by-field positioning method based on a virtual intelligent medical platform, which can improve positioning accuracy and reduce additional radiation. Pasting a marker on the surface of the patient; then, a treatment plan is formulated, a physicist internally marks the center coordinates of the marker in the treatment plan system, and a three-dimensional model is generated according to the treatment plan; the patient position is automatically identified according to the marker, the irradiation field position is determined according to the accelerator position, and the three-dimensional holographic images of the skin, the treatment target area, the endangered organ and other structures can be accurately superposed on the body of a real patient by matching with mixed reality equipment, can be visually displayed in the field of vision, and are convenient for observing the positions of the treatment target area and other structures in the body of the patient. Medical workers can observe the coincidence condition of the therapeutic target area and the outer contour of the radiation field at the current angle at different positions, intelligently and quantitatively calculate the coincidence degree, give the moving direction and the distance value of the bed in real time, and improve the positioning precision. The patient does not need to bear extra radiation dose, and the pain of the patient can be reduced.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a virtual intelligent medical platform-based precise radiotherapy wild-by-wild placement method which is mainly applied to radiotherapy and used for improving placement accuracy and reducing additional radiation.
Background
The virtual intelligent medical platform (VI) is a medical platform constructed on the basis of holographic technologies such as virtual reality, augmented reality, mixed reality and the like, artificial intelligence, big data and the like, is used for assisting and guiding invasive, minimally invasive and noninvasive clinical diagnosis and treatment processes, and can be applied to the fields such as but not limited to surgery, internal medicine, radiotherapy department, interventional department and the like.
Malignant tumor is a serious chronic disease seriously harming human health, and is the first cause of death in our country. Radiotherapy is one of the main means of tumor treatment, is a local treatment means, and can improve the local tumor control rate by increasing the tumor irradiation dose.
The complete radiotherapy process comprises the steps of radiotherapy decision-making, radiotherapy positioning, treatment target area delineation, treatment plan design, treatment room positioning, treatment implementation and the like. The positioning of the treatment room is an important link for ensuring the curative effect of accurate radiotherapy, if errors occur in the positioning, the focus can not obtain sufficient irradiation dose to cause local relapse, and simultaneously, healthy tissues around the tumor are subjected to excessive irradiation dose to cause complications. However, even with various auxiliary positioning devices and positioning strictly according to the operating protocol, the positioning error may still be several millimeters or even larger during the course of the patient receiving the fractionated treatment. In order to solve the problems, the existing clinic needs to verify the positioning result after the positioning is finished, so that the positioning error is reduced.
At present, the clinical positioning verification mainly adopts a kV-level X-ray imaging technology or an airborne cone CT (CBCT) technology. An image-guided technique based on X-ray imaging technology is to determine the position of a patient or a lesion (e.g., a tumor) by registering single or multiple X-ray fluoroscopic images with a 2D-3D (two-dimensional-three-dimensional) image of a treatment plan CT, and to adjust the patient position by moving a treatment couch before treatment, thereby achieving precise treatment of the tumor. The image guidance technology based on the CBCT technology realizes the positioning of a patient before treatment by performing 3D-3D (three-dimensional-three-dimensional) image registration through the CBCT generated on line and the treatment planning CT.
The disadvantages of the two methods are:
during the treatment, neither the tumor nor the radiation can be observed visually.
During a radiation treatment cycle, the patient is exposed to non-therapeutic radiation multiple times, additional X-ray radiation doses need to be tolerated, and equipment costs are high.
At present, IGRT takes the patient as a whole to carry out correction; even if the registration process registers the tumor from the transverse plane, the sagittal plane and the coronal plane, it is unknown whether the tumor falls within the irradiation field when the gantry rotates to the angle of irradiation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a virtual intelligent medical platform-based radiotherapy precise field-by-field positioning method which improves positioning accuracy and reduces additional radiation.
The technical scheme adopted by the invention is as follows: the radiotherapy precise wild-by-wild positioning method based on the virtual intelligent medical platform comprises the following steps:
a. pasting markers on an accelerator and a patient, and carrying out CT scanning on the patient;
b. making a treatment plan according to the CT image of the patient and generating a three-dimensional model;
c. identifying markers by holographic glasses to acquire positioning information, overlapping and registering a holographic image of the three-dimensional model with a patient, and overlapping and registering an irradiation field with an accelerator;
d. and (4) automatically calculating the contact ratio, giving a bed moving value and preparing for radiotherapy.
In order to better implement the invention, in the step b, the patient body surface model characteristic and the tumor model characteristic are generated according to the treatment plan.
In order to better implement the invention, the marker comprises spatial position information.
In order to better implement the invention, the marker adopts an object with specific two-dimensional image characteristics.
In step b, the condition of the patient is judged according to the CT scanning image, the target treatment area and the organs at risk are drawn, and a corresponding three-dimensional model is generated.
In order to better implement the method, in the step c, a fixing device is firstly placed, then the patient is in a treatment body position according to the medical advice, and then the holographic image of the treatment target area and the organs at risk is projected to the position of the patient, so that the holographic image and the patient are subjected to overlapping registration.
In order to better realize the invention, when the holographic image is overlapped with the patient, the marker is used for quickly finding and positioning.
In step d, after the holographic images of the treatment target area and the organs at risk are superposed with the patient, the irradiation field is projected onto the patient, the position of the treatment target area is verified, the bed moving value is given, the position is ensured to be accurate, and radiotherapy preparation is made.
The invention has the beneficial effects that: the invention relates to a radiotherapy precise field-by-field positioning method based on a virtual intelligent medical platform, which comprises the steps of firstly pasting markers on the body surface of a patient; then, a treatment plan is formulated, a physicist internally marks the center coordinates of the marker in the treatment plan system, and a three-dimensional model is generated according to the treatment plan; when the patient is placed, the position of the patient is automatically identified according to the marker, the irradiation field position is determined according to the position of the accelerator, and the three-dimensional holographic images of the skin, the treatment target area, the endangered organs and other structures can be accurately superposed on the body of the real patient by matching with mixed reality equipment, can be visually displayed in the field of vision, and are convenient for observing the positions of the treatment target area and other structures in the body of the patient. Medical workers can observe the coincidence condition of the therapeutic target area and the outer contour of the radiation field at the current angle at different positions, intelligently and quantitatively calculate the coincidence degree, give the moving direction and the distance value of the bed in real time, and improve the positioning precision. The patient does not need to bear extra radiation dose, and the pain of the patient can be reduced.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a block diagram of a process of the virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method of the present invention;
FIG. 2 is a schematic structural diagram of a treatment apparatus of the present invention based on a virtual intelligent medical platform for radiotherapy precise field-by-field positioning method;
in the figure, 1-gantry, 2-treatment couch, 3-base plate, 4-patient, 6-irradiation field, 7-skin, 8-treatment target area.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1:
as shown in fig. 1 and 2, the radiotherapy precise wild-positioning method based on the virtual intelligent medical platform of the invention comprises the following steps:
a. pasting markers on the accelerator and the patient 4, and carrying out CT scanning on the patient 4;
b. a treatment plan is made according to the CT image of the patient 4, and a three-dimensional model is generated;
c. identifying markers by holographic glasses to obtain positioning information, overlapping and registering a holographic image of the three-dimensional model with the patient 4, and overlapping and registering the irradiation field 6 with the accelerator;
d. and (4) automatically calculating the contact ratio, giving a bed moving value and preparing for radiotherapy.
The invention relates to a radiotherapy precise field-by-field positioning method based on a virtual intelligent medical platform, which comprises the steps of firstly pasting a marker on a patient 4 and shooting CT for the patient 4; then, a treatment plan is made according to the characteristics of the patient body surface model and the characteristics of the tumor model, and a three-dimensional model is generated; then overlapping the three-dimensional model with the patient 4 through the holographic image, and adjusting the position to coincide the three-dimensional model with the patient 4; the irradiation field 6 is projected to the affected part of the patient through the holographic image, the position of the patient 4 is verified, and radiotherapy preparation is made. The mixed reality equipment of cooperation like this, skin, treatment target area, endanger the three-dimensional holographic image of structures such as organ can accurate stack on real patient 4 is on one's body, can audio-visually show in the field of vision, be convenient for observe the position of structures such as treatment target area in patient 4 internal. The cooperation mixes reality equipment, and medical practitioner can observe the coincidence condition of treatment target area 8 and the wild outline of current angle at different positions, and the coincidence degree is calculated to intelligent quantization, gives in real time and moves a direction and distance value, improves the accuracy of putting. The patient 4 does not need to bear extra radiation dose, so that the pain of the patient can be reduced, and the treatment effect is improved.
Example 2:
in order to further implement the present invention, based on the above embodiment, in step b, the patient surface model feature and the tumor model feature are generated according to the treatment plan.
Example 3:
on the basis of the above embodiment, in order to further implement the present invention, the marker includes spatial position information, so that the positioning can be performed quickly and conveniently, and the deviation can be corrected conveniently.
Preferably, in the step b, the condition of the patient 4 is judged according to the CT scan image, the treatment target region 8 and the organs at risk are drawn, and a corresponding three-dimensional model is generated.
Example 4:
on the basis of the above embodiment, in order to further better implement the present invention, in the step c, the bottom plate 3 is replaced, the bed is lowered, the patient 4 is laid down, the treatment position is moved, the treatment target area 8 and the hologram of the organs at risk are projected to the position of the patient 4, and the hologram and the patient are subjected to overlapping registration.
Preferably, the hologram is superimposed on the patient, and the marker is used to quickly align the patient.
Example 5:
on the basis of the above embodiment, in step d, after the holographic images of the treatment target area 8 and the organs at risk are superposed with the patient 4, the irradiation field 6 is projected onto the patient 4, the position of the treatment target area 8 is verified, the bed moving value is given, the position accuracy is ensured, the radiotherapy preparation is made, the position fine adjustment can be conveniently performed through the three-dimensional holographic images, the position accuracy of the radiotherapy is ensured, the redundant radiation is reduced, and the harm to the patient is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (8)
1. A radiotherapy precise wild-by-wild positioning method based on a virtual intelligent medical platform is characterized by comprising the following steps:
a. pasting a marker on the accelerator and the patient (4), and carrying out CT scanning on the patient;
b. a treatment plan is made from the CT images of the patient (4) and a three-dimensional model is generated;
c. the holographic glasses identify the marker to obtain positioning information, the holographic image of the three-dimensional model is overlapped and registered with the patient (4), and the irradiation field (6) is overlapped and registered with the accelerator;
d. and (4) automatically calculating the contact ratio, giving a bed moving value and preparing for radiotherapy.
2. The virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method according to claim 1, wherein: and b, generating the body surface model characteristic and the tumor model characteristic of the patient according to the treatment plan.
3. The virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method according to claim 2, wherein: the identifier contains spatial position information.
4. The virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method according to claim 3, wherein: the marker adopts an object with specific two-dimensional image characteristics.
5. The virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method according to claim 4, wherein: in the step b, the state of illness of the patient (4) is judged according to the CT scanning image, a treatment target area (8) and organs at risk are drawn, and a corresponding three-dimensional model is generated.
6. The virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method according to claim 5, wherein: in the step c, a fixing device is placed, the patient (4) is in a treatment body position according to the medical advice, and then the holographic image of the treatment target area (8) and the organs at risk is projected to the position of the patient (4), so that the holographic image and the patient are subjected to overlapping registration.
7. The virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method according to claim 6, wherein: when the holographic image is overlapped with the patient, the marker can be used for quickly finding and positioning.
8. The virtual intelligent medical platform-based radiotherapy precise wild-by-wild positioning method according to claim 7, wherein: in the step d, after the treatment target area (8) and the holographic image of the organs at risk are superposed with the patient (4), the irradiation field (6) is projected onto the patient (4), the position of the treatment target area (8) is verified, a bed moving value is given, the position is ensured to be accurate, and radiotherapy preparation is well made.
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| CN113041516A (en) * | 2021-03-25 | 2021-06-29 | 中国科学院近代物理研究所 | Method, system and storage medium for guiding positioning of three-dimensional image |
| CN113893466A (en) * | 2021-11-16 | 2022-01-07 | 四川省肿瘤医院 | Method for determining CT positioning center |
| CN114306956A (en) * | 2021-03-29 | 2022-04-12 | 于金明 | Spiral tomography radiotherapy system based on virtual intelligent medical platform |
| CN114403915A (en) * | 2022-01-28 | 2022-04-29 | 首都医科大学附属北京友谊医院 | Scanning system, apparatus, method, device and medium with positioning apparatus |
| CN114452546A (en) * | 2021-09-26 | 2022-05-10 | 西安大医集团股份有限公司 | Radiotherapy monitoring system and control method thereof |
| CN117323584A (en) * | 2023-10-18 | 2024-01-02 | 迈胜医疗设备有限公司 | Planning and adjusting method for radiation therapy, radiation therapy system and related device |
| CN117379709A (en) * | 2023-12-08 | 2024-01-12 | 中国人民解放军空军特色医学中心 | Radiotherapy positioning system |
| WO2024016261A1 (en) * | 2022-07-19 | 2024-01-25 | 姜勇 | Surgery assisting system in radiotherapy or ablation therapy process, and surgical robot |
| CN117899381A (en) * | 2024-01-22 | 2024-04-19 | 山东第一医科大学附属肿瘤医院(山东省肿瘤防治研究院、山东省肿瘤医院) | Method and system for guiding radiotherapy positioning of body position of flexor by combining structured light body surface imaging and augmented reality technology |
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| CN114306956A (en) * | 2021-03-29 | 2022-04-12 | 于金明 | Spiral tomography radiotherapy system based on virtual intelligent medical platform |
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| CN117379709A (en) * | 2023-12-08 | 2024-01-12 | 中国人民解放军空军特色医学中心 | Radiotherapy positioning system |
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