CN112402813B - Method and equipment for detecting position of electronic light limiting cylinder of linear accelerator - Google Patents
Method and equipment for detecting position of electronic light limiting cylinder of linear accelerator Download PDFInfo
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- CN112402813B CN112402813B CN202011235667.1A CN202011235667A CN112402813B CN 112402813 B CN112402813 B CN 112402813B CN 202011235667 A CN202011235667 A CN 202011235667A CN 112402813 B CN112402813 B CN 112402813B
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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
- A61N5/1075—Monitoring, verifying, controlling systems and methods for testing, calibrating, or quality assurance of the radiation treatment apparatus
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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
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
- A61N5/1065—Beam adjustment
Abstract
The invention discloses a method and a device for detecting the position of an electronic light limiting cylinder of a linear accelerator based on a camera, wherein the method comprises the following steps: the method comprises a calibration step and a detection step, wherein in the calibration step, a corresponding relation table between image pixels and physical coordinates of the light limiting cylinder is obtained through a camera and a calibration plate, and in the detection step, all light limiting cylinders needing to be detected are calibrated according to motion parameters of the light limiting cylinders. The detection method has clear steps, simple equipment structure, no need of additional complex devices and low cost, and can detect and calibrate the motion precision of the electronic light-limiting cylinder on the linear accelerator, thereby achieving the aim of accurate treatment.
Description
Technical Field
The invention belongs to the technical field of accelerator radiotherapy, and particularly relates to a method and equipment for detecting the position of an electronic light limiting cylinder of a linear accelerator.
Background
With the rapid development of radiotherapy technology, the precise dose irradiation of the target region of the focus becomes the main direction for the development of modern radiotherapy technology. On the basis of this requirement, the theory of conformal radiation therapy has been proposed: the dose distribution generated by the medical electron linear accelerator in the patient body is as close as possible to the shape of the tumor of the patient, and simultaneously, the radiation dose of normal tissues and the vital parts around the tumor is reduced as much as possible, so as to achieve the aim of treating the patient. Light-limiting cylinders have been developed in response to the teachings of conformal radiation therapy.
However, a mature monocular-based motion precision detection method for the light limiting cylinder is not available in the market at present, and most of the existing light limiting cylinder detection methods need to additionally install a sensor on the light limiting cylinder, so that the installation is complicated and the cost is high. In most existing light limiting cylinder detection methods, a sensor needs to be additionally arranged on a light limiting cylinder, extra load is brought to the movement of the light limiting cylinder, and the movement control precision of the light limiting cylinder is influenced.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and equipment for detecting the position of an electronic light limiting cylinder of a linear accelerator, which have simple structure, do not need complex additional devices, and can effectively detect and calibrate the motion precision of the electronic light limiting cylinder of the linear accelerator so as to achieve the aim of accurate treatment.
In order to achieve the purpose, the technical scheme of the invention is as follows:
on one hand, the invention discloses a method for detecting the position of an electron light-limiting barrel of a linear accelerator, which is used for detecting an electron light-limiting barrel with a circular through hole and comprises the following steps:
1) a calibration step, namely acquiring a corresponding relation table between the pixels of the image of the light limiting cylinder and physical coordinates through a camera and a calibration plate;
2) the detection step specifically comprises the following steps:
2.1) acquiring image data of the initial position of the light limiting cylinder;
2.2) locating the light limiting cylinder center point P1 pixel coordinates (pix _ x1, pix _ y 1);
2.3) acquiring a physical coordinate (phy _ x1, phy _ y1) corresponding to the pixel coordinate of the light limiting cylinder central point P1 according to a corresponding relation table between the light limiting cylinder image pixel and the physical coordinate;
2.4) software issues a command, and the distance for the light limiting cylinder to move forwards by L1 is set;
2.5) acquiring image data of the light limiting cylinder at the current position;
2.6) extracting the pixel coordinates of the light limiting cylinder center point P2: (pix _ x2, pix _ y 2);
2.7) acquiring a physical coordinate (phy _ x2, phy _ y2) corresponding to the pixel coordinate of the light limiting cylinder central point P2 according to the corresponding relation table between the light limiting cylinder image pixel and the physical coordinate;
2.8) calculating the physical distance L2 of the movement of the light limiting cylinder according to the physical coordinate values of the center point P1 of the light limiting cylinder and the center point P2 of the light limiting cylinder;
2.9) calculating the motion error e of the current numbering light limiting cylinder to be L2-L1;
2.10) calibrating the motion parameter L1_ new of the current numbering light limiting cylinder according to the motion error, wherein the motion parameter L1+ e is obtained;
2.11) repeating the steps 2.1) -2.10) until all the light limiting cylinders needing to be detected finish the calibration of the motion parameters of the light limiting cylinders.
On the basis of the technical scheme, the following improvements can be made:
as a preferable scheme, the step 2.2) or the step 2.6) specifically comprises the following steps:
a) extracting boundary pixel points of the light limiting cylinder;
b) fitting a boundary circular curve equation according to the boundary pixel point coordinates;
c) and obtaining the coordinates of the positioning central point of the light limiting cylinder.
Preferably, step 2.3) or step 2.7) specifically includes the following contents:
A) positioning coordinates of pixel coordinates of the central point of the light limiting cylinder in the corresponding relation table, wherein the coordinates are close to the positions of four checkerboard corner points of the calibration plate;
B) and B) acquiring physical coordinates corresponding to the pixel coordinates of the central point of the light limiting cylinder by an interpolation algorithm according to the position coordinates of the four checkerboard corner points obtained in the step A).
As a preferable scheme, the step 1) specifically comprises the following steps:
1.1) installing and fixing a camera bracket, and fixing a camera above the electronic light limiting cylinder vertically;
1.2) measuring the vertical distance h between the upper end face of the electronic light-limiting cylinder and a camera;
1.3) horizontally placing the calibration plate right below the camera, and adjusting the vertical distance between the camera and the surface of the calibration plate to be h;
1.4) acquiring and storing the image data of the calibration plate under the current height h;
1.5) calibrating to obtain a corresponding relation table between the pixels and the physical coordinates of the calibration plate image under the current height h;
1.6) removing the calibration plate and restoring the camera to a position with a vertical height h between the camera and the light limiting cylinder.
Preferably, step 1.5) specifically includes the following steps:
1.5.1) arranging a plurality of square checkerboards in array arrangement on the surface of the calibration plate, and extracting the angular points of the checkerboards;
1.5.2) establishing a physical coordinate system by taking the corner point of the checkerboard at the upper left corner as an original point, the transverse direction as an X axis and the longitudinal direction as a Y axis;
1.5.3) setting the physical side length of a single checkerboard as q, and establishing a corresponding relation table of the checkerboard corner point pixels and physical coordinates.
In another aspect, the present invention also discloses a computing device, comprising:
one or more processors;
a memory;
and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for any of the above-described linac electron-beam limiting barrel position detection methods.
In addition, the invention also discloses a device for detecting the position of the electron light-limiting barrel of the linear accelerator, which comprises:
the calibration board is used for determining the relation between the image pixels and the physical coordinates;
the camera is used for acquiring a calibration plate image and an electronic light limiting cylinder image;
the camera support is used for mounting a camera on the electronic light limiting cylinder, and the height of the camera can be adjusted through the camera support;
the above-mentioned computing device;
the electronic light-limiting cylinder is provided with a circular through hole.
As a preferred scheme, a plurality of square checkerboards arranged in an array are arranged on the surface of the calibration plate, and the size of each checkerboard is the same.
The invention discloses a method and equipment for detecting the position of an electronic light limiting cylinder of a linear accelerator based on a camera, wherein the detection method has clear steps, simple equipment structure, no need of additional complex devices and low cost, and can detect and calibrate the motion precision of the electronic light limiting cylinder on the linear accelerator, thereby achieving the purpose of accurate treatment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a device for detecting a position of an electron beam-limiting barrel of a linear accelerator according to an embodiment of the present invention.
FIG. 2 is a schematic structural diagram of an electronic light-limiting barrel according to an embodiment of the present invention; wherein:
fig. 2(a) is a top view of an electronic light-limiting cylinder;
fig. 2(b) is a side view of the electronic light-limiting barrel.
Fig. 3 is a schematic diagram of a calibration plate structure provided in the embodiment of the present invention.
Fig. 4 is a flowchart of a method for detecting a position of an electron beam limiting barrel of a linear accelerator according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a relationship between pixels and physical coordinates of an image of a calibration board according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of detection of an electronic light-limiting cylinder provided by an embodiment of the invention.
Fig. 7 is an explanatory diagram of an extraction center point of an actual collection electronic light limiting cylinder provided by the embodiment of the invention.
Wherein: 1-camera, 2-camera support, 3-electronic light limiting cylinder, 4-light limiting cylinder boundary and 5-calibration plate.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The expression "comprising" an element is an "open" expression which merely means that there are corresponding parts, which should not be interpreted as excluding additional parts.
In order to achieve the purpose of the invention, in some embodiments of a method and a device for detecting the position of an electron beam-limiting barrel of a linear accelerator,
in one aspect, an embodiment of the present invention discloses a method for detecting a position of an electron light-limiting barrel of a linear accelerator, which is used for detecting an electron light-limiting barrel 3 having a circular through hole, and generally combines a plurality of light-limiting barrels together for use, as shown in fig. 4, and includes:
1) a calibration step, namely acquiring a corresponding relation table between the pixels and the physical coordinates of the image of the light limiting cylinder through the camera 1 and a calibration plate 5;
2) the detection step specifically comprises the following steps:
2.1) acquiring image data of the initial position of the light limiting cylinder;
2.2) locating the light limiting cylinder center point P1 pixel coordinates (pix _ x1, pix _ y 1);
2.3) acquiring a physical coordinate (phy _ x1, phy _ y1) corresponding to the pixel coordinate of the light limiting cylinder central point P1 according to the corresponding relation table between the light limiting cylinder image pixel and the physical coordinate;
2.4) software issues a command, and the distance for the light limiting cylinder to move forwards by L1 is set;
2.5) acquiring image data of the light limiting cylinder at the current position;
2.6) extracting the pixel coordinate of the light limiting cylinder center point P2: (pix _ x2, pix _ y 2);
2.7) acquiring a physical coordinate (phy _ x2, phy _ y2) corresponding to the pixel coordinate of the light limiting cylinder central point P2 according to the corresponding relation table between the light limiting cylinder image pixel and the physical coordinate,
2.8) calculating the physical movement distance L2 of the light limiting cylinder according to the physical coordinate values of the center point P1 and the center point P2 of the light limiting cylinder;
2.9) calculating the motion error e of the current numbering light limiting cylinder to be L2-L1;
2.10) calibrating the motion parameter L1_ new of the current numbering light limiting cylinder according to the motion error, wherein the motion parameter L1+ e is L1+ e;
2.11) repeating the steps 2.1) -2.10) until all the light limiting cylinders needing to be detected finish the calibration of the motion parameters of the light limiting cylinders.
In order to further optimize the implementation of the invention, in other embodiments, the remaining features are the same, except that, as shown in fig. 6 and 7, step 2.2) specifically includes the following:
a) extracting pixel points P _1, P _2, P _3 and the like of a boundary 4 of the light limiting cylinder;
b) fitting a boundary circular curve equation (x-a) according to the boundary pixel point coordinates2+(y-b)2＝ r2；
c) And obtaining the coordinates (a, b) of the positioning central point of the light limiting cylinder.
Step 2.6) is similar to step 2.2), and pixel coordinates (pix _ x2, pix _ y2) of the light limiting cylinder center point P2 are extracted, which are not described herein again.
In order to further optimize the implementation effect of the present invention, in other embodiments, the remaining features are the same, except that, as shown in fig. 5, step 2.3) specifically includes the following:
A) the coordinates (x) of the pixel coordinates of the central point of the positioning light-limiting cylinder in the corresponding relation table near the four checkerboard corner points of the calibration plate 521，y21)、(x22，y22)、(x31，y31)、(x32，y32)；
B) Acquiring physical coordinates corresponding to the pixel coordinates of the central point of the light limiting cylinder by an interpolation algorithm according to the position coordinates of the four checkerboard corner points acquired in the step A);
step 2.7) is similar to step 2.3), and a physical coordinate corresponding to the pixel coordinate of the light limiting cylinder center point P2 is obtained, which is not described herein again.
In order to further optimize the implementation effect of the present invention, in other embodiments, the remaining features are the same, except that step 1) specifically includes the following:
1.1) installing and fixing a camera bracket 2, and fixing a camera 1 vertically above an electronic light limiting cylinder 3;
1.2) measuring the vertical distance h between the upper end face of the electronic light-limiting cylinder 3 and the camera 1;
1.3) horizontally placing a calibration plate 5 under a camera 1, and adjusting the vertical distance between the camera 1 and the surface of the calibration plate 5 to be h;
1.4) acquiring and storing image data of a fixed plate 5 under the current height h;
1.5) calibrating to obtain a corresponding relation table between the image pixels and the physical coordinates of the calibration plate 5 under the current height h;
1.6) removing the calibration plate 5 and restoring the position with the vertical height h between the camera 1 and the light limiting cylinder.
On the basis of the above embodiment, the step 1.5) specifically includes the following contents:
1.5.1) the surface of the calibration plate 5 is provided with a plurality of square chequers which are arranged in an array, and angular points (x) of the chequers are extracted11，y11)、(x12，y12)、(x13，y14)、(x14，y14) As shown in fig. 5;
1.5.2) establishing a physical coordinate system by taking the corner point of the checkerboard at the upper left corner as an original point, the transverse direction as an X axis and the longitudinal direction as a Y axis;
1.5.3) setting the physical side length of a single checkerboard as q, and establishing a corresponding relation table of the checkerboard corner point pixels and physical coordinates as shown in the following table 1.
TABLE 1 Table of correspondence between checkerboard corner pixels and physical coordinates
| Pixel coordinate | Physical coordinates | Physical coordinate concrete value |
| (X11，Y11) | (X11，Y11) | (0，0) |
| (X12，Y12) | (X12，Y12) | (q，0) |
| (X13，Y13) | (X13，Y13) | (2*q，0) |
| … | … | … |
| (Xmn，Ymn) | (Xmn，Ymn) | ((n-1)*q，(m-1)*q) |
On the other hand, the embodiment of the invention also discloses a computing device, which comprises:
one or more processors;
a memory;
and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for any of the above-described linac electron-beam limiting barrel position detection methods.
In addition, an embodiment of the present invention further discloses a device for detecting a position of an electron light-limiting barrel of a linear accelerator, as shown in fig. 1, including:
a calibration board 5 for determining the relationship between the image pixels and the physical coordinates;
the camera 1 is used for acquiring a calibration plate image and an electronic light limiting cylinder image;
the camera support 2 is used for mounting the camera 1 on the electronic light limiting cylinder 3, and the height of the camera 1 can be adjusted through the camera support 2;
the above-mentioned computing device;
as shown in fig. 2(a) and (b), the electronic light-limiting cylinder 3 is provided with a circular through hole.
As shown in fig. 3, the surface of the calibration plate is provided with a plurality of square chequers arranged in an array, and each chequer has the same size and known physical size.
The invention relates to a device for detecting the position of an electronic light limiting cylinder of a linear accelerator, which adopts a camera 1 to collect images of a calibration plate and the electronic light limiting cylinder and is used for calibrating the whole system and detecting the motion of the light limiting cylinder. The camera mounting bracket is used for mounting and fixing the camera 1 on the electronic light limiting tube, so that the camera 1 can be positioned right above the electronic light limiting tube, and the height of the camera 1 can be adjusted at will. The electronic light limiting cylinder is an object to be detected, one or more light limiting cylinder components are integrated on the electronic light limiting cylinder, and the light limiting cylinder can be controlled to move independently.
The invention discloses a method and equipment for detecting the position of an electronic light limiting cylinder of a linear accelerator based on a camera, wherein the detection method has clear steps, the equipment has simple structure and low cost, no complex additional device is needed, the motion precision of the electronic light limiting cylinder on the linear accelerator can be detected and calibrated, the motion control precision of the electronic light limiting cylinder is high, and the aim of precise treatment can be effectively fulfilled.
The above-mentioned embodiments are only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the protection scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.
Claims (8)
1. A method for detecting the position of an electronic light-limiting barrel of a linear accelerator is characterized by being used for detecting the electronic light-limiting barrel with a circular through hole and comprising the following steps:
1) a calibration step, namely acquiring a corresponding relation table between the image pixels and the physical coordinates of the light limiting cylinder through a camera and a calibration plate;
2) the detection step specifically comprises the following steps:
2.1) acquiring image data of the initial position of the light limiting cylinder;
2.2) locating the light limiting cylinder center point P1 pixel coordinates (pix _ x1, pix _ y 1);
2.3) acquiring a physical coordinate (phy _ x1, phy _ y1) corresponding to the pixel coordinate of the light limiting cylinder central point P1 according to the corresponding relation table between the light limiting cylinder image pixel and the physical coordinate;
2.4) software issues a command and sets the distance for the light limiting cylinder to move forwards by L1;
2.5) acquiring image data of the light limiting cylinder at the current position;
2.6) extracting the pixel coordinates of the light limiting cylinder center point P2: (pix _ x2, pix _ y 2);
2.7) acquiring a physical coordinate (phy _ x2, phy _ y2) corresponding to the pixel coordinate of the light limiting cylinder central point P2 according to the corresponding relation table between the light limiting cylinder image pixel and the physical coordinate;
2.8) calculating the physical movement distance L2 of the light limiting cylinder according to the physical coordinate values of the center point P1 and the center point P2 of the light limiting cylinder;
2.9) calculating the motion error e of the current numbering light limiting cylinder to be L2-L1;
2.10) calibrating the motion parameter L1_ new of the current numbering light limiting cylinder according to the motion error, wherein the motion parameter L1+ e is L1+ e;
2.11) repeating the steps 2.1) -2.10) until all the light limiting cylinders needing to be detected finish the calibration of the motion parameters of the light limiting cylinders.
2. The method for detecting the position of the electronic light-limiting cylinder of the linear accelerator according to claim 1, wherein the step 2.2) or the step 2.6) specifically comprises the following steps:
a) extracting boundary pixel points of the light limiting cylinder;
b) fitting a boundary circular curve equation according to the boundary pixel point coordinates;
c) and obtaining the coordinates of the positioning central point of the light limiting cylinder.
3. The method for detecting the position of the electron beam limiting barrel of the linear accelerator according to claim 2, wherein the step 2.3) or the step 2.7) specifically comprises the following steps:
A) positioning coordinates of pixel coordinates of the central point of the light limiting cylinder in the corresponding relation table, wherein the coordinates are close to the positions of four checkerboard corner points of the calibration plate;
B) and B) acquiring physical coordinates corresponding to the pixel coordinates of the central point of the light limiting cylinder through an interpolation algorithm according to the position coordinates of the four checkerboard corner points acquired in the step A).
4. The method for detecting the position of the electron beam limiting barrel of the linear accelerator according to any one of claims 1 to 3, wherein the step 1) specifically comprises the following steps:
1.1) installing and fixing a camera bracket, and fixing a camera vertically above an electronic light limiting tube;
1.2) measuring the vertical distance h between the upper end face of the electronic light-limiting cylinder and a camera;
1.3) horizontally placing the calibration plate right below the camera, and adjusting the vertical distance between the camera and the surface of the calibration plate to be h;
1.4) acquiring and storing the image data of the calibration plate under the current height h;
1.5) calibrating to obtain a corresponding relation table between the pixels of the calibration plate image under the current height h and the physical coordinates;
1.6) removing the calibration plate and restoring the camera to a position with a vertical height h between the camera and the light limiting cylinder.
5. The method for detecting the position of the electronic light-limiting cylinder of the linear accelerator according to claim 4, wherein the step 1.5) specifically comprises the following steps:
1.5.1) arranging a plurality of square checkerboards in array arrangement on the surface of the calibration plate, and extracting the angular points of the checkerboards;
1.5.2) establishing a physical coordinate system by taking the corner point of the checkerboard at the upper left corner as an original point, the transverse direction as an X axis and the longitudinal direction as a Y axis;
1.5.3) setting the physical side length of a single checkerboard as q, and establishing a corresponding relation table of the checkerboard corner point pixels and physical coordinates.
6. A computing device, comprising:
one or more processors;
a memory;
and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for the method of detecting a position of a linear accelerator electron beam limiting barrel of any of claims 1 to 5.
7. A linear accelerator electron light-limiting cylinder position detection device is characterized by comprising:
the calibration board is used for determining the relation between the image pixels and the physical coordinates;
the camera is used for acquiring a calibration plate image and an electronic light limiting cylinder image;
the camera support is used for mounting a camera on the electronic light limiting cylinder, and the height of the camera can be adjusted through the camera support;
the computing device of claim 6;
and a circular through hole is formed in the electronic light limiting cylinder.
8. The apparatus for detecting the position of an electron beam limiting barrel of a linear accelerator according to claim 7, wherein the surface of the calibration plate is provided with a plurality of square chequers arranged in an array, and each of the chequers has the same size.
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