CN112546460A - Body surface tracking system - Google Patents
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- CN112546460A CN112546460A CN202011429558.3A CN202011429558A CN112546460A CN 112546460 A CN112546460 A CN 112546460A CN 202011429558 A CN202011429558 A CN 202011429558A CN 112546460 A CN112546460 A CN 112546460A
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- 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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Abstract
The invention discloses a body surface tracking system, which comprises a controller and a plurality of laser radars; the plurality of laser radars are arranged in the upper area of the treatment couch; the laser radar is connected with the controller; the laser radar is configured to scan the body surface outline of the patient on the treatment bed to obtain original point cloud data; the controller is configured to: and generating real-time human body surface data for tracking the human body surface according to the original point cloud data. According to the embodiment of the invention, the plurality of laser radars are arranged above the treatment bed, and the scanning data of different laser radars at a plurality of angles in a plurality of directions are spliced, so that the point cloud data of the body surface outline of the patient can be completely scanned, and the accurate tracking of the body surface data of the patient is facilitated.
Description
Technical Field
The invention relates to the technical field of medical instrument auxiliary treatment, in particular to a body surface tracking system.
Background
Radiation therapy is one of the three major approaches to tumor therapy, and of all tumor patients, over 70% of the patients need to receive radiation therapy at different stages of treatment. With the development of new radiation therapy technology, the precise treatment technologies such as conformal intensity modulated radiation therapy and the like are widely applied to tumor clinical treatment. Radiotherapy mainly utilizes radioactive rays to carry out local treatment, has accurate target positioning, reduces the damage of surrounding normal cells while increasing the local irradiation dose, and has small side effect and wide applicability. However, not only displacement deviation occurs in the posture of the patient receiving the radiation therapy during each treatment setup, but also various rotation, distortion and deformation changes inevitably occur due to the non-rigid structure of the human body, so that the shape, position, angle and the like of the target area of the radiation therapy deviate from the radiation therapy plan. In order to solve the above problems, a body surface tracking system needs to be provided to track and locate the body surface data of the patient.
The existing body surface tracking system usually adopts a structured light stereo vision camera to scan body surface data, and eliminates interference point cloud data of a treatment bed and the vicinity thereof by a plane segmentation method, because the structured light stereo vision camera is expensive and has a larger structure, the existing body surface tracking system usually uses the center of a linear accelerator as a circle center, and 3 structured light stereo vision cameras are installed on a ceiling at intervals of 120 degrees to realize the tracking of the body surface data of a human body. However, other devices of the existing body surface tracking system easily block the visual field of the stereoscopic vision camera, so that the body surface data of the patient cannot be accurately acquired.
Disclosure of Invention
The invention provides a body surface tracking system, which aims to solve the technical problem that the existing body surface tracking system cannot accurately acquire body surface data of a patient.
An embodiment of the present invention provides a body surface tracking system, including:
the system comprises a controller and a plurality of laser radars;
a plurality of laser radars are arranged in the upper area of the treatment couch; the laser radar is connected with the controller; the laser radar is configured to scan the body surface contour of the patient on the treatment couch, and original point cloud data is obtained;
the controller is configured to: and generating real-time human body surface data for tracking the human body surface according to the original point cloud data.
Furthermore, calibration objects are arranged below all the laser radars, each laser radar scans the calibration objects to obtain the center coordinates of the calibration objects, and the scanning information of each laser radar is converted to the coordinate system where the center coordinates are located one by one.
Further, the scanning of the body surface contour of the patient on the treatment couch to obtain the original point cloud data specifically comprises:
emitting light beams to the body surface contour of the patient on the treatment bed at a preset emission angle so as to form emitted/scattered echo signals on the body surface contour; the body surface contour comprises a plurality of scanning points;
receiving the echo signal, and calculating the distance between a scanning point and the laser radar and the coordinate information of the scanning point according to the echo signal;
and forming three-dimensional scanning imaging according to the coordinate information of all the scanning points to obtain original point cloud data.
Further, the laser radar comprises a processor, and a laser transmitter, a scanner and a detector which are respectively connected with the processor.
Further, the generating of real-time human body surface data for human body surface tracking according to the original point cloud data specifically includes:
performing voxel grid downsampling processing on the original point cloud data to obtain point cloud data to be denoised;
and identifying treatment bed point cloud data in the point cloud data to be denoised, removing the treatment bed point cloud data to obtain real-time human body surface point cloud data, and displaying the real-time human body surface point cloud data in real time through a point cloud rendering technology.
Further, after the point cloud data of the treatment bed in the point cloud data to be denoised is identified and the point cloud data of the treatment bed is removed to obtain the point cloud data of the body surface of the human body in real time, the method further comprises the following steps:
and registering the point cloud data to be denoised and the real-time human body surface point cloud data by adopting a registration algorithm to obtain six-dimensional positioning deviation, wherein the six-dimensional positioning deviation is used for adjusting the position of the patient on the treatment couch.
Further, the registration algorithm is adopted to register the point cloud data to be denoised and the real-time human body surface point cloud data to obtain six-dimensional positioning deviation, and the method specifically comprises the following steps:
and carrying out coarse registration processing on the point cloud data to be denoised and the real-time human body surface point cloud data, taking a matrix returned by the coarse registration processing as an initial matrix for fine registration, and carrying out fine registration processing on the point cloud data to be denoised and the real-time human body surface point cloud data according to the initial matrix to obtain six-dimensional positioning deviation for adjusting the position of the patient on the treatment bed.
Further, the identifying the point cloud data of the treatment couch in the point cloud data to be denoised specifically includes:
and identifying the point cloud data of the treatment bed in the point cloud data to be denoised by adopting a random sampling algorithm.
Further, the processing of downsampling the original point cloud data by using a voxelized grid to obtain the point cloud data to be denoised specifically is as follows:
constructing a plurality of three-dimensional voxel grids according to all the original point cloud data, wherein each three-dimensional voxel grid comprises a plurality of original point cloud data;
and obtaining the gravity point data of all original point cloud data in each three-dimensional voxel grid, expressing all point cloud data of the three-dimensional voxel grid where the gravity point data is located by the gravity point data, and taking all key data as point cloud data to be denoised.
Further, the system may include, but is not limited to, one or more of an accelerator or an image scanning device disposed on the gantry above the couch.
According to the embodiment of the invention, the plurality of laser radars are arranged above the treatment bed, and the scanning data of different laser radars at a plurality of angles in a plurality of directions are spliced, so that the point cloud data of the complete body surface contour of the patient is scanned, and the accurate tracking of the body surface data of the patient is facilitated.
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FIG. 1 is a schematic structural diagram of a body surface tracking system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a radar laser provided in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1, an embodiment of the invention provides a body surface tracking system, including:
a plurality of laser radars 2 are controlled;
the plurality of laser radars 2 are arranged in the upper area of the treatment couch 3; the laser radar 2 is connected with the controller;
the laser radar 2 is configured to scan the body surface contour of the patient on the treatment couch 3 to obtain original point cloud data;
the controller is configured to:
and generating real-time human body surface data for tracking the human body surface according to the original point cloud data.
According to the embodiment of the invention, the plurality of laser radars 2 are arranged above the treatment couch 3, and the scanning data of different laser radars 2 at a plurality of angles in a plurality of directions are spliced, so that the point cloud data of the complete body surface contour of the patient is scanned, and the accurate tracking of the body surface data of the patient is facilitated. Note that the case where the individual laser radar 2 is blocked and data is missing is negligible.
According to the embodiment of the invention, the plurality of laser radars are arranged at multiple positions in the space above the treatment couch, so that 360-degree dead-angle-free installation can be realized, and comprehensive human body contour original point cloud data can be obtained; the embodiment of the invention has simple structure, reduces the cost of equipment deployment and simplifies the space of a treatment room; according to the embodiment of the invention, the laser radar scans the human body contour by using invisible light, so that the eyes of a patient can be effectively prevented from being stimulated, and the treatment experience of the patient is effectively improved.
As a specific implementation manner of the embodiment of the present invention, a calibration object is disposed below all the laser radars 2, and all the laser radars 2 perform unified coordinate system calibration according to the calibration object, specifically:
each laser radar 2 scans the calibration object to obtain the center coordinate of the calibration object, and converts the scanning information of each laser radar 2 to the coordinate system where the center coordinate is located one by one.
In the embodiment of the invention, the scanning information of each laser radar 2 is converted to the coordinate system of the central coordinate one by one, so that the original point cloud data acquired by the laser radars 2 can be uniformly represented under the same coordinate, the laser radars 2 can be installed at 360-degree no dead angle, and the situation that the visual field of a stereoscopic vision camera of the structure is easily blocked by other equipment, so that the body surface data of a patient cannot be accurately tracked is avoided.
As a specific implementation manner of the embodiment of the present invention, the body surface contour of the patient on the treatment couch is scanned to obtain the original point cloud data, which specifically includes:
emitting light beams to the body surface contour of a patient on a treatment bed at a preset emission angle so as to form emitted/scattered echo signals on the body surface contour; the body surface contour comprises a plurality of scanning points;
receiving an echo signal, and calculating the distance between a scanning point and a laser radar and the coordinate information of the scanning point according to the echo signal;
and forming three-dimensional scanning imaging according to the coordinate information of all the scanning points to obtain original point cloud data.
Referring to fig. 2, the lidar 2 includes a processor, and a laser transmitter, a scanner, and a detector respectively connected to the processor.
In an embodiment of the invention, the radar laser is angled by the scanner to form a beam that interacts with the target to form a reflected/scattered echo. When the receiving end works, echo signal photons returned by the original path can be generated to reach the receiver, the receiving end forms signal receiving through the detector, after signal processing, the distance of a target is obtained through flight time calculation, corresponding coordinate information is obtained through a transmitting angle, and therefore three-dimensional scanning imaging is achieved, and original point cloud data are obtained.
As a specific implementation manner of the embodiment of the present invention, the real-time human body surface data for tracking the human body surface is generated according to the original point cloud data, and specifically includes:
carrying out voxel grid downsampling processing on the original point cloud data to obtain point cloud data to be denoised;
and identifying treatment bed point cloud data in the point cloud data to be denoised, removing the treatment bed point cloud data to obtain real-time human body surface point cloud data, and displaying the real-time human body surface point cloud data in real time through a point cloud rendering technology.
According to the embodiment of the invention, the voxel grid downsampling processing is adopted for the original point cloud data collected by the laser radar 2 to obtain the point cloud data to be denoised, the number of data points is reduced, the shape characteristics of the point cloud are kept, and the algorithm speeds of registration, curved surface reconstruction, shape recognition and the like can be effectively improved; by identifying the point cloud data of the treatment bed 3 in the point cloud data to be denoised, the point cloud data of the treatment bed 3 is removed to obtain real-time human body surface point cloud data, so that the obtained real-time human body surface point cloud data is more accurate, and the accuracy of body surface tracking is further improved.
As a specific implementation manner of the embodiment of the present invention, after identifying point cloud data of a treatment bed in point cloud data to be denoised, and removing the point cloud data of the treatment bed to obtain real-time point cloud data of a body surface of a human body, the method further includes:
and registering the point cloud data to be denoised and the real-time human body surface point cloud data by adopting a registration algorithm to obtain six-dimensional positioning deviation, wherein the six-dimensional positioning deviation is used for adjusting the position of the patient on the treatment couch.
As a specific implementation manner of the embodiment of the present invention, a registration algorithm is adopted to register point cloud data to be denoised and real-time human body surface point cloud data to obtain six-dimensional positioning deviation, specifically:
and carrying out coarse registration processing on the point cloud data to be denoised and the real-time human body surface point cloud data, taking a matrix returned by the coarse registration processing as an initial matrix for fine registration, and carrying out fine registration processing on the point cloud data to be denoised and the real-time human body surface point cloud data according to the initial matrix to obtain six-dimensional positioning deviation for adjusting the position of the patient on the treatment bed.
As a specific implementation manner, point cloud data to be denoised obtained by downsampling is used as a reference point cloud, real-time human body surface point cloud data is used as a real-time point cloud, rough registration processing and fine configuration processing are combined to conduct registration on the point cloud data to be denoised and the real-time human body surface point cloud data, the real-time point cloud is rotated and translated to be highly overlapped with the reference point cloud, and therefore six-dimensional positioning deviation of the real-time point cloud relative to the reference point cloud is obtained, wherein the six-dimensional positioning deviation is angles of rotation around X, Y, Z three axes and translation and displacement conducted in the directions of the three axes.
In the embodiment of the present invention, it should be noted that the position of the patient is corrected by the six-dimensional treatment couch 4 according to the six-dimensional positioning deviation, the six-dimensional treatment couch 4 is disposed above the treatment couch 3, the controller is connected to the six-dimensional treatment couch 4 through the control interface, and the controller controls the position of the patient to be corrected according to the six-dimensional positioning deviation, so that the body position of the patient during the treatment process meets the requirements of the treatment conditions, and the use experience of the patient can be improved while the treatment effect is ensured.
As a specific implementation manner of the embodiment of the present invention, identifying point cloud data of a treatment couch 3 in point cloud data to be denoised specifically includes:
and identifying the point cloud data of the treatment couch 3 in the point cloud data to be denoised by adopting a random sampling algorithm.
As a specific implementation manner of the embodiment of the present invention, the point cloud data to be denoised is obtained by performing voxel grid downsampling processing on the original point cloud data, and the specific implementation manner is as follows:
constructing a plurality of three-dimensional voxel grids according to all the original point cloud data, wherein each three-dimensional voxel grid comprises a plurality of original point cloud data;
and obtaining the gravity point data of all original point cloud data in each three-dimensional voxel grid, expressing all point cloud data of the three-dimensional voxel grid where the gravity point data is located by the gravity point data, and taking all key data as point cloud data to be denoised.
In the embodiment of the invention, the size of the three-dimensional voxel grid is set according to actual requirements, and the larger the grid is set, the less point cloud point data is after filtering and the higher the speed is. According to the embodiment of the invention, the original point cloud data can be accurately filtered, so that the filtering effect is improved and the calculation amount is reduced.
As a specific implementation manner of the embodiment of the present invention, the system further includes, but is not limited to, one or more of an accelerator 1 or an image scanning device, and the accelerator 1 or the image scanning device is disposed on the gantry above the treatment couch.
The embodiment of the invention has the following beneficial effects:
according to the embodiment of the invention, the plurality of laser radars 2 are arranged above the treatment couch 3, and the scanning data of different laser radars 2 at a plurality of angles in a plurality of directions are spliced, so that the point cloud data of the complete body surface contour of the patient is scanned, and the accurate tracking of the body surface data of the patient is facilitated.
Further, the original point cloud data collected by the laser radar 2 is subjected to voxel grid downsampling processing to obtain point cloud data to be denoised, the number of data points is reduced, the shape characteristics of the point cloud are kept, and the algorithm speeds of registration, curved surface reconstruction, shape recognition and the like can be effectively improved; by identifying the treatment bed point cloud data in the point cloud data to be denoised, the treatment bed point cloud data is removed to obtain real-time human body surface point cloud data, so that the obtained real-time human body surface point cloud data is more accurate, and the accuracy of body surface tracking is further improved.
The foregoing is a preferred embodiment of the present invention, and it should be noted that it would be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention.
Claims (10)
1. A body surface tracking system, comprising:
the system comprises a controller and a plurality of laser radars;
a plurality of laser radars are arranged in the upper area of the treatment couch; the laser radar is connected with the controller; the laser radar is configured to scan the body surface contour of the patient on the treatment couch, and original point cloud data is obtained;
the controller is configured to: and generating real-time human body surface data for tracking the human body surface according to the original point cloud data.
2. The body surface tracking system of claim 1, wherein a calibration object is disposed below all the lidar, each lidar scans the calibration object to obtain a center coordinate of the calibration object, and the scanning information of each lidar is converted one by one to a coordinate system where the center coordinate is located.
3. A body surface tracking system according to any of claims 1-2, wherein the scanning of the contour of the body surface of the patient on the treatment couch results in raw point cloud data, in particular:
emitting light beams to the body surface contour of the patient on the treatment bed at a preset emission angle so as to form emitted/scattered echo signals on the body surface contour; the body surface contour comprises a plurality of scanning points;
receiving the echo signal, and calculating the distance between a scanning point and the laser radar and the coordinate information of the scanning point according to the echo signal;
and forming three-dimensional scanning imaging according to the coordinate information of all the scanning points to obtain original point cloud data.
4. The body surface tracking system of claim 1, wherein the lidar includes a processor, and a laser transmitter, a scanner, and a detector each coupled to the processor.
5. The body surface tracking system of claim 1, wherein the generating of real-time body surface data for body surface tracking from the raw point cloud data comprises:
performing voxel grid downsampling processing on the original point cloud data to obtain point cloud data to be denoised;
and identifying treatment bed point cloud data in the point cloud data to be denoised, removing the treatment bed point cloud data to obtain real-time human body surface point cloud data, and displaying the real-time human body surface point cloud data in real time through a point cloud rendering technology.
6. The body surface tracking system of claim 5, wherein after the identifying the point cloud data of the treatment bed in the point cloud data to be denoised and removing the point cloud data of the treatment bed to obtain the real-time point cloud data of the body surface of the human body, the system further comprises:
and registering the point cloud data to be denoised and the real-time human body surface point cloud data by adopting a registration algorithm to obtain six-dimensional positioning deviation, wherein the six-dimensional positioning deviation is used for adjusting the position of the patient on the treatment couch.
7. The body surface tracking system of claim 6, wherein the registration algorithm is used to register the point cloud data to be denoised and the real-time human body surface point cloud data to obtain six-dimensional localization deviation, specifically:
and carrying out coarse registration processing on the point cloud data to be denoised and the real-time human body surface point cloud data, taking a matrix returned by the coarse registration processing as an initial matrix for fine registration, and carrying out fine registration processing on the point cloud data to be denoised and the real-time human body surface point cloud data according to the initial matrix to obtain six-dimensional positioning deviation for adjusting the position of the patient on the treatment bed.
8. The body surface tracking system of claim 7, wherein the identifying of the treatment bed point cloud data in the point cloud data to be denoised is specifically:
and identifying the point cloud data of the treatment bed in the point cloud data to be denoised by adopting a random sampling algorithm.
9. The body surface tracking system of claim 1, wherein the point cloud data to be denoised is obtained by performing voxel grid downsampling on the original point cloud data, specifically:
constructing a plurality of three-dimensional voxel grids according to all the original point cloud data, wherein each three-dimensional voxel grid comprises a plurality of original point cloud data;
and obtaining the gravity point data of all original point cloud data in each three-dimensional voxel grid, expressing all point cloud data of the three-dimensional voxel grid where the gravity point data is located by the gravity point data, and taking all key data as point cloud data to be denoised.
10. The body surface tracking system of claim 1, further comprising, but not limited to, one or more of an accelerator or an image scanning device disposed on a gantry above the treatment couch.
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