CN112867536B - Method, device and system for detecting movement state of patient - Google Patents
Method, device and system for detecting movement state of patient Download PDFInfo
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- CN112867536B CN112867536B CN201980062117.3A CN201980062117A CN112867536B CN 112867536 B CN112867536 B CN 112867536B CN 201980062117 A CN201980062117 A CN 201980062117A CN 112867536 B CN112867536 B CN 112867536B
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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
Abstract
A method, a device and a system for detecting the movement state of a patient are provided. The method can acquire first reference coordinate information of the patient after the patient is placed, can acquire the first coordinate information of the patient during the radiotherapy treatment, and can determine the moving state of the patient according to the first coordinate information and the first reference coordinate information. Therefore, whether the patient moves or not can be judged in time in the radiation treatment process, namely the movement of the patient is tracked, and accordingly the problem that the other normal organs are damaged due to mistaken irradiation caused by radiation irradiation to other normal organs due to the fact that the patient moves can be effectively solved. The radiation therapy precision is higher.
Description
Technical Field
The invention relates to the technical field of radiotherapy, in particular to a method, a device and a system for detecting the movement state of a patient.
Background
Radiotherapy is an important means for treating tumors by radiation, and stereotactic radiosurgery belongs to one type of radiotherapy.
In the related art, the radiotherapy apparatus used in stereotactic radiosurgery may include a radiation source device, the radiation source device may include a source carrier provided with a plurality of radiation sources, and a collimating body provided with a plurality of collimating holes, and the plurality of radiation sources and the plurality of collimating holes are arranged in the same order, that is, each radiation source and each collimating hole may be arranged relatively. The radiation emitted by the radioactive source can be focused on a focus (also called a beam focus) through the collimating hole, and when the beam focus is coincided with a target point preset on the affected part of the patient, the reliable treatment of the patient can be realized.
However, if the patient moves during the radiotherapy, the position deviation between the beam focus and the target point may be large, and accordingly, the radiation may irradiate other normal organs, which may be damaged due to the misirradiation, and the radiotherapy precision is low.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for detecting the movement state of a patient, which can solve the problem of low radiotherapy precision in the related art. The technical scheme is as follows:
in one aspect, a method for detecting a patient movement state is provided, the method comprising:
acquiring first reference coordinate information and first coordinate information of a patient, wherein the first reference coordinate information is initial position information of the patient when the positioning of the patient is finished, the first coordinate information is current position information of the patient in a radiation treatment process of the patient, and coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;
and determining whether the patient moves according to the first coordinate information and the first reference coordinate information.
Optionally, the method further includes: and performing treatment management on the patient according to the movement condition of the patient.
Optionally, the performing treatment management on the patient according to the movement condition of the patient includes:
when the movement condition of the patient meets a preset condition, performing treatment management on the patient;
the preset conditions include: the duration of the patient's movement is in the medium or high threshold region; alternatively, the patient's movement deviation is located in a medium or high threshold region.
Optionally, the movement deviation of the patient is: deviation between second coordinate information and second reference coordinate information, wherein the second coordinate information is obtained after coordinate conversion is carried out on the first coordinate information, the second reference coordinate information is obtained after coordinate conversion is carried out on the first reference coordinate information, and coordinate systems where the second coordinate information and the second reference coordinate information are located are both coordinate systems of the treatment couch;
alternatively, the patient's movement bias is: a deviation between the first coordinate information and first reference coordinate information;
alternatively, the patient's movement bias is: and third coordinate information, wherein the third coordinate information is deviation coordinate information obtained by performing coordinate conversion on a deviation between the first coordinate information and the first reference coordinate information, and a coordinate system where the third coordinate information is located is the coordinate system of the treatment couch.
Optionally, when the movement condition of the patient meets a preset condition, performing treatment management on the patient includes:
if the movement deviation of the patient is located in a middle threshold area, and/or the duration of the movement of the patient is located in the middle threshold area, sending out warning information, wherein the warning information is used for warning a treating physician to perform movement guidance on the patient;
and if the movement deviation of the patient is located in a high threshold area, and/or the duration of the movement of the patient is located in the high threshold area, sending instruction stopping information, wherein the instruction stopping information is used for controlling the stopping of the radiation therapy.
Optionally, the acquiring first reference coordinate information of the patient includes:
when the positioning is finished, acquiring coordinates of a marking reference object preset on the body surface of a patient, and determining the coordinates of the marking reference object on the body surface of the patient as first reference coordinate information;
or, when the positioning is completed, acquiring coordinates of a marking reference object preset on a fixing device for fixing the patient, and determining the coordinates of the marking reference object on the fixing device as the first reference coordinate information.
Optionally, the number of the marker references on the surface of the patient is one or more.
Optionally, the method further includes: displaying the movement deviation of the patient.
Optionally, the displaying the movement deviation of the patient includes: displaying the movement deviation of the patient within a preset time period.
Optionally, the displaying the movement deviation of the patient includes: displaying at least one of the movement deviations of the patient in the X-axis, Y-axis and Z-axis directions, wherein the X-axis, the Y-axis and the Z-axis are orthogonal in pairs.
Optionally, the displaying the movement deviation of the patient includes: and displaying the movement deviation of the patient by using at least one of a deviation value, a discrete point and a connecting line mode.
In another aspect, there is provided an apparatus for detecting a patient movement state, the apparatus comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring first reference coordinate information and first coordinate information of a patient, the first reference coordinate information is initial position information of the patient when the positioning of the patient is finished, the first coordinate information is current position information of the patient in the process of carrying out radiotherapy on the patient, and coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;
and the determining module is used for determining whether the patient moves or not according to the first coordinate information and the first reference coordinate information.
Optionally, the apparatus further comprises: and the management module is used for carrying out treatment management on the patient according to the movement condition of the patient.
Optionally, the management module includes: the management submodule is used for carrying out treatment management on the patient when the movement condition of the patient meets a preset condition;
the preset conditions include: the duration of the patient's movement is in the medium or high threshold region; alternatively, the patient's movement deviation is located in a medium or high threshold region.
In yet another aspect, a system for detecting a patient movement state is provided, the system comprising:
infrared positioning means and patient movement status detection means as claimed in the preceding aspect communicatively connected to said infrared positioning means;
the infrared positioning device is used for detecting first reference coordinate information and first coordinate information of a patient under the control of the patient moving state detection device, and sending the first reference coordinate information and the first coordinate information to the patient moving state detection device.
Optionally, the infrared positioning device includes: at least one infrared position sensor, the system further comprising: the infrared light reflection device comprises a mark reference object which is arranged on the surface of a patient or a fixing device for fixing the patient in advance, wherein an infrared light reflection material is coated on the mark reference object;
the infrared position sensor is used for emitting infrared light to the marked reference object, receiving the infrared light reflected by the marked reference object, and detecting the first reference coordinate information and the first coordinate information according to the received infrared light.
Optionally, each of the infrared position sensors includes: two cameras and two infrared signal generators; the infrared signal generator is used for emitting infrared light to the marked reference object;
the camera is used for receiving the infrared light reflected by the marked reference object.
Optionally, the shape of the marker reference is spherical.
In yet another aspect, there is provided an apparatus for detecting a patient movement state, the apparatus comprising: a processor and a memory having instructions stored therein, the instructions being loaded and executed by the processor to implement the method of detecting a patient movement state as described in the above aspect.
In a further aspect, a storage medium having instructions stored thereon, which when run on a processing assembly, cause the processing assembly to perform the method of detecting a patient movement state as described in the above aspect is provided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a system for detecting a patient movement state according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for detecting a patient movement status according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for detecting a patient movement status according to an embodiment of the present invention;
FIG. 4 is a block diagram of a patient movement status detection apparatus provided by an embodiment of the present invention;
FIG. 5 is a block diagram of another apparatus for detecting a patient movement status provided by an embodiment of the present invention;
fig. 6 is a block diagram of another apparatus for detecting a patient movement state according to an embodiment of the present invention.
With the above figures, there are shown certain embodiments of the invention and will be described in more detail hereinafter. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a system for detecting a patient movement state according to an embodiment of the present invention. As shown in fig. 1, the system may include: the system comprises an infrared positioning device 01 and a patient moving state detection device 02 which is in communication connection with the infrared positioning device 01.
Alternatively, referring to fig. 1, the infrared positioning device 01 is generally disposed at the end of the treatment couch 00 included in the radiotherapy system, that is, at the side of the treatment couch 00 away from the radiotherapy apparatus. The communication connection may be a wired connection or a wireless connection, and fig. 1 illustrates a wired connection as an example. The means 02 for detecting the patient's movement state may be a processor integrated in the terminal device. For example, the terminal device may be an upper computer.
In the embodiment of the present invention, the infrared positioning device 01 can obtain the position information (such as coordinate information) of the patient under the control of the detection device 02 of the patient moving state, and can transmit the collected position information to the detection device 02 of the patient moving state. That is, the device for detecting the movement state of the patient can acquire the position information of the patient through the infrared positioning device 01, and further, the device for detecting the movement state of the patient 02 can determine the movement state of the patient according to the acquired position information of the patient, determine the real-time position information of the target point of the affected part according to the movement state of the patient, and perform more precise radiotherapy on the patient according to the real-time position information of the target point of the affected part.
For example, the device for detecting the moving state of the patient may perform treatment management on the patient according to the detected real-time position information of the patient and the acquired initial position information of the patient when the positioning is completed. For example, the deviation between the real-time position information of the patient and the initial position information of the patient can be obtained by comparing the two information and can be displayed to the treating physician, so that the treating physician can control the radiotherapy device to stop the radiotherapy when the patient moves to a larger extent. Therefore, the problem that the other normal organs are damaged due to mistaken irradiation caused by radiation irradiating other normal organs due to movement of the patient in the radiation treatment process can be avoided.
Fig. 2 is a flowchart of a method for detecting a patient movement state according to an embodiment of the present invention, which can be applied to the apparatus for detecting a patient movement state shown in fig. 1. As shown in fig. 2, the method may include:
The first reference coordinate information may be initial position information of the patient when the positioning of the patient is completed, and the first coordinate information may be current position information of the patient during the radiotherapy of the patient.
In the embodiment of the invention, the detection device of the movement state of the patient can control the infrared positioning device to acquire the initial position information of the patient firstly when the positioning of the patient is completed. Then, when the patient is subjected to radiotherapy, the infrared positioning device is controlled to acquire the current position information of the patient. Since the detection device for the movement state of the patient acquires the position information of the patient through the infrared positioning device, the coordinate systems in which the first coordinate information and the first reference coordinate information are located may be both infrared system coordinate systems.
In an embodiment of the present invention, the patient movement state detection device may calculate a deviation between the first coordinate information and the first reference coordinate information after acquiring the first coordinate information and the first reference coordinate information, and determine whether the patient moves according to the deviation. For example, when the deviation is 0, it can be determined that the patient has not moved; when the deviation is not 0, it can be determined that the patient has moved.
In summary, the embodiment of the present invention provides a method for detecting a moving state of a patient. The method can acquire the current position information (namely, the first reference coordinate information) of the patient after the positioning is completed, can acquire the current position information (namely, the first coordinate information) of the patient during the radiation treatment, and can determine the moving state of the patient according to the first coordinate information and the first reference coordinate information. Therefore, whether the patient moves or not can be judged in time in the radiation treatment process, and the movement of the patient can be tracked in real time. Correspondingly, the problem that other normal organs are damaged due to mistaken irradiation caused by irradiation of radioactive rays to other normal organs due to movement of a patient can be effectively solved, and the radiotherapy precision is high.
Fig. 3 is a flowchart of another method for detecting a patient movement state according to an embodiment of the present invention, which can be applied to the apparatus for detecting a patient movement state shown in fig. 1. As shown in fig. 3, the method may include:
The first reference coordinate information may be initial position information of the patient when the positioning of the patient is completed, and the first coordinate information may be current position information of the patient during the radiation therapy of the patient.
In the embodiment of the invention, the detection device for the movement state of the patient can acquire the coordinate information of the patient through the infrared positioning device. Correspondingly, the coordinate systems of the first coordinate information and the first reference coordinate information can be both infrared system coordinate systems. In addition, in order to obtain the position information of the patient by the infrared positioning device, a marking reference object capable of reflecting infrared light or emitting infrared light may be preset on the body surface of the patient or a fixing device (such as a mask) for fixing the patient before radiotherapy.
For example, if the location to be treated is the patient's head, a marking reference may be affixed to the patient's nasal tip, forehead, or chin using medical double-sided tape; if the position to be treated is the body of the patient, the marking reference object can be pasted on the chest cavity position of the patient by using medical double-sided adhesive tape.
Optionally, in the embodiment of the present invention, for example, the marked reference object is a marked reference object that reflects infrared light, and the detection device of the patient moving state may control the infrared positioning device to emit infrared light to the preset marked reference object at the beginning of the positioning of the patient and during the radiotherapy. Then, after the infrared light is reflected by the marked reference object, the infrared positioning device can collect the coordinate information of the marked reference object according to the infrared light reflected by the marked reference object, and send the collected coordinate information to the detection device of the moving state of the patient. Further, the detection device of the patient movement state can acquire the first reference coordinate information and the first coordinate information of the patient.
Optionally, the following method is taken as an example to describe the method for acquiring the first reference coordinate information:
a first alternative implementation: when the positioning is finished, the detection device of the movement state of the patient can acquire the coordinates of the marking reference object preset on the body surface of the patient by controlling the infrared positioning device, and determine the coordinates of the marking reference object on the body surface of the patient as first reference coordinate information.
A second alternative implementation: when the positioning is completed, the detection device for the movement state of the patient can acquire the coordinates of the marking reference object preset on the fixing device for fixing the patient by controlling the infrared positioning device, and determine the coordinates of the marking reference object on the fixing device as the first reference coordinate information.
It should be noted that the number of the marker references arranged on the body surface of the patient may be one or more, and the embodiment of the present invention is described by taking one as an example. The method for obtaining the first coordinate information of the patient can also refer to the above two ways.
In the embodiment of the present invention, after the detection device of the patient movement state acquires the first coordinate information and the first reference coordinate information, the deviation between the first coordinate information and the first reference coordinate information may be obtained by comparing the first coordinate information and the first reference coordinate information. And, the patient moving apparatus may determine whether the patient moves based on the calculated deviation.
For example, if the first coordinate information obtained by the patient movement state detection device is (x 2, y2, z 2) and the first reference coordinate information is (x 1, y1, z 1), the deviation calculated by the patient movement state detection device may be (x 2-x1, y2-y1, z2-z 1). At this time, if the detection device of the patient movement state detects that at least one value of (x 2-x1, y2-y1, z2-z 1) is not 0, it can be directly determined that the patient has moved.
And 303, performing treatment management on the patient according to the movement condition of the patient.
In the embodiment of the invention, the detection device for the movement state of the patient can directly perform treatment management on the patient when the patient is determined to move, so as to realize reliable treatment on the patient. For example, the patient movement state detection device may issue an alert message for alerting a treating physician of movement guidance for the patient when it is determined that the patient is moving.
Optionally, if the movement deviation of the patient is small, or the patient returns to the initial position within a short time after the movement, that is, the duration of the movement of the patient is short, other normal organs of the patient may not be damaged, and in this case, the treatment management of the patient is not needed. Therefore, in order to improve the precision of the radiotherapy while reducing the workload, the detecting device of the patient moving state can detect the moving condition of the patient, and the step 303 may be: and when the movement condition of the patient meets the preset condition, carrying out treatment management on the patient.
Optionally, the preset condition may include: the duration of the patient's movement is in the medium or high threshold region; alternatively, the patient's movement deviation is located in the medium or high threshold region. The middle threshold area and the high threshold area corresponding to the duration and the movement deviation can be fixed values pre-configured in the detection device of the patient movement state; alternatively, the values previously input to the detection device of the patient movement state by the treatment physician before the radiotherapy may be set according to the treatment experience or the treatment plan.
Optionally, when the movement condition of the patient meets the preset condition, performing treatment management on the patient may include:
and if the movement deviation of the patient is located in the middle threshold area, and/or the duration of the movement of the patient is located in the middle threshold area, sending out warning information, wherein the warning information is used for warning a treating physician to carry out movement guidance on the patient. For example, the alert information may be a voice alert, and the movement guidance may include: the treating physician adjusts the position of the patient according to the warning information to continue the radiotherapy; or the treating doctor directly controls the radiotherapy equipment to stop the radiotherapy according to the warning information.
For example, assume that the movement deviation corresponds to a middle threshold zone of 2 millimeters (mm) to 3mm, and the duration of the movement corresponds to a middle threshold zone of 1 second(s) to 2s. If the movement deviation of the patient detected by the patient movement state detection device is 2.2mm, the patient movement state detection device can send out warning information for warning a treating physician to guide the movement of the patient. If the duration of the movement of the patient detected by the patient movement state detection device is 1.5s, the patient movement state detection device can send out warning information for warning a treating physician to guide the movement of the patient. If the movement deviation of the patient detected by the patient movement state detection device is 2.2mm and the duration of the movement of the patient is 1.5s, the patient movement state detection device can send out warning information for warning a treating physician to guide the movement of the patient.
If the movement deviation of the patient is located in the high threshold area, and/or the duration of the movement of the patient is located in the high threshold area, sending instruction stop information, wherein the instruction stop information is used for controlling the stopping of the radiation treatment.
When the movement deviation is large, the treatment physician is reminded and then performs treatment management, so that inevitable damage to other normal organs can be caused due to the problem of long time. Thus, by directly sending the instruction stop message when the deviation of the movement of the patient is detected to be in the high threshold region and/or the duration of the movement of the patient is in the high threshold region, the reliability of the radiation therapy can be further ensured.
For example, assume that the movement deviation corresponds to a high threshold range of 3mm to ∞, and the duration of the movement corresponds to a high threshold range of 2s to ∞. If the patient movement state detection device detects that the movement deviation of the patient is 4mm, the patient movement state detection device can directly transmit the instruction stop information for controlling the stop of the radiation therapy. If the duration of the movement of the patient detected by the patient movement state detection device is 2.5s, the patient movement state detection device can directly send instruction stop information for controlling the stop of the radiation therapy. If the patient movement state detection device detects that the movement deviation of the patient is 4mm and the duration of the movement of the patient is 2.5s, the patient movement state detection device can directly send instruction stop information for controlling the stop of the radiation therapy.
Optionally, in an embodiment of the present invention, the movement deviation of the patient may be: a deviation between the first coordinate information and the first reference coordinate information. Or the movement deviation of the patient may be a deviation between second coordinate information and second reference coordinate information, the second coordinate information is obtained by performing coordinate conversion on the first coordinate information, the second reference coordinate information is obtained by performing coordinate conversion on the first reference coordinate information, and both the second coordinate information and a coordinate system in which the second reference coordinate information is located are a treatment table coordinate system. Alternatively, the patient's movement deviation may be: the third coordinate information may be offset coordinate information obtained by coordinate conversion of an offset between the first coordinate information and the first reference coordinate information, and a coordinate system in which the third coordinate information is located may also be a coordinate system of the treatment couch.
Since it is generally necessary to perform precise treatment of a patient in the coordinate system of the radiotherapy apparatus (e.g., the couch system) when performing radiotherapy on the patient. Therefore, the patient is treated and managed by carrying out coordinate conversion on the first coordinate information and the first reference coordinate information and according to the deviation of the information after the coordinate conversion or the third coordinate information after the coordinate conversion is carried out on the deviation, so that the treatment management on the patient is facilitated, and the management reliability and the management precision can be ensured. Alternatively, referring to fig. 1, the coordinate system of the treatment couch may be: a three-dimensional coordinate system consisting of a first axis X extending in the width direction of the couch 00, a second axis Y extending in the length direction of the couch 00, and a third axis Z extending in the height direction of the couch 00.
In the embodiment of the invention, the detection device of the movement state of the patient can firstly acquire the target rotation matrix, and then multiply the target rotation matrix and the first reference coordinate information to obtain the second reference coordinate information; and multiplying the target rotation by the first coordinate information to obtain second coordinate information.
Optionally, the method for obtaining the target rotation matrix may include: a treating physician fixes at least one marking reference object on a treatment bed by using a fixing device, obtains a first coordinate matrix of the at least one marking reference object under a coordinate system of the treatment bed and a second coordinate matrix under the coordinate of an infrared system, and finally multiplies the first coordinate matrix and the inverse matrix of the second coordinate matrix to obtain a target rotation matrix.
For example: the method comprises the steps of fixing a marking reference object on a treatment table by using a fixing device, then moving the marking reference object to a known position by controlling the treatment table, wherein the coordinate of the known position is the position of the marking reference object in a coordinate system of the treatment table, determining a matrix formed by the coordinates of the known position as a first coordinate matrix, and acquiring a second coordinate matrix of the marking reference object in the known position in the coordinate system of an infrared system by using an infrared positioning device. Finally, the device for detecting the patient movement state may multiply the first coordinate matrix by an inverse matrix of the second coordinate matrix to obtain a target rotation matrix.
It should be noted that, the foregoing step 302 may further include: determining whether the patient moves according to a deviation between the second coordinate information and the second reference coordinate information; alternatively, it is determined whether the patient moves according to the third coordinate information.
In an embodiment of the present invention, in order to facilitate the treatment management of the patient by the treating physician, the detecting device of the patient movement state may display the calculated movement deviation. For example, if the detection device of the patient movement state includes a display component, the detection device of the patient movement state can directly display the movement deviation through the display component thereof; alternatively, the means for detecting the movement state of the patient may also transmit the calculated movement deviation to a display device communicatively connected thereto and display the movement deviation by the display device.
Optionally, step 304 may include: and displaying the movement deviation of the patient within a preset time period. That is, the patient movement state detection device can display the current movement deviation of the patient and the movement deviation of the patient in a previous period of time.
In addition, when the coordinate system in which the movement deviation of the patient is located is the three-dimensional treatment table coordinate system, the detection device of the patient movement state may display at least one of the movement deviations in the X-axis, Y-axis, and Z-axis directions, where the X-axis, Y-axis, and Z-axis directions are orthogonal to each other, for example, may display the movement deviation of the patient in the three-dimensional directions. As shown in fig. 1, the X-axis direction may extend in the width direction of the couch 00, the Y-axis direction may extend in the length direction of the couch 00, and the Z-axis direction may extend in the height direction of the couch 00. So that the treating physician can directly know the actual movement of the patient. Of course, the patient movement deviation in the infrared system coordinate system may also be displayed.
For example, an X-axis display option, a Y-axis display option, and a Z-axis display option may be displayed on the display interface, and the patient movement state detection device may display at least one of the movement deviations of the patient in the X-axis, Y-axis, and Z-axis directions in accordance with a selection operation for the display options. That is, upon receiving a selection operation for the X-axis display option, the detection device of the patient movement state may display a movement deviation of the patient in the X-axis direction; the detection means of the patient movement state may display the movement deviation of the patient in the Y-axis direction upon receiving the selection operation for the Y-axis display option; upon receiving a selection operation for the Z-axis display option, the detection device of the patient movement state may display a movement deviation of the patient in the Z-axis direction.
Optionally, the detecting device for the patient movement state may display the movement deviation of the patient by using at least one of a deviation value, a discrete point and a connecting line. For example, the display interface may further display a deviation value, and may also display a discrete point display mode option and a connection mode display option, and the detection device of the patient movement state may display the movement deviation of the patient in a corresponding mode according to the selection operation for the display mode option. That is, when receiving a selection operation for a discrete point display mode option, the patient movement state detection device may display the acquired movement deviation of the patient in a discrete point mode; when a selection operation for the link mode display mode option is received, the detection device of the patient movement state may display the acquired movement deviation of the patient in the link mode.
It should be noted that, in order to facilitate the treating physician to reliably and quickly determine the movement of the patient according to the displayed movement data information, an early warning line may be preset, and the movement deviation in the time period exceeding the early warning line may be highlighted. For example, it may be bolded or displayed in a more vibrant color.
It should be further noted that, the sequence of the steps of the method for detecting a patient movement state provided in the embodiment of the present invention may be appropriately adjusted, and the steps may also be correspondingly increased or decreased according to the situation. For example, step 304 described above may be eliminated. Those skilled in the art can easily conceive of various methods within the technical scope of the present disclosure, and therefore, the detailed description thereof is omitted.
In summary, the embodiment of the present invention provides a method for detecting a moving state of a patient. The method can acquire the current position information (namely, the first reference coordinate information) of the patient after the positioning is completed, can acquire the current position information (namely, the first coordinate information) of the patient during the radiation treatment, and can determine the moving state of the patient according to the first coordinate information and the first reference coordinate information. Therefore, whether the patient moves or not can be judged in time in the radiation treatment process, and the movement of the patient can be tracked in real time. Correspondingly, the problem that other normal organs are damaged due to mistaken irradiation caused by irradiation of radioactive rays to other normal organs due to movement of a patient can be effectively solved, and the radiotherapy precision is high.
In addition, as the number of the marking reference objects can be one or more, only one marking reference object is adopted, and the detection of the coordinate information of the patient can also be realized, compared with the case that a plurality of marking reference objects are adopted, the adoption of one marking reference object improves the efficiency of acquiring the coordinate information of the patient, and further improves the efficiency of judging the movement state of the patient, namely improves the monitoring efficiency and the monitoring frequency of the movement of the patient. And, the flow and the method for monitoring the movement of the patient are also effectively simplified.
Fig. 4 is a block diagram of a device for detecting a patient movement state according to an embodiment of the present invention. As shown in fig. 4, the apparatus may include:
the acquiring module 401 is configured to acquire first reference coordinate information and first coordinate information of a patient, where the first reference coordinate information is initial position information of the patient when the positioning of the patient is completed, the first coordinate information is current position information of the patient during a radiation treatment process performed on the patient, and coordinate systems where the first coordinate information and the first reference coordinate information are located are both infrared system coordinate systems.
A determining module 402, configured to determine whether the patient moves according to the first coordinate information and the first reference coordinate information.
Optionally, fig. 5 is a block diagram of another apparatus for detecting a patient movement state according to an embodiment of the present invention. As shown in fig. 5, the apparatus may further include:
and a management module 403, configured to perform treatment management on the patient according to the movement condition of the patient.
Optionally, the management module 403 may include: the management submodule can be used for carrying out treatment management on the patient when the movement condition of the patient meets a preset condition. Optionally, the preset condition may include: the duration of time that the patient moves is in the medium or high threshold region; alternatively, the patient's movement deviation is located in the medium or high threshold region.
Optionally, the patient's movement deviation may be: and deviation between second coordinate information and second reference coordinate information, wherein the second coordinate information may be coordinate information obtained by performing coordinate conversion on the first coordinate information, the second reference coordinate information may be coordinate information obtained by performing coordinate conversion on the first reference coordinate information, and coordinate systems in which the second coordinate information and the second reference coordinate information are located may be coordinate systems of the treatment couch.
Alternatively, the patient's movement bias may be: a deviation between the first coordinate information and the first reference coordinate information.
Alternatively, the patient's movement bias may be: and the third coordinate information can be deviation coordinate information obtained by performing coordinate conversion on the deviation between the first coordinate information and the first reference coordinate information, and the coordinate system where the third coordinate information is located is a coordinate system of the treatment couch.
Optionally, the management submodule may be configured to: and if the movement deviation of the patient is located in the middle threshold area, and/or the duration of the movement of the patient is located in the middle threshold area, sending out warning information. The alert information may be used to alert the treating physician to move the patient.
If the deviation of the patient's movement is within the high threshold zone and/or the duration of the patient's movement is within the high threshold zone, then a stop order message is sent, which can be used to control stopping the radiation treatment.
Optionally, the obtaining module 401 may be configured to:
when the positioning is finished, the coordinates of the marking reference object preset on the body surface of the patient are obtained, and the coordinates of the marking reference object on the body surface of the patient are determined as first reference coordinate information. Or, when the positioning is completed, acquiring the coordinates of a marking reference object preset on a fixing device for fixing the patient, and determining the coordinates of the marking reference object on the fixing device as first reference coordinate information. Wherein, the number of the marking reference objects on the surface of the patient body can be one or more.
Optionally, fig. 6 is a block diagram of another apparatus for detecting a patient movement state according to an embodiment of the present invention. As shown in fig. 6, the apparatus may further include:
a display module 404 for displaying the movement deviation of the patient.
Optionally, the display module 404 may be configured to: and displaying the movement deviation of the patient within a preset time period.
Optionally, the apparatus further comprises: the display module 404 is configured to: and displaying at least one of the movement deviations of the patient in the X-axis, Y-axis and Z-axis directions, the X-axis, Y-axis and Z-axis being orthogonal to each other two by two.
Optionally, the apparatus further comprises: the display module 404 is configured to: and displaying the movement deviation of the patient by using at least one of the deviation value, the discrete point and the connection line.
In summary, the embodiment of the present invention provides a device for detecting a moving state of a patient. The device can acquire the current position information (namely the first reference coordinate information) of the patient after the positioning is completed, can acquire the current position information (namely the first coordinate information) of the patient during the radiation treatment, and can determine the moving state of the patient according to the first coordinate information and the first reference coordinate information. Therefore, whether the patient moves or not can be judged in time in the radiation treatment process, namely the movement of the patient is tracked, and accordingly the problem that the other normal organs are damaged due to mistaken irradiation caused by radiation irradiation to other normal organs due to the fact that the patient moves can be effectively solved. The radiation therapy precision is higher.
With regard to the patient movement state detection apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
The embodiment of the invention also provides a system for detecting the movement state of the patient. As shown in fig. 1, the system may include: an infrared positioning device 01 and a detection device 02 for detecting the moving state of the patient, which is connected with the infrared positioning device 01 in a communication way and is shown in any one of figures 4 to 6.
Wherein, the infrared positioning device 01 can be used for detecting the first reference coordinate information and the first coordinate information of the patient under the control of the detection device 02 of the moving state of the patient, and for sending the first reference coordinate information and the first coordinate information to the detection device 02 of the moving state of the patient.
Optionally, the infrared positioning device 01 may include: at least one infrared position sensor.
Correspondingly, the system can further comprise: the marking reference object is arranged on the surface of the patient or on a fixing device for fixing the patient in advance, and the marking reference object can be coated with an infrared light reflecting material. It should be noted that the number of the labeled references may be one or more, and the embodiment of the present invention is described by taking the number of the labeled references as one example.
Each infrared position sensor may be configured to emit infrared light toward the marker reference, to receive infrared light reflected by the marker reference, and to detect the first reference coordinate information and the first coordinate information from the received infrared light.
Optionally, each infrared position sensor may include: two cameras and two infrared signal generators. Wherein the infrared signal generator may be used to emit infrared light towards the marked reference. The camera may be used to receive infrared light reflected by the marked reference. Through setting up two cameras and two infrared signal generator, can realize the reliable pursuit to patient position information through two mesh stereovision principles.
By way of example, the two infrared signal generators may each be formed by an array of infrared light emitting diodes, which may emit infrared light. Each camera may include: the lens can focus infrared light from the marked reference object on the image sensor, so that the image sensor can reliably collect the infrared light, and further the coordinate information of the patient can be reliably acquired according to the collected infrared light.
Optionally, in order to further ensure the reliability of the acquired coordinate information, the shape of the marker reference object may be a regular shape, for example, a sphere. And the sphere may have a diameter of 11 millimeters (mm) and may weigh less than 1 kilogram (kg).
The embodiment of the invention provides a device for detecting the movement state of a patient. The patient movement state detection device may include: a processor and a memory having instructions stored therein, the instructions being loadable and executable by the processor to implement a method of detecting a patient movement state as shown in fig. 2 or fig. 3.
In addition, embodiments of the present invention provide a storage medium having instructions stored therein, which when run on a processing assembly, may cause the processing assembly to perform a method of detecting a patient movement state as shown in fig. 2 or fig. 3.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is intended to be illustrative of the present invention and should not be taken as limiting the scope of the invention, which is defined by the appended claims and their equivalents.
Claims (18)
1. A method of detecting a patient movement state, the method comprising:
placing at least one marker reference on a patient's body surface or on a fixation device to which the patient is fixed;
acquiring coordinate information of the marking reference object when the patient is positioned by an infrared positioning device, and determining the coordinate information of the marking reference object when the patient is positioned as first reference coordinate information of the patient;
acquiring coordinate information of the marking reference object in the radiation treatment process of the patient through an infrared positioning device, and determining the coordinate information of the marking reference object in the radiation treatment process of the patient as first coordinate information of the patient; the coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;
and determining whether the patient moves according to the first coordinate information and the first reference coordinate information.
2. The method of claim 1, further comprising: and performing treatment management on the patient according to the movement condition of the patient.
3. The method of claim 2, wherein the therapy management of the patient based on the patient's mobility comprises:
when the movement condition of the patient meets a preset condition, performing treatment management on the patient;
the preset conditions include: the duration of movement of the patient is in the medium or high threshold region; alternatively, the patient's movement deviation is located in a medium or high threshold region.
4. The method of claim 3, wherein the patient's movement bias is: deviation between second coordinate information and second reference coordinate information, wherein the second coordinate information is obtained after coordinate conversion is carried out on the first coordinate information, the second reference coordinate information is obtained after coordinate conversion is carried out on the first reference coordinate information, and coordinate systems where the second coordinate information and the second reference coordinate information are located are both coordinate systems of the treatment couch;
alternatively, the patient's movement deviation is: a deviation between the first coordinate information and first reference coordinate information;
alternatively, the patient's movement deviation is: and third coordinate information, wherein the third coordinate information is deviation coordinate information obtained by performing coordinate conversion on a deviation between the first coordinate information and the first reference coordinate information, and a coordinate system where the third coordinate information is located is the coordinate system of the treatment couch.
5. The method according to claim 3, wherein the therapy management of the patient when the movement condition of the patient meets a preset condition comprises:
if the movement deviation of the patient is located in a middle threshold area, and/or the duration of the movement of the patient is located in the middle threshold area, sending out warning information, wherein the warning information is used for warning a treating physician to perform movement guidance on the patient;
and if the movement deviation of the patient is located in a high threshold area, and/or the duration of the movement of the patient is located in the high threshold area, sending instruction stopping information, wherein the instruction stopping information is used for controlling the stopping of the radiation therapy.
6. The method according to any one of claims 3 to 5, further comprising: displaying the movement deviation of the patient.
7. The method of claim 6, wherein displaying the patient's movement deviation comprises: displaying the movement deviation of the patient within a preset time period.
8. The method of claim 6, further comprising:
displaying at least one of the movement deviations of the patient in the X-axis, Y-axis and Z-axis directions, wherein the X-axis, the Y-axis and the Z-axis are orthogonal in pairs.
9. The method of claim 8, further comprising: and displaying the movement deviation of the patient by using at least one of a deviation value, a discrete point and a connecting line mode.
10. An apparatus for detecting the movement status of a patient, the apparatus comprising:
the device comprises a setting module, a positioning module and a control module, wherein the setting module is used for setting at least one marking reference object on the body surface of a patient or a fixing device for fixing the patient;
the acquisition module is used for acquiring the coordinate information of the marking reference object when the patient is positioned by the infrared positioning device and determining the coordinate information of the marking reference object when the patient is positioned as the first reference coordinate information of the patient;
the acquisition module is further used for acquiring the coordinate information of the marking reference object in the radiation treatment process of the patient through an infrared positioning device and determining the coordinate information of the marking reference object in the radiation treatment process of the patient as the first coordinate information of the patient; the coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;
and the determining module is used for determining whether the patient moves or not according to the first coordinate information and the first reference coordinate information.
11. The apparatus of claim 10, further comprising:
and the management module is used for carrying out treatment management on the patient according to the movement condition of the patient.
12. The apparatus of claim 11, wherein the management module comprises:
the management submodule is used for carrying out treatment management on the patient when the movement condition of the patient meets a preset condition;
the preset conditions include: the duration of movement of the patient is in the medium or high threshold region; alternatively, the patient's movement deviation is located in a medium or high threshold region.
13. A system for detecting the movement status of a patient, the system comprising:
infrared positioning means, at least one marking reference preset on the surface of a patient or on a fixing device for fixing the patient, and detection means for detecting the movement state of the patient according to any one of claims 10 to 12, communicatively connected to the infrared positioning means;
the infrared positioning device is used for detecting the coordinate information of the marking reference object when the patient is positioned under the control of the detection device of the patient moving state, determining the coordinate information of the marking reference object as the first reference coordinate information of the patient when the patient is positioned, detecting the coordinate information of the marking reference object in the patient radiotherapy process, determining the coordinate information of the marking reference object in the patient radiotherapy process as the first coordinate information of the patient, and sending the first reference coordinate information and the first coordinate information to the detection device of the patient moving state; and the coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems.
14. The system of claim 13, wherein the infrared positioning device comprises: at least one infrared position sensor, said marked reference being coated with an infrared light reflecting material;
the infrared position sensor is used for emitting infrared light to the marked reference object, receiving the infrared light reflected by the marked reference object, and detecting the first reference coordinate information and the first coordinate information according to the received infrared light.
15. The system of claim 14, wherein each of the infrared position sensors comprises: two cameras and two infrared signal generators;
the infrared signal generator is used for emitting infrared light to the marked reference object;
the camera is used for receiving the infrared light reflected by the marked reference object.
16. The system of any one of claims 13 to 15, wherein the shape of the marker reference is spherical.
17. An apparatus for detecting the movement status of a patient, the apparatus comprising: a processor and a memory, the memory having stored therein instructions that are loaded and executed by the processor to implement the method of detecting a patient movement state of any of claims 1 to 9.
18. A storage medium having stored therein instructions which, when run on a processing assembly, cause the processing assembly to carry out the method of detecting the state of movement of a patient according to any one of claims 1 to 9.
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| PCT/CN2019/108563 WO2021056420A1 (en) | 2019-09-27 | 2019-09-27 | Method, apparatus and system for detecting movement state of patient |
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| CN112867536A (en) | 2021-05-28 |
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