CN112867537A - 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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- CN112867537A CN112867537A CN201980062161.4A CN201980062161A CN112867537A CN 112867537 A CN112867537 A CN 112867537A CN 201980062161 A CN201980062161 A CN 201980062161A CN 112867537 A CN112867537 A CN 112867537A
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- A61N5/00—Radiation therapy
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Abstract
A method, a device and a system for detecting the moving state of a patient acquire the initial current position information (namely first reference coordinate information) of the patient after the patient is positioned, and acquire the current position information (namely first coordinate information) of the patient in the radiation treatment process (201); performing coordinate conversion on the first reference coordinate information and the first coordinate information to obtain second reference coordinate information and second coordinate information in a coordinate system of the treatment couch (202); and performing treatment management (203) on the patient according to the second coordinate information and the second reference coordinate information. In the process of radiotherapy, whether the patient moves or not is judged in time, and the movement of the patient is tracked in real time. Correspondingly, the reliable treatment management is carried out on the patient according to the moving condition, the problem that the other normal organs are damaged due to the fact that the other normal organs are irradiated by the radiation rays caused by the movement of the patient is effectively avoided, and the radiation treatment precision is high.
Description
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.
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 radiation 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 cause damage to the other normal organs due to 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;
respectively performing coordinate conversion on the first reference coordinate information and the first reference coordinate information to obtain second reference coordinate information and second coordinate information, wherein coordinate systems of the second reference coordinate information and the second coordinate information are both coordinate systems of the treatment couch;
and performing treatment management on the patient according to the second coordinate information and the second reference coordinate information.
Optionally, the performing coordinate conversion on the first reference coordinate information and the first coordinate information respectively to obtain second reference coordinate information and second coordinate information includes:
acquiring a target rotation matrix;
and multiplying the target rotation matrix with the first reference coordinate information and the first coordinate information respectively to obtain second reference coordinate information and second coordinate information.
Optionally, the obtaining the target rotation matrix includes:
acquiring a first coordinate matrix of at least one marking reference object preset on a treatment couch under a coordinate system of the treatment couch;
acquiring a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system;
and multiplying the first coordinate matrix by the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.
Optionally, the performing treatment management on the patient according to the second coordinate information and the second reference coordinate information includes:
determining whether the patient moves according to the deviation between the second coordinate information and the second reference coordinate information;
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 patient movement condition 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 time that the patient moves is in the medium or high threshold region; or the deviation is located in a medium threshold region or a high threshold region.
Optionally, when the movement condition of the patient meets a preset condition, performing treatment management on the patient includes:
If the deviation 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 deviation 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 stopping information, wherein the instruction stopping information is used for controlling the stopping of the radiation treatment.
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 finished, acquiring the coordinates of a marking reference object preset on a fixing device for fixing a patient, and determining the coordinates of the marking reference object on the fixing device as the first reference coordinate information;
or when the positioning is finished, acquiring first sub-reference coordinate information of a marking reference object preset on the body surface of the patient, acquiring second sub-reference coordinate information of the marking reference object preset on a fixing device for fixing the patient, and determining the relative coordinate information or absolute coordinate information between the first sub-reference coordinate information and the second sub-reference coordinate information as the first reference coordinate information.
Optionally, the method further includes: and displaying the deviation.
Optionally, the displaying the deviation includes: displaying the deviation within a preset time period.
Optionally, the method further includes:
displaying at least one of the 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 method further includes: and displaying the deviation by using at least one of the deviation value, the discrete point and the connection 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 positioning 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 radiotherapy on the patient, and coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;
the coordinate conversion module is used for respectively performing coordinate conversion on the first reference coordinate information and the first reference coordinate information to obtain second reference coordinate information and second coordinate information, and coordinate systems where the second reference coordinate information and the second coordinate information are located are both coordinate systems of the treatment couch;
And the management module is used for carrying out treatment management on the patient according to the second coordinate information and the second reference coordinate information.
Optionally, the coordinate conversion module includes:
the acquisition submodule is used for acquiring a target rotation matrix;
and the multiplying submodule is used for multiplying the target rotation matrix with the first reference coordinate information and the first coordinate information respectively to obtain the second reference coordinate information and the second coordinate information.
Optionally, the obtaining sub-module is configured to: acquiring a first coordinate matrix of at least one marking reference object preset on a treatment couch under a coordinate system of the treatment couch;
acquiring a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system;
and multiplying the first coordinate matrix by the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.
In yet another aspect, a system for detecting a patient movement state is provided, the system comprising:
infrared positioning device, and detection device of patient's moving state as stated above that is connected with said infrared positioning device in communication;
the infrared positioning device is used for detecting first reference coordinate information and first coordinate information of the patient under the control of the detection device of the patient moving state, and sending the first reference coordinate information and the first coordinate information to the detection device of the patient moving state.
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 a further aspect, a device for detecting a patient movement state is provided, the device 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.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description 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 these drawings without creative efforts.
FIG. 1 is a schematic diagram of a system for detecting a patient movement status 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 provided by an embodiment of the present invention;
FIG. 4 is a flowchart of a method for obtaining a target rotation matrix according to an embodiment of the present invention;
FIG. 5 is a block diagram of a patient movement status detection apparatus according to an embodiment of the present invention;
FIG. 6 is a block diagram of a coordinate transformation module provided by an embodiment of the invention;
FIG. 7 is a block diagram of a management module provided by embodiments of the present invention;
fig. 8 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, certain embodiments of the invention have been illustrated and described in more detail below. 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.
In order 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 device comprises an infrared positioning device 01 and a patient movement state detection device 02 which is in communication connection with the infrared positioning device 01.
Referring to fig. 1, the infrared positioning device 01 is generally disposed at the end of a treatment couch 00 included in the radiotherapy system, i.e., at a 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 movement state can 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 may acquire the position information (e.g., coordinate information) of the patient under the control of the patient movement state detection device 02, and may transmit the acquired position information to the patient movement state detection device 02. That is, the detection device 02 of the patient movement state can acquire the position information of the patient through the infrared positioning device 01, and further, the detection device 02 of the patient movement state can judge the movement state of the patient according to the acquired position information of the patient, determine the real-time position information of the affected part target point according to the movement state of the patient, and perform more accurate radiotherapy on the patient according to the real-time position information of the affected part target point.
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 and the initial position information of the patient can be obtained by comparing the real-time position information and the initial position information of the patient, and the deviation can be displayed to the treating physician, so that the treating physician can control the radiotherapy equipment 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.
Since it is generally necessary to perform precise treatment of a patient in the coordinate system of a radiotherapy apparatus (e.g., a couch system) when performing radiotherapy on the patient. Therefore, in order to realize reliable treatment of the patient, after the first reference coordinate information and the first coordinate information are acquired, the detection device of the patient moving state may perform coordinate transformation on the first coordinate information and the first reference coordinate information, that is, the first reference coordinate information and the first coordinate information are transformed into the coordinate system of the treatment couch, that is, the coordinate systems where the second coordinate information and the second reference coordinate information obtained after the coordinate transformation are located are both the coordinate system of the treatment couch.
And step 203, performing treatment management on the patient according to the second coordinate information and the second reference coordinate information.
Then, the detection device of the patient movement state can perform treatment management on the patient according to the second coordinate information and the second reference coordinate information after the coordinate conversion. For example, according to the deviation between the second coordinate information and the second reference coordinate information, warning information for warning the treating physician to move the patient is sent to the treating physician, so that reliable radiotherapy for the patient is realized, and the phenomenon that the normal organ is irradiated by the beam due to the radiotherapy for the patient when the patient moves is avoided.
Optionally, the device for detecting the movement state of the patient may further perform coordinate conversion on a deviation between the first coordinate information and the first reference coordinate information to obtain third coordinate information in a coordinate system of the treatment couch, and perform treatment management on the patient according to the third coordinate information.
In summary, the embodiment of the present invention provides a method for detecting a moving state of a patient. The method can acquire initial current position information (namely first reference coordinate information) of a patient after the patient is placed, can acquire current position information (namely first coordinate information) of the patient in the radiation treatment process, can obtain second reference coordinate information and second coordinate information in a coordinate system of a treatment table after coordinate conversion is carried out on the first reference coordinate information and the first coordinate information, and carries out treatment management on the patient according to deviation between the second coordinate information and the second reference coordinate information. Therefore, whether the patient moves or not can be judged in time in the process of radiotherapy, treatment management can be carried out on the patient according to the movement deviation of the patient, the deviation is the movement deviation of the patient under the coordinate system of the treatment couch, so that a treating doctor can accurately know the movement condition of the patient, reliable treatment management can be directly carried out on the patient according to the deviation, the problem that damage is caused by mistakenly irradiating other normal organs due to radiation irradiation irradiated to other normal organs caused by the movement of the patient is effectively avoided, and the precision of radiotherapy 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 radiotherapy of the patient.
In the embodiment of the invention, the device for detecting the moving state of the patient can acquire the coordinate information of the patient through the infrared positioning device. Correspondingly, 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 addition, in order to obtain the position information of the patient by the infrared positioning device, before the radiotherapy, a marking reference object capable of reflecting infrared light or emitting infrared light may be preset on the body surface of the patient and/or a fixing device (such as a mask, a head frame, a treatment bed) for fixing the patient.
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 patient movement state detection device can acquire the first reference coordinate information and the first coordinate information of the patient.
Optionally, the method for acquiring the first reference coordinate information is described by taking the following manner as an example:
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.
A third alternative implementation: when the positioning is finished, the detection device for the movement state of the patient can acquire first sub-reference coordinate information of the marking reference object preset on the body surface of the patient by controlling the infrared positioning device, and acquire second sub-reference coordinate information of the marking reference object preset on the fixing device for fixing the patient by controlling the infrared positioning device. And, relative coordinate information or absolute coordinate information between the first sub-reference coordinate information and the second sub-reference coordinate information is determined 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 acquiring the first coordinate information of the patient can also refer to the above three ways.
And step 302, acquiring a target rotation matrix.
Since it is generally necessary to perform precise treatment of a patient in the coordinate system of a radiotherapy apparatus (e.g., a couch system) when performing radiotherapy on the patient. Therefore, after the first reference coordinate information and the first coordinate information are acquired, the detection device of the patient moving state may first perform corresponding coordinate transformation on the first reference coordinate information and the first coordinate information in the infrared coordinate system, respectively.
In order to realize the coordinate transformation of the first coordinate information and the first reference coordinate information, the detection device of the patient movement state needs to acquire a target rotation matrix in the coordinate system of the radiotherapy equipment and realize the coordinate transformation of the first coordinate information and the first reference coordinate information according to the target rotation matrix. Optionally, the device for detecting the patient movement state may further acquire the target rotation matrix before step 201, and the target rotation matrix may be acquired in advance before the radiation therapy is performed.
The coordinate information after the coordinate conversion is under the coordinate system of the treatment couch, 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. Fig. 4 is a method for obtaining a target rotation matrix according to an embodiment of the present invention. As shown in fig. 4, the method may include:
In order to obtain the first coordinate matrix, the treating physician may first fix the at least one marked reference object on the treatment couch by using a fixing device (also referred to as a fixture), and then move the treatment couch to obtain coordinate information of the at least one marked reference object in a coordinate system of the treatment couch, and determine a matrix formed by the coordinate information as the first coordinate matrix.
For example, the treating physician may fix a marking reference object on the treatment couch, and in this case, the marking reference object may be moved to a known position by controlling the movement of the treatment couch, the coordinates of the known position are the coordinates of the marking object in the coordinate system of the treatment couch, and the matrix formed by the coordinates is determined as the first coordinate matrix.
And step 3022, acquiring a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system.
Then, the detection device for the moving state of the patient acquires a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system through the infrared positioning device.
For example, when a marked reference object is fixed on the treatment couch, the detection device for the moving state of the patient tracks the marked reference object reaching a known position, and acquires coordinates of the marked reference object in an infrared system coordinate system through the infrared positioning device, and determines a matrix formed by the coordinates as a second coordinate matrix.
Step 3033, multiplying the inverse matrix of the first coordinate matrix and the second coordinate matrix to obtain the target rotation matrix.
Finally, the means for detecting the patient movement state may be based on a pre-configured formula: and obtaining a target rotation matrix R by reverse calculation, wherein A refers to the second coordinate matrix, and B refers to the first coordinate matrix. That is, the patient movement state detection device may convert the first coordinate matrix B and the inverse matrix A of the second coordinate matrix A into the first coordinate matrix B -1And multiplying to obtain a target rotation matrix R.
And 303, multiplying the target rotation matrix by the first reference coordinate information and the first coordinate information respectively to obtain second reference coordinate information and second coordinate information.
In the embodiment of the present invention, after the detection device of the patient movement state acquires the target rotation matrix, the target rotation matrix may be multiplied by the first reference coordinate information, so as to obtain the second reference coordinate information after coordinate conversion. And, the target rotation matrix may be multiplied by the first reference coordinate information, so as to obtain second coordinate information after coordinate conversion.
Namely, the coordinate system where the second coordinate information and the second reference coordinate information are located is the coordinate system of the treatment couch.
And step 304, determining whether the patient moves according to the deviation between the second coordinate information and the second reference coordinate information.
In the embodiment of the present invention, after the detection device of the patient movement state acquires the second coordinate information and the second reference coordinate information, the deviation between the second coordinate information and the second reference coordinate information may be obtained by comparing the second coordinate information and the second reference coordinate information. And, the patient moving means may determine whether the patient is moving based on the calculated deviation. For example, when the deviation is 0, then 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.
For example, if the second coordinate information obtained by the patient movement state detection device is (x2, y2, z2) and the second reference coordinate information is (x1, y1, z1), the deviation calculated by the patient movement state detection device may be (x2-x1, y2-y1, z2-z 1). At this time, if the detection device of the patient movement state detects that at least one of the values (x2-x1, y2-y1, z2-z1) is not 0, it can be directly determined that the patient has moved.
Optionally, the device for detecting the movement state of the patient may also determine whether the patient moves directly according to a deviation between the first coordinate information and the first reference coordinate information before the coordinate conversion, and the determination method is not described herein again.
In the embodiment of the invention, the detection device of the patient movement state 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 warning information for warning a treating physician of movement guidance for the patient when it is determined that the patient is moving.
Optionally, if the deviation is small, or the patient returns to the initial position within a short time after moving, that is, when 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 radiation therapy while reducing the workload, the patient movement state detection device may detect the movement of the patient, and the step 305 may be: and when the movement condition of the patient meets the preset condition, performing treatment management on the patient.
Optionally, the preset condition may include: the duration of time that the patient moves is in the medium or high threshold region; alternatively, the deviation is located in a medium-threshold region or a 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 based on 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 deviation 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 guide the movement of the patient.
Optionally, 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 physician 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 2 s. If the deviation 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 perform movement guidance on 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 deviation detected by the patient movement state detection device is 2.2mm and the duration of the patient movement is 1.5s, the patient movement state detection device can send out warning information for warning a treating physician to guide the patient in movement.
If the deviation is in the high threshold region and/or the duration of the patient movement is in the high threshold region, a command stop message is sent, which is used to control 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 order stop message when a deviation is detected in the high threshold region and/or the duration of the patient movement is detected 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 deviation detected by the patient movement state detector is 4mm, the patient movement state detector may 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 deviation detected by the patient movement state detection device 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, the device for detecting the movement state of the patient may further perform coordinate conversion on a deviation between the first coordinate information and the first reference coordinate information to obtain third coordinate information in a coordinate system, and perform treatment management on the patient according to the third coordinate information. Alternatively, the patient movement state detection means may perform treatment management on the patient directly based on a deviation between the first coordinate information and the first reference coordinate information. The treatment management method is not described herein.
And step 306, displaying the deviation.
In an embodiment of the present invention, in order to facilitate the treatment management of the patient by the treating physician, the detection device of the patient movement state may display the calculated deviation. For example, if the detection device of the patient movement state includes a display component, the detection device of the patient movement state may display the deviation directly through its display component; alternatively, the means for detecting the movement state of the patient may also transmit the calculated deviation to a display device communicatively connected thereto and display the deviation by the display device.
Optionally, step 306 may include: and displaying the deviation within the preset time period. That is, the patient movement status detection device can display the current deviation of the patient and the deviation of the patient in a period of time before.
In addition, the coordinate system where the deviation is located is a three-dimensional treatment table coordinate system, and the detection device of the patient movement state may display at least one of the deviations in the X-axis, Y-axis and Z-axis directions, which are orthogonal to each other in pairs, for example, may display the deviation of the patient in the three-dimensional direction. 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.
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 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 the deviation of the patient in the X-axis direction; the detection means of the patient movement state may display the 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 the deviation of the patient in the Z-axis direction.
Alternatively, the means for detecting the movement state of the patient may display the deviation using at least one of a deviation value, a discrete point, and a 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 apparatus of the patient movement state may display the deviation in a corresponding mode according to a selection operation for the display mode option. For example, upon receiving a selection operation for a discrete point display mode option, the detection device of the patient movement state may display the acquired deviation in a discrete point mode; when a selection operation for a link mode display mode option is received, the detection device of the patient movement state may display the acquired deviation in a 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 within 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 by the embodiment of the present invention may be appropriately adjusted, and the steps may also be increased or decreased according to the situation. For example, step 306 described above may be eliminated. Any method that can be easily conceived by those skilled in the art within the technical scope of the present disclosure is covered by the protection scope of the present disclosure, and thus, 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 initial current position information (namely first reference coordinate information) of a patient after the patient is placed, can acquire current position information (namely first coordinate information) of the patient in the radiation treatment process, can perform coordinate conversion on the first reference coordinate information and the first coordinate information to obtain second reference coordinate information and second coordinate information under a coordinate system of a treatment couch, and performs treatment management on the patient according to the position between the second coordinate information and the second 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 patient can be reliably treated and managed according to the movement condition, and the problem that the other normal organs are damaged due to mistaken irradiation caused by radiation irradiation on other normal organs due to movement of the patient is effectively solved. The radiation therapy precision is higher.
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. 5 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. 5, the apparatus may include:
the acquiring module 501 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 radiotherapy 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.
The coordinate transformation module 502 is configured to perform coordinate transformation on the first reference coordinate information and the first reference coordinate information respectively to obtain second reference coordinate information and second coordinate information, where coordinate systems of the second reference coordinate information and the second coordinate information are both coordinate systems of the treatment couch.
And the management module 503 is configured to perform treatment management on the patient according to the second coordinate information and the second reference coordinate information.
Fig. 6 is a block diagram of a coordinate transformation module according to an embodiment of the present invention. As shown in fig. 6, the coordinate transformation module 502 may include:
the obtaining submodule 5021 is used for obtaining a target rotation matrix;
The multiplication submodule 5022 is used for multiplying the target rotation matrix with the first reference coordinate information and the first coordinate information respectively to obtain second reference coordinate information and second coordinate information.
Optionally, the acquisition submodule 5021 may be configured to:
acquiring a first coordinate matrix of at least one marking reference object preset on a treatment couch under a coordinate system of the treatment couch; acquiring a second coordinate matrix of at least one marked reference object in an infrared system coordinate system; and multiplying the first coordinate matrix by the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.
Fig. 7 is a block diagram of a management module 503 according to an embodiment of the present invention. As shown in fig. 7, the management module 503 may include:
a determination sub-module 5031 configured to determine whether the patient moves according to a deviation between the second coordinate information and the second reference coordinate information;
a management submodule 5032 for performing treatment management on the patient according to the movement of the patient.
Optionally, the management submodule 5032 may be configured to: and when the movement condition of the patient meets the preset condition, performing treatment management on the patient. The preset conditions may include: the duration of time that the patient moves is in the medium or high threshold region; or the deviation is located in a medium threshold region or a high threshold region.
Optionally, the management submodule 5032 may be configured to: when the movement condition of the patient meets the preset condition, the treatment management is carried out on the patient, and the treatment management comprises the following steps:
and if the deviation 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.
If the deviation is in the high threshold region and/or the duration of the patient movement is in the high threshold region, then a command to stop information is sent, which is used to control stopping of the radiation therapy.
Optionally, the obtaining module 501 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.
Or when the positioning is finished, acquiring first sub-reference coordinate information of a marking reference object preset on the body surface of the patient and second sub-reference coordinate information of the marking reference object preset on a fixing device for fixing the patient, and determining the relative coordinate information or absolute coordinate information between the first sub-reference coordinate information and the second sub-reference coordinate information as the first reference coordinate information.
Optionally, fig. 8 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. 8, the apparatus may further include: and a display module 504 for displaying the deviation.
Optionally, the display module 504 may be configured to: and displaying the deviation within the preset time period.
Optionally, the apparatus further comprises: the display module 504 may be configured to: displaying at least one of the deviations of the patient in the X-axis, Y-axis and Z-axis directions, the X-axis, Y-axis and Z-axis being orthogonal in pairs.
Optionally, the apparatus further comprises: the display module 504 may be 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 initial current position information (namely first reference coordinate information) of a patient after the patient is placed, can acquire current position information (namely first coordinate information) of the patient in the radiation treatment process, can perform coordinate conversion on the first reference coordinate information and the first coordinate information to obtain second reference coordinate information and second coordinate information under a coordinate system of a treatment table, and performs treatment management on the patient according to the position between the second coordinate information and the second 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 patient can be reliably treated and managed according to the movement condition, and the problem that the other normal organs are damaged due to mistaken irradiation caused by radiation irradiation on other normal organs due to movement of the patient is 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 herein.
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 figure 5 or figure 8. Also, referring to fig. 1, the infrared positioning device 02 is generally disposed at the end of the treatment couch 00, i.e., at the side of the treatment couch 00 away from the radiotherapy apparatus.
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 patient moving state, and for sending the first reference coordinate information and the first coordinate information to the detection device 02 of the patient moving state.
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.
Each infrared position sensor may be configured to emit infrared light to 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 according to 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.
For example, the two infrared signal generators may each be formed by an infrared light emitting diode array, 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 invention is not to be considered as limited to the particular embodiments shown and described, but is to be understood that various modifications, equivalents, improvements and the like can be made without departing from the spirit and scope of the invention.
Claims (20)
- A method of detecting a patient movement state, 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;Respectively performing coordinate conversion on the first reference coordinate information and the first reference coordinate information to obtain second reference coordinate information and second coordinate information, wherein coordinate systems of the second reference coordinate information and the second coordinate information are both coordinate systems of the treatment couch;and performing treatment management on the patient according to the second coordinate information and the second reference coordinate information.
- The method of claim 1, wherein the performing coordinate transformation on the first reference coordinate information and the first coordinate information to obtain second reference coordinate information and second coordinate information comprises:acquiring a target rotation matrix;and multiplying the target rotation matrix with the first reference coordinate information and the first coordinate information respectively to obtain second reference coordinate information and second coordinate information.
- The method of claim 2, wherein the obtaining the target rotation matrix comprises:acquiring a first coordinate matrix of at least one marking reference object preset on a treatment couch under a coordinate system of the treatment couch;acquiring a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system;And multiplying the first coordinate matrix by the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.
- The method according to any one of claims 1 to 3, wherein the performing therapy management on the patient based on the second coordinate information and the second reference coordinate information comprises:determining whether the patient moves according to the deviation between the second coordinate information and the second reference coordinate information;and performing treatment management on the patient according to the movement condition of the patient.
- The method of claim 4, wherein the therapy management of the patient based on patient movement 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 time that the patient moves is in the medium or high threshold region; or the deviation is located in a medium threshold region or a high threshold region.
- The method according to claim 5, wherein the performing treatment management on the patient when the movement condition of the patient meets a preset condition comprises:if the deviation 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 deviation 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 stopping information, wherein the instruction stopping information is used for controlling the stopping of the radiation treatment.
- The method of any one of claims 1 to 3, wherein the obtaining first reference coordinate information of the patient comprises: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 finished, acquiring the coordinates of a marking reference object preset on a fixing device for fixing a patient, and determining the coordinates of the marking reference object on the fixing device as the first reference coordinate information;or when the positioning is finished, acquiring first sub-reference coordinate information of a marking reference object preset on the body surface of the patient, acquiring second sub-reference coordinate information of the marking reference object preset on a fixing device for fixing the patient, and determining the relative coordinate information or absolute coordinate information between the first sub-reference coordinate information and the second sub-reference coordinate information as the first reference coordinate information.
- The method of claim 4, further comprising: and displaying the deviation.
- The method of claim 8, wherein the displaying the deviation comprises: displaying the deviation within a preset time period.
- The method according to claim 8 or 9, characterized in that the method further comprises:displaying at least one of the 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.
- The method of claim 10, further comprising: and displaying the deviation by using at least one of the deviation value, the discrete point and the connection mode.
- An apparatus for detecting a patient movement state, the apparatus comprising:the system comprises an acquisition module, a positioning 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 radiotherapy on the patient, and coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;The coordinate conversion module is used for respectively performing coordinate conversion on the first reference coordinate information and the first reference coordinate information to obtain second reference coordinate information and second coordinate information, and coordinate systems where the second reference coordinate information and the second coordinate information are located are both coordinate systems of the treatment couch;and the management module is used for carrying out treatment management on the patient according to the second coordinate information and the second reference coordinate information.
- The apparatus of claim 12, wherein the coordinate transformation module comprises:the acquisition submodule is used for acquiring a target rotation matrix;and the multiplying submodule is used for multiplying the target rotation matrix with the first reference coordinate information and the first coordinate information respectively to obtain the second reference coordinate information and the second coordinate information.
- The apparatus of claim 13, wherein the acquisition sub-module is configured to: acquiring a first coordinate matrix of at least one marking reference object preset on a treatment couch under a coordinate system of the treatment couch;acquiring a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system;And multiplying the first coordinate matrix by the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.
- A system for detecting a patient movement state, the system comprising:infrared locating means and means for detecting the movement of the patient according to any one of claims 12 to 14 in communicative connection with said infrared locating means;the infrared positioning device is used for detecting first reference coordinate information and first coordinate information of the patient under the control of the detection device of the patient moving state, and sending the first reference coordinate information and the first coordinate information to the detection device of the patient moving state.
- The system of claim 15, wherein the infrared positioning device comprises: 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.
- The system of claim 16, 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.
- The system of claim 16, wherein the shape of the marker reference is spherical.
- An apparatus for detecting a patient movement state, 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 according to any one of claims 1 to 11.
- A storage medium having stored therein instructions which, when run on a processing component, cause the processing component to execute the method of detecting a patient movement state according to any one of claims 1 to 11.
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