CN113559423B - Computer device for evaluating positioning accuracy of image guided radiotherapy equipment - Google Patents
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Abstract
The invention provides a performance evaluation method for positioning accuracy of image-guided radiotherapy equipment based on statistical process control, and belongs to the field of positioning accuracy of image-guided radiotherapy equipment. The method comprises the following steps: step 1, collecting positioning error data; step 2, drawing a Shewhart control chart; step 3, checking abnormality; and step 4, eliminating abnormal data. Based on a statistical process control technology, the method carries out systematic comprehensive evaluation on the positioning precision of the clinically used image-guided radiotherapy equipment, wherein the evaluation content comprises the positioning precision of the system and the system offset of the positioning precision with time, and the degree of the system can meet the set positioning precision requirement. By using the method of the invention, the factors influencing the positioning precision of the image-guided radiotherapy equipment can be quickly and efficiently found, so that improvement measures are formulated, the working flow is further standardized, and the positioning precision of the equipment in clinical application is improved.
Description
Technical Field
The invention belongs to the field of positioning accuracy of image-guided radiotherapy equipment, and particularly relates to a performance evaluation method for positioning accuracy of image-guided radiotherapy equipment based on statistical process control.
Background
The image guiding technology is a key technology for realizing accurate irradiation of radiotherapy. Because the human body has the non-rigid structural characteristics, the relation between the tumor and the body surface mark in the patient is not completely consistent, and in the treatment process of the patient, the physiological movements such as the change of the anatomical structure in the body, the respiratory movement of the patient and the like also cause interference to the accurate positioning of the tumor. The patient is fixed by means of the current technology, the tumor position of the patient is difficult to realize accurate irradiation only according to the body surface mark, and accurate positioning is required to be realized by means of the image guiding technology.
Currently, image guided radiotherapy devices are diverse, including Cone Beam CT (CBCT), electronic portal imaging systems (EPID), orthogonal projection X-ray imaging systems, optical body surface imaging systems, ultrasound image guided systems, RPM, RGSC, and the like. Different image guided radiotherapy devices have differences in positioning accuracy of equipment due to differences in imaging principles and implementation details. In clinical work, in order to efficiently and accurately realize an image guiding technology, an image guiding workflow is often required to be established, and a plurality of image guiding devices are coordinated and matched for use. In addition, all devices used in clinic need to implement certain quality control measures to ensure that the device works normally, so that serious adverse effects on clinic caused by the problems of the device itself or the use process of the device are avoided. However, for new radiotherapy equipment, the characteristics of the equipment need to be fully known before the quality control scheme is established. For the above reasons, it is necessary to evaluate the positioning accuracy of various image-guided radiotherapy apparatuses.
The current evaluation of the positioning accuracy of the image-guided radiotherapy equipment is mainly performed by a direct and simple evaluation method, specifically, the detection positions of the image-guided radiotherapy equipment for a plurality of patients are collected in multiple times, and compared with gold standards, so that the positioning error detected by the image-guided radiotherapy equipment is obtained. And (3) averaging, standard deviation, quartile and the like of all collected fractional results through a simple and direct statistical method so as to evaluate the positioning accuracy of the image guiding equipment. However, the existing evaluation method only carries out simple statistics on all positioning results, and can not identify whether the single positioning result is an abnormal result or not, so that the method is easily influenced by an abnormal value; moreover, the existing evaluation method cannot incorporate time factors into analysis, and cannot detect systematic deviation of positioning accuracy of the image guiding device, which occurs with time; in addition, the existing evaluation method cannot evaluate how much the image guiding device can meet the specified precision requirement, and the positioning precision of the image guiding device is further improved and increased.
Statistical process control (Statistical Process Control, SPC), which refers to the use of statistical techniques such as control charts and process capability indices to analyze the process and its output, through appropriate measures to achieve and maintain process stability, thereby achieving the goals of improving and ensuring product quality. The control chart is a means for discriminating whether or not the production process is in a control state. In 1924, doctor of American mass institute of Huhatt (W.A. Shewhart) first invented a control diagram method for controlling the working procedure so as to stabilize the quality of the production process and achieve the aim of mainly preventing. SPC is self-created to be popularized and applied in industries such as industry and service. However, no report for evaluating the positioning accuracy of image-guided radiotherapy equipment by using a statistical process control technology is currently known.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the performance evaluation method for the positioning accuracy of the image-guided radiotherapy equipment based on statistical process control is provided.
The invention provides a performance evaluation method for positioning accuracy of image-guided radiotherapy equipment based on statistical process control, which comprises the following steps:
step 1, collecting positioning error data:
positioning the radiotherapy of the patient each time by using the image-guided radiotherapy equipment to be evaluated, positioning the radiotherapy of the patient each time by using a gold standard method, and calculating the positioning error of the image-guided radiotherapy equipment to be evaluated each time; positioning error = difference between positioning data of an image-guided radiotherapy apparatus to be evaluated and positioning data using a gold standard method; the number of times of the radiotherapy is more than or equal to 2;
step 2, drawing a Shewhart control chart:
drawing a line graph by taking the positioning error of the image-guided radiotherapy equipment to be evaluated calculated in the step 1 as a data source, adding a central line CL, an upper control limit UCL and a lower control limit LCL, and drawing a Shewhart control chart;
step 3, anomaly detection:
checking the Shewhart control chart drawn in the step 2, and marking the positioning error exceeding the upper control limit UCL or the lower control limit LCL as abnormal data;
step 4, eliminating abnormal data:
removing the abnormal data in the step 3, taking the residual positioning error as a data source, repeating the steps 2-3, and finding all the abnormal data until the positioning error which does not exceed the upper control limit UCL or the lower control limit LCL appears; and (5) checking the fractionated radiotherapy corresponding to the abnormal data, and searching for an abnormal reason.
Further, in step 1, the image guided radiotherapy device to be evaluated is an optical surface guiding device, an electronic portal imaging system, an orthogonal projection X-ray imaging system, an ultrasonic image guiding system, a warrior real-time position management system (RPM), a respiratory gate scanning module (RGSC), and the gold standard method is a method for positioning by using cone beam CT as an image guiding device;
and/or the positioning error comprises one or more of a head-foot direction positioning error, a front-back direction positioning error and a left-right direction positioning error;
and/or the patient is a cancer patient, preferably a head and neck tumor patient or a breast tumor patient.
Further, in the step 2, the line graph is drawn by a data source according to the time sequence of radiotherapy;
the calculation formulas of the center line CL, the upper control limit UCL and the lower control limit LCL are as follows:
wherein x is the positioning error of the image-guided radiotherapy equipment to be evaluated every time,
mean value of x, +.>
MR is the mean value of MR, MR is the very bad movement, < ->
，/>
D2=1.128 for the fraction of radiation treatment.
Further, the method comprises the following steps: calculating a process capability index:
calculating a process capability index C for positioning a patient using an image-guided radiotherapy apparatus to be evaluated pk ：
Wherein u is the mean value of the positioning errors of the image-guided radiotherapy equipment to be evaluated each time,
for the standard deviation of positioning errors of the image-guided radiotherapy equipment to be evaluated each time, USL is the set specification upper limit, and LSL is the set specification lower limit.
Further, usl=5 mm, lsl= -5mm.
Further, the method of anomaly detection in step 3 may also employ an anomaly value detection method.
Further, the method comprises the following steps: drawing an EWMA control chart to observe whether the positioning accuracy of the image-guided radiotherapy equipment to be evaluated drifts with time:
converting the positioning error of the image-guided radiotherapy equipment to be evaluated calculated in the step 1, drawing the converted data into a line graph according to the time sequence of radiotherapy, adding a central line CL, an upper control limit UCL 'and a lower control limit LCL', and drawing an EWMA control chart.
Further, the calculation formula of the upper control limit UCL 'and the lower control limit LCL' is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
indicates the fraction of radiotherapy, +.>
Is->
Fractional positioning error,/->
Is->
Data after the fractional conversion, +.>
Guiding the average value of the positioning error of each time of the radiotherapy equipment for the image to be evaluated, < >>
For each standard deviation of positioning error of the image-guided radiotherapy apparatus to be evaluated, λ=0.05, l=2.492.
Further, in the method of the present invention, besides drawing the EWMA control diagram, the CUSUM control diagram may be drawn.
Further, the method comprises the following steps: improvement of system lifting:
and (3) making countermeasures for the abnormal data and the abnormal reasons found in the steps, standardizing the flow, and improving the positioning accuracy of the image-guided radiotherapy equipment to be evaluated.
Furthermore, in the method of the invention, the method for improving the system promotion can also search factors which possibly influence the positioning precision of the image-guided radiotherapy equipment in use through Failure Mode and Effect Analysis (FMEA), thereby making a corresponding strategy for improving the image-guided radiotherapy equipment.
The invention also provides application of the method in evaluating the positioning precision of the image guided radiotherapy equipment.
The invention also provides a computer device for evaluating the positioning precision of the image-guided radiotherapy device, which is characterized in that: the computer device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps described above when executing the computer program.
Definition of terms used in connection with the present invention: unless otherwise indicated, the initial definitions provided for terms herein apply to the terms throughout the specification; for terms not specifically defined herein, the meanings that one skilled in the art can impart based on the disclosure and the context.
The image guided radiotherapy equipment refers to: before and during treatment of a patient, the device for monitoring the tumor and normal organs adjusts the treatment position, the treatment condition and the like according to the monitored positions of the organs, so that the irradiation field is accurately aligned to the treatment target area.
The optical surface guiding device refers to: based on the optical imaging principle, imaging the body surface of a patient before and during the treatment of the patient, and being used for positioning the patient, and guiding the accurate execution of the radiotherapy.
Compared with the prior art, the performance evaluation method for the positioning precision of the image-guided radiotherapy equipment based on the statistical process control has the following beneficial effects:
the method provided by the invention is based on a statistical process control technology, carries out systematic comprehensive evaluation on the positioning accuracy of the clinically used image guided radiotherapy equipment, wherein the evaluation content comprises the positioning accuracy of the system and the system deviation of the positioning accuracy along with time, and the system can meet the established positioning accuracy requirement to the extent, thereby providing theoretical foundation support for the establishment of an image guided radiotherapy workflow and the quality assurance scheme of the image guided radiotherapy equipment in clinic.
By using the method of the invention, the factors influencing the positioning precision of the image-guided radiotherapy equipment can be quickly and efficiently found, and accordingly, improvement measures are formulated, and the working flow is further standardized, so that the positioning precision of the equipment in clinical application is improved.
It should be apparent that, in light of the foregoing, various modifications, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
The above-described aspects of the present invention will be described in further detail below with reference to specific embodiments in the form of examples. It should not be understood that the scope of the above subject matter of the present invention is limited to the following examples only. All techniques implemented based on the above description of the invention are within the scope of the invention.
Drawings
Fig. 1 is a flow chart of a performance evaluation method for positioning accuracy of an image-guided radiotherapy device based on statistical process control.
Fig. 2 is a schematic diagram of a shawhart control chart and an EWMA control chart, wherein a chart, b chart and c chart are respectively the shawhart control chart of data without system offset, with gradual tiny system offset and with abrupt large system offset, and c chart, d chart and e chart are respectively the EWMA control chart corresponding to the data of a chart, b chart and c chart.
Fig. 3 is a view of a Shewhart control map drawn after positioning and monitoring 27 head and neck patients using an optical surface guided radiotherapy apparatus according to the method of example 1 of the present invention.
Detailed Description
The raw materials and equipment used in the invention are all known products and are obtained by purchasing commercial products.
Example 1: performance evaluation method for positioning accuracy of image-guided radiotherapy equipment based on statistical process control
The image guided radiotherapy device to be evaluated in this embodiment is an optical surface guided device (Catalyst), C-RAD AB, uppsala, sweden. The radiotherapy of the embodiment is carried out on 28 cases of patients with head and neck tumor and 37 cases of patients with breast tumor, the radiotherapy of the patients with head and neck is divided into 25-33 times, and the radiotherapy of the patients with breast is divided into 25 times. According to the disease parts, head and neck tumor patients and breast tumor patients are divided into two groups, and the method of the embodiment is adopted to evaluate the positioning accuracy of the image guided radiotherapy equipment. The specific evaluation method is as follows:
step 1: positioning error data acquisition
At the first treatment of each patient, the reference surface is acquired using an optical surface guidance device (Catalyst) after correcting patient positioning using Cone Beam CT (CBCT). At the subsequent positioning stage of each fraction treatment, CBCT and optical surface guidance equipment (catalysis) are used simultaneously for positioning monitoring of the patient. Taking CBCT as a gold standard of the image guiding device, wherein the reading difference value of the CBCT and the gold standard represents the positioning error of the optical surface guiding device, and the positioning error comprises the following three errors: the head-foot direction (SI direction), the front-back direction (AP direction), the left-right direction (LR direction).
Step 2: drawing Shewhart control diagram
And (2) drawing a Shewhart control chart for the errors in each direction by taking the positioning errors of each treatment fraction acquired in the step (1) as a data source, drawing all data points in the chart according to the time sequence of radiotherapy implementation in a line chart form, and adding a Central Line (CL), an Upper Control Limit (UCL) and a Lower Control Limit (LCL). According to the statistical process control theory, the calculation formula of CL, LCL, UCL is as follows:
where x is each data point (i.e., the monitored positioning error),
mean value of x, MR is the movement limit, calculateIn the form of->
，/>
For radiation therapy fraction->
For the average value of MR, d2 is a constant, which has a value of 1.128.
Step 3: anomaly checking
Checking the Shewhart control chart drawn in the step 2, carefully checking the fractionated radiotherapy corresponding to all the data points exceeding the upper control limit or the lower control limit, searching for an abnormal reason, removing the data points exceeding the upper control limit or the lower control limit, and continuing to execute the next step.
Step 4: removing abnormal data
And (3) after removing the data points exceeding the upper control limit or the lower control limit, repeating the steps (2-3) by taking the rest data points as data sources, and finding out all abnormal data exceeding the upper control limit or the lower control limit until no abnormal data exists.
Step 5: calculating a process capability index
According to unit working experience and requirements, the process capability of positioning a patient by using the optical surface guide device is evaluated according to a positioning error of 5mm as a standard, and whether the process can reach the expected positioning precision is evaluated. According to statistical process control theory, process capability index C pk The calculation formula of (2) is as follows:
where u is the mean of all raw data points (i.e., the positioning error for each treatment fraction acquired in step 1),
for standard deviation of all raw data points, USL and LSL are respectively set upper specification limit and lower specification limit, which are selected in this embodimentUsl=5 mm, lsl= -5mm was taken.
Process capability index C pk The larger the optical surface guiding device to be evaluated, the more capable the desired accuracy is to be fulfilled.
Step 6: drawing an EWMA control chart to observe whether the positioning accuracy drifts with time
Converting all original data points (namely positioning errors of each treatment fraction acquired in the step 1), drawing converted data into a line graph according to the time sequence of radiotherapy implementation, calculating an upper control limit and a lower control limit, and drawing the upper control limit and the lower control limit in the graph to obtain an EWMA control graph. According to the statistical process control theory, the conversion formula and the calculation formulas of the upper control limit (UCL ') and the lower control limit (LCL') of the original data are as follows:
wherein the subscript
Indicates the treatment times, the->
Is->
Fractional positioning error,/->
Is->
Data after the fractional conversion, +.>
For the average of all raw data points, +.>
For standard deviations of all raw data points, λ is a constant between 0 and 1, L is a constant, λ=0.05 used in the test,L = 2.492。
step 7: system lift improvement
And (3) formulating a countermeasure against the problems and influence factors found in the whole statistical process implementation process so as to standardize the flow and improve the positioning precision of the optical surface guiding equipment in clinical application.
The analysis of the results of the performance evaluation method for the positioning accuracy of the image-guided radiotherapy equipment based on the statistical process control in this embodiment is as follows:
1. in step 3, the original data and the original image are carefully checked after a plurality of times of abnormal positioning accuracy are found, and the operator is inquired that the following influence factors mainly influence the positioning accuracy of the optical surface guiding device: the optical surface image acquisition is incomplete, the optical surface image range is overlarge (compared with the treatment part), the optical surface image comprises parts (such as arms and armpits) which are easy to change, the optical surface image acquisition range is large, the optical image acquisition comprises fixing devices such as a bed plate and the like, the optical image acquisition comprises a compensation film, and the image of a patient with errors is acquired. The above factors seriously affect the positioning accuracy of the optical surface guiding device, and in the subsequent clinical application, the standard operation flow should be formulated according to the factors, so that the positioning accuracy of the optical surface guiding device in the clinical application is improved.
2. By analyzing the Shewhart control chart and the EWMA control chart, the EWMA control chart is found to be capable of finding that the positioning accuracy of the equipment drifts with time. In addition, the positioning accuracy is different for different patients, and a system error of about 1mm exists, so that the system error is corrected in the subsequent use.
3. Through process capability analysis, it was found that the process capability of positioning different parts of a patient using an optical surface guidance device was different, wherein the process capability of positioning the head and neck was superior to the breast part.
In summary, the invention evaluates the positioning accuracy of the optical surface guiding device by using a statistical process control technology, finds that the positioning error is larger than other times, and performs backtracking inspection according to the positioning error, so as to find out factors influencing the positioning accuracy, thereby being beneficial to improving the use flow of the device and improving the positioning accuracy of the optical surface guiding device. By means of the EWMA control map, it is found that there is a difference in the positioning accuracy of the optical surface guiding device for different patients, and it is therefore necessary to consider whether the patient is suitable for using the optical surface guiding device. Furthermore, the accuracy of the positioning of the optical surface guidance device may also change gradually over time for some patients. Through process capability analysis, it was also found that the process capability of the optical surface guidance device to locate the neck is superior to the location of breast patients.
In summary, the invention provides a performance evaluation method for positioning accuracy of image-guided radiotherapy equipment based on statistical process control. The method is based on a statistical process control technology, the positioning accuracy of the clinically used image guided radiotherapy equipment is subjected to systematic comprehensive evaluation, the evaluation content comprises the positioning accuracy of the system and systematic deviation of the positioning accuracy along with time, and the system can meet the established positioning accuracy requirement to the extent, so that theoretical foundation support is provided for making an image guided radiotherapy workflow and a quality assurance scheme of the image guided radiotherapy equipment in clinic. By using the method of the invention, various factors influencing the positioning precision of the image-guided radiotherapy equipment can be quickly and efficiently found, and accordingly, improvement measures are formulated, and the working flow is further standardized, so that the positioning precision of the equipment in clinical application is improved.
Claims (8)
1. A computer device for evaluating positioning accuracy of an image-guided radiotherapy apparatus, characterized in that: the computer device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
step 1, collecting positioning error data:
positioning the radiotherapy of the patient each time by using the image-guided radiotherapy equipment to be evaluated, positioning the radiotherapy of the patient each time by using a gold standard method, and calculating the positioning error of the image-guided radiotherapy equipment to be evaluated each time; the gold standard method is a method for positioning by using cone beam CT as an image guiding device; positioning error = difference between positioning data of an image-guided radiotherapy apparatus to be evaluated and positioning data using a gold standard method; the number of times of the radiotherapy is more than or equal to 2;
step 2, drawing a Shewhart control chart:
drawing a line graph by taking the positioning error of the image-guided radiotherapy equipment to be evaluated calculated in the step 1 as a data source, adding a central line CL, an upper control limit UCL and a lower control limit LCL, and drawing a Shewhart control chart;
step 3, anomaly detection:
checking the Shewhart control chart drawn in the step 2, and marking the positioning error exceeding the upper control limit UCL or the lower control limit LCL as abnormal data;
step 4, eliminating abnormal data:
removing the abnormal data in the step 3, taking the residual positioning error as a data source, repeating the steps 2-3, and finding all the abnormal data until the positioning error which does not exceed the upper control limit UCL or the lower control limit LCL appears; and (5) checking the fractionated radiotherapy corresponding to the abnormal data, and searching for an abnormal reason.
2. The computer device of claim 1, wherein: in the step 1, the image guided radiotherapy equipment to be evaluated is an optical surface guiding equipment, an electronic portal imaging system, an orthogonal projection X-ray imaging system, an ultrasonic image guiding system, a warrior real-time position management system and a respiration gating scanning module;
and/or the positioning error comprises one or more of a head-foot direction positioning error, a front-back direction positioning error and a left-right direction positioning error;
and/or, the patient is a cancer patient.
3. The computer device of claim 2, wherein: the patient is a head and neck tumor patient or a breast tumor patient.
4. The computer device of claim 1, wherein: in the step 2, the line graph is formed by drawing a data source according to the time sequence of radiotherapy;
the calculation formulas of the center line CL, the upper control limit UCL and the lower control limit LCL are as follows:
wherein x is the positioning error of the image-guided radiotherapy equipment to be evaluated every time,
mean value of x, +.>
The average value of MR, MR is the movement limit, MR i ＝|x i -x i-1 I is the fraction of radiation treatment, d2=1.128.
5. The computer device according to any one of claims 1 to 4, wherein: the method further comprises the steps of: calculating a process capability index:
calculating a process capability index C for positioning a patient using an image-guided radiotherapy apparatus to be evaluated pk ：
C pk ＝min{C pu ，C pl }
Wherein u is the mean value of the positioning errors of the image-guided radiotherapy equipment to be evaluated every time, sigma is the standard deviation of the positioning errors of the image-guided radiotherapy equipment to be evaluated every time, USL is the set upper specification limit, and LSL is the set lower specification limit.
6. The computer device of claim 5, wherein: usl=5 mm, lsl= -5mm.
7. The computer device according to any one of claims 1 to 4, wherein: the method further comprises the steps of: drawing an EWMA control chart to observe whether the positioning accuracy of the image-guided radiotherapy equipment to be evaluated drifts with time:
converting the positioning error of the image-guided radiotherapy equipment to be evaluated calculated in the step 1, drawing the converted data into a line graph according to the time sequence of radiotherapy, adding a central line CL, an upper control limit UCL 'and a lower control limit LCL', and drawing an EWMA control chart.
8. The computer device of claim 7, wherein: the calculation formula of the control upper limit UCL 'and the control lower limit LCL' is as follows:
E i ＝λx i +(1-λ)E i-1
wherein i represents the fraction of radiation therapy, x i For the i-th fractional positioning error, E i Mu for the i-th fraction of positioning error converted data 0 For the average value of the positioning error of each time of the image-guided radiotherapy apparatus to be evaluated, σ is the standard deviation of the positioning error of each time of the image-guided radiotherapy apparatus to be evaluated, λ=0.05, and l=2.492.
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