CN114129916A - Head radiotherapy ray stereotactic projection device - Google Patents

Head radiotherapy ray stereotactic projection device Download PDF

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CN114129916A
CN114129916A CN202111464773.1A CN202111464773A CN114129916A CN 114129916 A CN114129916 A CN 114129916A CN 202111464773 A CN202111464773 A CN 202111464773A CN 114129916 A CN114129916 A CN 114129916A
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target object
radioactive source
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CN114129916B (en
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张文山
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Shanghai Gamastar Technology Development Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A61N5/1039—Treatment planning systems using functional images, e.g. PET or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1054—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a portal imaging system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1059—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using cameras imaging the patient

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Abstract

The invention provides a head radiotherapy ray stereotactic projection device which comprises a head of a target object and a radiotherapy operation image of a radioactive source during the radiotherapy process through shooting and analyzing, so as to judge the alignment state between the ray projection direction of the radioactive source and the specific area of the head of the target object, and then instruct the first moving module to move the head of the target object and/or instruct the second moving module to move the radioactive source, thereby the radioactive source can aim at the head of the target object to carry out directional ray scanning, and can also send a voice reminding message whether to carry out head swinging action to the target object, thus ensuring that the rays emitted by the radioactive source can not be projected to the focus area of the head accurately and avoiding that the rays emitted by the radioactive source can not be projected to other normal areas of the head, therefore, the effect and the reliability of the radiotherapy which is directly influenced by accurately carrying out the directional projection on the three-dimensional space in the process of carrying out the radiotherapy on the head are improved.

Description

Head radiotherapy ray stereotactic projection device
Technical Field
The invention relates to the technical field of radiotherapy, in particular to a head radiotherapy ray stereotactic projection device.
Background
Radiotherapy refers to irradiation of a certain region of a target body with gamma rays, infrared rays or ultraviolet rays, so as to obtain a corresponding therapeutic effect. During the actual clinical radiotherapy operation process of the head of the target object, the head of the target object inevitably swings, and the rays emitted by the radioactive source cannot be accurately projected to the focal region of the head, so that the radioactive source cannot effectively perform radiotherapy on the focal region of the head. Meanwhile, the radiation source cannot project the radiation to the focal region of the head, and it projects to other normal regions of the head, which may cause these normal regions to be damaged by the radiation. Therefore, the effect and the reliability of radiotherapy are directly influenced by accurately performing directional projection on the three-dimensional space in the process of performing radiotherapy on the head.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a head radiotherapy ray stereotactic projection device which judges the alignment state between the ray projection direction of a radioactive source and the specific head area of a target object by shooting and analyzing a radiotherapy operation image simultaneously containing the head of the target object and the radioactive source in the radiotherapy process, and then instructs a first moving module to move the head of the target object and/or instructs a second moving module to move the radioactive source, so that the radioactive source can aim at the head of the target object to carry out directional ray scanning, and can also send a voice prompt message for judging whether the head swings to the target object, thereby ensuring that rays emitted by the radioactive source cannot be accurately projected to the focus area of the head and avoiding that the rays emitted by the radioactive source cannot be projected to other normal areas of the head, and improving the direct influence of the accurate directional projection on a stereo space in the radiotherapy process of the head The effect and reliability of (1).
The invention provides a head radiotherapy ray stereotactic projection device which is characterized by comprising an image shooting module, an image analysis module, a central processing module, a first moving module, a second moving module and a reminding module, wherein the image shooting module is used for shooting a head radiotherapy ray; wherein,
the image shooting module is used for shooting the head of the target object and the radioactive source simultaneously in the radiotherapy process so as to obtain a corresponding radiotherapy operation image;
the image analysis module is used for analyzing the radiotherapy operation image so as to judge the alignment state between the ray projection direction of the radioactive source and the specific head area of the target object;
the central processing module is used for instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radioactive source according to the judgment result of the alignment state, so that the radioactive source can aim at the head of the target object to carry out directional ray scanning;
the central processing module is also used for indicating the reminding module to send out a voice reminding message according to the judgment result of the alignment state; wherein the voice reminding message comprises a voice reminding message indicating whether the target object performs the head swing action;
further, the module is shot to the image is shot the head and the radiation source of target object simultaneously at radiotherapy in-process to it specifically includes to obtain corresponding radiotherapy operation image:
the image shooting module simultaneously carries out binocular shooting on the head of a target object and a radioactive source in the radiotherapy process so as to obtain a radiotherapy operation binocular image simultaneously comprising the head and the radioactive source;
further, the image analysis module analyzes the radiotherapy operation image, so as to determine an alignment state between a ray projection direction of the radiation source and a specific region of the head of the target object, specifically including:
the image analysis module determines binocular parallax corresponding to the radiotherapy operation binocular images and generates corresponding radiotherapy operation three-dimensional images according to the binocular parallax; wherein the radiotherapy operation three-dimensional image is a three-dimensional image simultaneously containing the head and the radioactive source;
the image analysis module further identifies image contour information of the radioactive source and the head specific region in the radiotherapy operation three-dimensional image from the radiotherapy operation three-dimensional image;
judging whether the ray projection direction of the radioactive source is aligned with the specific head area of the target object or not according to the respective image contour information of the radioactive source and the specific head area;
further, the image analysis module judges whether the ray projection direction of the radiation source is aligned with the specific head area of the target object according to the respective image contour information of the radiation source and the specific head area specifically includes:
the image analysis module determines the orientation of a ray emission opening of the radioactive source according to the image contour information of the radioactive source, and the orientation is used as the ray projection direction of the radioactive source;
the image analysis module determines a normal direction corresponding to the head specific area according to the image contour information of the head specific area;
the image analysis module is also used for comparing the actual included angle with a preset included angle threshold according to the actual included angle between the ray projection direction and the normal direction;
if the actual included angle is smaller than or equal to the preset included angle threshold value, judging that the ray projection direction of the radioactive source is aligned with the specific head area of the target object; otherwise, judging that the ray projection direction of the radioactive source is not aligned with the specific head area of the target object;
further, the instructing, by the central processing module according to the determination result of the alignment status, the first moving module to move the head of the target object and/or the second moving module to move the radiation source, so that the radiation source can aim at the head of the target object to perform directional radiation scanning specifically includes:
when the central processing module determines that the ray projection direction of the radioactive source is aligned with the specific area of the head of the target object, the central processing module instructs the first moving module and the second moving module to stop operating, so that the head of the target object and the radioactive source are fixed at the current position;
when the central processing module determines that the ray projection direction of the radiation source is misaligned with the specific area of the head of the target object, the central processing module instructs the first moving module to move the head of the target object and/or instructs the second moving module to move the radiation source according to the alignment angle deviation between the ray projection direction of the radiation source and the specific area of the head of the target object, so that the radiation source can aim at the head of the target object for directional ray scanning;
further, the instructing, by the central control module, the first moving module to move the head of the target object and/or the second moving module to move the radiation source according to the alignment angle deviation between the radiation projection direction of the radiation source and the specific area of the head of the target object specifically includes:
the central control module determines the position offset between the ray projection direction of the radioactive source and the head specific area of the target object in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radioactive source and the head specific area of the target object;
then according to the position offset, instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radioactive source;
further, the central control module determines the position offset between the ray projection direction of the radioactive source and the head specific area of the target object in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radioactive source and the head specific area of the target object; then, according to the position offset, instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radiation source specifically includes:
taking a ray projection point of the radioactive source as an origin of a three-dimensional space coordinate system, wherein a ray projection direction of the radioactive source is an X axis of the three-dimensional space coordinate system, a horizontal rightward direction of the radioactive source is a Y axis of the three-dimensional space coordinate system, and a vertical upward direction of the radioactive source is a Z axis of the three-dimensional space coordinate system, and then obtaining a position offset between the ray projection direction of the radioactive source and a head specific area of a target object in three-axis directions of the three-dimensional space according to an alignment angle deviation between the ray projection direction of the radioactive source and the center position of the head specific area of the target object; wherein the deviation of the alignment angle between the ray projection direction of the radiation source and the specific region of the head of the target object comprises: the included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object, the X axis, the Y axis and the Z axis, and the included angle between the connecting line of the farthest point of the ray projection direction of the radioactive source and the center position of the head specific area of the target object and the ray projection direction of the radioactive source; then, the first mobile module and the second mobile module are controlled according to the position offset, and the specific process is as follows:
step S1, using the following formula (1), obtaining the position offset in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radiation source and the center position of the head specific region of the target object
Figure BDA0003390888170000041
Figure BDA0003390888170000051
In the above formula (1), Δ X represents a positional displacement amount in the X-axis direction; Δ Y represents a positional displacement amount in the Y-axis direction; Δ Z represents a positional displacement amount in the Z-axis direction; l represents the furthest throw distance of the radiation source; thetaxThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the X axis is represented; thetayThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the Y axis is represented; thetazThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the Z axis is represented; alpha represents the included angle between the connecting line of the farthest point of the ray projection direction of the radioactive source and the center position of the head specific area of the target object and the ray projection direction of the radioactive source; the | | represents the operation of solving the absolute value;
step S2, controlling the first moving module and the second moving module according to the position offset in the three-axis direction of the three-dimensional space obtained in the above step S1, wherein the first moving module is controlled to move back, forth, left, right, up and down along the direction of the ray projection point of the radiation source, and the second moving module is controlled to move back, forth, left, right, up and down along the center position of the head specific region of the target object, and since there is a limitation in the amount of movement of the first moving module in the three-axis direction of the three-dimensional space, the following formula (2) is used to control the moving speeds of the first moving module and the second moving module in the three-axis direction of the three-dimensional space according to the position offset in the three-axis direction of the three-dimensional space and the maximum amount of movement of the first moving module,
Figure BDA0003390888170000052
in the above formula (2), V2,xA control value indicating a moving speed of the second moving module in the X-axis direction; v2,yA control value indicating the moving speed of the second moving module in the Y-axis direction; (ii) a V2,ZA control value indicating the moving speed of the second moving module in the Z-axis direction; v1,xRepresenting the moving speed of the first moving module in the X-axis direction; v1,YRepresenting the moving speed of the first moving module in the Y-axis direction; v1,ZRepresenting the moving speed of the first moving module in the Z-axis direction; x1,maxRepresenting a maximum distance amount that the first moving module can move in the X-axis direction currently; y is1,maxRepresenting the maximum distance amount that the first moving module can move in the Y-axis direction currently; z1,maxRepresenting the maximum distance amount that the first moving module can move in the Z-axis direction currently;
the ray projection direction of the radioactive source can be aligned to the central position of the head specific area of the target object by controlling the moving speed of the first moving module and the second moving module in the three-axis direction of the three-dimensional space;
step S3, when the first moving module and the second moving module are controlled to move and then align with the center position of the head specific area of the target object, a buzzer is arranged to remind the alignment between the ray projection direction of the current radioactive source and the head specific area of the target object, the sound frequency of the buzzer is determined by the following formula (3),
Figure BDA0003390888170000061
in the above formula (3), f represents the ringing frequency of the buzzer; f. ofmaxRepresents a maximum ringing frequency of the buzzer; when the sound frequency of the buzzer is higher, the radiation projection direction of the current radiation source is closer to the alignment with the specific head area of the target object, and when the sound frequency of the buzzer reaches the maximum sound frequency, the radiation projection direction of the current radiation source is aligned with the specific head area of the target object;
further, the instructing, by the central processing module according to the determination result of the alignment status, the reminding module to send the voice reminding message specifically includes:
when the ray projection direction of the radioactive source is aligned with the specific head area of the target object, the central processing module instructs the reminding module to send out a voice reminding message indicating that the target object does not need to perform head swinging action;
when the ray projection direction of the radioactive source is judged to be not aligned with the specific head area of the target object, the central processing module instructs the reminding module to send out a voice reminding message for indicating that the target object needs to swing in any direction of the head up, down, left and right;
further, the central processing module is further configured to reduce the intensity of the radiation projected by the radiation source when the first moving module or the second moving module is in operation; and restoring the increase of the ray intensity projected by the radiation source to a preset intensity threshold when the first moving module and the second moving module are not operated.
Compared with the prior art, the head radiotherapy ray stereotactic projection device can shoot and analyze the radiotherapy operation image which simultaneously contains the head of the target object and the radioactive source in the radiotherapy process, so as to judge the alignment state between the ray projection direction of the radioactive source and the specific area of the head of the target object, and then instruct the first moving module to move the head of the target object and/or instruct the second moving module to move the radioactive source, thereby the radioactive source can aim at the head of the target object to carry out directional ray scanning, and can also send a voice reminding message whether to carry out head swinging action to the target object, thus ensuring that the rays emitted by the radioactive source can not be projected to the focus area of the head accurately and avoiding that the rays emitted by the radioactive source can not be projected to other normal areas of the head, therefore, the effect and the reliability of the radiotherapy which is directly influenced by accurately carrying out the directional projection on the three-dimensional space in the process of carrying out the radiotherapy on the head are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a stereotactic projection apparatus for radiotherapy rays of a head according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural view of a head radiotherapy radiation stereotactic projection apparatus according to an embodiment of the present invention. The head radiotherapy ray stereotactic projection device comprises an image shooting module, an image analysis module, a central processing module, a first moving module, a second moving module and a reminding module; wherein,
the image shooting module is used for shooting the head of a target object and a radioactive source simultaneously in the radiotherapy process so as to obtain a corresponding radiotherapy operation image;
the image analysis module is used for analyzing the radiotherapy operation image so as to judge the alignment state between the ray projection direction of the radioactive source and the specific head area of the target object;
the central processing module is used for instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radioactive source according to the judgment result of the alignment state, so that the radioactive source can aim at the head of the target object to carry out directional ray scanning;
the central processing module is also used for indicating the reminding module to send out a voice reminding message according to the judgment result of the alignment state; wherein the voice reminding message comprises a voice reminding message indicating whether the target object performs the head swing action.
The beneficial effects of the above technical scheme are: the head radiotherapy ray stereotactic projection device comprises a head of a target object and a radiotherapy operation image of a radioactive source in the radiotherapy process by shooting and analyzing, so as to judge the alignment state between the ray projection direction of the radioactive source and the specific area of the head of the target object, and then instruct the first moving module to move the head of the target object and/or instruct the second moving module to move the radioactive source, thereby the radioactive source can aim at the head of the target object to carry out directional ray scanning, and can also send a voice reminding message whether to carry out head swinging action to the target object, thus ensuring that the rays emitted by the radioactive source can not be projected to the focus area of the head accurately and avoiding that the rays emitted by the radioactive source can not be projected to other normal areas of the head, therefore, the effect and the reliability of the radiotherapy which is directly influenced by accurately carrying out the directional projection on the three-dimensional space in the process of carrying out the radiotherapy on the head are improved.
Preferably, the image capturing module captures the head of the target object and the radiation source simultaneously during the radiotherapy process, so as to obtain a corresponding radiotherapy operation image specifically comprising:
the image shooting module carries out binocular shooting on the head of the target object and the radioactive source in the radiotherapy process, so that a radiotherapy operation binocular image containing the head and the radioactive source is obtained.
The beneficial effects of the above technical scheme are: the head and the radioactive source of the target object can be shot simultaneously by the image shooting module such as the binocular camera in the radiotherapy process, so that the corresponding binocular image of the radiotherapy operator can be obtained, and the comprehensive image recording of the head and the radioactive source of the target object can be ensured.
Preferably, the analyzing the radiotherapy operation image by the image analyzing module to determine the alignment state between the radiation projection direction of the radiation source and the specific region of the head of the target object specifically includes:
the image analysis module determines binocular parallax corresponding to the radiotherapy operation binocular image and generates a corresponding radiotherapy operation three-dimensional image according to the binocular parallax; wherein, the radiotherapy operation three-dimensional image is a three-dimensional image simultaneously containing the head and the radioactive source;
the image analysis module also identifies image contour information of the radioactive source and the head specific area in the radiotherapy operation three-dimensional image from the radiotherapy operation three-dimensional image;
and judging whether the ray projection direction of the radioactive source is aligned with the specific head area of the target object or not according to the respective image contour information of the radioactive source and the specific head area.
The beneficial effects of the above technical scheme are: after the radiotherapy operation binocular image is obtained through shooting, the corresponding radiotherapy operation three-dimensional image is obtained through a binocular parallax calculation mode, and therefore the radiotherapy operation can be comprehensively recorded in a three-dimensional space. Then, the three-dimensional image for radiotherapy operation is subjected to image contour recognition to obtain respective image contour information of the radioactive source and a specific head region (such as a head focus region) and respective positions of the radioactive source and the specific head region are determined according to the image contour information, so that whether the ray projection direction of the radioactive source is aligned with the specific head region of the target object can be conveniently, quickly and accurately judged in the follow-up process.
Preferably, the image analysis module, according to the respective image contour information of the radiation source and the specific head area, determining whether the radiation projection direction of the radiation source is aligned with the specific head area of the target object specifically includes:
the image analysis module determines the orientation of a ray emission opening of the radioactive source according to the image contour information of the radioactive source, and the orientation is used as the ray projection direction of the radioactive source;
the image analysis module determines the normal direction corresponding to the head specific area according to the image contour information of the head specific area;
the image analysis module is also used for comparing the actual included angle with a preset included angle threshold according to the actual included angle between the ray projection direction and the normal direction;
if the actual included angle is smaller than or equal to the preset included angle threshold value, judging that the ray projection direction of the radioactive source is aligned with the specific head area of the target object; otherwise, the misalignment between the ray projection direction of the radiation source and the specific area of the head of the target object is judged.
The beneficial effects of the above technical scheme are: the orientation of the ray emission opening of the radioactive source and the normal direction corresponding to the specific head area are used as the reference, the included angle between the two directions is determined, and corresponding threshold value comparison is combined, so that whether the ray projection direction of the radioactive source is aligned with the specific head area of the target object or not can be judged quantitatively, and the reliability of determining the alignment relation of the two directions is improved.
Preferably, the instructing, by the central processing module, the first moving module to move the head of the target object and/or instructing the second moving module to move the radiation source according to the determination result of the alignment status, so that the radiation source can aim at the head of the target object to perform the directional radiation scanning specifically includes:
when the central processing module determines that the ray projection direction of the radioactive source is aligned with the specific area of the head of the target object, the central processing module instructs the first moving module and the second moving module to stop operating, so that the head of the target object and the radioactive source are fixed at the current position;
when the central processing module determines that the ray projection direction of the radiation source is misaligned with the head specific area of the target object, the central processing module instructs the first moving module to move the head of the target object and/or instructs the second moving module to move the radiation source according to the misalignment angle between the ray projection direction of the radiation source and the head specific area of the target object, so that the radiation source can aim at the head of the target object for directional ray scanning.
The beneficial effects of the above technical scheme are: in practice, the first moving module and the second moving module may be, but are not limited to, manipulators, so that the mutual alignment of the radiation source and the target object can be realized by the manipulators grasping and moving the heads of the radiation source and the target object, and the alignment accuracy of the radiation source and the target object can also be ensured.
Preferably, the instructing the first moving module to move the head of the target object and/or the instructing the second moving module to move the radiation source according to the alignment angle deviation between the radiation projection direction of the radiation source and the specific area of the head of the target object includes:
the central control module determines the position offset between the ray projection direction of the radioactive source and the head specific area of the target object in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radioactive source and the head specific area of the target object;
and then according to the position offset, instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radioactive source.
The beneficial effects of the above technical scheme are: the alignment angle deviation between the ray projection direction of the radioactive source and the specific head area of the target object is converted into the position offset between the ray projection direction of the radioactive source and the specific head area of the target object in the three-axis direction of the three-dimensional space, so that the first moving module and the second moving module can translate on the XYZ axes of the three-dimensional space conveniently to realize the alignment between the ray projection direction of the radioactive source and the specific head area of the target object, and the alignment adjustment difficulty of the ray projection direction of the radioactive source and the specific head area of the target object is greatly reduced.
Preferably, the central control module determines the position offset between the ray projection direction of the radiation source and the head specific area of the target object in the three-axis directions of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radiation source and the head specific area of the target object; then, according to the position offset, instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radiation source specifically includes:
taking a ray projection point of the radioactive source as an origin of a three-dimensional space coordinate system, taking a ray projection direction of the radioactive source as an X axis of the three-dimensional space coordinate system, taking a horizontal rightward direction of the radioactive source as a Y axis of the three-dimensional space coordinate system, taking a vertical upward direction of the radioactive source as a Z axis of the three-dimensional space coordinate system, and then obtaining a position offset between the ray projection direction of the radioactive source and a head specific area of a target object in three-axis directions of the three-dimensional space according to an alignment angle deviation between the ray projection direction of the radioactive source and the center position of the head specific area of the target object; wherein the deviation of the alignment angle between the ray projection direction of the radiation source and the specific region of the head of the target object comprises: the included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object, the X axis, the Y axis and the Z axis, and the included angle between the connecting line of the farthest point of the ray projection direction of the radioactive source and the center position of the head specific area of the target object and the ray projection direction of the radioactive source; then, the first moving module and the second moving module are controlled according to the position offset, and the specific process is as follows:
step S1, using the following formula (1), obtaining the position offset in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radiation source and the center position of the head specific region of the target object
Figure BDA0003390888170000121
In the above formula (1), Δ X represents a positional displacement amount in the X-axis direction; Δ Y represents a positional displacement amount in the Y-axis direction; Δ Z represents a positional displacement amount in the Z-axis direction; l represents the furthest throw distance of the radiation source; thetaxThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the X axis is represented; thetayThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the Y axis is represented; thetazThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the Z axis is represented; alpha represents the included angle between the connecting line of the farthest point of the ray projection direction of the radioactive source and the center position of the head specific area of the target object and the ray projection direction of the radioactive source; the | | represents the operation of solving the absolute value;
step S2, controlling the first moving module and the second moving module according to the position offset in the three-axis direction of the three-dimensional space obtained in the above step S1, wherein the first moving module is controlled to move back, forth, left, right, up and down along the direction of the ray projection point of the radiation source, and the second moving module is controlled to move back, forth, left, right, up and down along the center position of the head specific region of the target object, and since there is a limitation in the amount of movement of the first moving module in the three-axis direction of the three-dimensional space, the following formula (2) is used to control the moving speeds of the first moving module and the second moving module in the three-axis direction of the three-dimensional space according to the position offset in the three-axis direction of the three-dimensional space and the maximum amount of movement of the first moving module,
Figure BDA0003390888170000122
in the above formula (2), V2,xA control value indicating a moving speed of the second moving module in the X-axis direction; v2,yA control value indicating the moving speed of the second moving module in the Y-axis direction; (ii) a V2,ZIndicating that the second moving module is in the Z-axis directionA moving speed control value of (a); v1,xRepresenting the moving speed of the first moving module in the X-axis direction; v1,YRepresenting the moving speed of the first moving module in the Y-axis direction; v1,ZRepresenting the moving speed of the first moving module in the Z-axis direction; x1,maxRepresenting a maximum distance amount that the first moving module can move in the X-axis direction currently; y is1,maxRepresenting the maximum distance amount that the first moving module can move in the Y-axis direction currently; z1,maxRepresenting the maximum distance amount that the first moving module can move in the Z-axis direction currently;
the ray projection direction of the radioactive source can be aligned to the central position of the head specific area of the target object by controlling the moving speed of the first moving module and the second moving module in the three-axis direction of the three-dimensional space;
step S3, when the first moving module and the second moving module are controlled to move and align with the center of the head specific area of the target object, a buzzer is arranged to remind the alignment between the ray projection direction of the current radiation source and the head specific area of the target object, the sound frequency of the buzzer is determined by the following formula (3),
Figure BDA0003390888170000131
in the above formula (3), f represents the ringing frequency of the buzzer; f. ofmaxRepresents the maximum ringing frequency of the buzzer; when the sound frequency of the buzzer reaches the maximum sound frequency, the radiation projection direction of the current radiation source is aligned with the specific head area of the target object.
The beneficial effects of the above technical scheme are: the position offset in the three-axis direction of the three-dimensional space can be obtained according to the alignment angle deviation between the ray projection direction of the radioactive source and the center position of the specific area of the head of the target object by using the formula (1), and then the ray projection direction of the radioactive source is further aligned through the position offset; then, the moving speed of the first moving module and the moving speed of the second moving module in the three-axis direction of the three-dimensional space are controlled according to the position offset in the three-axis direction of the three-dimensional space and the maximum moving amount of the first moving module by using the formula (2), so that the ray projection direction of the radioactive source can be accurately and quickly aligned to the central position of the specific area of the head of the target object, the alignment time is shortened, and the working efficiency is improved; and finally, controlling the sound frequency of the buzzer according to the position offset in the three-axis direction of the three-dimensional space by using the formula (3), and then assisting to know the alignment condition between the ray projection direction of the current radioactive source and the head specific area of the target object according to the sound of the buzzer, so that the sound of the buzzer is used for assisting the alignment process, and the reliability and the accuracy of the device are further ensured.
Preferably, the instructing, by the central processing module according to the determination result of the alignment status, the voice prompt message sent by the prompt module specifically includes:
when the ray projection direction of the radioactive source is aligned with the specific head area of the target object, the central processing module instructs the reminding module to send out a voice reminding message indicating that the target object does not need to perform head swinging action;
when the ray projection direction of the radioactive source is not aligned with the specific head area of the target object, the central processing module instructs the reminding module to send out a voice reminding message for indicating that the target object needs to swing in any direction of the head up, down, left and right.
The beneficial effects of the above technical scheme are: the reminding module sends different voice reminding messages to the target object under different conditions, so that whether the target object swings the head or not can be pointed, and the alignment adjustment efficiency between the ray projection direction of the radioactive source and the specific head area of the target object is greatly improved.
Preferably, the central processing module is further configured to reduce the intensity of the radiation projected by the radiation source when the first moving module or the second moving module is in operation; and restoring the increase of the ray intensity projected by the radiation source to a preset intensity threshold when the first moving module and the second moving module are not operated.
The beneficial effects of the above technical scheme are: when the first moving module or the second moving module runs, the radioactive source does not really perform radiotherapy operation at the moment, and the ray intensity projected by the radioactive source is reduced, so that the ray can damage a target object; when the first moving module or the second moving module operates, it is indicated that the radiation source really performs radiotherapy operation at the moment, and the normal operation of the radiotherapy operation can be ensured by increasing the intensity of the radiation projected by the radiation source and restoring the intensity to the preset intensity threshold.
It can be known from the above disclosure that the head radiotherapy ray stereotactic projection apparatus can judge the alignment state between the ray projection direction of the radioactive source and the specific head region of the target object by photographing and analyzing the radiotherapy operation image including the head of the target object and the radioactive source during the radiotherapy process, and then instruct the first moving module to move the head of the target object and/or instruct the second moving module to move the radioactive source, so that the radioactive source can aim at the head of the target object for directional ray scanning, and can also send a voice prompt message indicating whether to perform head swing motion to the target object, thereby ensuring that the rays emitted by the radioactive source cannot be accurately projected to the focus region of the head and preventing the rays emitted by the radioactive source from being not projected to other normal regions of the head, thereby improving the effect of accurately performing directional projection on the head in the stereo space during the radiotherapy process and directly influencing the radiotherapy, and improving the reliability And (4) sex.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (9)

1. The head radiotherapy ray stereotactic projection device is characterized by comprising an image shooting module, an image analysis module, a central processing module, a first moving module, a second moving module and a reminding module; wherein,
the image shooting module is used for shooting the head of the target object and the radioactive source simultaneously in the radiotherapy process so as to obtain a corresponding radiotherapy operation image;
the image analysis module is used for analyzing the radiotherapy operation image so as to judge the alignment state between the ray projection direction of the radioactive source and the specific head area of the target object;
the central processing module is used for instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radioactive source according to the judgment result of the alignment state, so that the radioactive source can aim at the head of the target object to carry out directional ray scanning;
the central processing module is also used for indicating the reminding module to send out a voice reminding message according to the judgment result of the alignment state; wherein the voice reminding message comprises a voice reminding message indicating whether the target object performs the head swing action.
2. The stereotactic head radiotherapy beam projection apparatus of claim 1, wherein:
the image shooting module shoots the head and the radioactive source of the target object simultaneously in the radiotherapy process, so that the corresponding radiotherapy operation image is obtained and specifically comprises:
the image shooting module shoots the head of the target object and the radioactive source in a binocular mode in the radiotherapy process, and therefore the radiotherapy operation binocular image containing the head and the radioactive source is obtained.
3. The stereotactic head radiotherapy beam projection apparatus of claim 2, wherein:
the image analysis module analyzes the radiotherapy operation image, so as to judge the alignment state between the ray projection direction of the radioactive source and the specific head region of the target object, and specifically comprises:
the image analysis module determines binocular parallax corresponding to the radiotherapy operation binocular images and generates corresponding radiotherapy operation three-dimensional images according to the binocular parallax; wherein the radiotherapy operation three-dimensional image is a three-dimensional image simultaneously containing the head and the radioactive source;
the image analysis module further identifies image contour information of the radioactive source and the head specific region in the radiotherapy operation three-dimensional image from the radiotherapy operation three-dimensional image;
and judging whether the ray projection direction of the radioactive source is aligned with the specific head area of the target object or not according to the respective image contour information of the radioactive source and the specific head area.
4. The stereotactic head radiotherapy beam projection apparatus of claim 3, wherein:
the image analysis module judges whether the ray projection direction of the radioactive source is aligned with the specific head area of the target object according to the respective image contour information of the radioactive source and the specific head area specifically comprises:
the image analysis module determines the orientation of a ray emission opening of the radioactive source according to the image contour information of the radioactive source, and the orientation is used as the ray projection direction of the radioactive source;
the image analysis module determines a normal direction corresponding to the head specific area according to the image contour information of the head specific area;
the image analysis module is also used for comparing the actual included angle with a preset included angle threshold according to the actual included angle between the ray projection direction and the normal direction;
if the actual included angle is smaller than or equal to the preset included angle threshold value, judging that the ray projection direction of the radioactive source is aligned with the specific head area of the target object; otherwise, the misalignment between the ray projection direction of the radiation source and the specific area of the head of the target object is judged.
5. The stereotactic head radiotherapy beam projection apparatus of claim 1, wherein:
the central processing module instructs the first moving module to move the head of the target object and/or instructs the second moving module to move the radiation source according to the judgment result of the alignment state, so that the radiation source can aim at the head of the target object to perform directional ray scanning specifically comprises:
when the central processing module determines that the ray projection direction of the radioactive source is aligned with the specific area of the head of the target object, the central processing module instructs the first moving module and the second moving module to stop operating, so that the head of the target object and the radioactive source are fixed at the current position;
when the central processing module determines that the ray projection direction of the radiation source is misaligned with the specific head area of the target object, the central processing module instructs the first moving module to move the head of the target object and/or instructs the second moving module to move the radiation source according to the misalignment angle between the ray projection direction of the radiation source and the specific head area of the target object, so that the radiation source can aim at the head of the target object for directional ray scanning.
6. The stereotactic head radiotherapy beam projection apparatus of claim 5, wherein:
the central control module instructs the first moving module to move the head of the target object and/or instructs the second moving module to move the radiation source according to the alignment angle deviation between the radiation projection direction of the radiation source and the specific area of the head of the target object specifically includes:
the central control module determines the position offset between the ray projection direction of the radioactive source and the head specific area of the target object in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radioactive source and the head specific area of the target object;
and then instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radioactive source according to the position offset.
7. The stereotactic head radiotherapy beam projection apparatus of claim 6, wherein:
the central control module determines the position offset between the ray projection direction of the radioactive source and the head specific area of the target object in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radioactive source and the head specific area of the target object; then, according to the position offset, instructing the first moving module to move the head of the target object and/or instructing the second moving module to move the radiation source specifically includes:
taking a ray projection point of the radioactive source as an origin of a three-dimensional space coordinate system, wherein a ray projection direction of the radioactive source is an X axis of the three-dimensional space coordinate system, a horizontal rightward direction of the radioactive source is a Y axis of the three-dimensional space coordinate system, and a vertical upward direction of the radioactive source is a Z axis of the three-dimensional space coordinate system, and then obtaining a position offset between the ray projection direction of the radioactive source and a head specific area of a target object in three-axis directions of the three-dimensional space according to an alignment angle deviation between the ray projection direction of the radioactive source and the center position of the head specific area of the target object; wherein the deviation of the alignment angle between the ray projection direction of the radiation source and the specific region of the head of the target object comprises: the included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object, the X axis, the Y axis and the Z axis, and the included angle between the connecting line of the farthest point of the ray projection direction of the radioactive source and the center position of the head specific area of the target object and the ray projection direction of the radioactive source; then, the first mobile module and the second mobile module are controlled according to the position offset, and the specific process is as follows:
step S1, using the following formula (1), obtaining the position offset in the three-axis direction of the three-dimensional space according to the alignment angle deviation between the ray projection direction of the radiation source and the center position of the head specific region of the target object
Figure FDA0003390888160000041
In the above formula (1), Δ X represents a positional displacement amount in the X-axis direction; Δ Y represents a positional displacement amount in the Y-axis direction; Δ Z represents a positional displacement amount in the Z-axis direction; l represents the furthest throw distance of the radiation source; thetaxThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the X axis is represented; thetayThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the Y axis is represented; thetazThe included angle between the connecting line of the ray projection point of the radioactive source and the center position of the head specific area of the target object and the Z axis is represented; alpha represents the included angle between the connecting line of the farthest point of the ray projection direction of the radioactive source and the center position of the head specific area of the target object and the ray projection direction of the radioactive source; the | | represents the operation of solving the absolute value;
step S2, controlling the first moving module and the second moving module according to the position offset in the three-axis direction of the three-dimensional space obtained in the above step S1, wherein the first moving module is controlled to move back, forth, left, right, up and down along the direction of the ray projection point of the radiation source, and the second moving module is controlled to move back, forth, left, right, up and down along the center position of the head specific region of the target object, and since there is a limitation in the amount of movement of the first moving module in the three-axis direction of the three-dimensional space, the following formula (2) is used to control the moving speeds of the first moving module and the second moving module in the three-axis direction of the three-dimensional space according to the position offset in the three-axis direction of the three-dimensional space and the maximum amount of movement of the first moving module,
Figure FDA0003390888160000051
in the above formula (2), V2,xIndicating the moving speed control of the second moving module in the X-axis directionValue preparation; v2,yA control value indicating the moving speed of the second moving module in the Y-axis direction; (ii) a V2,ZA control value indicating the moving speed of the second moving module in the Z-axis direction; v1,xRepresenting the moving speed of the first moving module in the X-axis direction; v1,YRepresenting the moving speed of the first moving module in the Y-axis direction; v1,ZRepresenting the moving speed of the first moving module in the Z-axis direction; x1,maxRepresenting a maximum distance amount that the first moving module can move in the X-axis direction currently; y is1,maxRepresenting the maximum distance amount that the first moving module can move in the Y-axis direction currently; z1,maxRepresenting the maximum distance amount that the first moving module can move in the Z-axis direction currently;
the ray projection direction of the radioactive source can be aligned to the central position of the head specific area of the target object by controlling the moving speed of the first moving module and the second moving module in the three-axis direction of the three-dimensional space;
step S3, when the first moving module and the second moving module are controlled to move and then align with the center position of the head specific area of the target object, a buzzer is arranged to remind the alignment between the ray projection direction of the current radioactive source and the head specific area of the target object, the sound frequency of the buzzer is determined by the following formula (3),
Figure FDA0003390888160000052
in the above formula (3), f represents the ringing frequency of the buzzer; f. ofmaxRepresents a maximum ringing frequency of the buzzer; when the sound frequency of the buzzer reaches the maximum sound frequency, the radiation projection direction of the current radiation source is aligned with the specific head area of the target object.
8. The stereotactic head radiotherapy beam projection apparatus of claim 1, wherein:
the step of instructing, by the central processing module, the reminding module to send a voice reminding message according to the judgment result of the alignment state specifically includes:
when the ray projection direction of the radioactive source is aligned with the specific head area of the target object, the central processing module instructs the reminding module to send out a voice reminding message indicating that the target object does not need to perform head swinging action;
when the misalignment between the ray projection direction of the radioactive source and the specific head area of the target object is judged, the central processing module instructs the reminding module to send out a voice reminding message for indicating that the target object needs to swing in any direction of the head up, down, left and right.
9. The stereotactic head radiotherapy beam projection apparatus of claim 1, wherein:
the central processing module is further used for reducing the intensity of the rays projected by the radioactive source when the first moving module or the second moving module is operated; and restoring the increase of the ray intensity projected by the radiation source to a preset intensity threshold when the first moving module and the second moving module are not operated.
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