CN114432599A

CN114432599A - Design method of novel radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machine, position sensor and the like

Info

Publication number: CN114432599A
Application number: CN202011324364.7A
Authority: CN
Inventors: 葛云
Original assignee: Nanjing Chengda Medical Technology Co ltd
Current assignee: Nanjing Chengda Medical Technology Co ltd
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2022-05-06

Abstract

The invention discloses a design method based on a novel radiotherapy system such as a CT (computed tomography), an MR (magnetic resonance), a PET (positron emission tomography), an B-ultrasonic, an X-ray machine, a position sensor and the like, which can be used for carrying out rapid and real-time radiotherapy positioning guidance according to a medical image and the accurate position of an infrared position sensor so as to realize accurate radiotherapy. According to the method, independent medical imaging equipment and an independent medical accelerator can be adopted, an infrared navigation positioning system is designed, registration and fusion are carried out on an image space and an actual three-dimensional treatment space, accurate locking and radiotherapy positioning of a focus reference center point are achieved, the total cost of radiotherapy equipment is greatly reduced, and compared with the existing medical image integrated radiotherapy equipment, the method has the advantages of being high in accuracy, high in cost performance and high in performance.

Description

Design method of novel radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machine, position sensor and the like

Technical Field

The invention discloses a design method of a novel radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machines, position sensors and the like.

Background

Radiotherapy is an important approach in the treatment of tumors. In the course of radiotherapy, it is usually necessary to adopt different radiotherapy positioning guide schemes of medical imaging devices according to different characteristics and precision requirements of the lesion. For example, using MR for scanning, higher precision localization of low density materials, such as nerves and soft tissues, can be achieved. And when CT is used for scanning, high-precision positioning of high-density substances such as bones can be realized. After the image is guided to be positioned, the target area is irradiated by radiotherapy equipment such as a medical accelerator.

Most of the existing equipment in the market at present depends on import, and the design mode that one medical scanning device is provided with one medical accelerator and is connected and fixed into a whole is adopted, so that the price is generally very high. This directly results in that if a medical institution wants to use different medical scanning devices for radiotherapy guidance, multiple sets of radiotherapy devices must be introduced, and a single device is many tens of millions and occupies a large area, which greatly increases the purchase cost of medical devices.

In view of the above problems, there is a need to find a flexible, efficient and cost-effective medical image-guided radiotherapy system or method to solve the problems.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: overcome existing equipment (be imported equipment basically) image radiotherapy integration not enough, design a novel radiotherapy treatment image guide system, on surpassing the basis of original image guide radiotherapy equipment performance, utilize many infrared optical sensor, make the image of the medical image equipment of multiple difference guide can realize unified coordinate conversion in three-dimensional space, thereby realize independent free form image guide radiotherapy, greatly improve image guide radiotherapy performance, greatly reduced equipment and maintenance cost, greatly improve domestic image equipment's rate of utilization, greatly promote the development and the development of Chinese radiotherapy equipment.

A design method of a novel radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machines, position sensors and the like comprises medical imaging equipment such as CT, MR, PET, B-ultrasonic, X-ray machines and the like, optical position sensor group equipment for calibration and tracking, a medical accelerator, a specially-made radiotherapy positioning image guiding treatment bed, a related image registration, fusion, control and navigation software system and the like.

A method for designing a novel radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machine and position sensor includes the following steps

S1: the medical imaging equipment needed by a patient is determined according to clinical needs, after a plurality of special image positioning marks are placed on a patient target, the direction and the angle of an image guide treatment bed are adjusted through mechanical driving, and the target is moved to corresponding medical scanning equipment, such as MR, CT, PET and the like.

The optical position sensor in the invention refers to position sensing equipment including but not limited to infrared or laser; the dedicated image positioning markers include, but are not limited to, point markers (such as infrared positioning balls recognized by high-precision infrared monitoring equipment, but it is understood by those skilled in the art that the positioning balls are replaced by other marked objects with other shapes made of materials with obvious infrared characteristics without creative work. The number of the installed optical position sensors is related according to the field size, the performance and the number of the imaging equipment, so that the translation and the rotation of the image guide treatment bed can be detected within the sensing range of the sensors, and the high-precision change error of three degrees of freedom (translation and rotation in three directions in a three-dimensional coordinate system) of the image guide treatment bed in a three-dimensional space is fully expressed within 0.5 mm.

S2: the location identification point on the target is captured by the optical position sensor to obtain the tracking pm (Px, Py, Pz), and is transmitted back to the computer control system.

S3: the scanning is carried out according to the required medical imaging equipment so as to obtain the scanning data of MR, CT, PET, B-ultrasonic and the like, and the images are transmitted back to the computer control system.

S4: and after the target area is locked by the computer control system according to the three-dimensional coordinate data obtained in the step S2 and the two-dimensional image data obtained in the step S3, the body position of the patient is guided by adopting an independently developed image registration, fusion, control and navigation software system, so that the ultra-precise radiotherapy positioning of the accelerator is realized.

The invention has the beneficial effects that: according to the design method of the novel radiotherapy treatment system based on the CT, the MR, the PET, the B-ultrasonic, the X-ray machine, the position sensor and the like, the mode that the medical imaging equipment and the accelerator are designed into an integrated machine at present is not adopted, and according to different image clinical requirements, images obtained by different medical imaging equipment are registered and fused by using a self-developed software system, and then accurate field registration is realized with an actual three-dimensional treatment space, so that the images are controlled to guide a treatment bed to carry out accurate radiotherapy positioning.

Drawings

FIG. 1 is a schematic diagram of the solution of the present invention

FIG. 2 is a schematic diagram of a partial solution of the optical position sensor of the present invention

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

In fig. 1, the upper half is represented as a working machine room, and the lower half is a machine room control room: (1) is an MR medical imaging equipment room; (2) is a CT medical imaging equipment room; (3) a PET medical imaging equipment room; (4) is a medical accelerator; (5) is an image-guided treatment bed and its movable position; (6) is an optical position sensor.

FIG. 2 is a schematic diagram of a positioning mark and an optical position sensor.

Referring to fig. 1, the MR, CT, PET, etc. devices fixed at corresponding positions can be selected according to actual needs to be used, and when the MR, CT, PET, etc. devices are needed to be used, the image-guided treatment bed can be controlled to move to the imaging device; and a plurality of optical position sensors track and position the mark in real time so as to refresh the coordinate in the three-dimensional space where the target is located at high frequency and high precision.

Referring to fig. 2, the tracking and positioning mark is fixed on the body of the patient or on the radiotherapy fixing film, and the optical position sensor tracks the movement and position of the tracking and positioning mark to acquire the coordinate condition of the patient in a three-dimensional space. Three tracking and positioning marks are taken as an example in the figure, and the number of the actual tracking and positioning marks can be increased according to the requirement.

Claims

1. A design method based on novel radiotherapy systems such as CT, MR, PET, B-ultrasonic, X-ray machines and position sensors is characterized in that:

(1) the whole set of system adopts a mode that the imaging equipment and the accelerator are independent and separated, namely the whole set of system adopts a mode that one accelerator and a plurality of medical scanning equipment are independent, free and separated;

(2) the image guide treatment bed can realize direction, angle adjustment, movement and the like by a computer control system according to the clinical image requirements;

(3) the positioning marks (including point, surface and body marks) are captured by an optical position sensor, and the three-dimensional space position calibration is realized through a system software algorithm;

(4) after being processed by an optical position sensor and a software system, two-dimensional image data generated by the medical imaging equipment can be registered with a three-dimensional actual space coordinate, so that an accelerator is guided to realize accurate radiotherapy positioning.

2. The method as claimed in claim 1, wherein the medical imaging device and the accelerator are separated from each other in a mode of independent separation, that is, the imaging devices such as CT, MR, PET, B-mode ultrasound, X-ray machine and the like are not designed integrally with the accelerator, but are independent of each other, and the modules can be freely combined according to the field, environmental requirements and the like, thereby achieving the maximum resource utilization and reducing the equipment cost.

3. The design method of a new radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machine, position sensor, etc. as claimed in claim 2, wherein the CT, MR, PET, etc. devices adopt a fan-shaped space layout, thereby maximizing the utilization rate of the field and shortening the time of the treatment bed during the moving process.

4. The design method of a new radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machine, position sensor, etc. as claimed in claim 1, wherein the image-guided treatment bed of the feature (2) does not adopt the integrated design of the previous treatment bed-accelerator-image-guided device. The image guide diagnosis and treatment bed can be precisely moved and tracked under the control of a computer according to requirements, and meanwhile, the adjustment operation of the direction and the angle can be executed.

5. The design method of a new radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machine, position sensor, etc. as claimed in claim 1, wherein the three-dimensional space calculation of the features (3) is performed by matching the positioning markers in a plurality of two-dimensional pictures, which are obtained by several optical sensors in different directions, and the real-time tracking of the positioning markers is realized to complete the updating. The number of optical sensors needs to be adjusted according to actual requirements.

6. The design method of a new radiotherapy system based on CT, MR, PET, B-ultrasonic, X-ray machine, position sensor, etc. as claimed in claim 1, wherein said feature (4) depends on the data obtained in claim 5 and is updated in real time, thereby realizing the control of image guided bed and precise radiotherapy positioning.