CN114463431A - Calibration device for radiation therapy system - Google Patents
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- CN114463431A CN114463431A CN202110687672.4A CN202110687672A CN114463431A CN 114463431 A CN114463431 A CN 114463431A CN 202110687672 A CN202110687672 A CN 202110687672A CN 114463431 A CN114463431 A CN 114463431A
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- 239000011159 matrix material Substances 0.000 claims abstract description 33
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- 238000006243 chemical reaction Methods 0.000 description 18
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- 229910000838 Al alloy Inorganic materials 0.000 description 2
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- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
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Abstract
The invention discloses a calibration device for a radiation therapy system, and belongs to the field of medical equipment. The calibration device comprises: the system comprises a calibration component, a point cloud camera and a processor; the calibration assembly comprises: the calibration device comprises at least one calibration object and a bearing seat, wherein the at least one calibration object is positioned on the bearing seat, and the bearing seat is used for being connected with a treatment bed of the radiotherapy system; the point cloud camera is configured to be capable of acquiring image data of at least one calibration object and sending the image data to the processor; the processor is configured to determine coordinate data of a target point on the calibration object in the camera coordinate system from the image data, and to obtain a transformation matrix from the coordinate data of the target point on the calibration object in the camera coordinate system and the coordinate data of the target point on the calibration object in the isocenter coordinate system. The transformation matrix can transform the coordinate data under the coordinate system of the camera into the coordinate data under the coordinate system of the isocenter and is used for guiding the treatment of the patient.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a calibration device for a radiation therapy system.
Background
The point cloud camera is an image pickup device for providing point cloud data, the point cloud camera can acquire image data of a target object point in a visual field range of the point cloud camera, the image data can be converted into coordinate data of the target object point in a camera coordinate system after being processed, namely the point cloud data which is referred to the camera coordinate system, and the point cloud data has important significance for accurately determining the coordinate of the target object point.
In the related art, a point cloud camera is used in a radiotherapy process, and the point cloud camera can obtain image data at a treatment region on the body surface of a patient, and the image data can be converted into coordinate data in a camera coordinate system. However, the coordinate data of the treatment region on the surface of the patient body in the coordinate system of the isocenter of the radiotherapy apparatus is different from the coordinate data of the treatment region on the surface of the patient body in the coordinate system of the isocenter of the cloud camera (because the coordinate system of the isocenter is different from the coordinate system of the camera), and therefore, the coordinate data in the coordinate system of the camera needs to be converted into the coordinate data in the coordinate system of the isocenter, so that the coordinate data can be used for guiding the treatment of the patient.
When converting between the point cloud camera coordinate system and the isocenter coordinate system, a conversion matrix for converting the camera coordinate system to the isocenter coordinate system needs to be calculated. It is seen that it is necessary to provide a calibration arrangement for the calculation of the transformation matrix.
Disclosure of Invention
In view of the above, the present invention provides a calibration device for a radiation therapy system, which can solve the above technical problems.
Specifically, the method comprises the following technical scheme:
the embodiment of the invention provides a calibration device for a radiation therapy system, which comprises: the system comprises a calibration component, a point cloud camera and a processor;
the calibration assembly comprises: the calibration device comprises at least one calibration object and a bearing seat, wherein the calibration object is positioned on the bearing seat, and the bearing seat is used for being connected with a treatment bed of the radiotherapy system;
the point cloud camera is configured to be capable of acquiring image data of the at least one calibration object and sending the image data to the processor;
the processor is configured to be able to determine, from the image data, coordinate data of target points on the at least one calibration object in a camera coordinate system, and to obtain a transformation matrix from the coordinate data of the target points on the plurality of calibration objects in the camera coordinate system and the coordinate data of the target points on the plurality of calibration objects in an isocenter coordinate system.
In some possible implementations, the calibration object is a sphere or a hemisphere.
In some possible implementations, the calibration object is a plurality of calibration objects, and the diameters of the plurality of calibration objects are the same.
In some possible implementations, at least some of the calibrators are different diameters.
In some possible implementations, the carrier includes: a seat body and a positioning piece;
the positioning piece is positioned on the seat body and used for fixing the calibration object.
In some possible implementations, the positioning member is a limiting groove;
the limiting groove is formed in the surface of the seat body and used for receiving the end portion of the calibration object.
In some possible implementations, the positioning member is a connecting rod;
one end of the connecting rod is connected with the seat body, and the other end of the connecting rod is connected with the calibration object.
In some possible implementations, the number of the links is plural;
the connecting rods are staggered with each other, and at least part of the connecting rods have different heights.
In some possible implementations, the heights of the plurality of links are different from each other.
In some possible implementations, the link is adjustable in length.
In some possible implementations, the link and the seat body, and the link and the calibration object are detachably connected.
In some possible implementations, a surface of the calibration object is provided in a first color;
the surfaces of the base and the connecting rod are set to be in a second color;
the point cloud camera is configured to be able to identify the first color and unable to identify the second color.
In some possible implementations, the first color is white and the second color is black.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the calibration device for the radiotherapy system provided by the embodiment of the invention can be used for calculating the conversion matrix, when the calibration device is applied, the bearing seat is fixed on a treatment bed of the radiotherapy system, and the calibration component can be moved to a set position at a certain distance from the isocenter of the radiotherapy system by moving the treatment bed. That is, at the set position, the distance between any of the calibration objects in the calibration assembly and the isocenter is determined, and the coordinate data of each calibration object in the isocenter coordinate system can be determined. Then, the image data of each calibration object is collected by a point cloud camera, and the point cloud camera can send the collected image data to a processor. The processor can determine coordinate data of a target point on the calibration object in the camera coordinate system according to the image data, and acquire the conversion matrix according to the coordinate data of the target point on the calibration object in the camera coordinate system and the coordinate data of the target point on the calibration object in the isocenter coordinate system.
Therefore, the calibration device for a radiotherapy system provided by the embodiment of the invention can be used for calculating to obtain the conversion matrix through the design of the calibration component and the processor, the conversion matrix can convert the camera coordinate system to the isocenter coordinate system, so that when the calibration device is used for guiding the treatment of the body surface of the patient in the radiotherapy system, the point cloud camera is used for obtaining the image data of the treatment area of the body surface of the patient, the image data is processed and converted into the coordinate data in the camera coordinate system, and then the obtained conversion matrix can be used for converting the coordinate data in the camera coordinate system into the coordinate data in the isocenter coordinate system, and the coordinate data in the isocenter coordinate system is directly used for the treatment guidance of the patient in the radiotherapy system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an exemplary calibration apparatus for a radiation therapy system according to an embodiment of the present invention;
FIG. 2 is an isometric view of an exemplary calibration assembly provided by an embodiment of the present invention;
FIG. 3 is a side view of an exemplary calibration assembly provided in accordance with an embodiment of the present invention;
FIG. 4 is a top view of an exemplary calibration assembly provided in accordance with embodiments of the present invention;
FIG. 5 is a side view of another exemplary calibration assembly provided by an embodiment of the present invention.
The reference numerals denote:
1-calibrating the components of the device,
11-a calibration object, wherein the calibration object is a glass fiber,
12-a bearing seat, 121-a seat body, 122-a positioning piece,
122 a-a connecting rod, 122 b-a limiting groove,
2-a point cloud camera, wherein,
and 3, a processor.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following will describe embodiments of the present invention in further detail with reference to the accompanying drawings.
When treating a patient with a radiation therapy system, also called a radiation therapy device, the patient generally lies on a treatment couch and is fixed by a fixing unit in the radiation therapy system such that the treatment region of the patient is stationary with respect to the isocenter of the radiation therapy system. In this case, the coordinate data of a certain point in the treatment region of the patient is also fixed in the isocenter coordinate system having the isocenter as a reference point, and the contour of the treatment region of the patient can be defined using the coordinate data of the treatment region of the patient in the isocenter coordinate system.
For example, for an isocenter coordinate system, with reference to the patient, the x-axis may extend in a direction from ear to ear of the patient, the z-axis may extend in a direction from back to chest of the patient, and the y-axis may extend in a direction from head to step of the patient.
Before the radiotherapy is carried out on the patient, a treatment plan needs to be made, when the treatment plan is made, an imaging system needs to be used for scanning a treatment area of the patient, image data of the treatment area is acquired by the imaging system and then converted into coordinate data of a reference coordinate system by taking a central axis of the imaging system as a reference coordinate system, so that the position, the size and the like of the treatment area of the patient can be accurately determined.
The point cloud camera is an image pickup device for providing point cloud data, the point cloud camera can acquire image data of a target object point in a visual field range of the point cloud camera, and the image data can be converted into coordinate data of the target object point in a camera coordinate system after being processed, namely the point cloud data which is referred to by the camera coordinate system. In the related art, a point cloud camera is used as an imaging device in a radiotherapy process, and the point cloud camera can obtain image data of a treatment region on the body surface of a patient, and the image data can be converted into coordinate data in a camera coordinate system.
However, the coordinate system of the point cloud camera is not aligned with the coordinate system of the isocenter where the fixing unit of the radiotherapy apparatus is located, so that there is a certain deviation between the coordinate system of the point cloud camera and the coordinate system of the isocenter, and therefore, the coordinate data in the coordinate system of the point cloud camera needs to be converted into the coordinate data in the coordinate system of the isocenter, so that the coordinate data can be used for guiding the treatment of the patient in the radiotherapy apparatus.
When the point cloud camera coordinate system is converted into the isocenter coordinate system, a conversion matrix for converting the camera coordinate system into the isocenter coordinate system needs to be obtained. It is seen that it is necessary to provide a calibration arrangement for the calculation of the transformation matrix.
Fig. 1 provides an exemplary calibration arrangement for a radiation therapy system, which, referring to fig. 1, comprises: the system comprises a calibration component 1, a point cloud camera 2 and a processor 3;
as shown in fig. 2, fig. 3 or fig. 4, the calibration assembly 1 includes: at least one calibration object 11 and a bearing seat 12, wherein the at least one calibration object 11 is positioned on the bearing seat 12, and the bearing seat 12 is used for connecting with a treatment bed of the radiotherapy system.
The point cloud camera 2 is configured to be able to acquire image data of at least one calibration object 11 and send the image data to the processor 3.
The processor 3 is configured to be able to determine from the image data coordinate data of the target point on the calibration object 11 in the camera coordinate system and to acquire the transformation matrix from the coordinate data of the target point on the calibration object 11 in the camera coordinate system and the coordinate data of the target point on the calibration object 11 in the isocenter coordinate system.
In the calibration assembly 1, the number of the calibrators 11 may be one, or may be multiple, for example, two, three, four, five, etc.
When the number of the calibration objects 11 is one, the treatment couch is moved to different set positions by moving the treatment couch, so that the calibration objects 11 are also moved to corresponding positions along with the treatment couch, in which case, the number of the calibration positions of the calibration objects 11 can be determined accordingly according to the number of the movement positions of the treatment couch, that is, the same calibration effect as that of the plurality of calibration objects 11 is achieved.
When the number of the calibration objects 11 is plural, the plurality of calibration objects 11 are respectively arranged at different positions on the carrying base 12, and according to the number of the calibration objects 11, the corresponding number of calibration positions can be provided. The method enables the calibration process to be simpler and easier to operate.
The calibration device for the radiation therapy system provided by the embodiment of the invention can be used for calculating the conversion matrix, when the calibration device is applied, the bearing seat 12 is fixed on a treatment bed of the radiation therapy system, and the calibration component 1 can be moved to a set position at a certain distance from the isocenter of the radiation therapy system by moving the treatment bed. That is, at the set position, the distance between any one of the calibration objects 11 in the calibration assembly 1 and the isocenter is determined, and the coordinate data of each calibration object 11 in the isocenter coordinate system can be determined. Then, the point cloud camera 2 is used to acquire image data of each calibration object 11, and the point cloud camera 2 can transmit the acquired image data to the processor 3. The processor 3 is capable of determining coordinate data of the target point on the calibration object 11 in the camera coordinate system from the image data, and acquiring the transformation matrix from the coordinate data of the target point on the calibration object 11 in the camera coordinate system and the coordinate data of the target point on the calibration object 11 in the isocenter coordinate system.
It can be seen that the calibration device for a radiation therapy system according to the embodiment of the present invention can be used to calculate a transformation matrix through the design of the calibration component 1 and the processor 3, where the transformation matrix can transform the camera coordinate system to the isocenter coordinate system, so that, when guiding the treatment on the body surface of the patient in the radiation therapy system, the point cloud camera 2 obtains image data of the treatment area on the body surface of the patient, and after the image data is processed and transformed into coordinate data in the camera coordinate system, the obtained transformation matrix can transform the coordinate data in the camera coordinate system into coordinate data in the isocenter coordinate system, where the coordinate data in the isocenter coordinate system is directly used for guiding the treatment of the patient in the radiation therapy system.
The following further illustrates the structural arrangement of the components included in the calibration device for a radiation therapy system and the function thereof provided by the embodiments of the present invention:
for the calibration assembly 1
In the calibration assembly 1, the calibration objects 11 are located on the carrier 12, for example, a plurality of calibration objects 11 are arranged on the carrier 12, so that, after the calibration assembly 1 is fixed on the treatment couch and moved to a specific position along with the treatment couch, each calibration object 11 has a position (coordinate) determined and known in the isocenter coordinate system, by identifying the positions of these calibration objects 11 in the camera coordinate system (i.e., the coordinate system in which the point cloud camera 2 is located), so that the position deviation between the positions of the calibration objects 11 in the camera coordinate system and the known positions of the calibration objects 11 in the isocenter coordinate system can be calculated, and further, the positional relationship of the calibration objects 11 in the camera coordinate system and in the isocenter coordinate system can be determined, i.e., the conversion matrix can be determined accordingly.
In order to effectively compare the positions of the calibration object 11 in the camera coordinate system and the isocenter coordinate system, a target point is first determined on the calibration object 11, and coordinate data of the target point in the camera coordinate system and the isocenter coordinate system are acquired for conversion.
In order to more easily determine the target point on the calibration object 11 and to more easily acquire the coordinate data on the target point on the calibration object 11, the calibration object 11 is made to be a sphere or a hemisphere in the embodiment of the present invention.
When a sphere or a hemisphere is used, the center of the calibration object 11 can be used as the target point of the calibration object 11, and after the point cloud camera 2 is used to obtain the image of any point on the surface of the calibration object 11, the coordinate data of the center of the calibration object 11 in the camera coordinate system can be obtained through simple processing according to the radius data of the calibration object 11 and the image data.
In some examples, as shown in fig. 2, the calibration object 11 used in the embodiment of the present invention is a sphere, so that the point cloud camera 2 shoots from any angle, and no matter which point on the surface of the calibration object 11 the image information is shot, the image information can play the same role, and the problem of different image information due to different shooting angles does not occur, so that the calibration process is more reliable, and the calibration process is more convenient.
In the practice of the present invention, the diameters of the plurality of calibrators 11 may be the same for a plurality of spherical or hemispherical calibrators 11, or the diameters of the plurality of calibrators 11 may be partially the same, or the diameters of the plurality of calibrators 11 may be different from each other.
In some possible implementations, the diameters of the calibration objects 11 may be the same, so that when the image information of the point cloud cameras 2 of the calibration objects 11 with the same diameter is processed, the same processing formula is used to obtain the corresponding coordinate data.
In some possible implementations, at least some of the calibrators 11 have different diameters, for example, some of the calibrators 11 have the same diameter, and the remaining portion of the calibrators 11 have different diameters, or all of the calibrators 11 have different diameters.
When processing the image information of the point cloud camera 2 of the calibration object 11 with different diameters, different processing formulas are adopted to obtain corresponding coordinate data.
In the embodiment of the present invention, the carrying seat 12 at least includes a seat body 121, the calibration object 11 can be directly placed on the seat body 121, and in order to improve the placing stability of the calibration object 11, a positioning structure can be arranged on the seat body 121 for positioning the calibration object 11.
In some possible implementations, as shown in fig. 1, the carrier 12 includes: a seat body 121 and a positioning member 122; the positioning element 122 is located on the seat body 121, and the positioning element 122 is used for fixing the calibration object 11.
The positioning members 122 are used to realize the stable placement of the calibration objects 11 on the bearing seat 12, and the number of the positioning members 122 is the same as that of the calibration objects 11 and corresponds to one another.
Exemplary configurations of the positioning member 122 include, but are not limited to, the following: a connecting rod 122a, a limiting groove 122b, a clamp, a clamping hoop and the like.
In some possible implementations, as shown in fig. 2, the positioning member 122 is a connecting rod 122 a; one end of the link 122a is connected to the seat body 121, and the other end of the link 122a is connected to the calibration object 11.
As shown in fig. 2, the calibration assembly 1 includes: the calibration device comprises a plurality of calibration objects 11 and a plurality of connecting rods 122a, wherein the calibration objects 11 correspond to the connecting rods 122a one by one, the calibration objects 11 are fixed on a seat body 121 through the corresponding connecting rods 122a, and the seat body 121 is used for being connected with a treatment bed of the radiotherapy system.
The number of the calibration objects 11 is the same as that of the connecting rods 122a, and in the embodiment of the present invention, the number of the calibration objects 11 may be at least 3, for example, 3, 4, 5, 6 or more, and of course, any two calibration objects 11 are not blocked from each other (i.e., the point cloud camera 2 can effectively capture an image of each calibration object 11 without being affected by the blocking of the adjacent calibration object 11). The data of the calibration object 11 is defined in this way, which is not only beneficial to the calibration process to be more accurate, but also beneficial to the simplification of the calibration process, so that all image data used for calculating the conversion matrix can be obtained by one-time calibration.
The calibration objects 11 are fixed on the bearing seat 12 through the connecting rods 122a, in the embodiment of the present invention, the connecting rods 122a are staggered, so that not only the coordinates of each calibration object 11 in the direction parallel to the surface of the base are different, but also any two adjacent calibration objects 11 can be prevented from being shielded.
For example, as shown in fig. 2, the number of the links 122a is four, and for example, four links 122a may be arranged in a quadrangular shape, or three of the links 122a may be arranged in a triangular shape, and the other link 122a may be located at the center of the triangle.
In the case of a plurality of links 122a, in some examples, the height of at least some of the links 122a is made different, so that the coordinate data of at least some of the markers 11 in the direction perpendicular to the surface of the carrier 12 is also different.
Further, the heights of the plurality of links 122a are made different from each other. In this way, the plurality of calibration objects 11 are on different planes, that is, the three-dimensional coordinate data of each calibration object 11 in the camera coordinate system are different from each other to provide more calculation data.
In some possible implementation manners, the length of the connecting rod 122a may be adjustable, so that the length of the connecting rod 122a may be adaptively adjusted according to actual requirements, and further the heights of the plurality of calibration objects 11 may be adjusted, thereby improving the adaptability of the calibration device.
The ways in which the link 122a can be adjusted in length include, but are not limited to, the following: a sleeve-type structure, a chute-type structure, a geometric deformation-type structure, etc.
In the embodiment of the present invention, the connecting rod 122a and the base, and the connecting rod 122a and the calibration object 11 are detachably connected, so that the calibration assembly 1 can be easily mounted and dismounted on and from the base.
For example, the detachable connection means includes but is not limited to: threaded connection, screw connection, clamping connection, pin connection, magnetic buckle connection and the like.
In some possible implementations, as shown in fig. 5, the positioning member 122 is a limiting groove 122 b; the limiting groove 122b is opened on the surface of the seat body 121, and the limiting groove 122b is used for receiving the end of the calibration object 11.
The limiting groove 122b must satisfy the following conditions: (1) the purpose of limiting the calibration object 11 in the slot cavity can be achieved by receiving the end part of the calibration object 11, so that the calibration object 11 is fixed relative to the treatment bed without undesired displacement. Thus, the calibration object 11 is always kept in a fixed state with respect to the couch while the couch is moved. (2) When the end of the calibration object 11 is located in the limiting groove 122b, the image acquisition of the point cloud camera 2 to the calibration object 11 is not affected, and the image data of a specific target point on the calibration object 11 can be accurately acquired.
Exemplary configurations of the retaining groove 122b include, but are not limited to, the following: circular arc-shaped grooves, elliptical arc-shaped grooves, truncated cone-shaped grooves, polygonal grooves (e.g., four-deformed grooves, hexagonal grooves, etc.).
The calibration assembly 1 is fixed to the three-dimensional treatment couch by the load bearing seat 12, in particular, the seat body 121, and in some examples, the seat body 121 includes: a main body part for supporting a plurality of positioning members 122 to be coupled, and a connection part for being coupled with the three-dimensional treatment couch.
The main body portion and the connecting portion may be in the same plane, or the main body portion and the connecting portion may have an included angle, and the included angle therebetween may be, for example, 30 ° to 120 °, such as 90 °, or the like.
In some possible implementations, the bearing seat 12 is configured to be fixed on a three-dimensional treatment couch, such that the axial direction of the plurality of links 122a is the same as the height direction of a patient lying on the treatment couch.
In some possible implementations, the surface of the calibration object 11 is set to a first color; the surface of the carrier 12, for example, the seat body 121 and the link 122a, is provided with a second color; the point cloud camera 2 is configured to be able to recognize the first color and not to recognize the second color.
In this way, when acquiring the image information of the calibration object 11, the point cloud camera 2 is not interfered by the bearing seat 12, and only can identify the calibration object 11, thereby improving the reliability and accuracy of the acquired image information.
The first color of the surface of the calibration object 11 can be a self color or a color coating, and similarly, the second color of the surface of the bearing seat 12 can be a self color or a color coating.
In some possible examples, the first color is white and the second color is black, such that the point cloud camera 2 is configured to not recognize black, i.e., the above requirements may be satisfied. The color setting mode is simple, the requirement on the point cloud camera 2 is low, and the calibration difficulty is favorably reduced.
For example, an embodiment of the present invention provides a calibration assembly 1, which includes: a round sphere made of matt ceramic material is used as the calibration object 11, an aluminum alloy rod with a black color coating on the surface is used as the connecting rod 122a, and a black-gray synthetic fiberboard is used as the seat body 121. Thus, the calibration object 11 appears white due to the ceramic itself, and the link rod 122a and the bearing 12 appear black.
Based on the above, the embodiment of the present invention provides a calibration assembly 1, as shown in fig. 2, fig. 3, or fig. 4, where the calibration assembly 1 includes: a seat body 121, four links 122a, and four calibrators 11;
the calibration object 11 is a round sphere made of matte ceramic material, the connecting rod 122a is an aluminum alloy rod with a black color coating on the surface, and the seat body 121 is a black synthetic fiberboard.
One end of the connecting rod 122a is connected with the calibration object 11 by screw thread, the other end of the connecting rod 122a is connected with the seat body 121 by screw thread, and each calibration object 11 is fixed above the bearing seat 12 by one connecting rod 122 a.
The four calibration objects 11 are distributed in a square shape, and of the four calibration objects 11, two calibration objects 11 have the same diameter, and the other two calibration objects 11 have the same diameter. For example, two of the calibrators 11 have a diameter of 50.8mm, and the other two calibrators 11 have a diameter of 60 mm.
The heights of the four links 122a are different from each other, so that the distances from the centers of the four calibration objects 11 to the bearing seat 12 are different from each other, for example, the distances from the centers of the four calibration objects 11 to the bearing seat 12 are 60mm, 65mm, 75mm and 80mm, respectively.
For point cloud camera 2
The point cloud cameras 2 are commonly known in the art, and in the embodiment of the present invention, one point cloud camera 2 may be used, or two, three, or four point cloud cameras 2 may be used.
When the calibration object 11 is a sphere, one point cloud camera 2 is used, and the point cloud camera 2 is placed at a position where all the image data of the calibration object 11 can be acquired.
In the embodiment of the present invention, the point cloud camera 2 may be arranged at any position capable of acquiring the image of the calibration object 11, the point cloud camera 2 may be independently arranged at a certain position outside the radiotherapy system, and the point cloud camera 2 may also be arranged on a certain fixed component on the radiotherapy system as long as it is ensured that the point cloud camera 2 can acquire the image data of the calibration object 11.
For the processor 3
In an embodiment of the present invention, the processor 3 is configured to determine coordinate data of the target point on the calibration object 11 in the camera coordinate system according to the image data, and acquire the transformation matrix according to the coordinate data of the target point on the calibration object 11 in the camera coordinate system and the coordinate data of the target point on the calibration object 11 in the isocenter coordinate system.
When the number of the calibration objects 11 is one, the calibration objects 11 are moved by moving the treatment couch, so as to obtain coordinate data of target points on the calibration objects 11 at different positions, which includes: a plurality of coordinate data in the camera coordinate system corresponding to the target point on the calibration object 11 at different positions, and a plurality of coordinate data in the isocenter coordinate system corresponding to the target point on the calibration object 11 at different positions.
In this case, the processor 3 is configured to obtain the transformation matrix based on the plurality of coordinate data in the camera coordinate system corresponding to the target point on the calibration object 11 at different positions, and the plurality of coordinate data in the isocenter coordinate system corresponding to the target point on the calibration object 11 at different positions, as described above.
When the number of the calibration objects 11 is plural, the target points of the calibration objects 11 correspond to plural coordinate data in the camera coordinate system, and the target points of the calibration objects 11 correspond to plural coordinate data in the isocenter coordinate system.
In this case, the processor 3 is configured to be able to determine, from the image data, coordinate data of the target points on the plurality of calibration objects 11 in the camera coordinate system, and to acquire the transformation matrix from the coordinate data of the target points on the plurality of calibration objects 11 in the camera coordinate system and the coordinate data of the target points on the plurality of calibration objects 11 in the isocenter coordinate system.
The processor 3 is connected to the point cloud camera 2, for example by a data line, so that the image data acquired by the point cloud camera 2 can be transmitted directly to the processor 3.
When the processor 3 processes the image data of the calibration objects 11, the coordinates of the target point of each calibration object 11 can be obtained by using a spherical fitting method, for example, for a spherical calibration object 11, the coordinates of the center of the sphere thereof may be obtained.
According to the formula AX ═ Y, A ═ Y × X can be obtained-1Wherein Y represents the three-dimensional coordinates (Y _1, Y _2, Y _3) in the isocenter coordinate system, X represents the three-dimensional coordinates (X _1, X _2, X _3) in the camera coordinate system, and A is an Euler transformation matrix which is a 4X 4 square matrix.
As can be seen from the above conversion relationship, when the coordinate data of the target points of the four calibration objects 11 in the isocenter coordinate system and the coordinate data of the corresponding identical target points in the camera coordinate system are provided, the conversion matrix a can be solved.
That is, the processor 3 is configured to utilize the coordinate data of the target points on the plurality of calibration objects 11 in the camera coordinate system and the coordinate data of the target points on the plurality of calibration objects 11 in the isocenter coordinate system according to the formula a ═ Y × X-1Can be solved to obtainTo the conversion matrix a.
And the Euler matrix A which is finally obtained is a conversion matrix for converting the point position in the camera coordinate system to the point position in the isocenter coordinate system.
In summary, the calibration device provided by the embodiment of the present invention at least has the following advantages:
(1) by having the calibration assembly 1 with a plurality of calibrators 11 located on the carrier 12, the carrier 12 is connected to the treatment couch of the radiation therapy system. Also, the calibration objects 11 are spherical bodies or hemispheres such that each calibration object 11 has a known position (coordinate) determined in the isocenter coordinate system, and by identifying the positions of these calibration objects 11 in the camera coordinate system, the positional deviation between the position of the calibration object 11 in the camera coordinate system and the known position of the calibration object 11 in the isocenter coordinate system can be calculated, and the conversion matrix can be determined accordingly. The calibration assembly 1 has the advantages of simple forming and preparation process, easiness in operation and the like, provided calibration data are reliable, the precision is high and the like, the calibration flow is simplified, and the calibration efficiency is improved on the premise of ensuring the precision.
(2) The point cloud camera 2 and the processor 3 are matched for use to calculate the conversion matrix of the relative position of the point cloud camera 2 and the isocenter, so that the calculation mode of the conversion matrix is simple and convenient, the calibration process is further simplified, and the calibration efficiency is improved on the premise of ensuring the precision.
In embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only for facilitating the understanding of the technical solutions of the present invention by those skilled in the art, and is not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A calibration arrangement for a radiation therapy system, the calibration arrangement comprising: the device comprises a calibration component (1), a point cloud camera (2) and a processor (3);
the calibration assembly (1) comprises: at least one calibration object (11) and a carrying seat (12), wherein the at least one calibration object (11) is positioned on the carrying seat (12), and the carrying seat (12) is used for being connected with a treatment bed of the radiotherapy system;
the point cloud camera (2) is configured to be able to acquire image data of the surface of the at least one calibration object (11) and to send the image data to the processor (3);
the processor (3) is configured to be able to determine from the image data coordinate data of a target point on the calibration object (11) in a camera coordinate system and to obtain a transformation matrix from the coordinate data of the target point on the calibration object (11) in the camera coordinate system and the coordinate data of the target point on the calibration object (11) in an isocenter coordinate system.
2. Calibration arrangement for a radiation therapy system according to claim 1, characterized in that the calibration object (11) is a sphere or a hemisphere.
3. Calibration arrangement for a radiation therapy system according to claim 2, characterized in that said calibrators (11) are plural, the diameter of a plurality of said calibrators (11) being the same.
4. Calibration arrangement for a radiation therapy system according to claim 3, characterized in that at least some of the calibrators (11) differ in diameter.
5. Calibration arrangement for a radiation therapy system according to claim 1, characterized in that the carrier (12) comprises: a seat body (121) and a positioning member (122);
the positioning piece (122) is located on the seat body (121), and the positioning piece (122) is used for fixing the calibration object (11).
6. Calibration arrangement for a radiation therapy system according to claim 5, characterized in that the positioning element (122) is a stop groove (122 b);
the limiting groove (122b) is opened on the surface of the seat body (121), and the limiting groove (122b) is configured to receive the end of the calibration object (11).
7. Calibration arrangement for a radiation therapy system according to claim 5, characterized in that the positioning element (122) is a connecting rod (122 a);
one end of the connecting rod (122a) is connected with the seat body (121), and the other end of the connecting rod (122a) is connected with the calibration object (11).
8. Calibration arrangement for a radiation therapy system according to claim 7, characterized in that the number of said links (122a) is plural;
the plurality of connecting rods (122a) are staggered with each other, and the heights of at least some of the connecting rods (122a) are different.
9. Calibration arrangement for a radiation therapy system according to claim 8, characterized in that the heights of a plurality of said links (122a) differ from each other.
10. Calibration arrangement for a radiation therapy system according to claim 8, characterized in that the length of the link (122a) is adjustable.
11. Calibration arrangement for a radiation therapy system according to claim 7, characterized in that the connection between said link (122a) and said seat body (121), and between said link (122a) and said calibration object (11), are detachable connections.
12. Calibration arrangement for a radiation therapy system according to any of the claims 1-11, characterized in that the surface of the calibration object (11) is provided in a first color;
the surface of the bearing seat (12) is set to be a second color;
the point cloud camera (2) is configured to be able to recognize the first color and not to recognize the second color.
13. The calibration device for a radiation therapy system according to claim 12, wherein said first color is white and said second color is black.
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Cited By (1)
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| CN117830438A (en) * | 2024-03-04 | 2024-04-05 | 数据堂（北京）科技股份有限公司 | Laser radar and camera combined calibration method based on specific marker |
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