CN114949633A - Patient positioning method and device, storage medium and computer equipment - Google Patents

Patient positioning method and device, storage medium and computer equipment Download PDF

Info

Publication number
CN114949633A
CN114949633A CN202210535668.0A CN202210535668A CN114949633A CN 114949633 A CN114949633 A CN 114949633A CN 202210535668 A CN202210535668 A CN 202210535668A CN 114949633 A CN114949633 A CN 114949633A
Authority
CN
China
Prior art keywords
preset
patient
dimensional model
coordinate
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210535668.0A
Other languages
Chinese (zh)
Inventor
李谭谭
董少杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Yiqi Technology Co ltd
Original Assignee
Beijing Yiqi Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Yiqi Technology Co ltd filed Critical Beijing Yiqi Technology Co ltd
Priority to CN202210535668.0A priority Critical patent/CN114949633A/en
Publication of CN114949633A publication Critical patent/CN114949633A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source

Abstract

The invention discloses a patient positioning method, a patient positioning device, a storage medium and computer equipment, relates to the technical field of digital medical treatment, and mainly aims to improve the positioning efficiency and positioning precision of a patient. The method comprises the following steps: acquiring a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned; based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using a preset display device, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display device; and carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position. The invention is suitable for positioning the patient during radiotherapy.

Description

Patient positioning method and device, storage medium and computer equipment
Technical Field
The invention relates to the technical field of digital medical treatment, in particular to a patient positioning method, a patient positioning device, a storage medium and computer equipment.
Background
Radiotherapy (hereinafter, radiotherapy) is one of three main clinical methods for treating tumors, and radiotherapy equipment irradiates tumors with X-rays and other rays to achieve a treatment effect. At present, radiotherapy enters a precise radiotherapy stage, and precise radiotherapy emphasizes that rays are concentrated to a tumor for irradiation, and meanwhile damage to healthy tissues is avoided as much as possible. In accurate radiotherapy, the accuracy of the position of a patient is a key factor for successful treatment, and researches show that the effect of radiotherapy can be influenced by inaccurate radiotherapy dosage caused by the positioning error of the patient, so that the correct positioning of the patient is an indispensable guarantee measure for accurate radiotherapy.
Currently, patient positioning is typically accomplished manually. However, in this positioning method, a cross line needs to be drawn on the body surface of the patient in advance, and the radiotherapy technician aligns the cross line on the body surface of the patient with the laser cross line on the radiotherapy equipment to position the patient, so that the positioning efficiency of the patient is reduced.
Disclosure of Invention
The invention provides a patient positioning method, a patient positioning device, a storage medium and computer equipment, and mainly aims to improve the positioning efficiency and positioning accuracy of a patient.
According to a first aspect of the present invention, there is provided a method of positioning a patient, comprising:
acquiring a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned;
based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using a preset display device, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display device;
and carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position.
According to a second aspect of the present invention, there is provided a patient positioning device comprising:
the system comprises an acquisition unit, a display unit and a display unit, wherein the acquisition unit is used for acquiring a preset three-dimensional model corresponding to a patient to be positioned, and the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned;
the projection unit is used for projecting the preset three-dimensional model to a target positioning position corresponding to a preset treatment device by using preset display equipment based on the first position information and second position information corresponding to an irradiation point in the preset treatment device, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display equipment;
and the positioning unit is used for positioning the patient to be positioned based on the preset three-dimensional model at the target positioning position.
According to a third aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned;
based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using a preset display device, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display device;
and carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position.
According to a fourth aspect of the present invention, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the program:
acquiring a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned;
based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using a preset display device, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display device;
and carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position.
According to the patient positioning method, the patient positioning device, the patient positioning storage medium and the computer equipment, compared with the existing mode of realizing patient positioning based on a manual mode, the patient positioning method obtains a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned; based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using preset display equipment, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display equipment; finally, the patient to be positioned is positioned based on the preset three-dimensional model at the target positioning position, so that the irradiation point at the preset treatment device is superposed with the focus region in the preset three-dimensional model by obtaining the preset three-dimensional model corresponding to the patient to be positioned and projecting the preset three-dimensional model to the target positioning position of the preset treatment device, and finally the patient to be positioned is positioned based on the preset three-dimensional model at the target positioning position, namely, the invention can simultaneously observe a virtual preset three-dimensional model and a real treatment scene through the preset display equipment, realizes mixed reality radiotherapy positioning, avoids the problem that manual positioning needs to be marked on the body surface of the patient, thereby improving the positioning efficiency of the patient, and simultaneously, the positioning method in the invention can avoid the technical level of a radiotherapy technician from being uneven, the problem of wrong positioning is caused, and the positioning precision of positioning the patient is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart illustrating a patient positioning method provided by an embodiment of the invention;
FIG. 2 is a flow chart illustrating another patient positioning method provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a patient positioning scenario provided by an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating a patient positioning device according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another patient positioning device provided by an embodiment of the present invention;
fig. 6 shows a physical structure diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
At present, the positioning efficiency is low due to the mode of manually positioning the patient, meanwhile, the positioning method completely depends on the technical level and visual judgment of a technician, and when the positioning deviation is small, the positioning deviation is difficult to identify through naked eyes, so that the positioning precision of positioning the patient is low.
In order to solve the above problem, an embodiment of the present invention provides a patient positioning method, as shown in fig. 1, the method including:
101. the method comprises the steps of obtaining a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned.
The preset three-dimensional model is a body surface contour corresponding to the patient to be positioned, and the focus area is a disease treatment area corresponding to the patient to be positioned.
For the embodiment of the invention, in order to solve the problems of low positioning efficiency and low positioning precision of a patient in the prior art, the embodiment of the invention obtains a preset three-dimensional model corresponding to the patient to be positioned, projects the preset three-dimensional model to a target positioning position corresponding to a preset treatment device, makes the irradiation point at the preset treatment device coincide with the focus region in the preset three-dimensional model, and finally positions the patient to be positioned based on the preset three-dimensional model at the target positioning position, so as to avoid the problem that manual positioning needs to be marked on the body surface of the patient, thereby improving the positioning efficiency of the patient, meanwhile, the positioning method in the invention can realize mixed reality positioning by simultaneously observing a virtual preset three-dimensional model and a real treatment scene through preset display equipment, the problem of wrong positioning caused by uneven technical level of radiotherapy technicians is solved, and the positioning precision of positioning the patient is improved.
Specifically, the body surface parameter information corresponding to the patient to be positioned may be obtained by performing a whole body scan on the patient to be positioned by using a CT scan (computed tomography), wherein the body surface parameter information includes parameter information corresponding to the focal region, and the body surface parameter information corresponding to the patient to be positioned is transmitted to the CT simulation positioning system, the CT simulation positioning system uses the body surface parameter information to draw the preset three-dimensional model for the patient to be positioned, at this time, the preset three-dimensional model is stored in the CT simulation positioning system, and the first position information corresponding to the focal region in the preset three-dimensional model is determined in the CT simulation positioning system, and then the preset three-dimensional model in the CT simulation positioning system is projected to the target positioning position corresponding to the preset treatment device, and finally the patient to be positioned is moved to the three-dimensional preset model corresponding to the target positioning position, the patient to be positioned is coincided with the preset three-dimensional model, so that the patient to be positioned is positioned, and the positioning efficiency of the patient is improved.
102. Based on the first position information and second position information corresponding to irradiation points in a preset treatment device, the preset three-dimensional model is projected to a target positioning position corresponding to the preset treatment device by utilizing a preset display device, wherein an operator can observe the preset three-dimensional model, the preset treatment device and the patient to be positioned simultaneously based on the preset display device.
If the patient has cancer, the preset treatment device can be specifically a linear accelerator, the irradiation point is a treatment room laser beam intersection point, irradiation treatment on the focus area of the patient is realized through coincidence of the treatment laser irradiation point and the focus area, namely when the treatment laser irradiation point irradiates on the focus area of the patient to be positioned, the target positioning position is a positioning position enabling the focus area of the patient to realize accurate radiotherapy, and the preset display equipment can be equipment worn by an operator or display equipment similar to a computer screen.
For the embodiment of the present invention, after determining the first position information corresponding to the focal region in the preset three-dimensional model, it is further required to determine the second position information corresponding to the irradiation point in the preset treatment device, where the determination method of the second position information is that, when the rack of the treatment device rotates on the vertical plane, the high-energy rays generated by the radiation head form radiation fields by the beam limiting device, the axes of these radiation fields point to the rotation center of the rack, and this point is called the second position information corresponding to the irradiation point in the preset treatment device, and in order to realize the irradiation of the focal region by the rays, it is required to overlap the focal region and the irradiation point, based on which, the overlapping method may be that the preset three-dimensional model stored in the CT simulation positioning system is projected into a preset display device, where the preset display device may specifically be a HoloLens head-mounted display device, the device can project a virtual image into the real world so that a radiotherapy technician can visually observe a virtual three-dimensional model and a real treatment scene based on the preset display device, after the preset three-dimensional model is stored in the Hololens head-mounted display device, an operator wearing the Hololens head-mounted display device determines an observation position through body movement until the preset three-dimensional model and the preset treatment device are simultaneously displayed in a visual field range of the operator, and then can perform the next operation, specifically, after the operator wearing the Hololens finds the observation position, the preset three-dimensional model is projected to a target positioning position corresponding to the preset treatment device based on first position information corresponding to a focus area and second position information corresponding to an irradiation point in Hololens when the focus area in the preset three-dimensional model is superposed with the irradiation point, then based on the preset three-dimensional model at the target positioning position, an operator positions the patient to be positioned, and a mixed reality radiotherapy technology is realized, namely, a HoloLens model is utilized to realize the fusion of a real treatment device and the virtual preset three-dimensional model, so that the positioning efficiency of the patient during treatment is improved, meanwhile, the marking information can be prevented from being drawn on the body surface of the patient, the positioning operation steps are reduced, and the workload of a radiotherapy technician is reduced.
103. And carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position.
For the embodiment of the present invention, after the preset three-dimensional model is projected to the target placement position corresponding to the preset treatment device, in order to treat a disease of the patient to be placed, the patient to be placed needs to move to the target placement position where the preset three-dimensional model is located, specifically, based on the model position information of the preset three-dimensional model at the target placement position and the patient position information corresponding to the patient to be placed, the treatment couch where the patient to be placed is located is moved, so that the patient to be placed on the treatment couch is overlapped with the preset three-dimensional model at the target placement position, when the patient to be placed is completely overlapped with the preset three-dimensional model, the lesion area corresponding to the patient to be placed is also completely overlapped with the lesion area in the preset three-dimensional model, and therefore, the irradiation point is completely overlapped with the lesion area of the patient to be placed, the focus area is irradiated through the irradiation point, the radiation treatment of the focus area is realized, when a patient is treated, the treatment and the positioning of the patient to be positioned are realized, the situation that the patient to be positioned is positioned by mistake due to the fact that technical levels of radiotherapy technicians are uneven or errors are visually judged can be avoided, and the patient to be positioned is positioned to the position of wrong treatment, so that the positioning precision of the patient to be positioned is improved.
According to the patient positioning method, compared with the mode of realizing the patient positioning based on the manual mode at present, the method obtains the preset three-dimensional model corresponding to the patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to the focus area of the patient to be positioned; based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device; based on the preset three-dimensional model at the target positioning position, positioning the patient to be positioned, acquiring a preset three-dimensional model corresponding to the patient to be positioned, projecting the preset three-dimensional model to the target positioning position of the preset treatment device, and enabling the irradiation point at the preset treatment device to coincide with the focus region in the preset three-dimensional model, and finally positioning the patient to be positioned based on the preset three-dimensional model at the target positioning position, namely, the invention can simultaneously observe a virtual preset three-dimensional model and a real treatment scene through a preset display device, realizes mixed reality radiotherapy positioning, avoids the problem that manual positioning needs to be marked on the body surface of the patient, thereby improving the positioning efficiency of the patient, and simultaneously, the positioning method in the invention can avoid the technical level difference of a technician, the problem of wrong positioning is caused, and the positioning precision of positioning the patient is improved.
Further, in order to better explain the above process of positioning the patient, as a refinement and extension of the above embodiment, another method for positioning the patient is provided in an embodiment of the present invention, as shown in fig. 2, where the method includes:
201. the method comprises the steps of obtaining a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned.
For the embodiment of the present invention, in order to position the patient to be positioned, a preset three-dimensional model corresponding to the patient to be positioned needs to be obtained first, and based on this, step 201 specifically includes: carrying out whole-body scanning on the patient to be positioned to obtain three-dimensional data corresponding to the patient to be positioned; and drawing the preset three-dimensional model for the patient to be positioned by utilizing a preset three-dimensional drawing model based on the three-dimensional parameters.
The three-dimensional data comprises body surface contour data corresponding to the patient to be positioned, the body surface contour data comprises contour position data corresponding to the focus area, and the preset three-dimensional drawing model can be a CT simulation positioning system.
Specifically, a CT scanner is used for scanning the whole body of the patient to be positioned, three-dimensional data corresponding to the patient to be positioned, namely body surface parameter information corresponding to the patient to be positioned is obtained, wherein the body surface parameter information comprises parameter information corresponding to a focus region of the patient to be positioned, the parameter information of the focus region comprises the size and the position information of the focus region, after the body surface parameter information corresponding to the patient to be positioned is obtained, the body surface parameter information is transmitted to a CT simulation positioning system, the CT simulation positioning system draws a corresponding preset three-dimensional model for the patient to be positioned on the basis of the body surface parameter information, and the preset three-dimensional model comprises first position information corresponding to the focus region.
202. And projecting the preset three-dimensional model in a preset three-dimensional image drawing model to a preset display device, and determining third position information of the focus region corresponding to the preset three-dimensional model in the preset display device based on the first position information.
For the embodiment of the present invention, in order to accurately position the patient to be positioned, the coincidence between the virtual world and the real world is required, that is, after the preset three-dimensional model corresponding to the patient to be positioned is obtained, the preset three-dimensional model also needs to be stored in a preset display device, and based on this, step 202 specifically includes: determining a first preset coordinate system in the preset three-dimensional image drawing model, and determining first coordinate information of the preset three-dimensional model in the first preset coordinate system; determining a first reference point and second coordinate information corresponding to the first reference point in the first coordinate system; determining a second preset coordinate system in the preset display equipment, and determining third coordinate information of the first reference point in the second preset coordinate system; determining a coordinate transformation matrix corresponding to the first preset coordinate system and the second preset coordinate system together based on the second coordinate information and the third coordinate information; and determining fourth coordinate information of the preset three-dimensional model in the second preset coordinate system based on the first coordinate information and the coordinate conversion matrix, and projecting the preset three-dimensional model into the preset display equipment based on the fourth coordinate information.
Specifically, the preset three-dimensional image drawing model has a first preset coordinate system, and is based on the preset three-dimensional model drawn by the first preset coordinate system, namely, the first coordinate information corresponding to the preset three-dimensional model can be read in the first preset coordinate system, and meanwhile, the first reference point is marked in the preset three-dimensional image drawing model, it is also possible to read second coordinate information of the first reference point in the first preset coordinate system, meanwhile, the first reference point is in the visual field range which can be observed by the preset display equipment, therefore, the third coordinate information corresponding to the first reference point can be read in the second preset coordinate system of the preset display device, second coordinate information in the first preset coordinate system through the first reference point and in a second preset.The third coordinate information in the coordinate system may be a first coordinate transformation matrix that transforms a preset three-dimensional model in the preset three-dimensional image rendering model to a preset display device, and then each point in the preset three-dimensional model in the preset image rendering model is transformed to the preset display device based on the first coordinate transformation matrix, that is, the preset three-dimensional model in the preset three-dimensional image rendering model is projected to the preset display device, for example, the second coordinate information corresponding to the first reference point is [ x [ ] h ,y h ,z h ]The third coordinate information corresponding to the first reference point is [ x ] v ,y v ,z v ]Then, a coordinate transformation matrix b for transforming the first preset coordinate system to the second preset coordinate system can be determined according to the second coordinate information and the third coordinate information, wherein [ x ] v ,y v ,z v ] T ＝b[x h ,y h ,z h ] T If the coordinate of one point of the predetermined three-dimensional model in the first predetermined coordinate system is [2,5,9 ]]Then the fourth coordinate information of the point in the second predetermined coordinate system is b [2,5,9 ]] T Similarly, fourth coordinate information corresponding to each point of the preset three-dimensional model in the second preset coordinate system can be determined, wherein the fourth coordinate information includes third position information of a lesion area in the preset display device corresponding to the first position information of the lesion area in the preset image rendering model, so that the preset three-dimensional model is projected from the preset three-dimensional image rendering model to the preset display device, after projection, the third position information of the lesion area in the preset three-dimensional model in the second preset coordinate system can be read in the preset display device, and finally, the preset three-dimensional model in the preset virtual display image is projected to a target positioning position in the preset treatment device based on the third position information and the second position information of the irradiation point in the treatment device.
203. And projecting the preset three-dimensional model in the preset display equipment to a target positioning position corresponding to a preset treatment device based on the third position information and second position information corresponding to an irradiation point in the preset treatment device.
For the embodiment of the present invention, in order to implement accurate radiotherapy, the patient to be positioned needs to be placed at an accurate position on the treatment couch, that is, a target positioning position, based on which, after the preset three-dimensional model is projected into the preset display device, in order to implement combination of the preset three-dimensional model and an actual treatment scene, the preset three-dimensional model in the preset display device needs to be projected into the preset treatment apparatus, based on which, step 203 specifically includes: determining a second reference point and fifth coordinate information corresponding to the second reference point in a third coordinate system corresponding to the preset treatment device, and determining sixth coordinate information of the second reference point in a second preset coordinate system; determining a second coordinate transformation matrix corresponding to the second preset coordinate system and the third preset coordinate system together based on the fifth coordinate information and the sixth coordinate information; determining seventh coordinate information of the preset three-dimensional model in a third preset coordinate system based on the fourth coordinate information and the second coordinate conversion matrix, wherein the fourth coordinate information comprises the third position information, and the seventh coordinate information comprises converted position information corresponding to the third position information; judging whether the second coordinate transformation matrix is correct or not based on the transformed position information and the second position information; and if the second coordinate transformation matrix is correct, projecting a preset three-dimensional model in the preset display equipment to a target positioning position corresponding to the preset treatment device based on the seventh coordinate information.
The second reference point may specifically be a marker, where the marker may also be a graphic marker or a character marker, and the embodiment of the present invention is not limited in particular, and the marker is attached to a preset treatment apparatus, and the marker may appear in a visual field of the preset display device.
Wherein the third preset coordinate system is a coordinate system in the real world, the second preset coordinate system is a coordinate system in the virtual world, and in order to display the preset three-dimensional model in the virtual world on the preset treatment device in the real world, the conversion between the virtual coordinate and the real coordinate is required, based on which, the method is that, firstly, a second reference point is determined, the second reference point can be specifically a two-dimensional code marker, the two-dimensional code marker is pasted on the preset treatment device, if the preset treatment device is a linear accelerator, the two-dimensional code marker is placed at a proper position of the linear accelerator and fixed, and simultaneously, it is also required to ensure that the two-dimensional code marker is not blocked and is easy to observe in the visual field of the preset virtual display model, then, the third preset coordinate system corresponding to the preset treatment device is determined, and the fifth coordinate information of the two-dimensional code marker in the third preset coordinate system is determined, wherein coordinate information of an irradiation point in a preset treatment device in a third preset coordinate is the second position information, and meanwhile, sixth coordinate information corresponding to a second preset coordinate system of the two-dimensional code marker in the preset display device is also required to be determined, a second coordinate transformation matrix for transforming the second preset coordinate system to the third preset coordinate system is calculated based on the fifth coordinate information and the sixth coordinate information, and finally, seventh coordinate information of each point in a preset three-dimensional model in the second preset coordinate system in the third preset coordinate system is calculated based on the second coordinate transformation matrix, wherein the seventh coordinate information includes transformed position information corresponding to a lesion area in the preset three-dimensional model, because accurate radiation treatment can be realized only when the irradiation point coincides with the lesion area, therefore, it is required to determine whether the converted position information corresponding to the converted focal region is equal to the second position information corresponding to the irradiation point, if so, it is determined that the coordinate conversion is correct, the preset three-dimensional model in the preset display device is projected to the target positioning position in the preset treatment device, at this time, the preset three-dimensional model in the virtual world is associated with the preset treatment device in the real world, and at this time, the preset three-dimensional model, the treatment device in the real world and the patient to be positioned are all displayed in the preset display device worn by the operator, the preset display device may be specifically glolelens, the operator can observe the preset three-dimensional model at the target positioning position on the treatment couch in the glolelens worn by the operator, and can observe the real scene in the treatment room, and then the operator moves the patient to be positioned, the positioning operation of the patient to be positioned is realized by completely coinciding the positioning operation with the preset three-dimensional model at the target positioning position, and it needs to be explained that when the position relation between the two-dimensional code marker and the Hololens is relatively moved, the position of the identified two-dimensional code marker on the second preset coordinate system corresponding to the Hololens is changed, at this time, the second coordinate transformation coefficient from the second preset coordinate system to the third preset coordinate system needs to be recalculated, so as to update the second preset coordinate system corresponding to the Hololens, when the two-dimensional code marker is out of the visual range of the Hololens, the second preset coordinate system in the Hololens is updated based on SLAM positioning, the relative position between the preset three-dimensional model and the real world is kept stable, the SLAM algorithm can construct a treatment room space scene, and determine the position coordinates of the Hololens in the scene, and when the relative movement occurs, the position coordinates are updated to realize the update of the second preset coordinates in the Hololens, the technician wears HoloLens glasses, can directly observe the preset three-dimensional model and the real patient position, and positions the preset three-dimensional model and the real patient position by comparing the preset three-dimensional model and the real patient position, so that the real patient position and the preset three-dimensional model are completely superposed to realize the positioning of the patient.
204. And carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position.
For the embodiment of the present invention, after the preset three-dimensional model in the preset display device is projected to the target positioning position in the preset treatment device, it can be observed that the preset three-dimensional model is positioned at the preset treatment device in the preset display device, and the position of the preset three-dimensional model at the treatment device at this time is the target positioning position capable of implementing precise radiotherapy, and in order to implement positioning operation of the patient to be positioned, the patient to be positioned only needs to be moved to coincide with the preset three-dimensional model, based on this, step 204 specifically includes: determining eighth coordinate information corresponding to each body surface contour point in the patient to be positioned; and moving the patient to be positioned to the target positioning position based on the seventh coordinate information and the eighth coordinate information corresponding to each point in the preset three-dimensional model.
Specifically, in the process of positioning a patient, scanning the patient in the positioning process through a depth camera, determining eighth coordinate information corresponding to each point in the body surface contour of the patient in the positioning process, and performing positioning operation on the patient based on the eighth coordinate information and seventh coordinate information corresponding to each point in a preset three-dimensional model at a target positioning position on a treatment bed, wherein the method for positioning the patient to be positioned based on the seventh coordinate information and the eighth coordinate information specifically comprises the following steps: calculating the translation direction and the translation amount corresponding to the patient to be positioned, and the rotation direction and the rotation amount corresponding to the patient to be positioned based on the seventh coordinate information and the eighth coordinate information; performing translation operation on the patient to be positioned based on the translation direction and the translation amount corresponding to the translation direction; performing rotation operation on the patient to be positioned based on the rotation direction and the corresponding rotation amount; moving the patient to be positioned to the target positioning position based on the translation operation and the rotation operation.
Specifically, after determining eighth coordinate information corresponding to each point in the body surface contour of the patient to be placed and seventh coordinate information corresponding to the preset three-dimensional model at the target placement position, it is necessary to determine a position deviation between each point in the body surface of the patient and a corresponding point in the preset three-dimensional model during the placement process based on the seventh coordinate information and the eighth coordinate information, where the position deviation includes a translation deviation and a rotation deviation, a translation direction and a translation amount can be determined from the translation deviation, a rotation amount and a rotation direction can be determined from the rotation deviation, then the translation direction and the translation amount, and the rotation direction and the rotation amount are displayed in hollon worn by a placement technician, the translation direction and the rotation direction can be displayed in the form of arrows, a translation amount or a rotation amount corresponding to each arrow is displayed behind, and the placement technician passes through the translation direction and the translation amount displayed in the hollon, and the rotation direction and the rotation amount to accurately position the patient,for example, if the seventh coordinate information corresponding to the predetermined three-dimensional model at the target positioning position is [ x ] ref ,y ref ,z ref ]The eighth coordinate information corresponding to the real-time surface contour of the patient is [ x ] real ,y real ,z real ]The position transformation relation of the coordinate rigid registration algorithm and the coordinate rigid registration algorithm can be obtained as follows:
Figure BDA0003648053860000121
wherein, t 3×1 ＝[Δx,Δy,Δz]' is translational deviation, R 3×3 ＝R Z (θ Z )×R y (θ y )×R x (θ x ) For the rotation deviation, according to the above formula, the translation direction and translation amount, and the rotation direction and rotation amount corresponding to the patient can be calculated, and then the rotation direction and rotation amount, and translation direction and translation amount are displayed in the HoloLens field of view.
Specifically, if the cancer patient is treated by radiation, the preset treatment device may be a linear accelerator, the process of positioning the cancer patient in the radiation treatment scene is shown in fig. 3, a radiotherapy technician wears a HoloLens display device, wherein the radiotherapy technician can simultaneously observe a preset three-dimensional image corresponding to the cancer patient based on the HoloLens display device, that is, the virtual reference image in fig. 3, the device in the radiation treatment scene and the cancer patient to be positioned, the marker in fig. 3 is used for the radiotherapy technician wearing the HoloLens display device to find the observation position, after the radiotherapy technician finds the observation position, the treatment couch where the cancer patient is located is moved to coincide the cancer patient with the virtual reference image, in this process, in order to improve the coincidence accuracy of the cancer patient and the virtual image, that is, to achieve complete coincidence, the position information of each point of the body of the cancer patient needs to be acquired in real time by means of the depth camera in fig. 3, and calculating the position deviation of the virtual reference image and the cancer patient based on the position information of corresponding points in the virtual reference image, and calculating the direction and the moving distance of the cancer patient needing to move and the direction and the rotating distance of the cancer patient needing to rotate based on the position deviation, wherein the depth camera and the HoloLens display device are connected with each other, the moving direction, the moving distance, the rotating direction and the rotating distance calculated by the depth camera are transmitted to the HoloLens display device, at the time, a radiotherapy technician can observe the moving direction, the moving distance, the rotating direction and the rotating distance through the HoloLens display device, and then the radiotherapy technician carries out position adjustment on the cancer patient based on the moving direction, the moving distance, the rotating direction and the rotating distance so as to realize the complete coincidence of the cancer patient and the virtual reference image.
According to another patient positioning method provided by the invention, compared with the existing method for realizing patient positioning based on an artificial mode, the method obtains a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned; based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device; based on the preset three-dimensional model at the target positioning position, positioning the patient to be positioned, acquiring a preset three-dimensional model corresponding to the patient to be positioned, projecting the preset three-dimensional model to the target positioning position of the preset treatment device, and enabling the irradiation point at the preset treatment device to coincide with the focus region in the preset three-dimensional model, and finally positioning the patient to be positioned based on the preset three-dimensional model at the target positioning position, namely, the invention can simultaneously observe a virtual preset three-dimensional model and a real treatment scene through a preset display device, realizes mixed reality radiotherapy positioning, avoids the problem that manual positioning needs to be marked on the body surface of the patient, thereby improving the positioning efficiency of the patient, and simultaneously, the positioning method in the invention can avoid the technical level difference of a technician, the problem of wrong positioning is caused, and the positioning precision of positioning the patient is improved.
Further, as a specific implementation of fig. 1, an embodiment of the present invention provides a patient positioning device, as shown in fig. 4, the device includes: an acquisition unit 31, a projection unit 32 and a positioning unit 33.
The obtaining unit 31 may be configured to obtain a preset three-dimensional model corresponding to a patient to be positioned, where the preset three-dimensional model includes first position information corresponding to a lesion area of the patient to be positioned.
The projection unit 32 may be configured to project the preset three-dimensional model to a target positioning position corresponding to a preset treatment device by using a preset display device based on the first position information and second position information corresponding to an irradiation point in the preset treatment device, where an operator may observe the preset three-dimensional model, the preset treatment device, and the patient to be positioned simultaneously based on the preset display device.
The positioning unit 33 may be configured to position the patient to be positioned based on the preset three-dimensional model at the target positioning position.
In a specific application scenario, in order to obtain the preset three-dimensional model corresponding to the patient to be positioned, as shown in fig. 5, the obtaining unit 31 includes a scanning module 311 and a drawing module 312.
The scanning module 311 may be configured to perform a whole-body scan on the patient to be positioned, so as to obtain three-dimensional data corresponding to the patient to be positioned.
The drawing module 312 may be configured to draw the preset three-dimensional model for the patient to be positioned by using a preset three-dimensional drawing model based on the three-dimensional parameters.
In a specific application scenario, in order to project the preset three-dimensional model to a target positioning position corresponding to the preset treatment apparatus, the projection unit 32 may be specifically configured to project the preset three-dimensional model in the preset three-dimensional image drawing model to a preset display device, and determine third position information of the lesion area corresponding to the preset three-dimensional model in the preset display device based on the first position information; and based on the third position information and the second position information, projecting the preset three-dimensional model in the preset display equipment to a target positioning position corresponding to the preset treatment device.
In a specific application scenario, in order to project the preset three-dimensional model in the preset three-dimensional image drawing model to a preset display device, the projection unit 32 includes a first determining module 321 and a projection module 322.
The first determining module 321 may be configured to determine a first preset coordinate system in the preset three-dimensional image drawing model, and determine first coordinate information of the preset three-dimensional model in the first preset coordinate system.
The first determining module 321 may be further configured to determine a first reference point and second coordinate information corresponding to the first reference point in the first coordinate system.
The first determining module 321 may be further configured to determine a second preset coordinate system in the preset display device, and determine third coordinate information of the first reference point in the second preset coordinate system.
The first determining module 321 is specifically configured to determine, based on the second coordinate information and the third coordinate information, a coordinate transformation matrix corresponding to both the first preset coordinate system and the second preset coordinate system.
The projection module 322 may be configured to determine fourth coordinate information of the preset three-dimensional model in the second preset coordinate system based on the first coordinate information and the coordinate transformation matrix, and project the preset three-dimensional model into the preset display device based on the fourth coordinate information.
In a specific application scenario, in order to project the preset three-dimensional model in the preset display device to a target positioning position corresponding to the preset treatment apparatus, the projection unit 32 further includes a determining module 323.
The first determining module 321 may be further configured to determine a second reference point and fifth coordinate information corresponding to the second reference point in a third coordinate system corresponding to the preset treatment apparatus, and determine sixth coordinate information of the second reference point in the second preset coordinate system.
The first determining module 321 is specifically configured to determine, based on the fifth coordinate information and the sixth coordinate information, a second coordinate transformation matrix corresponding to the second preset coordinate system and the third preset coordinate system together.
The first determining module 321 is specifically configured to determine, based on the fourth coordinate information and the second coordinate transformation matrix, seventh coordinate information of the preset three-dimensional model in the third preset coordinate system, where the fourth coordinate information includes the third position information, and the seventh coordinate information includes converted position information corresponding to the third position information.
The determining module 323 may be configured to determine whether the second coordinate transformation matrix is correct based on the converted location information and the second location information.
The projection module 322 may be specifically configured to, if the second coordinate transformation matrix is correct, project, based on the seventh coordinate information, a preset three-dimensional model in the preset display device to a target positioning position corresponding to the preset treatment apparatus.
In a specific application scenario, in order to perform positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position, the positioning unit 33 includes a second determining module 331 and a moving module 332.
The second determining module 331 may be configured to determine eighth coordinate information corresponding to each body surface contour point in the patient to be positioned.
The moving module 332 may be configured to move the patient to be positioned to the target positioning position based on the seventh coordinate information and the eighth coordinate information corresponding to each point in the preset three-dimensional model at the target positioning position.
In a specific application scenario, in order to move the patient to be positioned to the target positioning position based on the seventh coordinate information and the eighth coordinate information corresponding to each point in the preset three-dimensional model at the target positioning position, the moving module 332 includes a calculating submodule, a translating submodule, a rotating submodule, and a moving submodule.
The calculation submodule may be configured to calculate, based on the seventh coordinate information and the eighth coordinate information, a translation direction and a translation amount corresponding to the patient to be positioned, and a rotation direction and a rotation amount corresponding to the patient to be positioned.
The translation submodule can be used for performing translation operation on the patient to be positioned based on the translation direction and the translation amount corresponding to the translation direction.
The rotation submodule can be used for performing rotation operation on the patient to be placed on the basis of the rotation direction and the corresponding rotation amount.
The moving submodule may be configured to move the patient to be posed to the target pose position based on the translation operation and the rotation operation.
It should be noted that other corresponding descriptions of the functional modules related to the patient positioning device provided in the embodiment of the present invention may refer to the corresponding description of the method shown in fig. 1, and are not repeated herein.
Based on the method shown in fig. 1, correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps: acquiring a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned; based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device; and carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position.
Based on the above embodiments of the method shown in fig. 1 and the apparatus shown in fig. 4, an embodiment of the present invention further provides an entity structure diagram of a computer device, as shown in fig. 6, where the computer device includes: a processor 41, a memory 42, and a computer program stored on the memory 42 and executable on the processor, wherein the memory 42 and the processor 41 are both arranged on a bus 43 such that when the processor 41 executes the program, the following steps are performed: acquiring a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned; based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using preset display equipment, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display equipment; and finally, positioning the patient to be positioned based on the preset three-dimensional model at the target positioning position.
According to the technical scheme, the preset three-dimensional model corresponding to the patient to be positioned is obtained, wherein the preset three-dimensional model comprises first position information corresponding to the focus area of the patient to be positioned; based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using preset display equipment, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display equipment; finally, the patient to be positioned is positioned based on the preset three-dimensional model at the target positioning position, so that the irradiation point at the preset treatment device is superposed with the focus area in the preset three-dimensional model by acquiring the preset three-dimensional model corresponding to the patient to be positioned, projecting the preset three-dimensional model to the target positioning position of the preset treatment device, and finally positioning the patient to be positioned based on the preset three-dimensional model at the target positioning position to avoid the problem that manual positioning needs to be marked on the body surface of the patient, so that the positioning efficiency of the patient is improved.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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 (10)

1. A method of positioning a patient, comprising:
acquiring a preset three-dimensional model corresponding to a patient to be positioned, wherein the preset three-dimensional model comprises first position information corresponding to a focus region of the patient to be positioned;
based on the first position information and second position information corresponding to an irradiation point in a preset treatment device, projecting the preset three-dimensional model to a target positioning position corresponding to the preset treatment device by using a preset display device, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display device;
and carrying out positioning on the patient to be positioned based on the preset three-dimensional model at the target positioning position.
2. The method according to claim 1, wherein the obtaining of the preset three-dimensional model corresponding to the patient to be positioned comprises:
carrying out whole-body scanning on the patient to be positioned to obtain three-dimensional data corresponding to the patient to be positioned;
and drawing the preset three-dimensional model for the patient to be positioned by utilizing a preset three-dimensional drawing model based on the three-dimensional parameters.
3. The method according to claim 1, wherein the projecting the preset three-dimensional model to a target positioning position corresponding to a preset treatment device by using a preset display device based on the first position information and second position information corresponding to an irradiation point in the preset treatment device comprises:
projecting the preset three-dimensional model in the preset three-dimensional image drawing model to the preset display equipment, and determining third position information of the focus area corresponding to the preset three-dimensional model in the preset display equipment based on the first position information;
and projecting the preset three-dimensional model in the preset display equipment to a target positioning position corresponding to the preset treatment device based on the third position information and the second position information.
4. The method of claim 3, wherein said projecting said predetermined three-dimensional model of said predetermined three-dimensional image rendering model to a predetermined display device comprises:
determining a first preset coordinate system in the preset three-dimensional image drawing model, and determining first coordinate information of the preset three-dimensional model in the first preset coordinate system;
determining a first reference point and second coordinate information corresponding to the first reference point in the first coordinate system;
determining a second preset coordinate system in the preset display equipment, and determining third coordinate information of the first reference point in the second preset coordinate system;
determining a first coordinate transformation matrix corresponding to the first preset coordinate system and the second preset coordinate system together based on the second coordinate information and the third coordinate information;
and determining fourth coordinate information of the preset three-dimensional model in the second preset coordinate system based on the first coordinate information and the first coordinate conversion matrix, and projecting the preset three-dimensional model into the preset display equipment based on the fourth coordinate information.
5. The method according to claim 3, wherein the projecting the preset three-dimensional model in the preset display device to a target positioning position corresponding to the preset treatment device based on the third position information and the second position information comprises:
determining a second reference point and fifth coordinate information corresponding to the second reference point in a third coordinate system corresponding to the preset treatment device, and determining sixth coordinate information of the second reference point in a second preset coordinate system;
determining a second coordinate transformation matrix corresponding to the second preset coordinate system and the third preset coordinate system together based on the fifth coordinate information and the sixth coordinate information;
determining seventh coordinate information of the preset three-dimensional model in a third preset coordinate system based on the fourth coordinate information and the second coordinate conversion matrix, wherein the fourth coordinate information comprises the third position information, and the seventh coordinate information comprises converted position information corresponding to the third position information;
judging whether the second coordinate transformation matrix is correct or not based on the transformed position information and the second position information;
and if the second coordinate transformation matrix is correct, projecting a preset three-dimensional model in the preset display equipment to a target positioning position corresponding to the preset treatment device based on the seventh coordinate information.
6. The method of claim 1, wherein said positioning said patient to be positioned based on said preset three-dimensional model at said target positioning location comprises:
determining eighth coordinate information corresponding to each body surface contour point in the patient to be positioned;
and moving the patient to be positioned to the target positioning position based on the seventh coordinate information and the eighth coordinate information corresponding to each point in the preset three-dimensional model at the target positioning position.
7. The method according to claim 6, wherein the moving the patient to be positioned to the target positioning position based on the seventh coordinate information and the eighth coordinate information corresponding to each point in the preset three-dimensional model at the target positioning position comprises:
calculating the translation direction and the translation amount corresponding to the patient to be positioned, and the rotation direction and the rotation amount corresponding to the patient to be positioned based on the seventh coordinate information and the eighth coordinate information;
performing translation operation on the patient to be positioned based on the translation direction and the translation amount corresponding to the translation direction;
performing rotation operation on the patient to be positioned based on the rotation direction and the corresponding rotation amount;
moving the patient to be positioned to the target positioning position based on the translation operation and the rotation operation.
8. A patient positioning device, comprising:
the system comprises an acquisition unit, a display unit and a display unit, wherein the acquisition unit is used for acquiring a preset three-dimensional model corresponding to a patient to be positioned, and the preset three-dimensional model comprises first position information corresponding to a focus area of the patient to be positioned;
the projection unit is used for projecting the preset three-dimensional model to a target positioning position corresponding to a preset treatment device by using preset display equipment based on the first position information and second position information corresponding to an irradiation point in the preset treatment device, wherein an operator can simultaneously observe the preset three-dimensional model, the preset treatment device and the patient to be positioned based on the preset display equipment;
and the positioning unit is used for positioning the patient to be positioned based on the preset three-dimensional model at the target positioning position.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
10. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 7 when executed by the processor.
CN202210535668.0A 2022-05-17 2022-05-17 Patient positioning method and device, storage medium and computer equipment Pending CN114949633A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210535668.0A CN114949633A (en) 2022-05-17 2022-05-17 Patient positioning method and device, storage medium and computer equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210535668.0A CN114949633A (en) 2022-05-17 2022-05-17 Patient positioning method and device, storage medium and computer equipment

Publications (1)

Publication Number Publication Date
CN114949633A true CN114949633A (en) 2022-08-30

Family

ID=82984188

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210535668.0A Pending CN114949633A (en) 2022-05-17 2022-05-17 Patient positioning method and device, storage medium and computer equipment

Country Status (1)

Country Link
CN (1) CN114949633A (en)

Similar Documents

Publication Publication Date Title
US11633629B2 (en) Method of calibration of a stereoscopic camera system for use with a radio therapy treatment apparatus
CN109419524B (en) Control of medical imaging system
EP2175931B1 (en) Systems for compensating for changes in anatomy of radiotherapy patients
US9451928B2 (en) Incorporating internal anatomy in clinical radiotherapy setups
US6125164A (en) High-speed inter-modality image registration via iterative feature matching
ES2370747T3 (en) VERIFICATION OF CHARACTERISTICS OF AN INJURY USING WAYS OF DOES.
US5778043A (en) Radiation beam control system
EP1778074B1 (en) Weighted surface-to-surface mapping
US7438685B2 (en) Apparatus and method for registration, guidance and targeting of external beam radiation therapy
US20190142359A1 (en) Surgical positioning system and positioning method
US6415171B1 (en) System and method for fusing three-dimensional shape data on distorted images without correcting for distortion
CN107875524B (en) Radiotherapy system, phantom and isocenter calibration method
CN111870825B (en) Radiation therapy accurate field-by-field positioning method based on virtual intelligent medical platform
JP2008022896A (en) Positioning system
CN113599718A (en) Radiotherapy positioner based on diagnostic image
CN111214764B (en) Radiotherapy positioning verification method and device based on virtual intelligent medical platform
WO2002061680A2 (en) Surface imaging
JP4614957B2 (en) Use of magnetic resonance imaging to locate anatomical targets
CN114949633A (en) Patient positioning method and device, storage medium and computer equipment
CN111588999B (en) Operation guide model and head-wearing wearable equipment-assisted operation navigation system
CN115908479A (en) Brain tissue drift correction method and surgical navigation system
Endo et al. Patient beam positioning system using CT images
CN115444438A (en) Medical platform target equipment position posture high-precision control method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination