CN115068835A - Positioning device for radiotherapy equipment - Google Patents
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- CN115068835A CN115068835A CN202110276591.5A CN202110276591A CN115068835A CN 115068835 A CN115068835 A CN 115068835A CN 202110276591 A CN202110276591 A CN 202110276591A CN 115068835 A CN115068835 A CN 115068835A
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 35
- 230000005855 radiation Effects 0.000 claims description 31
- 230000001225 therapeutic effect Effects 0.000 claims description 28
- 238000003384 imaging method Methods 0.000 claims description 23
- 239000011159 matrix material Substances 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 206010028980 Neoplasm Diseases 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 6
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- 238000010894 electron beam technology Methods 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1059—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using cameras imaging the patient
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Abstract
The embodiment of the invention provides a positioning device for radiotherapy equipment, which comprises at least three light sources, at least one camera and a processor, wherein the at least three light sources can emit light to a beam limiting device, at least three light spots are formed on the upper surface of the beam limiting device, at least three marks are arranged on the upper surface of the beam limiting device, the at least one camera is used for shooting images of the upper surface, the processor is configured to control a mechanical arm to drive the treatment device to move according to the acquired images so that the treatment device is opposite to the upper surface of the beam limiting device and the distance between the treatment device and the upper surface of the beam limiting device is a preset distance, the mechanical arm is controlled to drive the treatment device to move according to the positions of the at least three light spots determined by the images and the positions of the at least three marks so as to align the beam axis of treatment rays with the center of the beam limiting device, and therefore the butt joint operation of the treatment device and the beam limiting device can be automatically completed without manual intervention, so as to achieve the purpose of improving the butt joint efficiency.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a positioning device for radiotherapy equipment.
Background
Radiation therapy of tumors is a local treatment for tumors with therapeutic radiation. The treatment radiation includes alpha, beta and gamma rays generated by radioactive isotope and x rays, electron beams, proton beams and other particle beams generated by various x-ray therapeutic machines or accelerators. About 70% of cancer patients require radiation therapy in the course of cancer treatment, and about 40% of cancers can be cured by radiation therapy. The role and position of radiotherapy in tumor treatment are increasingly prominent, and the radiotherapy has become one of the main means for treating malignant tumors.
During radiotherapy, a treatment head for generating treatment radiation must be butted with a light limiting cylinder arranged at a focus of a patient so as to protect normal tissues of the patient outside the light limiting cylinder from the radiation of the treatment radiation. At present, the butt joint of a treatment head and a light limiting cylinder is realized in a hard connection mode of physical hardware or a soft butt joint mode of positioning feedback by utilizing laser reflection, and the butt joint can be completed only by manual intervention, so that the butt joint efficiency is low.
Disclosure of Invention
In order to at least partially solve the above problems in the prior art, embodiments of the present invention provide a positioning device for a radiotherapy apparatus, which can automatically complete the docking between a treatment device and a light-limiting cylinder without human intervention, so as to improve the docking efficiency.
In order to achieve the above object, a first aspect of the present invention provides a positioning device for a radiotherapy apparatus, the radiotherapy apparatus comprising a beam limiting device, a treatment device for emitting treatment radiation, and a mechanical arm for driving the treatment device to move, an upper surface of the beam limiting device being provided with at least three marks, the positioning device comprising:
at least three light sources arranged on the treatment device and used for emitting light rays to the beam limiting device so as to form at least three light spots on the upper surface;
at least one camera for capturing an image of the upper surface; and
a processor configured to:
acquiring an image;
determining a distance from the upper surface for each of the at least three light sources based on the at least three spots in the image;
controlling the mechanical arm to drive the treatment device to move according to the distance so that the treatment device is opposite to the upper surface and the distance between the treatment device and the upper surface is a preset distance;
determining the positions of at least three light spots and the positions of at least three marks according to the image;
and controlling the mechanical arm to drive the treatment device to move according to the positions of the at least three light spots and the positions of the at least three marks, so that the beam axis of the treatment ray is aligned with the center of the beam limiting device.
In the embodiment of the invention, the shooting direction of at least one camera, the emission direction of at least three light sources and the release direction of the treatment rays are arranged in parallel.
In an embodiment of the invention, determining the distance of each of the at least three light sources from the upper surface based on the at least three light spots in the image comprises:
determining the imaging position of each light spot on the camera and the position of each light spot on the upper surface according to at least three light spots in the image;
acquiring the lens position of at least one camera and the position of each light source;
and determining the distance between each light source and the upper surface according to the lens position of at least one camera, the position of each light source, the imaging position of each light spot on the camera and the position of each light spot on the upper surface.
In an embodiment of the invention, determining the distance of each of the at least three light sources from the upper surface based on the at least three light spots in the image comprises:
obtaining a plurality of first calibration coefficients;
determining the imaging position of each light spot on the camera according to at least three light spots in the image;
and determining the distance between each light source and the upper surface according to the plurality of first calibration coefficients and the imaging position of each light spot on the camera.
In the embodiment of the invention, at least three light sources are arranged on the treatment device at intervals in a circumferential array by taking the beam axis of the treatment device for releasing the treatment radiation as an axis.
In an embodiment of the present invention, controlling the robot arm to drive the therapeutic device to move according to the distance so that the therapeutic device faces the upper surface and the distance between the therapeutic device and the upper surface is a preset distance includes:
acquiring preset radiuses of circles where at least three light sources are located;
determining the rotation angle of the treatment device and the translation distance in the direction parallel to the central line of the beam limiting device according to the distance and the preset radius;
and controlling the mechanical arm to drive the treatment device to move according to the rotation angle and the translation distance so that the treatment device is opposite to the upper surface and the distance between the treatment device and the upper surface is a preset distance.
In an embodiment of the invention, at least three markers are arranged on the upper surface at intervals in a circumferential array with the central line of the beam limiting device as an axis.
In an embodiment of the present invention, controlling the robotic arm to drive the treatment device to move according to the positions of the at least three light spots and the at least three identified positions so that the beam axis of the treatment radiation is aligned with the center of the beam limiting device comprises:
respectively determining a first circle center position of a circle where the at least three light spots are located and a second circle center position of the circle where the at least three marks are located according to the positions of the at least three light spots and the positions of the at least three marks;
and controlling the mechanical arm to drive the treatment device to move according to the first circle center position and the second circle center position so as to align the beam axis of the treatment ray with the center of the beam limiting device.
In the embodiment of the invention, the number of the cameras, the light sources and the identifiers is equal, and each camera is used for shooting the light spot and one identifier of one light source with similar positions;
determining a first circle center position of a circle where the at least three light spots are located and a second circle center position of the circle where the at least three marks are located according to the positions of the at least three light spots and the positions of the at least three marks respectively comprises:
acquiring a preset rotation matrix and a preset translation vector of each camera;
determining a first circle center position of a circle where the at least three light spots are located according to the preset rotation matrix, the preset translation vector and the positions of the at least three light spots;
and determining a second circle center position of the circle where the at least three marks are located according to the preset rotation matrix, the preset translation vector and the positions of the at least three marks.
In an embodiment of the present invention, controlling the mechanical arm to drive the treatment device to move according to the first circle center position and the second circle center position, so that the beam axis of the treatment radiation is aligned with the center of the beam limiting device, includes:
determining a translation vector of the treatment device according to the first circle center position and the second circle center position;
and acquiring a second calibration coefficient, and controlling the mechanical arm to drive the treatment device to move according to the second calibration coefficient and the translational motion quantity so as to align the beam axis of the treatment ray with the center of the beam limiting device.
In order to achieve the above object, the second aspect of the present invention also provides a radiotherapy apparatus comprising:
a treatment device for emitting treatment radiation;
the beam limiting device is used for being arranged at a focus of a patient;
the mechanical arm is used for driving the treatment device to move; and
the positioning apparatus for a radiotherapy device according to the above.
Through the technical scheme, the positioning device for the radiotherapy equipment provided by the embodiment of the invention has the following beneficial effects:
the positioning device comprises at least three light sources, at least one camera and a processor, the at least three light sources can emit light to the beam limiting device, and at least three light spots are formed on the upper surface of the beam limiting device, at least three marks are arranged on the upper surface of the beam limiting device, at least one camera is used for shooting images of the upper surface of the beam limiting device, the processor is configured to obtain the images shot by the at least one camera, and determining the distance between each of the at least three light sources and the upper surface of the beam limiting device according to the at least three light spots in the image, thereby controlling the mechanical arm to drive the therapeutic device to move according to the distance so that the therapeutic device is just opposite to the upper surface of the beam limiting device and the distance between the therapeutic device and the upper surface of the beam limiting device is a preset distance, namely, the adjustment of the deflection angle of the treatment device and the adjustment of the position of the treatment device in the direction parallel to the beam axis of the treatment ray can be completed; after the treatment device is adjusted to be opposite to the upper surface of the beam limiting device and the distance between the treatment device and the upper surface of the beam limiting device is a preset distance, the positions of at least three light spots and the positions of at least three marks are determined continuously according to the image acquired by at least one camera, and then the mechanical arm is controlled to drive the treatment device to move according to the current positions of the at least three light spots and the positions of the at least three marks so as to align the beam axis of the treatment ray with the center of the beam limiting device, so that the position adjustment of the treatment device in the direction perpendicular to the beam axis of the treatment ray can be completed.
Additional features and advantages of embodiments of the present invention will be described in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention and not to limit the embodiments of the invention. In the drawings:
fig. 1 is a schematic perspective view of a radiotherapy apparatus according to an embodiment of the invention;
fig. 2 is a schematic perspective view of a positioning device for radiotherapy equipment according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a beam limiting device and a marker according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the calculation of distance d according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the position arrangement of three light sources and three camera units according to an embodiment of the present invention;
fig. 6 is a schematic diagram of the position arrangement of three markers according to an embodiment of the invention.
Description of the reference numerals
1 treatment device 11 robot arm
12 connecting frame 13 cover plate
14 beam tube 2 beam limiting device
21 light-limiting cylinder 211 beam-limiting hole
22 positioning plate 221 detection groove
23 support 3 camera
4 light source 5 sign
6 patient 7 operating table
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The following figures describe a positioning apparatus for a radiotherapy device according to the present invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, in an embodiment of the present invention, there is provided a positioning device for a radiotherapy apparatus, the radiotherapy apparatus includes a beam limiting device 2, a treatment device 1 for emitting treatment radiation, and a mechanical arm 11 for driving the treatment device 1 to move, an upper surface of the beam limiting device 2 is provided with at least three marks 5, the positioning device includes:
at least three light sources 4 arranged on the treatment device 1 and used for emitting light rays to the beam limiting device 2 so as to form at least three light spots on the upper surface;
at least one camera 3 for taking an image of the upper surface; and
a processor configured to:
acquiring an image shot by the camera 3;
determining the distance of each light source 4 of the at least three light sources 4 from the upper surface according to the at least three light spots in the image;
controlling the mechanical arm 11 to drive the treatment device 1 to move according to the distance so that the treatment device 1 is opposite to the upper surface and the distance between the treatment device 1 and the upper surface is a preset distance;
determining the positions of at least three light spots and the positions of at least three marks 5 according to the images;
the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the positions of the at least three light spots and the positions of the at least three marks 5, so that the beam axis of the treatment radiation is aligned with the center of the beam limiting device 2.
In the embodiment of the present invention, the positioning device includes at least three light sources 4, at least one camera 3 and a processor, the at least three light sources 4 can emit light to the beam limiting device 2, at least three light spots are formed on the upper surface of the beam limiting device 2, at least three marks 5 are arranged on the upper surface of the beam limiting device 2, the at least one camera 3 is used for taking images of the upper surface of the beam limiting device 2, the processor is configured to drive the treatment device 1 to move according to the distance control mechanical arm 11 by acquiring the images taken by the at least one camera 3 and determining the distance between each light source 4 of the at least three light sources 4 and the upper surface of the beam limiting device 2 according to the at least three light spots in the images, so that the treatment device 1 faces the upper surface of the beam limiting device 2 and is a preset distance from the upper surface of the beam limiting device 2, and adjustment of the deflection angle of the treatment device 1 and adjustment of the treatment device 1 in the direction parallel to the beam axis of the treatment ray can be completed Adjustment of the position of (a); after the treatment device 1 is adjusted to be opposite to the upper surface of the beam limiting device 2 and the distance between the treatment device 1 and the upper surface of the beam limiting device 2 is a preset distance, the positions of at least three light spots and the positions of at least three marks 5 are continuously determined according to the image acquired by at least one camera 3, and then the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the current positions of the at least three light spots and the positions of the at least three marks 5 so as to align the beam axis of the treatment rays with the center of the beam limiting device 2, so that the position adjustment of the treatment device 1 in the direction perpendicular to the beam axis of the treatment rays can be completed.
It should be noted that, in the present invention, the preset distance refers to a distance between the treatment device 1 and the beam limiting device 2 after the treatment device 1 is adjusted in position, and the preset distance may include 3cm to 10 cm. Of course, the present invention is not limited to this, the preset distance may be set according to specific situations, and the therapeutic device 1 and the beam limiting device 2 may be coaxial but not in contact, so as to achieve "soft docking".
As shown in fig. 2, in the embodiment of the present invention, the shooting direction of at least one camera 3, the emission direction of at least three light sources 4 and the release direction of the therapeutic radiation are all parallel to each other, so as to facilitate the analysis of the image obtained by the camera 3. Of course, the present invention is not limited thereto, and it is also possible that the shooting direction of the at least one camera 3, the emission direction of the at least three light sources 4, and the release direction of the therapeutic radiation are not parallel to each other, because the installation positions of the at least one camera 3, the at least three light sources 4, and the therapeutic device 1 can be preset, and only a series of position conversions are required when performing position analysis on the images acquired by the subsequent camera 3.
Specifically, please refer to fig. 1 and fig. 2 again, the treatment apparatus 1 includes a connection frame 12 connected to the mechanical arm 11, a cover plate 13 disposed on the connection frame 12, and a treatment head disposed in the connection frame 12, the treatment head is used for releasing treatment rays, a mounting hole for emitting the treatment rays is disposed on the cover plate 13, at least three light sources 4 are disposed on the cover plate 13 at intervals, and the emission direction of the at least three light sources 4 is the side of the cover plate 13 departing from the connection frame 12, at least one camera 3 can be disposed on the connection frame 12, and the shooting direction of the at least one camera 3 is the side of the connection frame 12 close to the cover plate 13. Of course, the present invention is not limited to this, and at least one camera 3 may also be disposed on the cover plate 13, so that when the number of cameras 3 is one, all light spots and marks 5 can be shot. In addition, the treatment device 1 further comprises a beam barrel 14 arranged on the cover plate 13 around the periphery of the mounting hole, and the beam barrel 14 can further limit the emission direction of the treatment rays.
In an embodiment of the invention, determining the distance of each light source 4 of the at least three light sources 4 from the upper surface based on the at least three light spots in the image comprises:
determining the imaging position of each light spot on the camera 3 and the position of each light spot on the upper surface according to at least three light spots in the image;
acquiring the lens position of at least one camera 3 and the position of each light source 4;
the distance between each light source 4 and the upper surface is determined according to the lens position of at least one camera 3, the position of each light source 4, the imaging position of each light spot on the camera 3 and the position of each light spot on the upper surface.
Specifically, as shown in fig. 4, the position of each light spot on the upper surface of the beam limiting device 2 may refer to a position a of the center of each light spot on the upper surface, the lens position of the at least one camera 3 may be a center position B of the lens, the imaging position of the at least three light spots on the camera 3 may refer to a coordinate r of the center of the at least three light spots on the imaging surface of the at least one camera 3, and the center position of the at least three light spots on the imaging position of the camera 3 is C, in the invention, the light source 4 may be a laser, the position of each light source 4 may be an exit position E of the laser, and the distance from the lens position of the at least one camera 3 to the imaging surface is d 0 A distance r from the exit position E of the laser to a line connecting a position A of the center of each spot on the upper surface and a center position B of the lens in a direction parallel to the imaging plane of the camera 3 0 Setting the distance between each light source 4 and the upper surface as d, the above quantities should satisfy based on the principle of similar triangle:
the distance d between each light source 4 and the upper surface can be calculated as:
in an embodiment of the invention, determining the distance of each light source 4 of the at least three light sources 4 from the upper surface based on the at least three light spots in the image comprises:
obtaining a plurality of first calibration coefficients;
determining the imaging position of each light spot in the camera 3 according to at least three light spots in the image;
and determining the distance between each light source and the upper surface according to the plurality of first calibration coefficients and the imaging position of each light spot on the camera 3.
As shown in fig. 4, the imaging positions of the at least three light spots on the camera 3 may refer to coordinates r of the centers of the at least three light spots on the imaging plane of the at least one camera 3. Meanwhile, because the imaging positions C of at least three spot centers on the camera 3 are uncertain, and the r values have constant deviations or other constant deviations, more than 3 groups of data can be calibrated by using a least square method to obtain three first calibration coefficients C 1 、c 2 And c 3 To be provided with
Conversion to:
according to three first calibration coefficients c 1 、c 2 And c 3 And the distance d between each light source 4 and the upper surface can be determined at the imaging positions r of the at least three light spots on the camera 3, so as to achieve the purpose of overcoming the influence of constant deviation. Of course, the present invention is not limited thereto, and the first calibration coefficients obtained by calibration by other mathematical methods are also possible, and the number of the first calibration coefficients is not limited accordingly.
As shown in fig. 5, in the embodiment of the present invention, at least three light sources 4 are disposed on the treatment device 1 at intervals in a circumferential array around the beam axis of the treatment radiation emitted from the treatment device 1. Specifically, at least three light sources 4 are disposed on the cover plate 13 at intervals in a circumferential array with the beam axis of the treatment head F emitting the treatment radiation as an axis. That is, the at least three light sources 4 are uniformly distributed on the same circumference, and the centers of the circles where the at least three light sources 4 are located are on the beam axis of the treatment radiation, thereby facilitating the structural layout of the at least three light sources 4 and the calculation of the positions.
In the embodiment of the present invention, controlling the mechanical arm 11 to drive the therapeutic device 1 to move according to the distance so that the therapeutic device 1 faces the upper surface and the distance from the upper surface is a preset distance includes:
acquiring preset radiuses of circles where at least three light sources 4 are located;
determining the rotation angle of the treatment device 1 and the translation distance in the direction parallel to the central line of the beam limiting device 2 according to the distance and the preset radius;
and controlling the mechanical arm 11 to drive the treatment device 1 to move according to the rotation angle and the translation distance, so that the treatment device 1 is opposite to the upper surface and the distance between the treatment device 1 and the upper surface is a preset distance.
Specifically, when the number of the light sources 4 is three, the distances d of the three light sources 4 from the upper surface, respectively, may be written as d 1 、d 2 And d 3 . Meanwhile, as shown in fig. 5, the three light sources 4 are uniformly distributed on a circle having a radius R, and when d is 2 When the corresponding light source 4 is located on the Y-axis of the treatment apparatus 1, there are:
the treatment clothes can be obtained according to the aboveAngle theta of 1 to be rotated around X-axis and Y-axis, respectively x And theta y And a distance D moving along the Z axis, so that the treatment device 1 is opposite to the upper surface and is a preset distance away from the upper surface.
As shown in fig. 6, in the embodiment of the present invention, at least three marks 5 are provided on the upper surface at intervals in a circumferential array around the center line of the beam limiting device 2. Specifically, the beam limiting device 2 comprises a beam limiting barrel 21 formed with a beam limiting hole 211 and a positioning plate 22 arranged on the beam limiting barrel 21 around the periphery of the beam limiting hole 211, at least three marks 5 are arranged on one side of the positioning plate 22 facing the treatment device 1 at intervals in a circumferential array by taking the central line of the beam limiting hole 211 as an axis, and one end of the beam limiting barrel 21 far away from the positioning plate 22 is used for aligning with the focus of the patient 6. That is, at least three marks 5 are uniformly distributed on the same circumference, and the center of the circle where the at least three marks 5 are located is on the central line of the beam limiting hole 211, thereby facilitating the structural layout of the at least three marks 5 and facilitating the calculation of the position. In the present invention, the mark 5 may be a regular triangle block, a regular square block, a regular pentagon block, a regular hexagon block, or a circle block.
In addition, the beam limiting device 2 further comprises a support frame 23 disposed on the light limiting barrel 21, and the support frame 23 is configured to be mounted on the operating table 7 so as to stably support the light limiting barrel 21.
In the embodiment of the present invention, controlling the mechanical arm 11 to drive the treatment device 1 to move according to the positions of the at least three light spots and the positions of the at least three markers 5, so that the beam axis of the treatment radiation is aligned with the center of the beam limiting device 2 comprises:
respectively determining a first circle center position of a circle where the at least three light spots are located and a second circle center position of the circle where the at least three marks 5 are located according to the positions of the at least three light spots and the positions of the at least three marks 5;
and controlling the mechanical arm 11 to drive the treatment device 1 to move according to the first circle center position and the second circle center position so that the beam axis of the treatment ray is aligned with the center of the beam limiting device 2.
Specifically, the angle θ at which the treatment device 1 rotates around the X-axis and the Y-axis, respectively x And theta y And a distance D of movement along the Z axisThen, the treatment device 1 is over against the upper surface and the distance between the treatment device 1 and the upper surface is a preset distance, then each camera 3 acquires an image again, and the position of each light spot and the position of each mark 5 can be obtained by using an image recognition algorithm. In order to align the beam axis of the therapeutic radiation with the center of the beam limiting device 2, the alignment may be achieved by adjusting a first center position of a circle where the at least three light spots are located to a center line of the beam limiting hole 211, and a second center position of the circle where the at least three markers 5 are located is always on the center line of the beam limiting hole 211, so that the alignment may be achieved by defining the first center position and the second center position to coincide with projections in a plane perpendicular to the center line of the beam limiting device 2.
Further, the constraint equation that defines the first and second circle center positions as coincident projections in a plane perpendicular to the center line of the beam limiting device 2 may be:
in the above constraint equations, the left side of the equation may be represented as a coordinate vector of a first circle center position, and the right side of the equation may be represented as a coordinate vector of a second circle center position.
In the embodiment of the invention, the number of the cameras 3, the light sources 4 and the marks 5 is equal, and each camera 3 is used for shooting the light spot of one light source 4 and one mark 5 with similar positions;
determining a first center position of a circle where the at least three light spots are located and a second center position of the circle where the at least three marks 5 are located according to the positions of the at least three light spots and the positions of the at least three marks 5 respectively comprises the following steps:
acquiring a preset rotation matrix and a preset translation vector of each camera 3;
determining a first circle center position of a circle where the at least three light spots are located according to the preset rotation matrix, the preset translation vector and the positions of the at least three light spots;
and determining a second circle center position of the circle where the at least three marks 5 are located according to the preset rotation matrix, the preset translation vector and the positions of the at least three marks 5.
Specifically, since the coordinates of different cameras 3 are not in the same coordinate system, the coordinates obtained by each camera 3 need to be converted into the reference coordinate system of the treatment apparatus 1 through a rotation matrix M and a translation vector t, and when the number of the cameras 3, the light sources 4 and the identifiers 5 is three, the preset rotation matrices of the coordinates obtained by the three cameras 3 are respectively M 1 、M 2 And M 3 And the predetermined translation vector is t 1 、t 2 And t 3 Then the first circle center position C 1 The calculation formula of (2) is as follows:
second circle center position C 2 The calculation formula of (2) is as follows:
in the embodiment of the present invention, controlling the mechanical arm 11 to drive the treatment device 1 to move according to the first circle center position and the second circle center position so that the beam axis of the treatment radiation is aligned with the center of the beam limiting device 2 comprises:
determining a translation vector of the treatment device 1 according to the first circle center position and the second circle center position;
and acquiring a second calibration coefficient, and controlling the mechanical arm 11 to drive the treatment device 1 to move according to the second calibration coefficient and the translational motion so as to align the beam axis of the treatment ray with the center of the beam limiting device 2.
Specifically, a second calibration coefficient may be obtained by calibration of a set of data to eliminate the effect of the deviation by the second calibration coefficient.
In particular, as shown in fig. 5, the three cameras 3 are uniformly distributed on the same circle at intervals, and the lens orientations are consistent, the three cameras 3 can reach each other through translation motion, no rotation motion is involved, i.e. the rotation matrix M of each camera 3 is equal, therefore, the coordinate value calculation formula of the movement of the treatment device 1 in the XY plane is:
referring to fig. 1 to 3, in the embodiment of the present invention, the beam limiting device 2 is further provided with detection grooves 221, the number of which is equal to that of the light sources 4, and the detection grooves 221 are arranged in a one-to-one correspondence with the light sources 4;
the processor is further configured to:
acquiring the detection distances between at least three light sources 4 and the corresponding detection grooves 221;
judging whether the beam axis of the therapeutic ray is aligned with the center of the beam limiting device 2 or not according to the detection distance;
if the beam axis of the therapeutic radiation is not aligned with the center of the beam limiting device 2, controlling the therapeutic device 1 to stop releasing the therapeutic radiation;
if the beam axis of the therapeutic radiation is aligned with the center of the beam limiting device 2, the therapeutic device 1 is controlled to continue to release the therapeutic radiation.
In the embodiment of the present invention, the judging whether the beam axis of the therapeutic radiation is aligned with the center of the beam limiting device 2 according to the detected distance includes:
acquiring a preset alignment distance;
comparing the detection distance with a preset alignment distance;
if the detection distance is not equal to the preset alignment distance, the beam axis of the treatment ray is not aligned with the center of the beam limiting device 2;
if the detection distance is equal to the preset alignment distance; the beam axis of the therapeutic radiation is aligned with the center of the beam limiting device 2.
Specifically, after the position of the treatment device 1 is adjusted to the proper position, the distance between the light source 4 and the detection groove 221 can be detected, and the detected distance is compared with the preset alignment distance to judge whether the treatment device 1 reaches the correct docking position, and when the detected distance is equal to the preset alignment distance, the treatment device 1 reaches the correct docking position, and treatment can be performed; when the detected distance is not equal to the preset alignment distance, the treatment device 1 does not reach the correct docking position, and the treatment is stopped. Therefore, the accuracy of positioning and butting can be further ensured.
In order to achieve the above object, the second aspect of the present invention also provides a radiotherapy apparatus comprising:
a treatment device 1 for emitting treatment radiation;
a beam limiting device 2 for being arranged at a focus of a patient 6;
the mechanical arm 11 is used for driving the treatment device 1 to move; and
the positioning apparatus for a radiotherapy device according to the above.
Since the radiotherapy equipment adopts all the technical solutions of the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
The following will describe in detail the steps executed by the processor, taking the number of the light source 4, the sign 5, and the camera 3 as three as an example:
acquiring images shot by the three cameras 3;
determining the position of each light spot on the upper surface of the beam limiting device 2 according to the three light spots in the image;
acquiring the lens position of each camera 3, the imaging position of each light spot on the camera 3 and the position of each light source 4;
r and d corresponding to the three light sources 4 are determined according to the position of each light spot on the upper surface of the beam limiting device 2, the lens position of each camera 3, the imaging position of each light spot on the camera 3 and the position of each light source 4 0 And r 0 A value of (d);
three groups of r and d 0 And r 0 Substitution of value of (1)
The distance d between each light source 4 and the upper surface is calculated 1 、d 2 And d 3 ；
Acquiring preset radiuses R of a circle where the three light sources 4 are located;
will d 1 、d 2 、d 3 And R is substituted into the following equation:
the angle theta of the treatment device 1 which should rotate around the X axis and the Y axis respectively is calculated x And theta y And a distance D of movement along the Z axis;
according to the angle of rotation theta x And theta y And a distance D control mechanical arm 11 moving along the Z axis drives the treatment device 1 to move so that the treatment device 1 is opposite to the upper surface and the distance between the treatment device 1 and the upper surface is a preset distance;
determining the positions of the three light spots and the positions of the three marks 5 according to the image;
respectively determining a first circle center position of a circle where the three light spots are located and a second circle center position of the circle where the three marks 5 are located according to the positions of the three light spots and the positions of the three marks 5;
and controlling the mechanical arm 11 to drive the treatment device 1 to move according to the first circle center position and the second circle center position so that the beam axis of the treatment ray is aligned with the center of the beam limiting device 2.
In the invention, at least one camera 3 and at least three light sources 4 are arranged on the treatment device 1, at least three marks 5 are arranged on the upper surface of the beam limiting device 2, the at least three light sources 4 are respectively used for emitting light to the upper surface of the beam limiting device 2 to form at least three light spots on the upper surface, the at least one camera 3 is used for acquiring at least three light spots and at least three images marked on the upper surface of the beam limiting device 2, the distance between each light source 4 and the upper surface of the beam limiting device 2 can be determined according to the positions of the at least three light spots in the images, the angle required by the treatment device 1 to rotate to the position opposite to the upper surface of the beam limiting device 2 can be determined according to the distance, and the distance required by the treatment device 1 to move to the position with the distance to the upper surface of the beam limiting device 2 being a preset distance can be determined, so that the mechanical arm 11 is controlled according to the angle required by the treatment device 1 to rotate and the distance required to move The treatment device 1 moves, namely the treatment device 1 is just opposite to the upper surface of the beam limiting device 2 and the distance between the treatment device 1 and the upper surface of the beam limiting device 2 is a preset distance; when the treatment device 1 is adjusted to be opposite to the upper surface of the beam limiting device 2 and the distance between the treatment device 1 and the upper surface of the beam limiting device 2 is a preset distance, the positions of at least three light spots and the positions of at least three marks 5 are continuously determined according to the image acquired by at least one camera 3, then the vector required to move when the beam axis of the treatment device 1 reaches the position aligned with the center of the beam limiting device 2 is determined according to the current positions of the at least three light spots and the positions of the at least three marks 5, and the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the vector required to move so as to align the beam axis of the treatment ray with the center of the beam limiting device 2, so that the automatic butt joint operation of the treatment device 1 and the beam limiting device 2 can be completed, manual intervention is not needed, and the working efficiency is obviously improved. In addition, the shooting direction of at least one camera 3, the emission direction of at least three light source 4 and the direction of liberating of treatment ray set up parallel to each other, and at least three light source 4 uses the beam axis of the treatment ray that treatment device 1 liberated to be the circumference array interval setting as the axis, and at least three sign 5 uses the central line of beam limiting device 2 to be the circumference array interval setting as the axis, and the equal structure setting of number of camera 3, light source 4 and sign 5 all can be convenient for calculate and structural layout. The constant deviation can be eliminated by using the first calibration coefficient and the second calibration coefficient in the calculation formula so as to ensure the accuracy of the position.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. The utility model provides a positioner for radiotherapy equipment, characterized in that, radiotherapy equipment includes beam limiting device, is used for liberating the treatment device of treatment ray and is used for driving the arm of treatment device motion, beam limiting device's upper surface is provided with at least three sign, positioner includes:
at least three light sources arranged on the treatment device and used for emitting light rays to the beam limiting device so as to form at least three light spots on the upper surface;
at least one camera for capturing images of the upper surface; and
a processor configured to:
acquiring the image;
determining a distance from the upper surface for each of at least three of the light sources from at least three spots in the image;
controlling the mechanical arm to drive the treatment device to move according to the distance, so that the treatment device is opposite to the upper surface and the distance between the treatment device and the upper surface is a preset distance;
determining the positions of at least three light spots and the positions of at least three marks according to the image;
and controlling the mechanical arm to drive the treatment device to move according to the positions of at least three light spots and the positions of at least three marks, so that the beam axis of the treatment ray is aligned with the center of the beam limiting device.
2. The positioning apparatus for radiotherapy equipment according to claim 1, wherein the shooting direction of at least one camera, the emission direction of at least three light sources and the emission direction of the therapeutic radiation are arranged in parallel to each other.
3. The positioning apparatus for a radiotherapy device of claim 2, wherein said determining a distance of each of at least three of said light sources from said upper surface from at least three spots in said image comprises:
determining the imaging position of each light spot on the camera and the position of each light spot on the upper surface according to at least three light spots in the image;
acquiring the lens position of at least one camera and the position of each light source;
and determining the distance between each light source and the upper surface according to the lens position of at least one camera, the position of each light source, the imaging position of each light spot on the camera and the position of each light spot on the upper surface.
4. The positioning apparatus for a radiotherapy device of claim 2, wherein said determining a distance of each of at least three of said light sources from said upper surface from at least three spots in said image comprises:
obtaining a plurality of first calibration coefficients;
determining the imaging position of each light spot on the camera according to at least three light spots in the image;
and determining the distance between each light source and the upper surface according to the first calibration coefficients and the imaging position of each light spot on the camera.
5. The positioning apparatus for radiotherapy equipment according to any one of claims 1 to 4, wherein at least three of said light sources are disposed on said treatment apparatus at intervals in a circumferential array around a beam axis of said treatment apparatus for emitting said therapeutic radiation.
6. The positioning apparatus for radiotherapy equipment according to claim 5, wherein said controlling the mechanical arm to drive the treatment apparatus to move according to the distance so that the treatment apparatus faces the upper surface and is at a preset distance from the upper surface comprises:
acquiring preset radiuses of circles where at least three light sources are located;
determining a rotation angle of the treatment device and a translation distance in a direction parallel to a center line of the beam limiting device according to the distance and the preset radius;
and controlling the mechanical arm to drive the treatment device to move according to the rotation angle and the translation distance, so that the treatment device is opposite to the upper surface and the distance between the treatment device and the upper surface is a preset distance.
7. The positioning apparatus for a radiotherapy device according to claim 5, wherein at least three of said markers are provided on said upper surface in a circumferential array spaced apart about a centerline of said beam limiting means.
8. The positioning apparatus for a radiotherapy device according to claim 7, wherein said controlling the robotic arm to drive the treatment apparatus to move according to the positions of the at least three spots and the at least three identified positions so that the beam axis of the therapeutic radiation is aligned with the center of the beam limiting apparatus comprises:
respectively determining a first circle center position of a circle where the at least three light spots are located and a second circle center position of the circle where the at least three marks are located according to the positions of the at least three light spots and the positions of the at least three marks;
and controlling the mechanical arm to drive the treatment device to move according to the first circle center position and the second circle center position so as to align the beam axis of the treatment ray with the center of the beam limiting device.
9. The positioning apparatus for radiotherapy equipment according to claim 8, wherein the number of said cameras, said light sources and said markers is equal, each of said cameras is used for shooting a light spot of one of said light sources and one of said markers which are closely positioned;
the step of respectively determining a first circle center position of a circle where the at least three light spots are located and a second circle center position of the circle where the at least three marks are located according to the positions of the at least three light spots and the positions of the at least three marks comprises the following steps:
acquiring a preset rotation matrix and a preset translation vector of each camera;
determining a first circle center position of a circle where the at least three light spots are located according to the preset rotation matrix, the preset translation vector and the positions of the at least three light spots;
and determining a second circle center position of a circle where the at least three marks are located according to the preset rotation matrix, the preset translation vector and the positions of the at least three marks.
10. The positioning apparatus for radiotherapy equipment according to claim 8, wherein the controlling the mechanical arm to drive the treatment device to move according to the first circle center position and the second circle center position so that the beam axis of the therapeutic radiation is aligned with the center of the beam limiting device comprises:
determining a translation vector of the treatment device according to the first circle center position and the second circle center position;
and acquiring a second calibration coefficient, and controlling the mechanical arm to drive the treatment device to move according to the second calibration coefficient and the translation vector, so that the beam axis of the treatment ray is aligned with the center of the beam limiting device.
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