CN115068835B - Positioning device for radiotherapy equipment - Google Patents
Positioning device for radiotherapy equipment Download PDFInfo
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- CN115068835B CN115068835B CN202110276591.5A CN202110276591A CN115068835B CN 115068835 B CN115068835 B CN 115068835B CN 202110276591 A CN202110276591 A CN 202110276591A CN 115068835 B CN115068835 B CN 115068835B
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 33
- 230000001225 therapeutic effect Effects 0.000 claims description 61
- 230000005855 radiation Effects 0.000 claims description 33
- 238000003384 imaging method Methods 0.000 claims description 23
- 239000013598 vector Substances 0.000 claims description 21
- 239000011159 matrix material Substances 0.000 claims description 11
- 210000001503 joint Anatomy 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 8
- 206010028980 Neoplasm Diseases 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 5
- 201000011510 cancer Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010894 electron beam technology Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
Classifications
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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
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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
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 drive a treatment device to move according to a distance by acquiring the images, so that the treatment device faces the upper surface of the beam limiting device and is a preset distance from the upper surface of the beam limiting device, 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 that the beam axis of treatment rays can be aligned with the center of the beam limiting device, the butt joint operation of the treatment device and the beam limiting device can be automatically completed without manual intervention, and the aim of improving the butt joint efficiency is fulfilled.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a positioning device for radiotherapy equipment.
Background
Tumor radiotherapy is a local treatment method for treating tumors by using therapeutic radiation. Therapeutic radiation includes alpha, beta, gamma rays generated by radioactive isotopes, and x-rays, electron beams, proton beams and other particle beams generated by various types of x-ray therapeutic machines or accelerators, and the like. About 70% of cancer patients require radiation therapy in the course of treatment of cancer, and about 40% of cancer can be radically treated with radiation therapy. The role and position of radiation therapy in tumor therapy are increasingly prominent, and radiation therapy has become one of the main means for treating malignant tumors.
During radiotherapy, a treatment head for generating therapeutic radiation must interface with a light confining drum placed at the patient's focus to protect normal patient tissue outside the light confining drum from the radiation of the therapeutic radiation. At present, the butt joint of the treatment head and the light limiting cylinder is realized by adopting a hard connection mode of physical hardware or a soft butt joint mode of positioning feedback by utilizing laser reflection, and the butt joint is finished only by manual intervention, so that the butt joint efficiency is low.
Disclosure of Invention
In order to at least partially solve the problems in the prior art, the embodiment of the invention provides a positioning device for radiotherapy equipment, which can automatically complete the butt joint of a treatment device and a light limiting cylinder without human intervention so as to improve the butt joint efficiency.
To achieve the above object, a first aspect of the present invention provides a positioning device for a radiotherapy apparatus, the radiotherapy apparatus including a beam limiting device, a therapeutic device for releasing therapeutic radiation, and a mechanical arm for driving the therapeutic device to move, an upper surface of the beam limiting device being provided with at least three markers, the positioning device including:
at least three light sources disposed on the treatment device for emitting light to the beam limiting device to form at least three spots on the upper surface;
at least one camera for taking an image of the upper surface; and
a processor configured to:
acquiring an image;
determining a distance between each of the at least three light sources and the upper surface according to the at least three light spots in the image;
the mechanical arm is controlled to drive the treatment device to move according to the distance, so that the treatment device faces 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;
the mechanical arm is controlled to drive the treatment device to move according to the positions of the at least three light spots and the at least three marked positions so as to align the beam axis of the treatment rays with the center of the beam limiting device.
In the embodiment of the invention, the shooting direction of at least one camera, the emitting direction of at least three light sources and the releasing direction of the treatment rays are mutually parallel.
In an embodiment of the present invention, determining a distance between each of the at least three light sources and the upper surface according to the at least three light spots in the image includes:
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 present invention, determining a distance between each of the at least three light sources and the upper surface according to the at least three light spots in the image includes:
acquiring a plurality of first calibration coefficients;
determining the imaging position of each light spot in 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.
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 releasing the treatment rays as an axis.
In an embodiment of the present invention, driving the treatment device to move according to the distance control mechanical arm, so that the treatment device faces the upper surface and the distance between the treatment 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 faces the upper surface and the distance between the treatment device and the upper surface is a preset distance.
In the embodiment of the invention, at least three marks are arranged on the upper surface at intervals in a circumferential array by taking the central line of the beam limiting device as an axis.
In an embodiment of the present invention, controlling the mechanical arm to drive the therapeutic 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 therapeutic radiation is aligned with the center of the beam limiting device includes:
respectively determining a first circle center position of a circle where at least three light spots are located and a second circle center position of a circle where at least three marks are located according to the positions of at least three light spots and the positions of 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 rays with the center of the beam limiting device.
In the embodiment of the invention, the number of cameras, the number of light sources and the number of marks are equal, and each camera is used for shooting the light spot and the mark of one light source with similar positions;
the determining of the first circle center position of the circle where the at least three light spots are located and the 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 at least three light spots are located according to a preset rotation matrix, a preset translation vector and the positions of the at least three light spots;
and determining the 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 therapeutic device to move according to the first center position and the second center position so that the beam axis of the therapeutic 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 translation vector so as to align the beam axis of the treatment rays with the center of the beam limiting device.
In order to achieve the above object, a second aspect of the present invention also provides a radiotherapy apparatus comprising:
a treatment device for releasing 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
according to the positioning device for a radiotherapy apparatus as described 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, wherein the at least three light sources can emit light to the 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 an image of the upper surface of the beam limiting device, the processor is configured to determine the distance between each light source 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, so that the mechanical arm is controlled to drive the treatment device to move according to the distance, 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, and therefore 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 rays 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 continuously determined according to the images 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 at least three light spots and the positions of at least three marks so as to align the beam axis of the treatment rays with the center of the beam limiting device, thereby the position adjustment of the treatment device in the direction perpendicular to the beam axis of the treatment rays can be completed.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of 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, without limitation, 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 present invention;
fig. 2 is a schematic perspective view of a positioning device for a radiotherapy apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view of a beam limiting device and a logo according to an embodiment of the invention;
FIG. 4 is a schematic diagram of calculating a distance d according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the positional arrangement of three light sources and three camera units according to an embodiment of the invention;
fig. 6 is a schematic diagram of the placement of three markers according to an embodiment of the invention.
Description of the reference numerals
1. Treatment device 11 mechanical arm
12. Cover plate of connecting frame 13
14. Beam limiting device for beam tube 2
21. Light limiting cylinder 211 beam limiting hole
22. Locating plate 221 detection groove
23. Support 3 camera
4. Light source 5 sign
6. Patient 7 operating table
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
The following figures describe a positioning device for a radiotherapy apparatus 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 including a beam limiting device 2, a therapeutic device 1 for releasing therapeutic radiation, and a mechanical arm 11 for driving the therapeutic device 1 to move, the upper surface of the beam limiting device 2 being provided with at least three markers 5, the positioning device including:
at least three light sources 4 provided on the treatment device 1 for emitting light to the beam limiting device 2 to form at least three 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 a distance of each light source 4 of the at least three light sources 4 from the upper surface from the at least three light spots in the image;
the mechanical arm 11 is controlled according to the distance to drive the treatment device 1 to move so that the treatment device 1 faces the upper surface and the distance from 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 image;
the manipulator 11 is controlled to drive the treatment device 1 in such a way that the beam axis of the treatment radiation is aligned with the centre of the beam limiting device 2, depending on the position of the at least three spots and the position of the at least three markers 5.
In the embodiment of the invention, the positioning device comprises at least three light sources 4, at least one camera 3 and a processor, wherein 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 shooting images of the upper surface of the beam limiting device 2, the processor is configured to acquire the images shot by the at least one camera 3, and 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 is determined according to the at least three light spots in the images, so that the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the distance, so that the treatment device 1 faces the upper surface of the beam limiting device 2 and the distance between the upper surface of the beam limiting device 2 is a preset distance, and the adjustment of the deflection angle of the treatment device 1 and the adjustment of the position of the treatment device 1 in the direction parallel to the beam axis of the treatment rays can be completed; 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 images acquired by the 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.
In particular, the preset distance in the present invention refers to the distance between the treatment device 1 and the beam limiting device 2 after the treatment device 1 is adjusted in place, and may include 3cm to 10cm. Of course, the invention is not limited to this, and the preset distance may be set according to specific situations, so that the treatment device 1 and the beam limiting device 2 are coaxial but not in contact, and "soft docking" is only required.
As shown in fig. 2, in the embodiment of the present invention, the shooting direction of at least one camera 3 and the emitting direction of at least three light sources 4 are all parallel to the releasing direction of the therapeutic radiation, so as to facilitate the analysis of the image acquired by the camera 3. Of course, the present invention is not limited to this, and the shooting direction of the at least one camera 3 and the emitting direction of the at least three light sources 4 may not be parallel to the releasing direction of the therapeutic radiation, because the installation positions of the at least one camera 3, the at least three light sources 4 and the therapeutic device 1 may be preset, and only a series of position conversions are required when performing the position analysis on the images acquired by the subsequent camera 3.
Specifically, referring to fig. 1 and 2 again, the treatment device 1 includes a connection frame 12 connected with 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 radiation, a mounting hole for the treatment radiation to be emitted is formed in the cover plate 13, at least three light sources 4 are disposed on the cover plate 13 at intervals, the emission direction of the at least three light sources 4 is a side of the cover plate 13 away from the connection frame 12, at least one camera 3 may be disposed on the connection frame 12, and the shooting direction of the at least one camera 3 is a side of the connection frame 12 close to the cover plate 13. Of course, the invention is not limited thereto, and at least one camera 3 may be disposed on the cover 13, so that all the light spots and the marks 5 can be photographed when the number of cameras 3 is one. In addition, the therapeutic apparatus 1 further includes a beam tube 14 disposed on the cover plate 13 around the periphery of the mounting hole, and the beam tube 14 can further limit the emitting direction of the therapeutic radiation.
In the embodiment of the present invention, determining the distance between each light source 4 of the at least three light sources 4 and the upper surface according to the at least three light spots in the image includes:
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 of each light source 4 from the upper surface is determined from 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 the 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 the center position B of the lens, the imaging position of the at least three light spots on the camera 3 may refer to the 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 surface 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 the 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 The distance r between the exit position E of the laser and the line connecting the position A of the upper surface of the center of each light spot and the center position B of the lens in the direction parallel to the imaging surface of the camera 3 0 Let d be the distance of each light source 4 from the upper surface, the above amounts should be satisfied based on the principle of similar triangles:
the calculation formula of the distance d of each light source 4 from the upper surface may be:
in the embodiment of the present invention, determining the distance between each light source 4 of the at least three light sources 4 and the upper surface according to the at least three light spots in the image includes:
acquiring 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 first calibration coefficients and the imaging position of each light spot on the camera 3.
As shown in fig. 4, the imaging position of the at least three light spots on the camera 3 may refer to the coordinates r of the at least three light spot centers on the imaging surface of the at least one camera 3. Meanwhile, as the imaging position C of at least three light spot centers on the camera 3 is uncertain, the r value has constant deviation or other constant deviation, 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 connected withThe method comprises the following steps of:
then 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 by the imaging position r of at least three light spots on the camera 3, so as to overcome the influence of constant deviation. Of course, the invention is not limited to this, and the first calibration coefficient obtained by calibrating by other mathematical methods is also possible, and the number of the first calibration coefficients is not limited in any way.
As shown in fig. 5, in the embodiment of the present invention, at least three light sources 4 are disposed on the therapeutic device 1 at intervals in a circumferential array with the beam axis of the therapeutic device 1 releasing therapeutic radiation as an axis. 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, which emits the treatment radiation, as an axis. I.e. 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 therapeutic radiation, thereby facilitating the structural layout of the at least three light sources 4 and the calculation of the position.
In the embodiment of the present invention, driving the therapeutic apparatus 1 to move according to the distance control mechanical arm 11 so that the therapeutic apparatus 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;
the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the rotation angle and the translation distance, so that the treatment device 1 faces the upper surface and the distance from 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 noted as d 1 、d 2 And d 3 . Meanwhile, as shown in FIG. 5, three light sources 4 are uniformly distributed on a circle with a radius R, and when d 2 When the corresponding light source 4 is located on the Y axis of the therapeutic apparatus 1, there are:
hereby it is obtained that the angle θ by which the treatment device 1 should be rotated about the X-axis and the Y-axis, respectively x And theta y And a distance D along the Z axis so that the therapeutic device 1 faces the upper surface and is a predetermined distance from the upper surface.
As shown in fig. 6, in the embodiment of the present invention, at least three markers 5 are disposed on the upper surface at intervals in a circumferential array with the center line of the beam limiting device 2 as an axis. Specifically, the beam limiting device 2 includes a beam limiting cylinder 21 forming a beam limiting hole 211, and a positioning plate 22 disposed on the beam limiting cylinder 21 around the periphery of the beam limiting hole 211, and at least three markers 5 are disposed on a side of the positioning plate 22 facing the treatment device 1 at intervals in a circumferential array with the center line of the beam limiting hole 211 as an axis, and an end of the beam limiting cylinder 21 away from the positioning plate 22 is used for alignment with a focus of the patient 6. I.e. at least three marks 5 are uniformly distributed on the same circumference, and the circle center of the circle where at least three marks 5 are located is on the central line of the beam limiting hole 211, thereby facilitating the structural layout of at least three marks 5 and the calculation of the position. In the present invention, the logo 5 may be a regular triangle block, a square block, a regular pentagon block, a regular hexagon block or a circular block.
In addition, the beam limiting device 2 further comprises a support frame 23 arranged on the light limiting cylinder 21, wherein the support frame 23 is used for being installed on the operating table 7 so as to stably support the light limiting cylinder 21.
In the embodiment of the present invention, controlling the mechanical arm 11 to drive the therapeutic 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 therapeutic radiation is aligned with the center of the beam limiting device 2 includes:
determining a first circle center position of a circle where at least three light spots are located and a second circle center position of a circle where at least three marks 5 are located according to the positions of at least three light spots and the positions of at least three marks 5 respectively;
the mechanical arm 11 is controlled to drive the therapeutic device 1 to move according to the first circle center position and the second circle center position so that the beam axis of the therapeutic rays is aligned with the center of the beam limiting device 2.
Specifically, the angle θ at which the therapeutic device 1 rotates about the X-axis and the Y-axis, respectively x And theta y After the distance D along the Z axis, the therapeutic apparatus 1 is opposite to the upper surface and the distance from the upper surface is a preset distance, and then each camera 3 re-captures an image, and the position of each light spot and the position of each marker 5 can be obtained by using an image recognition algorithm. In order to align the beam axis of the therapeutic radiation with the centre of the beam limiting device 2, the first centre position of the circle in which the at least three spots are located can be adjusted to the beam limiting apertureThe alignment is achieved on the central line of 211, and the second center position of the circle where the at least three markers 5 are located is always on the central line of the beam limiting hole 211, so that the beam axis of the therapeutic radiation can be aligned with the center of the beam limiting device 2 by defining the first center position and the second center position to coincide with the projection in the plane perpendicular to the central line of the beam limiting device 2.
Further, the constraint condition formula that defines the first center position and the second center position to be coincident with the projection in the plane perpendicular to the center line of the beam limiting device 2 may be:
in the above constraint formulas, the left side of the equation may be expressed as a coordinate vector of the first center position, and the right side of the equation may be expressed as a coordinate vector of the second center position.
In the embodiment of the invention, the number of cameras 3, light sources 4 and 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 the first circle center position of the circle where the at least three light spots are located and the 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 respectively comprises:
acquiring a preset rotation matrix and a preset translation vector of each camera 3;
determining a first circle center position of a circle where at least three light spots are located according to a preset rotation matrix, a preset translation vector and the positions of the at least three light spots;
and determining the second circle center position of the circle where the at least three marks 5 are positioned 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 the different cameras 3 are not in the same coordinate system, the coordinates acquired by each camera 3 need to be converted into the reference coordinate system of the treatment device 1 by a rotation matrix M and translation vector t, when the camera 3, the light source 4 and the marker 5 are located in the same coordinate systemWhen the number is three, the preset rotation matrixes of the coordinates acquired by the three cameras 3 are M respectively 1 、M 2 And M 3 And the preset translation vectors are respectively t 1 、t 2 And t 3 Then the first circle center position C 1 The calculation formula of (2) is as follows:
second 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 therapeutic device 1 to move according to the first center position and the second center position so that the beam axis of the therapeutic radiation is aligned with the center of the beam limiting device 2 includes:
determining a translation vector of the treatment device 1 according to the first circle center position and the second circle center position;
a second calibration coefficient is obtained, and the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the second calibration coefficient and the translation vector, so that the beam axis of the treatment rays is aligned with the center of the beam limiting device 2.
Specifically, a second calibration coefficient can be obtained through a set of data calibration, so that the influence of deviation can be eliminated through the second calibration coefficient.
In particular, as shown in fig. 5, the three cameras 3 are uniformly spaced on the same circumference, and the lens orientations are identical, and the three cameras 3 can reach each other through translational motion, without involving rotational motion, i.e. the rotation matrix M of each camera 3 is equal, so 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 slots 221 equal to the light sources 4 in number, and the detection slots 221 are configured to be in one-to-one correspondence with the light sources 4;
the processor is further configured to:
acquiring detection distances between at least three light sources 4 and corresponding detection grooves 221;
judging whether the beam axis of the therapeutic rays is aligned with the center of the beam limiting device 2 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, the therapeutic device 1 is controlled 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 releasing the therapeutic radiation.
In the embodiment of the present invention, determining whether the beam axis of the therapeutic radiation is aligned with the center of the beam limiting device 2 according to the detection 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 rays 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 treatment radiation is aligned with the centre of the beam limiting device 2.
Specifically, after the position of the therapeutic apparatus 1 is adjusted in place, the distance between the light source 4 and the detection groove 221 may be detected, and the detected distance may be compared with a preset alignment distance to determine whether the therapeutic apparatus 1 reaches a correct docking position, and when the detected distance is equal to the preset alignment distance, the therapeutic apparatus 1 reaches the correct docking position, so that a therapy may 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. Thereby further ensuring the accuracy of positioning and butting.
In order to achieve the above object, a second aspect of the present invention also provides a radiotherapy apparatus comprising:
a treatment device 1 for emitting treatment radiation;
the beam limiting device 2 is used for being arranged at a focus of a patient 6;
a mechanical arm 11 for driving the therapeutic device 1 to move; and
according to the positioning device for a radiotherapy apparatus as described above.
The radiotherapy equipment adopts all the technical schemes of the above embodiments, so that the radiotherapy equipment has at least all the beneficial effects brought by the technical schemes of the above embodiments, and the detailed description is omitted.
The following will describe the steps executed by the processor in detail, taking three light sources 4, the marks 5 and the cameras 3 as examples:
acquiring images shot by three cameras 3;
determining the position of each light spot on the upper surface of the beam limiting device 2 according to 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;
determining r and d corresponding to the three light sources 4 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 Is a value of (2);
three groups r, d 0 And r 0 Substitution of the value of (2)Calculating the distance d between each light source 4 and the upper surface 1 、d 2 And d 3 ；
Acquiring a preset radius R of a circle where three light sources 4 are positioned;
will d 1 、d 2 、d 3 And R is substituted into the following formula:
calculating the angle θ by which the therapeutic device 1 should be rotated about the X-axis and the Y-axis, respectively x And theta y And a distance D along the Z axis;
according to the rotation angle theta x And theta y And a distance D along the Z axis is used for controlling the mechanical arm 11 to drive the treatment device 1 to move so that the treatment device 1 is opposite to the upper surface and the distance from 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 images;
respectively determining the first circle center position of the circle where the three light spots are positioned and the second circle center position of the circle where the three marks 5 are positioned according to the positions of the three light spots and the positions of the three marks 5;
the mechanical arm 11 is controlled to drive the therapeutic device 1 to move according to the first circle center position and the second circle center position so that the beam axis of the therapeutic rays 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 can be 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 so as 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 required rotation angle of the treatment device 1 to the position facing the upper surface of the beam limiting device 2 can be determined according to the distance, and the required movement distance between the treatment device 1 and the upper surface of the beam limiting device 2 can be determined, so that the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the required rotation angle of the treatment device 1 and the required movement distance, and the required movement distance between the treatment device 1 and the upper surface of the beam limiting device 2 can be realized; 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 images acquired by at least one camera 3, then the vector of movement required by the beam axis of the treatment device 1 to reach the position aligned with the center of the beam limiting device 2 is determined according to the current positions of at least three light spots and the positions of at least three marks 5, and the mechanical arm 11 is controlled to drive the treatment device 1 to move according to the vector of movement required, so that the beam axis of treatment rays is aligned with the center of the beam limiting device 2, and therefore automatic docking operation of the treatment device 1 and the beam limiting device 2 can be completed without manual intervention, and the working efficiency is obviously improved. In addition, the shooting direction of at least one camera 3, the emitting direction of at least three light sources 4 and the release direction of the therapeutic rays are mutually parallel, at least three light sources 4 are arranged at intervals in a circumferential array by taking the beam axis of the therapeutic rays released by the therapeutic device 1 as an axis, at least three marks 5 are arranged at intervals in the circumferential array by taking the central line of the beam limiting device 2 as the axis, and the camera 3, the light sources 4 and the marks 5 are arranged in equal numbers in a structure, so that calculation and structural layout can be facilitated. The constant deviation can be eliminated by applying 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 should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (8)
1. A positioner for radiotherapy equipment, characterized in that, radiotherapy equipment includes beam limiting device, is used for releasing the therapeutic device of treatment ray and is used for driving the arm of therapeutic device motion, beam limiting device's upper surface is provided with three at least sign, positioner includes:
at least three light sources disposed on the treatment device for emitting light to the beam limiting device to form at least three spots on the upper surface;
at least one camera for taking an image of the upper surface; and
a processor configured to:
acquiring the image;
determining a distance of each of at least three of the light sources from the upper surface from at least three light 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;
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 as to align the beam axis of the treatment rays with the center of the beam limiting device;
the determining the distance of each of the at least three light sources from the upper surface from 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;
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;
the 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 rays is aligned with the center of the beam limiting device comprises:
determining a first circle center position of a circle where at least three light spots are located and a second circle center position of a circle where at least three marks are located according to the positions of at least three light spots and the positions of at least three marks respectively; 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 rays with the center of the beam limiting device.
2. Positioning device for a radiotherapy apparatus according to claim 1, in which the shooting direction of at least one of the cameras, the emission direction of at least three of the light sources and the release direction of the therapeutic radiation are arranged parallel to each other.
3. The positioning device for a radiotherapy apparatus of claim 2, wherein the determining the distance of each of at least three of the light sources from the upper surface from at least three light spots in the image comprises:
acquiring a plurality of first calibration coefficients;
determining the imaging position of each light spot in 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.
4. A positioning device for a radiotherapy apparatus according to any one of claims 1 to 3 in which at least three of the light sources are arranged on the treatment device in a circumferential array spaced about the beam axis of the treatment device from which the treatment radiation is emitted.
5. The positioning device for a radiotherapy apparatus of claim 4, wherein the controlling the mechanical arm to drive the therapeutic device to move according to the distance such that the therapeutic device faces the upper surface and is a predetermined 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 along a direction parallel to a 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.
6. The positioning device for a radiation therapy apparatus according to claim 4, wherein at least three of said markers are disposed on said upper surface in a circumferential array spaced about a centerline of said beam limiting device.
7. The positioning device for a radiotherapy apparatus of claim 6, wherein the number of cameras, the light sources and the markers are equal, each of the cameras being for capturing a spot of one of the light sources and one of the markers in close proximity;
the determining the first circle center position of the circle where the at least three light spots are located and the 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 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 the second circle center position of the circle where at least three marks are located according to the preset rotation matrix, the preset translation vector and the positions of at least three marks.
8. The positioning device for a radiotherapy apparatus of claim 6, wherein the controlling the robotic arm to drive the treatment device to move according to the first center position and the second center position such that a beam axis of the treatment radiation is aligned with a 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 as to align the beam axis of the treatment rays with the center of the beam limiting device.
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