CN115068838A - Target area monitored control system for radiotherapy - Google Patents
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Abstract
The invention relates to a target area monitoring system for radiotherapy, which utilizes a special-shaped automatic positioning system with balls to place the body position of a patient, when the patient lies on the positioning system, a matrix component is automatically attached to the patient by aerodynamic force, the friction force between the positioning system and the patient is reduced by the balls of the automatic positioning matrix component, the deviation of the body position of the patient is pushed and adjusted, soft tissue extrusion deformation or joint displacement in the attaching process is avoided, the dot matrix height value and the pressure value of the special-shaped automatic positioning system are fed back to a data processing system to reconstruct the back body surface of the patient, 360-degree body surface data of the patient are calculated by combining an optical body surface reconstruction system to reconstruct the circumferential body surface of an interested area, the automatic positioning system is fused into an optical surface imaging system, and a back space image of the patient can be simulated according to the data fed back by the self-adaptive positioning system, the combination of the optical surface imaging system and the accurate calculation of the treatment center of the patient greatly improves the accuracy of the radiation treatment.
Description
Technical Field
The present invention relates to a monitoring system, and more particularly, to a target monitoring system for radiotherapy.
Background
In the prior art, radiation therapy is characterized by precision, and requires high repeatability of the patient's treatment position and stability during treatment. During the treatment, the body type of the patient may change, and in addition, many malignant tumor patients are accompanied by the factors of weakness, discomfort and even pain, and psychological pressure of the bound state in the treatment room alone, and the like, so that accurate tracking of the target area is always a difficult point of the radiotherapy process. The method for assisting the patient to control the body position is an important link in the radiotherapy process, and the current body position fixing method comprises a vacuum pad or a foam positioning pad combined thermoplastic film fixing method; because the course of radiotherapy is longer, the vacuum pad may leak gas in the later period of treatment, which leads to poor fixation; the foaming glue has good shaping stability, but can not be used repeatedly. In the repeated treatment process, a patient is placed in the vacuum pad and the foam adhesive fixing pad and is ensured to be attached, the surfaces of the vacuum pad and the foam adhesive are all made of various fabrics, the adhesion and the extrusion of the skin on the body surface and the fixing pad are easy to occur, soft tissues or joints are deformed, the displacement of internal organs or target areas under the condition that the periphery can be fixed is caused, the situation is inevitable, and the situation is more obvious under the condition that the patient is uncomfortable or nervous. The body position monitoring system comprises body surface marker monitoring, optical body surface imaging and the like, the processing amount of monitoring information of the body surface markers is small, the realization is easy, the tolerance is strong, but correspondingly, the monitoring range is mainly point, so the precision is not high, and the repeatability is poor; along with the improvement of computer computing power, the optical body surface imaging monitoring is improved from point monitoring to surface monitoring, and the monitoring accuracy is further improved. However, the existing optical body surface imaging monitoring only focuses on the body surface in the range that light can irradiate, but cannot monitor the range that light does not cover, and the joint and soft tissue of a human body have high mobility and are easy to deform due to extrusion, so that the displacement of an internal organ or a target area is large under the condition that the surface structure can be aligned still. The optical body surface imaging monitoring system controls the radiotherapy behavior by calculating the error between the current state and the reference state of the patient through optical signals, has single monitoring means, large processing information amount and low efficiency, and can not carry out quality control on the radiotherapy behavior under the condition that the body weight and the body state of the patient change such as edema and emaciation. The existing posture fixing and monitoring has no unified concept and systematic integration.
Disclosure of Invention
In view of the above problems, the present invention provides a target area monitoring system for radiotherapy, which comprises an abnormal automatic positioning system a, a body surface imaging system B, a data processing system C and a treatment monitoring system D, wherein:
the special-shaped automatic positioning system A comprises a bottom plate A1, an automatic positioning matrix A2, a power and data acquisition system A3 and a pressure feedback and spatial position measurement system A4; the bottom plate a1 is formed by integrating an air pipeline system a12 in a base plate a11, and the base plate a11 is a carbon fiber plate; the automatic positioning matrix A2 comprises a plurality of telescopic matrix units A21, the telescopic matrix units A21 are fixed through grids A14 and connected with an air pipeline system A12, and a power and data acquisition system A3 controls the telescopic matrix units A21 to be telescopic through the air pipeline system A12;
the body surface imaging system B comprises three groups of imaging sensors B1 with the same structure, the imaging sensor B1 consists of a structural light emitter B11 and a structural light receiver B12, and the body surface imaging system B is used for acquiring body surface contour data of a patient on the abnormal automatic positioning system A;
the data processing system C comprises a data collecting and storing system C1, a spatial data reconstruction system C2 and a display system C3, wherein the data collecting and storing system C1 collects spatial data of the telescopic matrix unit A21 and structural light deformation data obtained by the body surface imaging system B, the spatial data reconstruction system C2 conducts calling, noise reduction, calculation and reconstruction on the data collected by the data collecting system C1, the circumferential body surface information of the patient is reconstructed, the contour of a tumor center or a crisis organ is calculated by combining with data of CT simulation positioning of the patient, and the contour is displayed in the display system C3;
the treatment monitoring system D comprises a body surface information monitoring system D1, a positioning monitoring system D2, a radiotherapy center reconstruction system D3, a machine learning system D4 and a display and alarm system D5, wherein the body surface information monitoring system D1 compares a virtual image obtained in the treatment process with a reference image and displays the virtual image in the display and alarm system D5, the reference image is a virtual image generated by the initial positioning information and CT image information of a patient using the heterotypic automatic positioning system A for the first time, the positioning monitoring system D2 receives pressure data of an air pipeline system A12 to generate a reference pressure portrait, a pressure wave table and an ROI motion curve, and transmits the reference pressure portrait, the pressure wave body surface ROI and the ROI motion curve into the machine learning system D4, the machine learning system D4 calculates the displacement of a tumor and a critical organ and transmits the data into the radiotherapy center reconstruction system D3, the radiotherapy center reconstruction system D3 obtains the adjustment of the automatic positioning matrix A2 and the displacement data of the treatment couch, and the body position matching is carried out;
further, the telescopic matrix unit a21 is provided with a sensor a13 on the bottom plate a1, and is used for acquiring the lifting height of the telescopic matrix unit a21, and the telescopic matrix units a21 and the sensors a13 are in one-to-one correspondence.
Further, the telescopic matrix unit a21 includes a base column a211, a lifting column a212, a ball a213, an air bag a 214:
the device comprises a base column A211, wherein the base column A211 is fixed on a bottom plate A1 through a grid A14, and the base column A211 is in a hollow cylindrical shape and consists of a first column body A2111 and a first stopper A2112; the first stopper A2112 is annular and is fixed at the top end of the first column A2111;
the lifting column A212 is hollow and cylindrical, and consists of a second column A2121 and a second stopper A2122; the lifting column A212 is nested outside the base column A211, and the second stopper A2122 is positioned lower than the first stopper A2112;
the ball A213 is spherical, is arranged at the top end of the lifting column A212 and can freely roll for 360 degrees; and
the air bag A214 is sleeved inside the base column A211 and consists of a bag body A2141, a ball support A2142 and a stopping sheet A2143, and the lower end of the bag body A2141 is connected with an air pipeline system A12.
Further, the substrate a11 is an engineering plastic plate or a titanium alloy plate.
Further, the three groups of imaging sensors B1 are structured light sensors, and are respectively placed at 45 ° on the foot-side right above the special-shaped automatic positioning system a and 45 ° on the left and right sides obliquely.
Further, the three sets of imaging sensors B1 are wavelength specific laser sensors or radio sensors.
Further, the power in the power and data acquisition system a3 is aerodynamic or oil pressure.
Further, the data processing system C also includes a treatment recording system C4.
Further, the treatment monitoring system D also includes a big data storage system D6.
Further, the seat monitoring system D2 receives pressure data for the air line system a12, including both instantaneous pressure data and dynamic pressure data.
The target area monitoring system for radiotherapy provided by the invention utilizes the special-shaped automatic positioning system with the balls to position the body of the patient, when the patient lies on the positioning system, the matrix assembly is automatically attached to the patient by aerodynamic force, the friction force between the positioning system and the patient is reduced by the balls of the automatic positioning matrix assembly, the deviation of the body position of the patient is pushed and adjusted, the extrusion deformation or joint displacement of soft tissues in the attaching process is avoided, the dot matrix height value and the pressure value of the special-shaped automatic positioning system are fed back to the data processing system to reconstruct the body surface of the back of the patient, 360-degree body surface data of the patient are calculated by combining the optical body surface reconstruction system to reconstruct the circumferential body surface of an interested area, the automatic positioning system is fused into the optical surface imaging system, and the back space image of the patient can be simulated according to the data fed back by the self-adaptive positioning system, the combination of the optical surface imaging system and the accurate calculation of the treatment center of the patient greatly improves the accuracy of the radiation treatment.
Drawings
FIG. 1 is a diagram of the overall architecture of a target monitoring system for radiotherapy according to the present invention;
FIG. 2 is a schematic diagram of an automatic positioning system A of a target area monitoring system for radiotherapy;
fig. 3 is a schematic structural diagram of a telescopic matrix unit a21 in a target volume monitoring system for radiotherapy according to the present invention;
FIG. 4 is a schematic diagram of an assembly of an automatic positioning matrix and a base plate in a target area monitoring system for radiotherapy according to the present invention;
fig. 5 is a schematic view of the installation of a body surface imaging system in the target region monitoring system for radiotherapy according to the present invention.
Description of the marks
Data processing system of A special-shaped automatic positioning system B body surface imaging system C
D treatment monitoring system
A1 bottom plate A2 automatic positioning matrix A3 power and data acquisition system
A11 base plate of A4 pressure feedback and space position measuring system
A12 air line system A13 sensor A14 grid
A21 telescopic matrix unit A211 base column A212 lifting column
A213 ball A214 air bag A2111 first column
A2112 first stopper A2121 second cylinder A2122 second stopper
A2141 bag body A2142 ball support A2143 stopping sheet
B1 imaging sensor C1 data collection storage system
C2 space data reconstruction system C3 display system C4 treatment recording system
D2 positioning monitoring system of D1 body surface information monitoring system
D4 machine learning system of D3 radiotherapy center reconstruction system
D5 display and alarm system D6 big data storage system
Detailed Description
In order to further understand the objects, structures, features and functions of the present invention, the following embodiments are described in detail.
The invention provides a target area monitoring system for radiotherapy, which comprises an abnormal automatic positioning system A, a body surface imaging system B, a data processing system C and a treatment monitoring system D, and particularly relates to a figure 1, wherein the figure 1 is an overall architecture diagram of the target area monitoring system for radiotherapy, and the overall architecture diagram comprises:
the special-shaped automatic positioning system A comprises a bottom plate A1, an automatic positioning matrix A2, a power and data acquisition system A3 and a pressure feedback and spatial position measurement system A4; referring to fig. 2, fig. 2 is a schematic view of a heterotypic automatic positioning system a of a target monitoring system for radiotherapy of the present invention, a bottom plate a1 is formed by integrating an air pipeline system a12 in a substrate a11, the substrate a11 is a carbon fiber plate, and may be an engineering plastic plate or a titanium alloy plate; referring to fig. 4, fig. 4 is a schematic diagram illustrating an assembly of an automatic positioning matrix and a bottom plate in a target area monitoring system for radiotherapy according to the present invention, where the automatic positioning matrix a2 includes a plurality of telescopic matrix units a21, the telescopic matrix units a21 are fixed by a grid a14 and connected to an air pipeline system a12, and a power and data acquisition system A3 controls the telescopic matrix units a21 to extend and retract through an air pipeline system a 12; the telescopic matrix unit a21 comprises a base column a211, a lifting column a212, a ball bearing a213 and an air bag a214, referring to fig. 3, fig. 3 is a schematic structural view of a telescopic matrix unit a21 in a target area monitoring system for radiotherapy of the present invention, the base column a211 is fixed on a bottom plate a1 through a grid a14, the base column a211 is hollow cylindrical and is composed of a first column a2111 and a first stopper a 2112; the first stopper A2112 is annular and is fixed at the top end of the first column A2111; the lifting column A212 is in a hollow cylindrical shape and consists of a second column A2121 and a second stopper A2122; the lifting column A212 is nested outside the base column A211, and the second stopper A2122 is positioned lower than the first stopper A2112; the ball A213 is spherical and is arranged at the top end of the lifting column A212 and can freely roll for 360 degrees; the air bag A214 is sleeved inside the base pillar A211 and consists of a bag body A2141, a ball support A2142 and a stopping sheet A2143, the bag body A2141 is made of soft materials and is designed to be stretchable like a spring, the lower end of the bag body A2141 is connected with an air pipeline system A12, the bag body A2141 receives air in the air pipeline system A12 to lift the lifting pillar A212, the top end of the lifting pillar A212 is embedded into the ball A213, normally, the lower portion of the ball A213 is in contact with the annular ball support A2142 at the top end of the air bag A214, the ball A213 can freely roll for 360 degrees, when the lifting pillar A212 lifts the ball A213, the ball A213 is in contact with a human body to generate pressure, and when the pressure reaches a certain threshold value, the annular ball support A2142 sinks, the stopping sheet A2143 leaks out to fix the ball A213. The telescopic matrix unit a21 is provided with a sensor a13 on the bottom plate a1, and is used for acquiring the lifting height of the telescopic matrix unit a21, and the telescopic matrix unit a21 and the sensor a13 are in one-to-one correspondence. The preferred sensor a13 is a laser sensor, although other electronic calibration methods are possible to measure the absolute height of the telescopic matrix cell a 21. The sensor A13 detects the lifting height of each telescopic matrix unit A21 and transmits the data to the data acquisition and processing system C. The air pipeline system A12 converges towards two sides of the bottom plate A1 by taking the longitudinal center line of the special-shaped automatic positioning system A as a boundary, and the power and data acquisition system A3 converges into the bed tail from two sides, and the power and data acquisition system A3 can control the air power of the air pipeline system A12, acquire the pressure data of the telescopic matrix unit A21 in real time and transmit the pressure data to the data acquisition processing system C. The power in the power and data acquisition system A3 is air power or oil pressure, and can be replaced by other hydraulic pressure. The pressure feedback and spatial position measurement system a4 collects spatial and pressure data from the sensor a13 and the air line system a12 and communicates the data to the placement monitoring system D2 in the treatment monitoring system D.
The body surface imaging system B comprises three groups of imaging sensors B1 with the same structure, the imaging sensor B1 is a structural light emitter and consists of a structural light emitter B11 and a structural light receiver B12, in addition, the three groups of imaging sensors B1 can also be specific wavelength laser sensors or radio sensors, the invention is not limited, and the body surface imaging system B is used for acquiring body surface contour data of a patient on the special-shaped automatic positioning system A; referring to fig. 5, fig. 5 is a schematic view of the installation of a body surface imaging system in a target area monitoring system for radiotherapy according to the present invention, preferably, three groups of imaging sensors B1 are structured light sensors, which are respectively disposed at 45 ° on the foot side and 45 ° on the left and right sides of the heterotypic automatic positioning system a, and the body surface contour data of the patient on the heterotypic automatic positioning system a is obtained by using a 3D imaging technique based on the geometric deformation of the triangulation structured light projection pattern. The body surface imaging system B and the special-shaped automatic positioning system A are matched with each other to form an optical surface imaging quality control and correction system, namely different telescopic matrixes are generated through the special-shaped automatic positioning system A, and surface data reconstructed after the body surface imaging system B acquires optical information is compared with actual data of the special-shaped automatic positioning system A to carry out quality control on the imaging system.
The data processing system C comprises a data collecting and storing system C1, a spatial data reconstruction system C2 and a display system C3, wherein the data collecting and storing system C1 collects spatial data of a telescopic matrix unit A21 and structural light deformation data obtained by a body surface imaging system B, the spatial data reconstruction system C2 carries out calling, noise reduction, calculation and reconstruction on the data collected by the data collecting system C1, registration and fusion are carried out on the back body surface information of a patient transmitted by an automatic positioning matrix A2 and the front surface information of the patient transmitted by the body surface imaging system B, the circumferential body surface information of the patient is reconstructed, spatial coordinates and A3D virtual image of a 360-degree circumferential contour of the human body are reconstructed by comparing with a coordinate system of a treatment system, the contour of a tumor center and a crisis organ is estimated by combining with data of CT simulation positioning of the patient, the 3D virtual image and the estimated contour can be displayed on the display system C3, the operator can conveniently and visually acquire the body surface and in-vivo information of the patient; in addition, data processing system C also includes a treatment recording system C4 for recording error values during the self-test.
The treatment monitoring system D comprises a body surface information monitoring system D1, a positioning monitoring system D2, a radiotherapy center reconstruction system D3, a machine learning system D4 and a display and alarm system D5, wherein the body surface information monitoring system D1 compares a virtual image obtained in the treatment process with a reference image and displays the virtual image in the display and alarm system D5, the reference image is used for the initial positioning of a patient, an automatic positioning system A is used for making a body membrane and initial body surface data, CT positioning scanning is carried out in the system to obtain the initial positioning information of the patient and a reference virtual image generated by CT image information in a coordinate system, the treatment monitoring system D can set a center deviation threshold value or a region of interest (ROI) error threshold value to carry out quality control on the treatment, and when the error between the virtual image and the reference image exceeds the set threshold value, the display and alarm system D5 gives an alarm, and controls the linear accelerator to stop the treatment. The pendulum position monitoring system D2 receives pressure data of the air pipeline system A12, wherein the pressure data comprises instant pressure data and dynamic pressure data, the pressure data are transmitted into the pendulum position monitoring system D2, the instant pressure data can generate a reference pressure portrait, the quality control effect on the repetition of the body position of a patient is achieved, the dynamic pressure data can be combined with 4DCT to generate a pressure wave surface and ROI motion curves, the data are transmitted into the machine learning system D4, and the purpose of estimating the displacement of the tumor and the organs at risk according to pressure waves is achieved through machine learning. The error and offset data are transmitted into a radiotherapy center reconstruction system D3, the radiotherapy center reconstruction system D3 calculates to obtain an adjustment scheme, and the automatic positioning matrix A2 and the treatment table displacement data are adjusted to carry out body position matching; in addition, the treatment monitoring system D also includes a big data storage system D6, all data is stored in the big data storage system D6 during the treatment process, so as to improve the working capacity of the machine learning system D4.
The invention can realize full-automatic self-checking in the system, and the operator only needs to set the self-checking frequency, such as once a day, once a week and the like, and the system detection and adjustment are completely and automatically completed. The space data reconstruction system C2 pre-stores the initial coordinate system and the initial surface data of the abnormal automatic positioning system a. When the system reaches a self-checking node, all the telescopic matrix units A21 of the automatic positioning matrix A2 are reset to 0 point, the automatic positioning matrix A2 presents a chessboard shape and corresponds to corresponding initial coordinates, the spatial data reconstruction system C2 generates a random scatter diagram corresponding to a chessboard of the automatic positioning matrix A2, a structural light emitter on a sensor B1 of the body surface imaging system B emits structural light according to the random scatter diagram, a structural light receiver acquires structural light information, the structural light information is compared with the random scatter diagram generated by the system in the spatial data reconstruction system C2, a comparison effect diagram is displayed in the display system C3, an error value is recorded in the treatment recording system C4, a reset value is calculated by the spatial data reconstruction system C2, and the reset value is returned to the sensor B1 of the body surface imaging system B to adjust the light emitting quality of the structural light emitter. After the light emitting quality is adjusted, the data collecting and storing system C1 receives the surface data of the automatic positioning matrix A2 collected by the body surface imaging system B, the surface data are transmitted to the spatial data reconstruction system C2 to be processed and reconstructed, the reconstructed current surface data are compared with the initial surface data, the comparison result can be visually displayed in the display system C3, and an error value is recorded in the treatment recording system C4. The spatial data reconstruction system C2 calculates the lens distortion adjustment data of the body surface imaging system B according to the error value, the data returns to the spatial data reconstruction system C2, the spatial reconstruction algorithm is adjusted immediately, and the error of the body surface imaging system B is reduced. After the self-inspection of the body surface imaging system B is completed, the spatial data reconstruction system C2 generates a group of random surface self-inspection data aiming at the automatic positioning matrix A2, orders the automatic positioning system A to generate a matrix surface according to the self-inspection data, the body surface imaging system B acquires the surface data of the automatic positioning matrix A2, transmits the acquired actual surface data to the spatial data reconstruction system C2 for reconstruction and matching with the random surface self-inspection data, the matching effect can be visually displayed in the display system C3, and recording error values in a treatment recording system C4, calculating the positioning error of the heterotype automatic positioning system A by the spatial data reconstruction system C2 according to the error values, and returns to the adjustment parameters of the aerodynamic force of the power pipeline system A12, and adjusts the power and data acquisition system A3 according to the parameters to reasonably distribute the air quantity and the pressure in the air pipeline system A12. And repeating the self-checking process after the adjustment is finished until the error is reduced to the allowable range set by the operator.
The invention can record and compare the positioning data of the patient and realize automatic positioning, and the error of the body position is more finely adjusted, thereby reducing the workload of the operator and improving the working efficiency. Under the condition that the self-inspection of the whole system is qualified, a patient collects body position data for the first time and is in a body membrane manufacturing and CT (computed tomography) simulation positioning stage, when the patient is positioned in a supine position, the patient lies on the back on an automatic positioning matrix A2 of the special-shaped automatic positioning system A, after the patient relaxes, all the telescopic matrix units A21 of the automatic positioning matrix A2 are inflated and lifted through an air pipeline system A12 to fill up a gap of the back body surface, all the telescopic matrix units A21 are lifted to a certain pressure threshold value until the balls A213 are in contact with the braking sheets A2143 and the balls A213 are fixed. The invention is designed by the special ball A213 at the top end of the telescopic matrix unit A21, which can effectively prevent the soft tissue or joint from being pressed and deformed by the friction force of the skin during the forming process of the automatic positioning matrix A2, when the automatic positioning matrix A2 is formed, the ball A213 is contacted and fixed with the stopping pad A2143 by the pressure, which can play the role of fixing and skid resistance, and simultaneously, the stressed part of the automatic positioning matrix A2 is automatically fixed during the action stage of lying down or getting up of the patient, which can prevent the patient from being injured by the rolling of the ball A213. After an automatic positioning matrix A2 of the special-shaped automatic positioning system A is formed, an accurate height value is returned from a height measurement group at the bottom of a telescopic matrix unit A21, an air pressure value of the matrix is returned by an air pipeline system A12, the air pressure value and the height value are mutually registered, data are transmitted into a data collection and storage system C1, a spatial data reconstruction system C2 reads the height value of a telescopic matrix unit A21 or the pressure value of an air pipeline system A12 to calculate the spatial relative position of the top of each telescopic matrix unit A21, and the back body surface of a patient is reconstructed and matched into an initial spatial coordinate system. The abnormal automatic positioning system A provides comprehensive supporting force for a patient, the patient can be perfectly attached to the body membrane without leaving an unplanned gap, at the moment, the body surface of the patient represented by the body membrane can reflect the real body surface of the patient to the maximum extent, the body surface imaging system B collects the body surface data of the patient and inputs the body surface data into the data collecting and storing system C1, the space data reconstruction system C2 reads the body surface data of the patient for reconstruction and matches the body surface data into an initial space coordinate system, then the body surface data of the back of the patient is integrated into 360-degree circumferential body surface data of the patient and is integrated into the initial space coordinate system, and the treatment center, the target area and the organs at risk of the patient are reconstructed by combining the patient positioning CT and the radiotherapy planning system. Reference body surface and coordinate data of the patient are generated in the system. When the patient is treated, the patient lies on the automatic positioning system A again, the system repeats the processes to generate real-time body surface and coordinate data, the reference body surface and the coordinate data can be visually presented on the display system C3, an operator can select different registration modes such as central registration, region of interest (ROI) registration and the like, and the registration error is represented by the deviation of the head, the foot, the front, the back, the left, the right and the like and the rotation deviation of the head and the foot in the axial direction and the front and back axial direction. The operator may set a threshold for error allowance and control the accelerator to halt treatment by the treatment monitoring system D when the system detects that the actual error exceeds the detection threshold. When the error between the real-time body position of the patient and the reference body position exceeds a threshold value, an operator can select the system to automatically position, the spatial data reconstruction system C2 calculates the movement mode and the displacement of the body position of the patient through an error value, the data is transmitted into the special-shaped automatic positioning system A and converted into air pressure data and accurate height value data of the automatic positioning matrix A2, the power and data acquisition system A3 charges and deflates the automatic positioning matrix A2 to generate power waves, the body of the patient is pushed to displace until the body of the patient reaches a target position, and the automatic positioning process is realized. Aiming at the parts of the head, the limbs and the like which are not influenced much by the respiratory movement, the normal operation of the radiotherapy can be ensured by adopting the instantaneous static registration and monitoring method. Due to the special design of the telescopic matrix unit A21 and the application of the dual measuring standards of the active bearing and the pressure height of the special-shaped automatic positioning system A, when a patient is thin and the body circumference is reduced, the automatic positioning matrix A12 can be continuously lifted until reaching a preset pressure value when reaching a preset height and not reaching the preset pressure, at the moment, the body circumference of the patient is reduced along with the occurrence of the body circumference, but the patient is still well jointed with a fixed body membrane due to the active filling of the automatic positioning matrix A12 behind, the system can still truly reflect the body surface of the patient, the reduction of the body circumference of the patient can be displayed in the display system, and an operator is reminded to decide whether to modify the body membrane and a treatment plan. When the patient is edematous or obese, the automatic positioning matrix A12 actively stops when the predetermined pressure is reached but the predetermined height is not reached, and the generated body surface data will be generally larger than the reference data, indicating the increase in the circumference of the patient in the display system C3 and alerting the operator whether a body membrane and treatment plan modification is required.
Aiming at parts such as the chest and the abdomen, which are greatly influenced by respiratory motion, a multi-mode monitoring mode of matching pressure waves with body surface data is adopted, so that the positioning data of a patient and the body surface and pressure changes caused by respiratory motion can be dynamically recorded and compared, and the individualized accuracy of radiotherapy behavior treatment can be dynamically adjusted. The initial acquisition of body position data of a patient is used as a body membrane making and CT simulation positioning stage, when positioning is carried out in a supine position, after an automatic positioning matrix A2 of the special-shaped automatic positioning system A is formed, an accurate height value is returned from a height measurement group at the bottom of a telescopic matrix unit A21, an air line system A12 returns an air pressure value of the matrix, the telescopic matrix unit A21 is lifted and mediated by air, the body surface of a patient is fluctuated due to respiratory motion, the fluctuation can be converted into the pressure of the automatic positioning matrix A2, the air pressure value and the matrix height value in a certain respiratory cycle are continuously measured, the air pressure value and the height value are in registration with each other, data are transmitted into a data collection and storage system C1, a spatial data reconstruction system C2 reads the height value of the telescopic matrix unit A21 or the pressure value of the air line system A12 to calculate the spatial relative position of the top of each telescopic matrix unit A21, and a back dynamic body surface of the patient during respiration is reconstructed and matched into an initial spatial coordinate system. The body surface imaging system B acquires body surface data of a patient and inputs the body surface data into the data collecting and storing system C1, the spatial data reconstruction system C2 reads the body surface data of the patient for reconstruction and matches the body surface data into an initial spatial coordinate system, then the body surface data of the back of the patient is integrated into 360-degree circumferential body surface data of the patient and is integrated into the initial spatial coordinate system, and a dynamic treatment center, a target area and a danger organ of the patient during breathing are reconstructed by combining the patient positioning 4DCT and the radiotherapy planning system. At this time, dynamic reference body surface and coordinate data of the patient are generated in the system. When the patient is treated, the patient lies on the special-shaped automatic positioning system A again, the system repeats the processes to generate real-time dynamic body surface and coordinate data, the reference dynamic body surface and coordinate data can be visually displayed on the display system C3, and the treatment monitoring system D can select a proper time point to control the linear accelerator to irradiate the target area according to the dynamic data. In the treatment process, an operator can select different registration modes such as time point registration, center registration, region of interest (ROI) registration and the like, and self-adaptive radiotherapy is carried out on the target area through dynamic pressure waves and dynamic body surface. The error of registration is expressed in terms of the amount of deviation in the head, foot, anterior, posterior, left, right, etc. orientations and the rotational deviation in the head-foot axial and anterior-posterior axial directions. The operator may set a threshold for error allowance and control the accelerator to halt treatment by the treatment monitoring system D when the system detects that the actual error exceeds the detection threshold.
The pressure wave data is simple in structure, does not need to be calculated and reconstructed, is convenient to observe in time and process quickly, and is suitable for dynamic monitoring and emergency early warning. The reference body surface data, the dynamic pressure waves and the dynamic body surface data of the patient are stored in a big data storage system D6 of a treatment monitoring system D, the machine learning system D4 is used for deeply learning the changes of the dynamic pressure waves and the dynamic body surface, the bias of the data and a solution, the purpose of calculating and predicting the position of the tumor by recognizing the pressure waves is achieved, the abnormal pressure waves can be actively recognized, the effect of actively controlling the work of an accelerator is achieved, and the system can be used as an efficient and convenient self-adaptive radiotherapy scheme
The target area monitoring system for radiotherapy provided by the invention utilizes the special-shaped automatic positioning system with the balls to position the body of the patient, when the patient lies on the positioning system, the matrix assembly is automatically attached to the patient by aerodynamic force, the friction force between the positioning system and the patient is reduced by the balls of the automatic positioning matrix assembly, the deviation of the body position of the patient is pushed and adjusted, the extrusion deformation or joint displacement of soft tissues in the attaching process is avoided, the dot matrix height value and the pressure value of the special-shaped automatic positioning system are fed back to the data processing system to reconstruct the body surface of the back of the patient, 360-degree body surface data of the patient are calculated by combining the optical body surface reconstruction system to reconstruct the circumferential body surface of an interested area, the automatic positioning system is fused into the optical surface imaging system, and the back space image of the patient can be simulated according to the data fed back by the self-adaptive positioning system, the combination of the optical surface imaging system and the accurate calculation of the treatment center of the patient greatly improves the accuracy of the radiation treatment.
The present invention has been described in relation to the above embodiments, which are only exemplary of the implementation of the present invention. It should be noted that the disclosed embodiments do not limit the scope of the invention. Rather, it is intended that all such modifications and variations be included within the spirit and scope of this invention.
Claims (10)
1. A target monitoring system for radiotherapy, comprising:
the special-shaped automatic positioning system comprises a bottom plate, an automatic positioning matrix, a power and data acquisition system and a pressure feedback and spatial position measurement system; the air pipeline system is integrated in a substrate of the base plate, and the substrate is a carbon fiber plate; the automatic positioning matrix comprises a plurality of telescopic matrix units, the telescopic matrix units are fixed through grids and connected with the air pipeline system, and the power and data acquisition system controls the telescopic matrix units to stretch through the air pipeline system;
the body surface imaging system comprises three groups of imaging sensors with the same structure, each imaging sensor consists of a structural light emitter and a structural light receiver, and the body surface imaging system is used for acquiring body surface contour data of a patient on the abnormal automatic positioning system;
the data processing system comprises a data collecting and storing system, a spatial data reconstruction system and a display system, wherein the data collecting and storing system collects spatial data of the telescopic matrix unit and structural light deformation data obtained by the body surface imaging system, the spatial data reconstruction system carries out calling, noise reduction, calculation and reconstruction on the data collected by the data collecting system, reconstructs circumferential body surface information of a patient of the patient, and combines data of patient CT simulation positioning to calculate the outline of a tumor center or a critical organ, and the outline is displayed in the display system; and
the treatment monitoring system comprises a body surface information monitoring system, a positioning monitoring system, a radiotherapy center reconstruction system, a machine learning system and a display and alarm system, wherein the body surface information monitoring system compares a virtual image obtained in the treatment process with a reference image and displays the virtual image in the display and alarm system, the reference image is a virtual image generated by a patient using initial positioning information and CT image information of the abnormal automatic positioning system for the first time, the positioning monitoring system receives pressure data of the air pipeline system to generate a reference pressure image, a pressure wave body surface and an ROI motion curve, and transmits the reference pressure image, the pressure wave body surface and the ROI motion curve into the machine learning system, the machine learning system calculates the displacement of tumors and critical organs according to pressure waves and transmits the data into the radiotherapy center reconstruction system, the radiotherapy center reconstruction system obtains the adjustment of the automatic positioning matrix and the displacement data of the treatment couch, and performs body position matching.
2. The system of claim 1, wherein the retractable matrix units are provided with sensors on a bottom plate for acquiring the elevation heights of the retractable matrix units, and the retractable matrix units correspond to the sensors one by one.
3. The system of claim 2, wherein the telescopic matrix unit comprises:
the base column is fixed on the bottom plate through grids, is in a hollow cylindrical shape and consists of a first column body and a first stopper; the first limiting stopper is annular and is fixed at the top end of the first column body;
lifting, wherein the lifting column is in a hollow cylindrical shape and consists of a second column body and a second stopper; the lifting column is nested outside the base column, and the second stopper is positioned lower than the first stopper;
the ball is spherical and is arranged at the top end of the lifting column and can freely roll for 360 degrees; and
the air bag is sleeved inside the base column and consists of a bag body, a ball support and a braking sheet, and the lower end of the bag body is connected with the air pipeline system.
4. The system of claim 1, wherein the substrate is an engineered plastic or titanium alloy plate.
5. The system of claim 1, wherein the three imaging sensors are structured light sensors, which are respectively disposed at 45 ° right above the foot and 45 ° oblique above the left and right sides of the heterotypic automatic positioning system.
6. The system of claim 1, wherein the three imaging sensors are wavelength-specific laser sensors or radio sensors.
7. The system of claim 1, wherein the power and data acquisition system is aerodynamic or hydraulic.
8. The system of claim 1, wherein the data processing system further comprises a treatment recording system.
9. The system of claim 1, further comprising a mass data storage system.
10. The system of claim 1, wherein the positioning monitoring system receives pressure data from the air line system, including real-time pressure data and dynamic pressure data.
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Application publication date: 20220920 |