CN116492608A - Image-guided alignment mobile radiotherapy equipment - Google Patents

Image-guided alignment mobile radiotherapy equipment Download PDF

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Publication number
CN116492608A
CN116492608A CN202310453940.5A CN202310453940A CN116492608A CN 116492608 A CN116492608 A CN 116492608A CN 202310453940 A CN202310453940 A CN 202310453940A CN 116492608 A CN116492608 A CN 116492608A
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China
Prior art keywords
treatment head
image
supporting
identification
cameras
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CN202310453940.5A
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Inventor
李彦飞
陈一忠
王刚
胡锟
王建军
吴凯
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Shaanxi Huaming Putai Medical Equipment Co ltd
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Shaanxi Huaming Putai Medical Equipment Co ltd
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Priority to CN202310453940.5A priority Critical patent/CN116492608A/en
Publication of CN116492608A publication Critical patent/CN116492608A/en
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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
    • 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
    • A61N5/1075—Monitoring, verifying, controlling systems and methods for testing, calibrating, or quality assurance of the radiation treatment apparatus

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)

Abstract

The invention discloses an image-guided-alignment mobile radiotherapy device which comprises a base, a fixed frame, a mechanical arm, a treatment head, a beam limiting device and an image-guided-alignment device. The invention greatly increases the adjusting range of the treatment head while improving the rapid moving function through the base, and achieves the high-precision control of the movement of the treatment head by comparing the real-time feedback of the position and posture coordinates of the treatment head with the set value through image guidance, and meets the requirements of accurately stopping the treatment head at the target position, thereby realizing the portable movement, automatic target alignment and wide-angle treatment of the radiotherapy equipment, reducing the equipment positioning and operating time, relieving the burden of medical staff and improving the efficiency of radiotherapy.

Description

Image-guided alignment mobile radiotherapy equipment
Technical Field
The invention belongs to the technical field of mobile radiotherapy equipment, and particularly relates to mobile radiotherapy equipment with image guiding alignment.
Background
The radiotherapy is a local treatment of radiation, namely, primary focus and metastasis of local tumor are eliminated and radically treated, and the radiotherapy, surgery and chemotherapy together form three basic treatment means of tumor, but the radiotherapy has the advantages of wide application range, definite curative effect, simple process, small side effect, low requirement on the condition of the patient, and the like, and about 2/3 of patients need to be treated by the radiotherapy in the process of treating cancer, so that the radiotherapy becomes one of the main treatment means.
The intraoperative radiotherapy is one large dose radiotherapy under direct vision for visible tumors, tumor bed areas or easily recurrent metastasis sites in the operation. At present, in the actual operation of radiotherapy in operation, the existing radiotherapy equipment moves in and out of an operating room, adjusts the affected part of a patient and other operations, particularly, the factors such as limited adjustment range, manual adjustment and the like, cannot be adjusted in place at one time, and sometimes needs to be adjusted for multiple times, so that the long time is needed, the whole operation time is prolonged, and the infection probability of the patient is increased. Thus, there is currently a lack of a mobile radiotherapy apparatus that can increase the speed of movement of the apparatus, increase the treatment range of the treatment head of the apparatus, and enable automatic alignment.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides the mobile radiotherapy equipment with image guide alignment, which has novel and reasonable design, improves the rapid movement function through a base, greatly increases the adjustment range of a treatment head, achieves the high-precision control of the movement of the treatment head by feeding back the position and posture coordinates of the treatment head in real time through image guide and comparing the position and posture coordinates with the set value in real time, meets the requirement of accurately stopping the treatment head at a target position, realizes the portable movement, automatic target alignment and wide-angle treatment of the radiotherapy equipment, reduces the equipment positioning and operation time, lightens the burden of medical staff, improves the efficiency of radiotherapy and is convenient to popularize and use.
In order to solve the technical problems, the invention adopts the following technical scheme: an image-guided, aligned mobile radiotherapy apparatus, comprising: comprising
And (2) base: support and fixation for movement and treatment of the whole device;
fixing the frame: the mechanical arm is arranged on the base and fixed;
mechanical arm: for fixing the treatment head and driving the movement of the treatment head;
treatment head: for radiotherapy radiation;
beam limiting device: aligning focus area of patient for ray collimation, metering distribution control and protection;
image-guided alignment means: the device comprises a processor, at least two groups of identification pieces and at least two groups of cameras, wherein the at least one group of identification pieces are used for forming a first identification on the beam limiting device, and the at least one group of cameras are used for shooting and acquiring a first identification image; at least one other group of identification pieces are used for forming a second identification on the treatment head, and at least one other group of cameras are used for shooting and acquiring a second identification image; the processor acquires a first identification image, determines a primary target position of the treatment head according to the first identification image, drives the mechanical arm to reach the primary target position, then determines a precise target position of the treatment head according to a second identification image, and drives the mechanical arm according to the precise target position so as to align the treatment head with the center of the beam limiting device and reach a preset distance.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the base comprises a movable chassis, a stabilizing device and a beam blocking device; the movable chassis comprises a supporting seat, a cart arranged at the rear side of the supporting seat, a first supporting beam and a second supporting beam which are respectively arranged at two sides of the supporting seat and have equal length, the rear end of the first supporting beam and the rear end of the second supporting beam are flush with the rear end of the supporting seat, the length of the first supporting beam is greater than that of the supporting seat, rollers are arranged at the two ends of the bottoms of the first supporting beam and the second supporting beam, and a gyroscope is arranged in the middle of the front side of the supporting seat;
the stabilizing device comprises a first front supporting leg, a second front supporting leg, a first rear supporting leg and a second rear supporting leg, wherein the first front supporting leg is slidably arranged on the outer side wall of the first supporting beam, the second front supporting leg is slidably arranged on the outer side wall of the supporting beam, the first rear supporting leg is hinged to the rear end of the outer side wall of the first supporting beam, the second rear supporting leg is hinged to the rear end of the outer side wall of the supporting beam, the first parking module is arranged on the first rear supporting leg, the second parking module is arranged on the first front supporting leg, the third parking module is arranged on the second front supporting leg, and the fourth parking module is arranged on the second rear supporting leg;
the beam blocking device comprises a moving base which is arranged along the front wall of the supporting seat in a sliding manner and is of a telescopic structure, a moving platform for installing a beam stopper is arranged on the upper portion of one end of the moving base, which is far away from the supporting seat, a plurality of universal wheels are arranged on the lower portion of one end of the moving base, which is far away from the supporting seat, and the beam stopper is a heavy metal block with uniform thickness.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the parking module I, the parking module II, the parking module III and the parking module IV are all electric foot support.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the rotation angle of the first rear supporting leg and the first supporting beam is 0-90 degrees, the rotation angle of the second rear supporting leg and the second supporting beam is 0-90 degrees, the sum of the lengths of the first rear supporting leg and the first front supporting leg is equal to the length of the first supporting beam, and the sum of the lengths of the second rear supporting leg and the second front supporting leg is equal to the length of the second supporting beam.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the treatment head comprises a treatment head shell and a beam tube, the beam limiting device comprises a light limiting tube and a marking disc arranged at the top of the light limiting tube, at least one group of marking pieces comprises a first marking ring arranged on the upper surface of the marking disc, a second marking ring arranged on the edge of the upper surface of the marking disc and a third marking ring arranged on the outer side surface of the marking disc, and at least one group of cameras comprises a first group of cameras arranged on a fixed frame; at least another group of identification pieces comprise a treatment head marker arranged on one side of the treatment head shell facing the fixed frame, at least another group of cameras comprise a second group of cameras arranged on the emergent end face of the beam tube, and the second group of cameras comprise two monocular cameras.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the first group of cameras are binocular cameras.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the number of the treatment head markers is three, the three treatment head markers are not on the same straight line and are all spherical markers, and the textures and the colors of the three treatment head markers are different.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the first identification ring, the second identification ring and the third identification ring are different in color.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the camera optical axis of one monocular camera of the two monocular cameras forms 15-20 degrees with the axis of the treatment head.
The above-mentioned portable radiotherapy equipment that image guidance aimed at, its characterized in that: the beam limiting device is fixed through a beam limiting device locating clamp, and the other end of the beam limiting device locating clamp is fixed on the treatment bed.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the stabilizing device is arranged on the base, so that the volume of the base is small in a transferring state, and the movement of the radiotherapy equipment can be easily realized; when the device is in a working state, the supporting legs of the stabilizing device are opened, so that the stability and the stability range of the base are increased, the range of the gravity center of the device is increased, the mechanical arm performs large-range position adjustment to keep the base in a horizontal state, the gravity center of the device can be ensured to be in the stabilizing device, the advantages of large radius and multi-degree-of-freedom movement of the mechanical arm are fully exerted, the wide-angle and wide-range swing posture can be realized, the possibility of secondary swing adjustment is reduced, and the treatment preparation time is shortened; the parking module is installed on the base, the lower margin support on the parking module is used for supporting radiotherapy equipment, the radiotherapy equipment is compared with the roller support, the equipment cannot be displaced, the stability of the radiotherapy equipment is increased, the electronic gyroscope is used for controlling the descending height of the lower margin support in the parking module according to the ground of the working environment, the descending height enables the equipment to be in a horizontal state rapidly, the stability of the equipment is guaranteed again, and the electronic gyroscope is convenient to popularize and use.
2. The processor acquires a first identification image, determines a primary target position of the treatment head according to the first identification image, drives the mechanical arm to reach the primary target position, then determines a precise target position of the treatment head according to a second identification image, and drives the mechanical arm according to the precise target position so as to align the treatment head with the center of the beam limiting device and reach a preset distance.
3. The invention has novel and reasonable design, achieves high-precision control of the movement of the treatment head by real-time feedback of the position and posture coordinates of the treatment head and real-time comparison of the set values through image guidance, meets the requirement of accurate stop of the treatment head when the treatment head is at the target position, realizes portable movement, automatic target alignment and wide-angle treatment of the radiotherapy equipment, reduces equipment positioning and operation time, lightens the burden of medical staff, improves the efficiency of radiotherapy and is convenient to popularize and use.
In summary, the invention has novel and reasonable design, improves the rapid movement function through the base, greatly increases the adjustment range of the treatment head, achieves the high-precision control of the movement of the treatment head by comparing the real-time feedback of the position and posture coordinates of the treatment head with the set value through image guidance, meets the requirement of accurately stopping the treatment head at the target position, realizes the portable movement, automatic target alignment and wide-angle treatment of the radiotherapy equipment, reduces the equipment positioning and operation time, lightens the burden of medical staff, improves the efficiency of radiotherapy and is convenient to popularize and use.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the working state of the base structure of the present invention after being unfolded.
Fig. 3 is a schematic view of the base structure of the present invention in a storage and transport position after being retracted.
FIG. 4 is a schematic diagram of the distribution of four support locations and gyroscope locations in accordance with the present invention.
Fig. 5 is a schematic view illustrating the projection effect along the x direction in fig. 4.
Fig. 6 is a schematic view showing the projection effect along the y direction in fig. 4.
Fig. 7 is a schematic structural diagram of the beam limiting device of the present invention.
Reference numerals illustrate:
Detailed Description
As shown in fig. 1 to 7, the image-guided alignment mobile radiotherapy apparatus of the present invention comprises
Base 100: support and fixation for movement and treatment of the whole device;
a fixed frame 110: a mechanical arm 120 provided on the base 100 and fixed;
mechanical arm 120: for fixing the treatment head and driving the movement of the treatment head;
treatment head 130: for radiotherapy radiation;
beam limiting device 140: aligning the focal zone of the patient 170 for collimation, metering distribution control and protection of the radiation;
image-guided alignment means: the device comprises a processor, at least two groups of identification pieces and at least two groups of cameras, wherein the at least one group of identification pieces are used for forming a first identification on the beam limiting device, and the at least one group of cameras are used for shooting and acquiring a first identification image; at least one other group of identification pieces are used for forming a second identification on the treatment head, and at least one other group of cameras are used for shooting and acquiring a second identification image; the processor acquires a first identification image, determines a primary target position of the treatment head according to the first identification image, drives the mechanical arm to reach the primary target position, then determines a precise target position of the treatment head according to a second identification image, and drives the mechanical arm according to the precise target position so as to align the treatment head with the center of the beam limiting device and reach a preset distance.
In the transferring process, the processor identifies the front obstacle in real time according to the front image, avoids the equipment from colliding with the obstacle, controls the transferring speed according to the distance between the processor and the obstacle, and automatically slows down the speed and prompts an alarm if the distance between the processor and the obstacle is relatively close;
the processor acquires the identification image of the third identification ring and the identification image of the marker, performs three-dimensional reconstruction on the images, calculates coordinates of the third identification ring and the marker, and obtains three-dimensional postures of the beam limiting device and the treatment head; the processor determines the actual position of the beam limiting device and the initial position of the treatment head relative to the beam limiting device; the processor drives the treatment head to move to the initial position, so that the treatment head and the beam limiting device are initially centered;
the processor acquires an identification image of the first identification ring, and calculates the coordinates of the first identification ring after three-dimensional coordinate reconstruction to obtain a target position of the treatment head; the processor drives the treatment head to move towards the target position, so that the treatment head and the beam limiting device are accurately centered; in the process, the identification image acquired by the first group of cameras is subjected to auxiliary processing, motion monitoring is carried out, and the auxiliary treatment head is accurately centered with the beam limiting device;
the processor calculates and determines the target position of the beam stopper in the beam blocking device according to the target position of the treatment head, drives the lifting platform to move so as to align the center of the beam stopper with the treatment ray beam axis of the treatment head, and simultaneously, the upper surface of the beam stopper is perpendicular to the treatment ray beam axis of the treatment head.
Finally, the processor controls the emission and ending of the treatment rays.
In this embodiment, the base 100 includes a movable chassis, a stabilizing device, and a beam blocking device; the movable chassis comprises a supporting seat 12, a cart 11 arranged on the rear side of the supporting seat 12, a first supporting beam 14 and a second supporting beam 13 which are respectively arranged on two sides of the supporting seat 12 and have equal length, the rear end of the first supporting beam 14 and the rear end of the second supporting beam 13 are flush with the rear end of the supporting seat 12, the length of the first supporting beam 14 is greater than that of the supporting seat 12, rollers 15 are arranged at the two ends of the bottoms of the first supporting beam 14 and the second supporting beam 13, and a gyroscope is arranged in the middle of the front side of the supporting seat 12;
the stabilizing device comprises a first front supporting leg 23 which is slidably arranged on the outer side wall of the first supporting beam 14, a second front supporting leg 26 which is slidably arranged on the outer side wall of the second supporting beam 13, a first rear supporting leg 21 which is hinged to the rear end of the outer side wall of the first supporting beam 14, and a second rear supporting leg 28 which is hinged to the rear end of the outer side wall of the second supporting beam 13, wherein a parking module I22 is arranged on the first rear supporting leg 21, a parking module II 24 is arranged on the first front supporting leg 23, a parking module III 25 is arranged on the second front supporting leg 26, and a parking module IV 27 is arranged on the second rear supporting leg 28;
the beam blocking device comprises a moving base 31 which is arranged along the front wall of the supporting seat 12 in a sliding manner and is of a telescopic structure, a moving platform 32 for installing a beam stopper 33 is arranged at the upper part of one end of the moving base 31 far away from the supporting seat 12, a plurality of universal wheels 34 are arranged at the lower part of one end of the moving base 31 far away from the supporting seat 12, and the beam stopper 33 is a heavy metal block with uniform thickness.
In this embodiment, the first parking module 22, the second parking module 24, the third parking module 25 and the fourth parking module 27 are all electric foot supports.
In this embodiment, the rotation angle of the first rear support leg 21 and the first support beam 14 is 0 ° to 90 °, the rotation angle of the second rear support leg 28 and the second support beam 13 is 0 ° to 90 °, the sum of the lengths of the first rear support leg 21 and the first front support leg 23 is equal to the length of the first support beam 14, and the sum of the lengths of the second rear support leg 28 and the second front support leg 26 is equal to the length of the second support beam 13.
The volume of the base is small during transferring, so that the movement of the radiotherapy equipment can be easily realized; the support legs on the base are opened, so that the stability and the stability range of the base are increased, the range of the gravity center of the equipment is increased, and the range of the gravity center of the equipment is increased; the parking module is arranged on the base, so that the parking device is stable and reliable; the base that adopts possesses three kinds of states, deposits the state: the four supporting legs are retracted into the two supporting beams and are positioned at an initial position, the beam flow blocking device is retracted to be close to the fixed frame, and the parking device is in a locking state; transfer state: the parking device is in a released state, and the rest of the parking device is consistent with the storage state; working state: when the radiotherapy equipment treatment is ready to work, the back supporting leg is opened 90 degrees, and the front supporting leg stretches out, then through electronic gyroscope, through the decline height that lower margin supported in the control parking module, guarantee that equipment is in the horizontality fast, the beam flow blocking device moves forward to keeping away from fixed frame, excellent in use effect.
In this embodiment, the treatment head 130 includes a treatment head housing 132 and a beam tube 133, the beam limiting device 140 includes a light limiting tube 144 and a marker panel mounted on top of the light limiting tube 144, at least one group of markers includes a first marker ring 141 disposed on an upper surface of the marker panel, a second marker ring 142 disposed on an edge of an upper surface of the marker panel, and a third marker ring 143 disposed on an outer surface of the marker panel, and at least one group of cameras includes a first group of cameras 111 disposed on the fixed frame 110; at least another group of the identification pieces comprises a treatment head marker 131 arranged on the side of the treatment head shell 132 facing the fixed frame 110, at least another group of the cameras comprises a second group of cameras 134 arranged on the emergent end face of the beam barrel 133, and the second group of cameras 134 comprises two monocular cameras.
In this embodiment, the first set of cameras 111 is binocular cameras.
In this embodiment, the number of the treatment head markers 131 is three, the three treatment head markers 131 are not on a straight line and are all spherical markers, and the textures and colors of the three treatment head markers 131 are different.
In this embodiment, the first marker ring 141, the second marker ring 142 and the third marker ring 143 are different in color.
In this embodiment, the camera optical axis of one of the two monocular cameras forms 15 ° to 20 ° with the axis of the therapeutic head 130.
It should be noted that, the two monocular cameras include a first monocular camera and a second monocular camera, the camera optical axis of the first monocular camera is parallel to the axis of the therapeutic head 130, and the camera optical axis of the second monocular camera forms 15 ° to 20 ° with the axis of the therapeutic head 130;
in this embodiment, the beam limiting device 140 is fixed by a beam limiting device positioning clip 150, and the other end of the beam limiting device positioning clip 150 is fixed on the treatment couch 160.
When the invention is used, the process is as follows:
calibrating a marker and a camera of the equipment at regular intervals, and correcting the position;
step two, the equipment moves in place and levels, and the process is as follows:
step 201, removing the device and transferring to a use position: removing the base in the storage state from the storage position and transferring the base to the use position;
the storage state of the base means that the four supporting legs are retracted to the side walls of the two supporting beams, the beam blocking device is retracted to be close to the supporting seat 12, and the four parking modules are in a locking state;
the transferring state of the base is that the four parking modules are in a loosening state, and the rest of the parking modules are consistent with the storing state;
the four parking modules of the base are loosened at the storage position to push the base in the transferring state, at the moment, the rollers 15 and the universal wheels 34 are grounded to push the trolley 11 to drive the base to the using position;
step 202, unfolding and fixing the base: when the radiotherapy equipment is ready for treatment, the first rear supporting leg 21 and the second rear supporting leg 28 are opened for 90 degrees, the first front supporting leg 23 and the second front supporting leg 26 slide and stretch out, the four parking modules are controlled to be in a locking state, the first parking module 22, the second parking module 24, the third parking module 25 and the fourth parking module 27 are all electric ground leg supports, and the electric ground leg supports simultaneously descend to enable the movable chassis to ascend until the idler wheels 15 and the universal wheels 34 are separated from the ground;
step 203, establishing a planar two-dimensional rectangular coordinate system: taking the gyroscope position as an origin o, taking a connecting line parallel to the central axes of the first back supporting leg 21 and the second back supporting leg 28 as an x axis, and taking a straight line perpendicular to the x axis and passing through the o point as a y axis;
204, projecting a two-dimensional plane where the gyroscope is located in the positive direction of the x-axis, regarding plane projection as a first straight line when seen from the projection direction, determining the positions of projection points of the gyroscope and the four electric ground supports on the first straight line according to the position relation between the four electric ground supports and the gyroscope, keeping the position of the projection point with the highest position in the four electric ground supports unchanged, and correcting the heights of the projection points of the other three electric ground supports to the position of the projection point with the highest position;
step 205, projecting a two-dimensional plane where the gyroscope is located in a positive y-axis direction, regarding plane projection as a second straight line when seen from the projection direction, determining the positions of projection points of the gyroscope and the four electric ground supports on the second straight line according to the position relation between the four electric ground supports on the plane, keeping the position of the projection point with the highest position in the four electric ground supports unchanged, and correcting the heights of the projection points of the other three electric ground supports to the position of the projection point with the highest position;
step 206, judging whether the two-dimensional plane where the gyroscope is positioned is leveled or not: checking current display data of the gyroscope, judging whether a two-dimensional plane where the gyroscope is positioned is horizontal, and adjusting the level of the support seat 12 when the two-dimensional plane where the gyroscope is positioned is horizontal; when the two-dimensional plane in which the gyroscope is located is not level-adjusted, step 207 is performed;
step 207, projecting a two-dimensional plane where the gyroscope is located in the positive direction of the x-axis, regarding the plane projection as a first straight line when seen from the projection direction, determining the positions of projection points of the gyroscope and the four electric ground supports on the first straight line according to the position relation between the four electric ground supports on the plane and the gyroscope, keeping the positions of the projection points of the gyroscope unchanged, and correcting the heights of the projection points of the four electric ground supports to the positions of the projection points of the gyroscope at the same time;
step 208, projecting the two-dimensional plane where the gyroscope is positioned in the positive direction of the y axis, regarding the plane projection as a second straight line when seen from the projection direction, determining the positions of the projection points of the gyroscope and the four electric ground supports on the second straight line according to the position relation between the four electric ground supports on the plane and the gyroscope, keeping the positions of the projection points of the gyroscope unchanged, and correcting the heights of the projection points of the four electric ground supports to the positions of the projection points of the gyroscope at the same time;
step 209, judging whether the two-dimensional plane where the gyroscope is located is leveled: checking current display data of the gyroscope, judging whether a two-dimensional plane where the gyroscope is positioned is horizontal, and adjusting the level of the support seat 12 when the two-dimensional plane where the gyroscope is positioned is horizontal; when the two-dimensional plane in which the gyroscope is located is not level-adjusted, step 207 continues.
In this embodiment, as shown in fig. 4, the electric ground support on the second parking module 24 is regarded as an electric ground support a, the electric ground support on the third parking module 25 is regarded as an electric ground support B, the electric ground support on the fourth parking module 27 is regarded as an electric ground support C, the electric ground support on the first parking module 22 is regarded as an electric ground support D, and the gyroscope position is the origin o.
As shown in fig. 5, the operation of step 204 is as follows: the two-dimensional plane where the gyroscope is located is projected towards the positive direction of the x axis, the plane projection is regarded as a first straight line BA-CD when seen from the projection direction, the projection point positions of the gyroscope and the four electric ground supports are determined on the first straight line according to the position relation between the four electric ground supports and the gyroscope, the projection point position of the highest projection point in the four electric ground supports is kept unchanged, at the moment, the highest projection point is two, namely a point C and a point D, and at the moment, the moving distance of the point A is: r5+r8sinθ1;
the moving distance of the point B is as follows: r6+r7sinθ1;
as shown in fig. 6, the operation of step 205 is as follows: projecting a two-dimensional plane where the gyroscope is positioned in the positive direction of the y axis, regarding the plane projection as a second straight line CBAD as seen from the projection direction, determining the projection point positions of the gyroscope and the four electric ground supports on the second straight line according to the position relation between the four electric ground supports and the gyroscope, keeping the projection point D position with the highest projection point position in the four electric ground supports unchanged, and correcting the projection point heights of the other three electric ground supports to the projection point position with the highest position;
the moving distance of the point A is as follows: R4-R1sin theta 2;
the moving distance of the point B is as follows: r2+r4sinθ2;
the moving distance of the point C is as follows: r3+r4sinθ2;
as shown in fig. 5, the operation of step 207 is as follows: projecting a two-dimensional plane where the gyroscope is positioned in the positive direction of the x axis, regarding plane projection as a first straight line BA-CD when seen from the projection direction, determining the positions of projection points of the gyroscope and the four electric ground supports on the first straight line according to the position relation between the four electric ground supports on the plane and the gyroscope, keeping the positions of the projection points of the gyroscope unchanged, and correcting the heights of the projection points of the four electric ground supports to the positions of the projection points of the gyroscope at the same time;
the moving distance of the point A is as follows: r5sin θ1;
the moving distance of the point B is as follows: r6sin θ1;
the moving distance of the point C is as follows: r7sin θ1;
the distance moved by the point D is as follows: r8sin θ1;
as shown in fig. 6, the operation of step 208 is as follows: projecting a two-dimensional plane where the gyroscope is positioned in the positive direction of the y axis, regarding plane projection as a second straight line CBAD as seen from the projection direction, determining the positions of projection points of the gyroscope and the four electric ground supports on the second straight line according to the position relation between the four electric ground supports on the plane and the gyroscope, keeping the positions of the projection points of the gyroscope unchanged, and correcting the heights of the projection points of the four electric ground supports to the positions of the projection points of the gyroscope at the same time;
the moving distance of the point A is as follows: r1sin θ2;
the moving distance of the point B is as follows: r2sin θ2;
the moving distance of the point C is as follows: r3sin θ2;
the distance moved by the point D is as follows: r4sin θ2;
wherein R1 is the distance from the point A to the y axis; r2 is the distance from the point B to the y axis; r3 is the distance from the C point to the y axis; r4 is the distance from the D point to the y axis; r5 is the distance from the point A to the x axis; r6 is the distance from the point B to the x axis; r7 is the distance from the C point to the x axis; r8 is the distance from the point D to the x axis; θ1 is the included angle between the first straight line BA-CD and the horizontal line; θ2 is the angle between the second straight line CBAD and the horizontal line.
Step three, the binocular camera obtains the texture of the third identification ring 143, confirms the identification disc position, and the processor carries out the planning of the preliminary positioning movement track of the treatment head 130, and the process is as follows:
step 301, continuously collecting images of the third identification ring 143 by the binocular camera at a fixed frame rate;
step 302, in the visual field range of the binocular camera, the processor identifies the arc line segment texture of the third identification ring 143;
step 303, the processor fits an ellipse according to the arc line segment in step 302;
step 304, determining the long and short axes of the ellipse;
step 305, determining the distance from the identification disc to the binocular camera according to the length of the long axis;
306, determining the coordinates of the central position of the marking disc relative to the binocular camera in equal proportion according to the result of 304, wherein the position where the long and short axes meet in 303 is the central position of the marking disc;
step 307, determining the pose of the marking disc through the ratio of the direction of the short axis to the long short axis and the texture color inside the arc line segment;
step four, the processor controls the mechanical arm 120 to move, so that the treatment head 130 moves to an aligned preparation position, and then the vision of the first monocular camera and the second monocular camera is utilized to lock the position of the identification disc, so that the preliminary centering of the treatment head 130 is realized;
step five, the first monocular camera and the second monocular camera acquire textures of the first marker ring 141 and the third marker ring 143 on the marker panel, determine the relative positions of the treatment head 130 and the marker panel, and the processor performs planning of accurate positioning motion tracks of the treatment head 130, and the process is as follows:
step 501, the first monocular camera and the second monocular camera continuously acquire images of the first identification ring 141 and the third identification ring 143 at a fixed frame rate;
step 502, the processor circularly processes the data of the first monocular camera and the second monocular camera until the deviation of the pose of the treatment head 130 from the target value is less than the tolerance value, and the process is as follows:
5021, calculating the angle of the identification disk relative to the second monocular camera according to the second monocular camera data, and adjusting the posture of the treatment head according to the angle deviation so that the beam axial direction of the treatment head is parallel to the normal vector of the upper plane of the identification disk;
the method comprises the following steps: firstly, a processor identifies a ring-shaped structure texture of a plane on an identification disc in an image, and the ring-shaped structure texture forms an elliptical ring in the image;
then, calculating the major axis and minor axis ratio of the ellipse outside the elliptical ring, calculating the minor axis direction, calculating the ratio of the first identification ring to the third identification ring, comparing the ratio with the calibrated data, and calculating the angle deviation of the identification disc relative to the second monocular camera;
5022, calculating the distance between the center of the identification disc and the lower end of the treatment head according to the first monocular camera data, and adjusting the position of the treatment head according to the deviation of the distance;
the method comprises the following steps: firstly, a processor identifies a ring-shaped structure texture of a plane on an identification disc in an image, and the ring-shaped structure texture forms an elliptical ring in the image;
then, calculating the long axis of the ellipse outside the elliptical ring, comparing with the calibrated data, and calculating the distance deviation of the identification disc relative to the first monocular camera;
5023, calculating the coordinate of the center of the identification disk relative to the beam axis of the treatment head according to the first monocular camera data, and adjusting the position of the treatment head according to the coordinate deviation so as to enable the beam axis of the treatment head to overlap with the center axis of the identification disk;
the method comprises the following steps: firstly, a processor identifies a ring-shaped structure texture of a plane on an identification disc in an image, and the ring-shaped structure texture forms an elliptical ring in the image;
then, calculating the focal point of the major axis and the minor axis of the ellipse outside the elliptical ring, comparing the focal point with the calibrated data, and calculating the deviation of the coordinate of the center of the identification disc relative to the axis of the therapeutic head beam;
step six, the processor controls the mechanical arm 120 to move, so that the treatment head 130 and the light limiting cylinder 144 are accurately centered;
step seven, controlling the beam blocking device to move to a target position;
in this embodiment, the processor calculates the target position of the beam stop in the beam blocking device according to the accurate target position of the treatment head of the target device, and the moving base of the beam blocking device and the lifting platform drive the beam stop to adjust to the target position.
Controlling the head of the treatment head to emit treatment rays;
when the beam stop in the beam stop device reaches the target position, the radiotherapy apparatus controls the treatment head 130 to emit the treatment radiation.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims (10)

1. An image-guided, aligned mobile radiotherapy apparatus, comprising: comprising
Base (100): support and fixation for movement and treatment of the whole device;
fixed frame (110): the mechanical arm (120) is arranged on the base (100) and is fixed;
mechanical arm (120): for fixing the treatment head and driving the movement of the treatment head;
treatment head (130): for radiotherapy radiation;
beam limiting device (140): aligning a focal zone of a patient (170) for collimation, metering distribution control and protection of radiation;
image-guided alignment means: the device comprises a processor, at least two groups of identification pieces and at least two groups of cameras, wherein the at least one group of identification pieces are used for forming a first identification on the beam limiting device, and the at least one group of cameras are used for shooting and acquiring a first identification image; at least one other group of identification pieces are used for forming a second identification on the treatment head, and at least one other group of cameras are used for shooting and acquiring a second identification image; the processor acquires a first identification image, determines a primary target position of the treatment head according to the first identification image, drives the mechanical arm to reach the primary target position, then determines a precise target position of the treatment head according to a second identification image, and drives the mechanical arm according to the precise target position so as to align the treatment head with the center of the beam limiting device and reach a preset distance.
2. An image-guided, aligned mobile radiotherapy apparatus according to claim 1, wherein: the base (100) comprises a movable chassis, a stabilizing device and a beam blocking device; the movable chassis comprises a supporting seat (12), a trolley (11) arranged at the rear side of the supporting seat (12), a first supporting beam (14) and a second supporting beam (13) which are respectively arranged at two sides of the supporting seat (12) and have equal lengths, the rear end of the first supporting beam (14) and the rear end of the second supporting beam (13) are flush with the rear end of the supporting seat (12), the length of the first supporting beam (14) is greater than that of the supporting seat (12), rollers (15) are respectively arranged at the two ends of the bottoms of the first supporting beam (14) and the second supporting beam (13), and a gyroscope is arranged in the middle of the front side of the supporting seat (12);
the stabilizing device comprises a first front supporting leg (23) which is slidably arranged on the outer side wall of the first supporting beam (14), a second front supporting leg (26) which is slidably arranged on the outer side wall of the second supporting beam (13), a first rear supporting leg (21) which is hinged to the rear end of the outer side wall of the first supporting beam (14) and a second rear supporting leg (28) which is hinged to the rear end of the outer side wall of the second supporting beam (13), wherein a parking module I (22) is arranged on the first rear supporting leg (21), a parking module II (24) is arranged on the first front supporting leg (23), a parking module III (25) is arranged on the second front supporting leg (26), and a parking module IV (27) is arranged on the second rear supporting leg (28);
the beam blocking device comprises a moving base (31) which is arranged along the front wall of a supporting seat (12) in a sliding mode and is of a telescopic structure, a moving platform (32) for installing a beam stopper (33) is arranged on the upper portion of one end, far away from the supporting seat (12), of the moving base (31), a plurality of universal wheels (34) are arranged on the lower portion of one end, far away from the supporting seat (12), of the moving base (31), and the beam stopper (33) is a heavy metal block with uniform thickness.
3. An image-guided, aligned mobile radiotherapy apparatus according to claim 2, wherein: the parking module I (22), the parking module II (24), the parking module III (25) and the parking module IV (27) are all electric foot supports.
4. An image-guided, aligned mobile radiotherapy apparatus according to claim 2, wherein: the rotation angle of the rear support leg I (21) and the support beam I (14) is 0-90 degrees, the rotation angle of the rear support leg II (28) and the support beam II (13) is 0-90 degrees, the sum of the lengths of the rear support leg I (21) and the front support leg I (23) is equal to the length of the support beam I (14), and the sum of the lengths of the rear support leg II (28) and the front support leg II (26) is equal to the length of the support beam II (13).
5. An image-guided, aligned mobile radiotherapy apparatus according to claim 1, wherein: the treatment head (130) comprises a treatment head shell (132) and a beam tube (133), the beam limiting device (140) comprises a light limiting tube (144) and a mark disc arranged at the top of the light limiting tube (144), at least one group of marks comprises a first mark ring (141) arranged on the upper surface of the mark disc, a second mark ring (142) arranged on the edge of the upper surface of the mark disc and a third mark ring (143) arranged on the outer side surface of the mark disc, and at least one group of cameras comprises a first group of cameras (111) arranged on the fixed frame (110); at least another group of identification pieces comprise a treatment head marker (131) arranged on one side of a treatment head shell (132) facing a fixed frame (110), at least another group of cameras comprise a second group of cameras (134) arranged on the emergent end face of a beam tube (133), and the second group of cameras (134) comprise two monocular cameras.
6. An image-guided, aligned mobile radiotherapy apparatus according to claim 5, wherein: the first set of cameras (111) are binocular cameras.
7. An image-guided, aligned mobile radiotherapy apparatus according to claim 5, wherein: the number of the treatment head markers (131) is three, the three treatment head markers (131) are not on the same straight line and are all spherical markers, and the textures and the colors of the three treatment head markers (131) are different.
8. An image-guided, aligned mobile radiotherapy apparatus according to claim 5, wherein: the first (141), second (142) and third (143) identification rings are of different colours.
9. An image-guided, aligned mobile radiotherapy apparatus according to claim 5, wherein: the camera optical axis of one of the two monocular cameras forms 15-20 degrees with the axis of the treatment head (130).
10. An image-guided, aligned mobile radiotherapy apparatus according to claim 1, wherein: the beam limiting device (140) is fixed through a beam limiting device locating clamp (150), and the other end of the beam limiting device locating clamp (150) is fixed on the treatment bed (160).
CN202310453940.5A 2023-04-25 2023-04-25 Image-guided alignment mobile radiotherapy equipment Pending CN116492608A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310453940.5A CN116492608A (en) 2023-04-25 2023-04-25 Image-guided alignment mobile radiotherapy equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310453940.5A CN116492608A (en) 2023-04-25 2023-04-25 Image-guided alignment mobile radiotherapy equipment

Publications (1)

Publication Number Publication Date
CN116492608A true CN116492608A (en) 2023-07-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310453940.5A Pending CN116492608A (en) 2023-04-25 2023-04-25 Image-guided alignment mobile radiotherapy equipment

Country Status (1)

Country Link
CN (1) CN116492608A (en)

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