CN116943052A - Real-time radiotherapy body displacement motion detection method - Google Patents
Real-time radiotherapy body displacement motion detection method Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
Abstract
The invention relates to a real-time radiotherapy body displacement detection method, which comprises the steps of continuously scanning radiotherapy body position data of a patient body by using a detector module and transmitting the scanning data to a data processing module; the data processing module receives the scanning data of the detector module, establishes a patient coordinate system, reconstructs a patient body image and compares the change of the patient body position information, and transmits the patient body position comparison information to the control module; and the control module carries out super-threshold alarm on the radiotherapy position of the patient and/or suspension of the action of the radiotherapy equipment according to the user requirements. The invention has simple and convenient implementation, has no damage and no radiation to the detection of the radiotherapy body position of a tumor patient, and is not influenced by the relation of external environment light, clothes, mold bodies and the like.
Description
Technical Field
The invention relates to the field of tumor radiotherapy, in particular to a real-time radiotherapy body displacement detection method.
Background
In the radiotherapy process of a tumor patient, strict requirements are provided for the body position of the tumor patient, the radiotherapy precision and the radiotherapy effect of the tumor patient are directly related, and the method is particularly important for high-dose and large-segmentation-number tumor radiotherapy.
At present, conventional tumor radiotherapy equipment such as Varian, ELEKTA and Xinhua accelerators in China can only achieve the radiotherapy position correction of a patient before radiotherapy by an affiliated image guided tracking radiotherapy system (IGRT), and the real-time and effective patient radiotherapy position monitoring is lacking in the radiotherapy beam-emitting process, so that potential radiotherapy body displacement of a tumor patient cannot be found.
In order to realize real-time radiotherapy position detection of a patient, a method for detecting the radiotherapy position of the patient by using Kv-level X rays is adopted by high-dose and large-segmentation radiotome radiotherapy, but the detection is only a relative real-time detection, and X-ray shooting intervals exist. The average times of radiotherapy of a tumor patient by a wave knife are 5 times, and each radiotherapy time is calculated to be 1 hour, the theoretical X-ray shooting number is 240-7200, and the radiation dose is far beyond that of common X-ray examination. And moreover, the X-ray radiography time interval is a time period blind area for detecting the radiotherapy body position, so that a tumor patient has no knowledge of whether potential radiotherapy body displacement movement exists at all, and adverse effects are brought to the radiotherapy of the wave-jet knife.
In order to overcome the defect of X-ray detection of the radiotherapy body position of a tumor patient, a Catalyst optical body surface tracking system is developed by Swedish C-RAD AB company, and can detect and track the body surface image of the tumor patient through a visible light or optical generator and a camera, so that real-time detection of the radiotherapy body position of the tumor patient is realized. However, the device has the defect that the skin of the relevant area of the patient needs to be exposed, and for the patient using the thermoplastic film to fix the radiotherapy body position, the skin is shielded by the thermoplastic film, so that the detection part needs to be subjected to a hole opening operation, and the body position fixing effect of the thermoplastic film is affected to a certain extent.
Chinese patents CN202111130393.4, CN202111299883.7, CN202010858729.8 and CN201710153370.2 adopt an optical camera imaging method to realize real-time detection of the radiotherapy position of a tumor patient, but have the defects that the influence of detected ambient light is larger, and the real surface characteristics of the human body surface covered by a negative pressure pad, a thermoplastic film or a filler cannot be obtained, so that the detection of the radiotherapy position of the tumor patient is influenced to a certain extent. CN201711330488.4 adopts the method of laser projection and collection, avoids the influence of the detection ambient light on the collection of the optical camera, but the laser line has potential burn and blindness risks to human eyes, and the risks are not very small. CN113274654a describes a method for detecting the radiotherapy position of a tumor patient by using ultrasound, which, like a Catalyst optical body surface tracking system, needs to perform hole processing on a radiotherapy body membrane, needs to fix an ultrasound device at the hole position, needs to apply an ultrasound couplant when in use, has more inconvenience in real-time detection of the radiotherapy position, and can shield radioactive rays by an ultrasound probe, so that normal implementation of radiotherapy of the tumor patient is possibly affected.
Therefore, there is a need for a real-time detection method for radiotherapy positions of tumor patients that is non-radiative, less affected by external environment, harmless to human body, and easy to implement.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the real-time radiotherapy body displacement and movement detection method which realizes that the radiotherapy body position of the patient is non-radiative, is little influenced by external environment, is harmless to human bodies and is simple and convenient to implement.
In order to solve the problems, the real-time radiotherapy body displacement detection method disclosed by the invention is characterized by comprising the following steps of: the method is that the detector module is used for continuously scanning the radiotherapy body position data of the body of the patient and transmitting the scanning data to the data processing module; the data processing module receives the scanning data of the detector module, establishes a patient coordinate system, reconstructs a patient body image and compares the change of the patient body position information, and transmits the patient body position comparison information to the control module; the control module carries out super-threshold alarming on the radiotherapy body position (namely the body position) of the patient and/or suspension of the action of the radiotherapy equipment according to the user requirements.
The real-time radiotherapy body displacement detection device adopting the method is characterized in that: the device comprises a detector module, a data processing module and a control module; the detector module consists of 4D millimeter wave radars; the 4D millimeter wave radar is connected with the data processing module, the data processing module is connected with the control unit, and the control unit is respectively connected with the alarm and the radiotherapy equipment.
The 4D millimeter wave radars are respectively arranged at the front side, the rear side, the left side and the right side of the ceiling above the image positioning center point or the treatment center point of the radiotherapy equipment through connecting fixing pieces.
Compared with the prior art, the invention has the following advantages:
1. the detector module consists of 4D millimeter wave radars, the 4D millimeter wave radars continuously scan the radiotherapy body position data of the patient body, the scanning data are transmitted to the data processing module, and the alarm and/or the suspension of the radiotherapy equipment action is determined by establishing a patient coordinate system, reconstructing the patient body image, comparing the change of the patient body position information, and transmitting the patient body position comparison information to the control module. The whole process has no damage or radiation to the detection of the radiotherapy body position of the tumor patient, and is not influenced by the relationships of external environment light, clothes, mold bodies and the like.
2. Compared with the method for detecting the radiotherapy position of the patient by using the diagnosis-level X-ray by using the wave-emitting knife, the method has higher real-time degree for detecting the radiotherapy position variation of the patient.
3. The invention adopts the multi-part segmented radiotherapy position detection mechanism of the patient body, and the detection of the radiotherapy position change of the patient is more reasonable and scientific.
4. The 4D millimeter wave radar adopted by the invention can penetrate through fixing devices such as patient clothes, thermoplastic films, negative pressure pads and the like, so that the dead zone of the radiotherapy body position detection of the optical body surface tracking system can be avoided, and the precision of the tumor radiotherapy is further improved.
5. According to the invention, 4D millimeter wave radars are used and are positioned at different positions above the image positioning center or the treatment center of the radiotherapy equipment, and the redundant design of radiotherapy position detection is adopted, so that the influence on the radiotherapy position detection caused by rotating and shielding of mechanical arms such as a wave shooting knife, an accelerator and the like is greatly avoided, and the detection of the radiotherapy position variation of a patient is more comprehensive and accurate.
6. The 4D millimeter wave radar has the functions of detecting the respiration and the heart rate of the patient, so that a radiotherapy machine room does not need to be provided with additional respiration and heart rate detection medical equipment, the respiration and heart rate detection of the patient is simpler and more convenient, and the treatment is safer for equipment and personnel.
Drawings
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Fig. 1 is a schematic diagram of the operation of the present invention.
Fig. 2 is a schematic diagram of a 4D millimeter wave radar installation location in the present invention.
In the figure: 1-a detector module; 11-4D millimeter wave radar; 12-connecting a fixing piece; 13-image positioning center point or treatment center point; 14-ceiling; 15-a radiotherapy bed; 16-ground; 2-a data processing module; 3-a control module; 4-a radiotherapy device; 5-alarm.
Detailed Description
As shown in fig. 1, a real-time radiotherapy body displacement detection method is that a detector module 1 is utilized to continuously scan radiotherapy body position data of a patient body, and the scanned data is transmitted to a module data processing 2; the data processing module 2 receives the scanning data of the detector module 1, establishes a patient coordinate system, reconstructs a patient body image and compares the change of the patient body position information, and transmits the patient body position comparison information to the control module 3; the control module 3 carries out super-threshold alarming on the radiotherapy body position (namely the body position) of the patient according to the user requirement and/or the action of the radiotherapy equipment 4 is stopped.
The real-time radiotherapy body displacement detection device adopting the method comprises a detector module 1, a data processing module 2 and a control module 3; the detector module 1 consists of 4D millimeter wave radars 11; the 4D millimeter wave radar 11 is connected to the data processing module 2, the data processing module 2 is connected to the control unit 3, and the control unit 3 is connected to the alarm 5 and the radiotherapy device 4, respectively.
Wherein: the 4D millimeter wave radars 11 are respectively mounted on the front, rear, left and right sides (as shown in fig. 2) of a ceiling 14 above an image positioning center point or a treatment center point 13 of the radiotherapy apparatus 4 through connection fixtures 12.
The detector module 1 is mainly responsible for scanning of the tumor patient's body.
The data processing module 2 is responsible for the establishment of a patient coordinate system, the reconstruction of a patient body image, the comparison of patient body position information and the calculation of patient respiration and heart rate, and mainly comprises a computer and a data processing software module assembly arranged on the computer.
The control module 3 is mainly responsible for controlling the super-threshold alarm of the radiotherapy body position (namely the body position) of the patient and the stopping of the actions of the radiotherapy equipment (such as X-ray beam emission, frame rotation, mechanical arm movement and the like), and mainly comprises a computer (sharing the same computer with the data processing module) and a corresponding control software module component and a relay component which are installed on the computer.
Embodiment 1 is an example of body position detection of a tumor patient by radiotherapy with a wave knife, and a real-time radiotherapy body displacement detection method comprises the following steps:
firstly, a patient gets on a bed, and the position of the patient is initially set according to the radiotherapy requirement;
secondly, carrying out preset radiotherapy positioning on a patient by using a shooting knife target area positioning system, and adjusting the patient to a treatable state;
starting system software of the device of the method, scanning the patient body by the detector module 1, establishing a patient coordinate system by the data processing module 2 according to the transmission information of the detector module 1, reconstructing an image of the patient body and storing initial position information of the patient body;
the staff selects a corresponding detection range or fragment of the reconstructed image of the patient body according to the treatment position of the patient, and sets a permissible variation threshold of the radiotherapy position of the treatment position;
fifthly, selecting a detection range of the reconstructed image of other body parts of the patient except the treatment part by a worker as required, and setting a permissible variation threshold of the radiotherapy position of the patient;
the staff sets the breathing and heart rate out-of-range alarm of the patient according to the requirements;
the staff carries out radiotherapy positioning operation on the patient by using the shooting knife target zone positioning system again;
the staff again uses the method and the device to acquire and process the data information of the body position of the patient, and the data processing module 2 compares the front and the back of the body position information of the patient;
if the position variation of each part of the body of the patient exceeds the set threshold range, selectively neglecting or adjusting the threshold according to the actual treatment condition of the patient, otherwise, repeating the steps;
if the position variation of each part of the patient body is found to be in the set threshold range, the staff detects the position variation of the patient body to be in a state of real-time detection, and starts the wave-emitting knife beam-emitting treatment;
in the treatment process of the wave-shooting knife, if the position change of each part of the patient body exceeds the set threshold range in real time, the control module 3 alarms in an acousto-optic mode through the relay assembly and cuts off the wave-shooting knife mechanical arm or/and the ray beam-emitting action, and the staff can selectively ignore or adjust the radiotherapy position change threshold of each part of the patient body again; or the patient is subjected to counterpoint operation again by utilizing the shooting knife target area positioning system, and the steps are repeated;
similarly, if the respiration and the heart rate of the patient are detected to exceed the alarm range in real time, the sound and light mode is used for alarming and cutting off the mechanical arm of the wave-shooting knife or/and the ray beam-emitting action, and a worker performs medical operations such as emotion soothing, oxygen inhalation or first aid on the patient according to the actual condition of the patient, or repeats the steps according to the condition.
Embodiment 2 illustrates a body position detection example of a tumor patient subjected to conventional accelerator radiotherapy, and a real-time radiotherapy body displacement detection method comprises the following steps:
firstly, a patient gets on a bed, and the position of the patient is initially set according to the radiotherapy requirement;
secondly, carrying out preset radiotherapy positioning on a patient by using an accelerator positioning system, and adjusting the radiotherapy position of the patient to a treatable state by using an accelerator image guided radiotherapy system (IGRT);
starting system software of the device of the method, scanning the patient body by the detector module 1, establishing a patient coordinate system by the data processing module 2 according to the transmission information of the detector module 1, reconstructing an image of the patient body and storing initial position information of the patient body;
the staff selects a corresponding detection range or fragment of the reconstructed image of the patient body according to the treatment position of the patient, and sets a permissible variation threshold of the radiotherapy position of the treatment position;
fifthly, selecting a detection range of the reconstructed image of other body parts of the patient except the treatment part by a worker as required, and setting a permissible variation threshold of the radiotherapy position of the patient;
the staff sets the breathing and heart rate out-of-range alarm of the patient according to the requirements;
the staff of the school carries on the radiotherapy positioning operation to the patient again with the image guidance radiotherapy system of the accelerator (IGRT);
the staff again uses the method and the device to acquire and process the data information of the body position of the patient, and the data processing module 2 compares the front and the back of the body position information of the patient;
if the position variation of each part of the body of the patient exceeds the set threshold range, selectively neglecting or adjusting the threshold according to the actual treatment condition of the patient, otherwise, repeating the steps;
if the position variation of each part of the patient body is found to be in the set threshold range, the staff detects the position variation of the patient body to be in a state of real-time detection, and starts accelerator beam-emitting treatment;
if the position variation of each part of the patient body is detected to exceed the set threshold range in real time in the accelerator treatment process of the patient, the control module 3 alarms in an acousto-optic way through the relay assembly and cuts off the mechanical arm of the accelerator or/and the ray beam-emitting action, and the staff can selectively ignore or adjust the radiotherapy position variation threshold of each part of the patient body again; or performing counterpoint operation on the patient again by using an accelerator image guided radiotherapy system (IGRT), and repeating the steps;
similarly, if the respiration and the heart rate of the patient are detected to exceed the alarm range in real time, the sound and light alarm is carried out, the mechanical arm of the accelerator or/and the ray beam-emitting action is cut off, and the staff carries out medical operations such as emotion soothing, oxygen inhalation or first aid on the patient according to the actual condition of the patient, or repeats the steps according to the condition.
Claims (3)
1. A real-time radiotherapy body displacement detection method is characterized in that: the method is that the detector module (1) is used for continuously scanning the radiotherapy body position data of the body of a patient and transmitting the scanning data to the data processing module (2); the data processing module (2) receives the scanning data of the detector module (1), establishes a patient coordinate system, reconstructs an image of the patient body and compares the change of the position information of the patient body, and transmits the position comparison information of the patient body to the control module (3); the control module (3) carries out super-threshold alarm on the radiotherapy position of the patient and/or suspension of the action of the radiotherapy equipment (4) according to the user requirements.
2. A real-time radiotherapy body movement detection apparatus employing the method of claim 1, wherein: the device comprises a detector module (1), a data processing module (2) and a control module (3); the detector module (1) consists of 4D millimeter wave radars (11); the 4D millimeter wave radar (11) is connected with the data processing module (2), the data processing module (2) is connected with the control unit (3), and the control unit (3) is respectively connected with the alarm (5) and the radiotherapy equipment (4).
3. A real-time radiotherapy body displacement detection apparatus according to claim 2, wherein: the 4D millimeter wave radars (11) are respectively arranged at the front, the back, the left and the right sides of a ceiling (14) above an image positioning central point or a treatment central point (13) of the radiotherapy equipment (4) through connecting fixing pieces (12).
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