CN117653933A - Multi-mode image-guided irradiation method and system - Google Patents
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Abstract
The invention discloses a multi-mode image-guided irradiation method and a multi-mode image-guided irradiation system, and belongs to the technical field of biomedical images and radiotherapy equipment. Multiple medical imaging technologies are fused, and the imaging device is integrated with animal irradiation equipment to solve the problem of inaccurate tumor target positioning and irradiation. The irradiation method comprises the following steps: preparing before irradiation; registering the CT image and the three-dimensional biological optical image to obtain a multi-modal image; according to the multi-mode image guidance, tumor and normal organ tissues are delineated; setting irradiation parameters; calculating and judging the radiation dose and automatically optimizing; the invention fully utilizes the advantages of the multi-mode images to draw out a more accurate irradiation target area, and the radiation dose judgment based on the threshold value improves the accuracy of tumor treatment.
Description
Technical Field
The invention belongs to the technical field of biomedical images and radiotherapy equipment, and particularly relates to a multi-mode image-guided irradiation method and system.
Background
Medical imaging technology plays an important role in realizing noninvasive, high-sensitivity and high-resolution life detection under living conditions. However, due to the complexity of the living being itself, any single imaging modality cannot fully analyze the biological process. Medical images of different modes can display different information from microscopic scale to macroscopic scale and from inside to outside, and the medical images of different modes are mapped to the same space and time scale by using the multi-mode medical image registration technology, so that focus positions and volumes can be accurately sketched, and further a more accurate radiation treatment plan can be formulated.
The multi-mode medical imaging technology combines the advantages of each of a plurality of imaging modes, can provide complementary information, and can provide imaging results more comprehensively, accurately and reliably. Common imaging techniques include CT, MRI, PET and three-dimensional bio-optical imaging (including bioluminescence imaging BLT and molecular fluorescence imaging FMT), among others. CT (computed tomography) with its high resolution anatomical image enables us to identify anatomical structures inside a living being. MRI (magnetic resonance imaging) has better contrast in soft tissue and can show more detailed soft tissue structure information. PET (positron emission tomography) technology aims at metabolic activity, shows metabolic activity of different tissues through injection of radioactive tracers, and helps to know biological characteristics and functional states of tumors.
The US patent discloses a multi-modality imaging system (US 20200375558 A1) integrating imaging and image analysis that integrates X-ray cone beam computed tomography, optical imaging and Positron Emission Tomography (PET) imaging into a single structure that can accurately measure target volumes for evaluation of Tumor Microenvironment (TME). However, CT, MRI, PET, three devices are more expensive than three-dimensional bioluminescence imaging, radioactivity is needed for CT and PET, and MRI suffers from the problem of compatibility of the magnetic field and the irradiation device, which affects the accuracy of registration. Three-dimensional bioluminescence imaging (BLT and FMT) can observe the growth and distribution of tumors by detecting fluorescent signals of specific markers in organisms by means of fluorescent markers such as fluorescent proteins, and is a molecular imaging means with high sensitivity, strong specificity, low cost and easy compatibility and integration with irradiation equipment.
The combination of the multi-mode imaging technology provides a more accurate information basis for biological irradiation. By fusing images of different modes, more comprehensive and accurate tumor target area positioning and feature analysis can be realized. The CT and the BLT or the FMT are combined, so that the position of the tumor and the condition of surrounding tissues can be more accurately depicted, the molecular image information of the BLT and the FMT can display the metabolic activity and the molecular biological information of the tumor, the malignancy degree and the growth state of the tumor can be better determined, and a better basis is provided for making an irradiation scheme. In combination with this information, irradiation plans can be formulated more accurately prior to treatment, including selection of appropriate radiation doses and irradiation directions, better targeting and irradiation during treatment, and better efficacy assessment after treatment.
In the implementation process of the multi-mode image guided radiation therapy, the precise biological irradiation needs to utilize multi-mode imaging and image registration, wherein the multi-mode image registration is a process of matching and superposing two or more images acquired by different sensors (imaging equipment) or under different conditions (weather, illumination, shooting position, angle and the like), is used for integrating the advantages of different types of images, is widely used in the field of image processing and provides more information for diagnosis and treatment, and therefore, has important research significance and application value.
In addition, the multimode guided precise irradiation also provides a unique platform for the radiobiological research. In the process of drug development and treatment strategy exploration, researchers can utilize the method to observe the effects of different treatment means, so as to better understand the biological characteristics of tumors. By tracking imaging at different time points, dynamic changes in treatment can also be more fully understood, providing powerful support for clinical practice. However, multimodal guided irradiation also faces some challenges. First, fusion and registration of different imaging techniques is a complex problem. Images of the various modalities are often acquired at different times and spaces during which the imaged animal is being transferred, and distortion due to animal transfer tends to affect the accuracy of the multi-modality registration. In addition, differences in image resolution, image display, etc. can also affect registration accuracy. When irradiating small animals, the imaging and registration requirements are higher due to the smaller size of the small animals. How to improve the irradiation accuracy and the treatment efficiency by a better image guiding means is a problem which needs to be solved urgently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-mode image-guided irradiation method and a multi-mode image-guided irradiation system which are compatible with animal irradiation equipment and are used for fusing CT and three-dimensional biological optical imaging.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a multi-modal image-guided irradiation method, comprising:
s1, preparation before irradiation: anaesthesia and fixation of the experimental target, injection of fluorogenic substrate or other contrast agent for bio-optical imaging to the experimental target;
s2, acquiring a CT image and a three-dimensional biological optical image:
CT imaging is carried out on an experimental target by using CT equipment, a CT projection image is obtained through shooting, and a CT image is obtained through reconstruction;
performing biological optical imaging on an experimental target by using biological optical imaging equipment, shooting fluorescent images under different angles, reconstructing the fluorescent images, and obtaining three-dimensional biological optical images including three-dimensional bioluminescence images or three-dimensional molecular fluorescent images;
s3, multi-mode image guidance: registering the CT image and the three-dimensional biological optical image to obtain a multi-mode image, and delineating a tumor target area and normal organ tissues according to the multi-mode image;
s4, setting irradiation parameters: setting a prescribed dose, a beam aperture, and a beam direction;
s5, calculating the radiation dose;
s6, judging the radiation dose: performing irradiation operation when the three-dimensional dose distribution and the dose volume histogram calculated in the step S5 meet the prescribed dose;
s7, irradiation operation: and adjusting the position of an experimental target, moving the center of the irradiation target area to the radiation irradiation center, adjusting an irradiation collimator, and irradiating the experimental target.
Further, in the step S3, the CT apparatus, the bio-optical imaging apparatus and the irradiation apparatus are integrated on one apparatus and share one spatial coordinate system, so that the CT image and the three-dimensional bio-optical image are physically registered to obtain a multi-modal image; and during irradiation operation, the multi-mode image directly guides the irradiation module to execute irradiation operation.
Further, in the step S3, according to the position of the tumor target area in the optical signal three-dimensional space, manual sketching or automatic sketching is performed on the multi-mode image, wherein the specific method for automatically sketching and dividing is as follows: the trained organ automatic segmentation model is utilized to realize automatic sketching and segmentation of CT scanning experimental target images; the training method of the organ automatic segmentation model is based on a machine learning method, a deep learning method or an organ atlas method.
Further, when the three-dimensional dose distribution and the dose volume histogram calculated in the step S6 do not satisfy the prescribed dose, the beam angle, the number or the weight needs to be adjusted, the irradiation plan is automatically optimized again by using the inverse planning method, the beam direction, the beam aperture and the irradiation time weight, the irradiation operation is started after the optimization, the step S5 is re-executed to re-perform the radiation dose calculation and the step S6 radiation dose judgment, and the irradiation operation is not performed until the prescribed dose condition is satisfied.
Further, according to the irradiation plan, the specific method for adjusting the angle, the number or the weight of the beam is as follows: changing the angle of the beams, increasing or decreasing the number of beams, changing the percentage of irradiation time that each beam occupies.
Further, in the step S6, the irradiation operation needs to be performed to satisfy: the three-dimensional dose distribution is to satisfy not only the prescribed dose of the irradiated target region, but also a preset dose limit of surrounding normal tissues and organs.
Further, in the step S6, the irradiation operation needs to be performed, and the dose volume histogram needs to satisfy the following conditions: whether the prescribed dose to irradiate the target region meets its prescribed dose threshold or not, the normal organ and tissue dose does not exceed its prescribed dose threshold, wherein different organ tissues have their threshold ranges of applicability.
Further, the method also comprises the steps of
S8, ending irradiation: after the irradiation is finished, taking down an experimental target, and resetting all equipment;
s9, periodically checking after irradiation: and (3) carrying out CT imaging and three-dimensional biological optical imaging at a later period, and observing the irradiation reaction.
The invention also provides a multi-mode image-guided irradiation system, comprising:
the device comprises a carrying turntable (1), wherein the carrying turntable (1) is used for fixing an experimental target;
the radiation source (2) is used for emitting radiation to an experimental target, and a detachable irradiation collimator is arranged at a beam outlet of the radiation source (2);
the detector (3) is used for receiving rays penetrating through an experimental target when CT imaging is carried out, the detector (3) is provided with a movable detector baffle (4), and the detector baffle (4) is used for protecting the detector (3) in the irradiation process after CT imaging is finished;
the radiation source (2) and the detector (3) form a CT module, and the CT module is used for CT imaging; the radiation source (2) and the irradiation collimator form an irradiation module, and the irradiation module is used for irradiation;
the biological optical imaging module comprises a CCD camera (5), an optical filter (6) and an excitation laser (8), wherein the excitation laser (8) is used for exciting an experimental target to emit biological fluorescence during molecular fluorescence imaging, and light rays emitted by the experimental target are processed by the optical filter (6) along a straight line during bioluminescence imaging or molecular fluorescence imaging and are finally collected by the CCD camera (5) to complete image collection of biological optical imaging, so that a three-dimensional biological optical image is obtained;
the central control module is used for image reconstruction, multi-mode image guiding, irradiation parameter setting, radiation dose calculation and radiation dose judgment, the central control module S32 carries out registration fusion on the CT image S22 and the three-dimensional biological optical image to obtain a multi-mode image, an irradiation plan is formulated based on the multi-mode image, and finally the central control module controls the irradiation module S31 to irradiate the experimental target S11.
Further, the biological optical imaging module comprises a reflecting mirror (7) besides the CCD camera (5), the optical filter (6) and the excitation laser (8), when in biological luminescence imaging or molecular fluorescence imaging, light rays emitted by an experimental target are reflected by the reflecting mirror (7), then are processed by the optical filter (6), and finally are collected by the CCD camera (5), so that the image collection of biological optical imaging is completed, and a three-dimensional biological optical image is obtained.
Compared with the prior art, the invention has the following beneficial effects:
according to the multi-mode image-guided irradiation method, CT images and three-dimensional biological optical imaging can be acquired before treatment, registration is convenient to acquire the multi-mode images, the multi-mode image-guided function is combined with the biological irradiation function during treatment, the advantages of the multi-mode images are fully utilized to draw out more accurate irradiation target areas, radiation dose judgment is carried out, and the accuracy of tumor treatment is improved.
The whole system provides a new means for the establishment of a treatment plan and the monitoring of a treatment effect, improves the diagnosis and treatment efficiency and is worthy of popularization.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a system block diagram of the present invention;
FIG. 3 is a schematic diagram of a system structure according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a system structure according to embodiment 2 of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
the invention provides a multi-mode image-guided irradiation system, comprising:
referring to fig. 2, as shown in fig. 3, the irradiation system includes:
a carrying turntable 1, wherein the carrying turntable 1 is used for fixing an experimental target S11;
the radiation source 2 is used for emitting rays to an experimental target, and a detachable irradiation collimator is arranged at a beam outlet of the radiation source 2;
the detector 3 is used for receiving rays penetrating through an experimental target during CT imaging, the detector is provided with a movable detector baffle 4, and the detector baffle 4 is used for protecting the detector in the irradiation process after CT imaging is finished;
during CT acquisition, the ray source 2 and the detector 3 form a CT module S21, and the CT module S21 is used for CT imaging; during irradiation, an irradiation collimator is mounted on a beam outlet of the ray source 2 to form an irradiation module S31, and the irradiation module S31 is used for irradiation;
the biological optical imaging module S23 comprises a CCD camera 5 (comprising a lens), an optical filter 6, a reflecting mirror 7 and an excitation laser 8, wherein the excitation laser 8 is used for exciting an experimental target to emit biological fluorescence when in molecular fluorescence imaging (FMT), and light emitted by the experimental target is reflected by the reflecting mirror 7 and then processed by the optical filter 6 when in biological luminescence imaging or molecular fluorescence imaging, and finally is collected by the CCD camera 5 to complete image collection of biological optical imaging, so that a three-dimensional biological optical image S24 is obtained;
the central control module S32 is used for reconstructing images shot by the CT module S21 and the biological optical imaging module S23 to obtain a CT image S22 and a three-dimensional biological optical image S24, performing multi-mode image guiding, irradiation parameter setting, radiation dose calculation, radiation dose judgment and other control works, performing registration fusion on the CT image S22 and the three-dimensional biological optical image S24 by the central control module S32 to obtain a multi-mode image, making an irradiation plan based on the multi-mode image, and finally controlling the irradiation module S31 to irradiate the experimental target S11 by the central control module S32.
Example 2:
as shown in fig. 4, unlike in embodiment 1, in the bio-optical imaging module, the light emitted from the experimental target may be collected by the CCD camera 5 along the linear light path without being reflected by the reflecting mirror 7, so as to complete the image collection of the bio-optical imaging.
Example 3:
as shown in fig. 1, the present invention provides a multi-modality image guided irradiation method used in a multi-modality image guided irradiation system based on embodiment 1 or embodiment 2, comprising:
step S1, preparation before irradiation: anesthesia is carried out, an experimental target S11 is fixed by the carrying turntable 1, and a fluorogenic substrate or other contrast agent for biological optical imaging is injected into the experimental target S11;
step S2, a CT image S22 and a three-dimensional biological optical image S24 are acquired;
CT image S22: the experimental target S11 is CT imaged by using the CT module S21, a CT image is photographed and reconstructed, and a CT image S22 is acquired. Image reconstruction methods are commonly known as Filtered Back Projection (FBP) and iterative reconstruction algorithms. The main disadvantage of filtered back projection is the large noise and low signal to noise ratio, but the reconstruction speed is fast due to the less processed data. The iterative reconstruction mainly has the advantages of large calculated amount, low reconstruction speed, higher image signal-to-noise ratio and relatively better image quality;
three-dimensional biological optical image S24: the biological optical imaging module S23 is used for carrying out biological optical imaging on the experimental target S11, wherein the biological optical imaging comprises molecular fluorescence imaging (FMT) and bioluminescence imaging (BLT), an excitation laser 8 is used for exciting the experimental target to emit biological fluorescence during the molecular fluorescence imaging (FMT), the excitation laser 8 is not needed in the bioluminescence imaging process, when the bioluminescence imaging or the molecular fluorescence imaging is carried out, light emitted by the experimental target S11 is reflected by a reflecting mirror 7 and then is processed by a light filter 6 and finally collected by a CCD camera 5, the image collection of the biological optical imaging is completed, the process can also be carried out without reflection by the reflecting mirror 7, the light emitted by the experimental target S11 is processed by the light filter 6 along a straight line and finally collected by the CCD camera 5, and the image collection of the biological optical imaging is completed; acquiring a three-dimensional biological optical image S24 after image acquisition of biological optical imaging, wherein the three-dimensional biological optical image comprises a three-dimensional biological luminescence image (BLT) or a three-dimensional molecular fluorescence image (FMT);
step S3, multi-mode image guidance:
the CT image S22 and the three-dimensional biological optical image S24 are registered through the central control module S32 to obtain a multi-mode image, and the image registration is to map one image to the other image by searching one space transformation for two images in a group of image data sets, so that points corresponding to the same position in space in the two images are in one-to-one correspondence, and the purpose of information fusion is achieved.
In this embodiment, the physical registration method is used for the registration method of the CT image S22 and the three-dimensional bio-optical image S24, and the physical registration method is suitable for the case that the CT apparatus, the bio-optical imaging apparatus and the irradiation apparatus are integrated on the same apparatus and share a spatial coordinate system, and for the case that in embodiment 1 and embodiment 2, the three functional modules of the CT module S21, the bio-optical imaging module S23 and the irradiation module S31 are integrated on the same system and share a spatial coordinate system, as shown in fig. 3 or fig. 4, the physical registration of the CT image and the three-dimensional bio-optical image is performed to obtain multi-mode image data, and in the subsequent irradiation operation, the multi-mode image can directly and accurately perform the irradiation operation because the CT module, the bio-optical imaging module and the irradiation module share a spatial coordinate system. In the whole imaging and irradiation experiment process, the moving experiment target is not needed, so that different image information of the experiment target is naturally displayed in the same coordinate system, and only the multi-mode images are required to be fused and displayed.
A tumor (irradiation) target volume delineation procedure may then be performed, wherein the tumor target volume delineation is performed in the following manner: on the multi-mode image, as the target area position has biological optical signals, only the corresponding position on the multi-mode image is required to be manually or automatically sketched according to the three-dimensional space position of the optical signals; the tumor target area and normal organ tissues can be sketched manually or automatically, wherein the specific method for automatically splitting is as follows: the trained organ automatic segmentation model is utilized to realize automatic sketching and segmentation of CT scanning experimental target images; the organ automatic segmentation model training method can be a machine learning or deep learning based method or an organ atlas (atlas) based method;
step S4, setting irradiation parameters: setting a prescribed dose, a beam aperture, and a beam direction;
step S5, calculating the radiation dose;
the specific method comprises the following steps: by utilizing a Monte Carlo dose calculation method, the method establishes a Monte Carlo algorithm model for irradiation equipment, and simulates transportation and interaction of particles in a substance based on a random sampling technology, so that detailed dose distribution information is provided, and accurate calculation of three-dimensional distribution of radiation dose in an irradiated object is realized; equivalent aqueous media methods (based on equivalent aqueous media concepts, converting dosages of different tissues or materials to dosages of water under the same conditions) may also be utilized; AAA methods (anisotropic resolution algorithm Anisotropic Analytical Algorithm, an algorithm for dose calculation in medical radiation treatment planning, which aims to more accurately simulate the propagation and interaction of radiation beams in a patient's body to provide a more realistic dose distribution, take into account the dose transfer characteristics of different directions (anisotropies) to better adapt to changes in tumor shape and location, AAA algorithms perform more accurate dose calculation by taking into account factors such as tissue density, electron density, radiation transmission, etc.); other methods such as superposition convolution (superposition convolution) and the like are used for simple and quick dose calculation; the four calculation methods are common methods, and need not be repeated, and specific radiation dose calculation can refer to a CBCT image-based rapid three-dimensional dose verification method and device in the prior art CN117078612 a.
Step S6, radiation dose judgment: performing an irradiation operation when the three-dimensional dose distribution and the Dose Volume Histogram (DVH) calculated in step S5 satisfy the prescribed dose of the target region;
the three-dimensional dose distribution is not only to meet the high dose of the irradiated target, i.e. the prescribed dose, but also to meet the dose limits of surrounding normal tissues and organs, e.g. not less than 95% of the target volume is irradiated with not less than the prescribed dose, the normal organs and tissue doses not exceeding their prescribed dose threshold, wherein different organ tissues have their threshold ranges of applicability.
If not, adjusting the prescription dose, adjusting the angle, the quantity or the weight of the beams, namely changing the angle of the beams, increasing or decreasing the quantity of the beams and changing the percentage of the irradiation time occupied by each beam, and carrying out irradiation plan automatic optimization again on the beam direction, the beam aperture and the irradiation time weight by using an inverse planning method, and after optimization, entering a step S5 to carry out dose calculation again and a step S6 to judge the radiation dose, wherein irradiation operation is started until the condition is met;
step S7, performing irradiation by the irradiation module S31: adjusting the position of an experimental target S11, moving the center of an irradiation target area to a ray irradiation center, adjusting an irradiation collimator, mounting the irradiation collimator on a ray source 2 used in the CT image acquisition process and adjusting the irradiation collimator, and then using the radiation collimator for irradiation to irradiate the experimental target, wherein a movable detector baffle 4 moves and then shields a detector 3 in the irradiation process, and protecting the detector 3 in the irradiation process;
step S8, irradiation is finished: taking down an experimental target S11, and resetting all equipment;
step S9, periodically checking after irradiation: and (3) carrying out CT imaging and three-dimensional biological optical imaging at a later period, and observing the irradiation reaction.
Example 4:
unlike embodiment 3, the registration method of the CT image S22 and the three-dimensional bio-optical image S24 in this embodiment adopts a software registration method, which is suitable for respectively acquiring the CT image and the three-dimensional bio-optical image on different imaging devices, and by way of example, after respectively acquiring the CT image and the three-dimensional bio-optical image on different imaging devices, acquiring the CT image from the CT module of the irradiation device, acquiring the three-dimensional bio-optical image from the three-dimensional bio-optical imaging device, and then implementing registration of the CT image and the three-dimensional bio-optical image based on the three-dimensional surface profile of the experimental target.
Example 5:
unlike embodiment 3, the registration method of the CT image S22 and the three-dimensional bio-optical image S24 in this embodiment is software registration, which is suitable for the three-dimensional bio-optical image and the CT image acquired by the same multi-mode imaging device, and the three-dimensional bio-optical image and the CT image of the multi-mode imaging device are registered together to form a registered multi-mode image, then the CT image in the multi-mode image is registered with the CT image acquired by the irradiation device by using a rigid or elastic registration method, and finally the three-dimensional bio-optical image is naturally registered with the CT image on the irradiation system;
in this embodiment, the specific method for registration of the multimodal image is:
(1) Image preprocessing: the two CT images A, B are subjected to gray scale normalization and histogram equalization treatment, so that the consistency of the CT images is enhanced;
(2) Similarity metric selection: in this embodiment, the structural similarity index SSIM is selected as the similarity measure;
(3) Calculating a similarity measure: the structural similarity index SSIM is used for calculating the similarity between two images, and the formula is as follows:
wherein mu A And mu B Is the average value of two images, sigma A 2 And sigma (sigma) B 2 Is variance, sigma AB Is covariance, and c 1 And c 2 Is constant and is used for stable calculation;
(4) Optimizing and adjusting: adopting a gradient descent optimization algorithm to adjust transformation parameters of the image so as to optimize SSIM; iteratively adjusting until a satisfactory similarity level is obtained;
(5) Multi-modality image processing: and according to the position transformation result, carrying out fusion by weighting or using a convolutional neural network, and obtaining the multi-mode image after processing.
In summary, the multi-mode image guided irradiation method and system provided by the invention combine various medical imaging technologies, fully utilize the advantages of CT images and three-dimensional biological optical image reconstruction technologies, and are provided with the combination of the object carrying turntable, the ray source, the detector and the biological optical imaging module to realize more accurate image guided irradiation treatment of tumors, and simultaneously provide a new means for making a treatment plan and monitoring the treatment effect.
Finally, it should be noted that the above description is only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and that the simple modification and equivalent substitution of the technical solution of the present invention can be made by those skilled in the art without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. A method of multi-modal image-guided irradiation comprising:
s1, preparation before irradiation: anaesthesia and fixation of the experimental target, injection of fluorogenic substrate or other contrast agent for bio-optical imaging to the experimental target;
s2, acquiring a CT image and a three-dimensional biological optical image:
CT imaging is carried out on an experimental target by using CT equipment, a CT projection image is obtained through shooting, and a CT image is obtained through reconstruction;
performing biological optical imaging on an experimental target by using biological optical imaging equipment, shooting fluorescent images under different angles, reconstructing the fluorescent images, and obtaining three-dimensional biological optical images including three-dimensional bioluminescence images or three-dimensional molecular fluorescent images;
s3, multi-mode image guidance: registering the CT image and the three-dimensional biological optical image to obtain a multi-mode image, and delineating a tumor target area and normal organ tissues according to the multi-mode image;
s4, setting irradiation parameters: setting a prescribed dose, a beam aperture, and a beam direction;
s5, calculating the radiation dose;
s6, judging the radiation dose: performing irradiation operation when the three-dimensional dose distribution and the dose volume histogram calculated in the step S5 meet the prescribed dose;
s7, irradiation operation: and adjusting the position of an experimental target, moving the center of the irradiation target area to the radiation irradiation center, adjusting an irradiation collimator, and irradiating the experimental target.
2. The irradiation method according to claim 1, wherein:
in the step S3, the registration method of the CT image and the three-dimensional bio-optical image is physical registration: integrating a CT device, a biological optical imaging device and an irradiation device on one device and sharing a space coordinate system, so that a CT image and a three-dimensional biological optical image are physically registered to obtain a multi-mode image; and during irradiation operation, the multi-mode image directly guides the irradiation module to execute irradiation operation.
3. The irradiation method according to claim 1, wherein:
in the step S3, according to the position of the tumor target area in the optical signal three-dimensional space, manual sketching or automatic sketching is performed on the multi-mode image, wherein the specific method for automatically sketching and dividing is as follows: the trained organ automatic segmentation model is utilized to realize automatic sketching and segmentation of CT scanning experimental target images; the training method of the organ automatic segmentation model is based on a machine learning method, a deep learning method or an organ atlas method.
4. The irradiation method according to claim 1, wherein:
when the three-dimensional dose distribution and the dose volume histogram calculated in the step S6 do not meet the prescription dose, the beam angle, the number or the weight are required to be adjusted, the irradiation plan is automatically optimized again by using an inverse planning method, the irradiation plan is automatically optimized again by using the beam direction, the beam aperture and the irradiation time weight, the step S5 is re-executed after the optimization, the radiation dose calculation and the step S6 radiation dose judgment are re-executed, and the irradiation operation is started until the prescription dose condition is met.
5. The irradiation method according to claim 4, wherein:
the specific method for adjusting the angle, the quantity or the weight of the beam according to the irradiation adjustment plan comprises the following steps: changing the angle of the beams, increasing or decreasing the number of beams, changing the percentage of irradiation time that each beam occupies.
6. The irradiation method according to claim 1 or 4, wherein:
in the step S6, the irradiation operation needs to be performed: the three-dimensional dose distribution is to satisfy not only the prescribed dose of the irradiated target region, but also a preset dose limit of surrounding normal tissues and organs.
7. The irradiation method according to claim 6, wherein:
in the step S6, the irradiation operation needs to be performed, and the dose volume histogram needs to satisfy the following conditions: whether the prescribed dose to irradiate the target region meets its prescribed dose threshold or not, the normal organ and tissue dose does not exceed its prescribed dose threshold, wherein different organ tissues have their threshold ranges of applicability.
8. The irradiation method according to any one of claims 1 to 5, wherein: also comprises the steps of
S8, ending irradiation: after the irradiation is finished, taking down an experimental target, and resetting all equipment;
s9, periodically checking after irradiation: and (3) carrying out CT imaging and three-dimensional biological optical imaging at a later period, and observing the irradiation reaction.
9. A multi-modal image-guided irradiation system, comprising:
the device comprises a carrying turntable (1), wherein the carrying turntable (1) is used for fixing an experimental target;
the radiation source (2) is used for emitting radiation to an experimental target, and a detachable irradiation collimator is arranged at a beam outlet of the radiation source (2);
the detector (3) is used for receiving rays penetrating through an experimental target when CT imaging is carried out, the detector (3) is provided with a movable detector baffle (4), and the detector baffle (4) is used for protecting the detector (3) in the irradiation process after CT imaging is finished;
the radiation source (2) and the detector (3) form a CT module, and the CT module is used for CT imaging; the radiation source (2) and the irradiation collimator form an irradiation module, and the irradiation module is used for irradiation;
the biological optical imaging module comprises a CCD camera (5), an optical filter (6) and an excitation laser (8), wherein the excitation laser (8) is used for exciting an experimental target to emit biological fluorescence during molecular fluorescence imaging, and light rays emitted by the experimental target are processed by the optical filter (6) along a straight line during bioluminescence imaging or molecular fluorescence imaging and are finally collected by the CCD camera (5) to complete image collection of biological optical imaging, so that a three-dimensional biological optical image is obtained;
the central control module is used for image reconstruction, multi-mode image guiding, irradiation parameter setting, radiation dose calculation and radiation dose judgment, registration fusion is carried out on the CT image and the three-dimensional biological optical image by the central control module to obtain a multi-mode image, an irradiation plan is formulated based on the multi-mode image, and finally the irradiation module is controlled to irradiate an experimental target.
10. The irradiation system of claim 9, wherein:
the biological optical imaging module comprises a CCD camera (5), an optical filter (6) and an excitation laser (8), and also comprises a reflecting mirror (7), wherein when in biological luminescence imaging or molecular fluorescence imaging, light rays emitted by an experimental target are reflected by the reflecting mirror (7), are processed by the optical filter (6), and are finally collected by the CCD camera (5), so that the image collection of biological optical imaging is completed, and a three-dimensional biological optical image is obtained.
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