CN117815578A - Positioning and real-time monitoring method and system for rotating beam line terminal of radiotherapy device - Google Patents
Positioning and real-time monitoring method and system for rotating beam line terminal of radiotherapy device Download PDFInfo
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1042—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy with spatial modulation of the radiation beam within the treatment head
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- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
- A61N5/1065—Beam adjustment
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- A61N5/1077—Beam delivery systems
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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
- A61N2005/1085—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy characterised by the type of particles applied to the patient
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Abstract
The invention relates to a positioning and real-time monitoring method and a system of a rotating beam line terminal of a radiotherapy device, wherein the method comprises the following steps: arranging a dual camera photogrammetry system and a measurement control field on the radiotherapy device; calibrating the relative pose relationship based on the measurement control field; based on image data acquired by a two-camera photogrammetry system, system orientation and coding point coordinate calculation are carried out; and based on the coordinate calculation result of the coding points, the deviation of 6 degrees of freedom between the beam line terminal and the isocenter of the working treatment room is regulated to be within a preset range by using a rotation control system. The invention realizes the rapid switching matching positioning between the 360-degree horizontal rotation beam line terminal of the multi-beam line radiotherapy device and a plurality of treatment rooms by utilizing the dual camera photogrammetry system, and the real-time monitoring of the position and the gesture of the rotation beam line terminal in the radiotherapy process, and can be widely applied to the technical field of collimation positioning of particle accelerators.
Description
Technical Field
The invention belongs to the technical field of collimation and positioning of particle accelerators, relates to a method and a system for positioning and monitoring a rotating beam line terminal of a radiotherapy device in real time, and particularly relates to a method and a system for rapidly switching, matching and positioning between a 360-degree horizontal rotating beam line terminal of a multi-beam line radiotherapy device and a plurality of treatment rooms and monitoring the position and the posture of the rotating beam line terminal in real time in the radiotherapy process.
Background
The use of physical radiation technology to treat malignant tumors has been a history of nearly a hundred years, and clinical studies have found that heavy ion beams have physical and biological advantages over conventional photon and electron beams in treating malignant tumors, and that the use of heavy ion beam radiotherapy has gradually developed into a very superior tumor treatment means.
During the treatment of tumors with heavy ion beams, normal tissue through which ions pass will be damaged to varying degrees if the treatment is irradiated from one direction alone. To reduce this damage, the total dose is typically divided into multiple irradiation directions, so that the dose to normal tissue is greatly reduced. The traditional multi-angle irradiation treatment beam line or rotating frame has large occupied area and high cost. In order to reduce the manufacturing cost and realize multi-angle irradiation, scientists research a beam line terminal capable of horizontally rotating by 360 degrees, a plurality of treatment rooms are arranged around the rotating beam line, and beam current distribution of the treatment rooms with different surrounding azimuth angles can be realized by rotating a single beam line terminal, so that the problem that a single beam line of the traditional heavy ion treatment device can only correspond to a single treatment room is solved, and meanwhile, the occupation area and the investment of the construction cost of the heavy ion treatment device are reduced.
However, the 360-degree rotating beam line is required to be continuously and horizontally rotated and switched among a plurality of treatment rooms distributed around in the treatment process, the collimation positioning requirements and the method are different from those of the traditional fixed beam line, and the traditional fixed beam line can achieve the positioning requirements of treatment after the positioning between the beam line terminal and the treatment rooms is completed by using measuring instruments such as a laser tracker and the like during the installation. The 360-degree rotating beam line needs to be quickly and accurately repositioned between the rotating beam line and the isocenter of the working treatment room after each rotation switching, and the relative position relationship between the rotating beam line and the isocenter of the working treatment room needs to be dynamically monitored in real time in order to ensure the accuracy, the safety and the reliability of radiation treatment. If the switching positioning of the rotating beam is implemented by using the traditional optical instrument or the measuring method such as a laser tracker, the positioning efficiency is low and the function of real-time dynamic monitoring cannot be realized.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a positioning and real-time monitoring method and a system for a rotating beam line terminal of a radiotherapy device, which are used for fast switching matching positioning between the 360-degree horizontal rotating beam line terminal of the multi-beam line radiotherapy device and a plurality of treatment rooms and real-time monitoring of the position and the gesture of the rotating beam line terminal in the radiotherapy process.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the invention provides a positioning and real-time monitoring system for a rotating harness terminal of a radiotherapy device, which comprises a radiotherapy device, wherein the radiotherapy device comprises a harness terminal and a rotation control system for controlling the harness terminal; the beam line terminal comprises a base, a 360-degree horizontal rotation beam line rack arranged on the base, and treatment rooms which are mutually connected and are arranged outside the 360-degree horizontal rotation beam line rack in a surrounding mode, and a treatment room beam hole arranged in each working treatment room: further comprises:
the measurement control field comprises beam hole measurement control fields arranged at preset positions around the beam holes of the treatment rooms and beam line terminal measurement control fields arranged on the 360-degree horizontal rotation beam line rack and is used for carrying out auxiliary positioning on the isocenter and the beam line terminals of the treatment rooms;
the two-camera photogrammetry system is used for dynamically monitoring the measurement control field in real time;
and the data processing system is used for automatically calculating the 6-degree-of-freedom deviation between the beam line terminal and the isocenter of the working treatment room according to the monitoring data of the two-camera photogrammetry system, synchronously feeding back a 6-degree-of-freedom deviation adjusting instruction to the rotation control system, and adjusting the 6-degree-of-freedom deviation between the beam line terminal and the isocenter of the working treatment room to a preset range by the rotation control system so as to realize rapid measurement and positioning between the beam line terminal and the isocenter of the working treatment room.
Further, the beam hole measurement control field is arranged on a wall surface, around the beam hole of each working treatment room, which is stable and unchanged relative to the isocenter of the working treatment room, and comprises a plurality of first photogrammetry fluorescent reflection coding points arranged in an array and a plurality of first photogrammetry spherical mark point target seats arranged between every two first photogrammetry fluorescent reflection coding points;
the beam line terminal measurement control field comprises a photogrammetry self-calibration measurement tool, a plurality of second photogrammetry fluorescent reflection coding points and a plurality of second photogrammetry spherical mark point target seats, wherein the second photogrammetry fluorescent reflection coding points and the second photogrammetry spherical mark point target seats are arranged on the photogrammetry self-calibration measurement tool in an array mode.
Further, the two-camera photogrammetry system comprises a two-camera photogrammetry erection fixture and two photogrammetry cameras, the two-camera photogrammetry erection fixture is fixedly arranged on the 360-degree horizontal rotation beam line frame, the two photogrammetry cameras are fixedly arranged at two ends of the two-camera photogrammetry erection fixture, and the lens directions of the two photogrammetry cameras meet in the beam line terminal and the beam hole of the single working treatment room, so that the camera lens vision can cover the beam line terminal measurement control field and the beam hole measurement control field of the single working treatment room.
Furthermore, the photogrammetry camera is subjected to special radiation protection treatment, except for the lens part, other parts are all protected from ionizing radiation by using an inner layer and an outer layer of a lead plate and a boron-containing polyethylene plate.
In a second aspect, the present invention provides a method for using a positioning and real-time monitoring system for a rotating harness terminal of a radiotherapy apparatus, including:
arranging a dual camera photogrammetry system and a measurement control field on the radiotherapy device;
calibrating the relative pose relationship based on the measurement control field;
based on image data acquired by a two-camera photogrammetry system, system orientation and coding point coordinate calculation are carried out;
and based on the coordinate calculation result of the coding points, the deviation of 6 degrees of freedom between the beam line terminal and the isocenter of the working treatment room is regulated to be within a preset range by using a rotation control system.
Further, the arranging of the dual camera photogrammetry system and the measurement control field on the radiotherapy device comprises:
after ionizing radiation protection is carried out on the two photogrammetry cameras, the two photogrammetry cameras are arranged at two ends of the two-camera photogrammetry erection fixture;
arranging beam hole measurement control fields at preset positions around the beam hole of each treatment room, wherein the beam hole measurement control fields comprise first photogrammetry fluorescent reflection coding points and first photogrammetry spherical mark point target seats at preset positions;
arranging a beam line terminal measurement control field at a preset position of a photogrammetry self-calibration measurement tool, wherein the beam line terminal measurement control field comprises second photogrammetry fluorescent reflection coding points and second photogrammetry spherical mark point target seats at the preset position;
the camera lens visual field of the camera is ensured to cover the beam line terminal measurement control field and the beam hole measurement control field of the single working treatment room.
Further, the calibrating the relative pose relationship based on the measurement control field includes:
calibrating the relative pose relation between the isocenter of the working treatment room and each first photogrammetry fluorescence reflection coding point around the beam hole of the treatment room based on the beam hole measurement control field;
and calibrating the relative pose relation between the beam line terminal and each second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tool based on the beam current terminal measurement control field.
Further, based on the beam current terminal measurement control field, the calibration of the relative pose relationship between the beam current terminal and each second photogrammetric fluorescence reflection coding point on the photogrammetric self-calibration measurement tool comprises the following steps:
calibrating the relative pose relationship between the beam line terminal and a second photogrammetry spherical marker point target seat on the photogrammetry self-calibration measurement tool by using a laser tracker;
and calibrating the relative pose relationship between the beam line terminal and a second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tool by using a double photogrammetry camera.
Further, the calibrating the relative pose relationship between the beam line terminal and the second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tool using the dual photogrammetry camera includes:
firstly, placing a photogrammetry spherical mark with the size of 1.5 inches on a target seat of each second photogrammetry spherical mark point, and simultaneously measuring the photogrammetry spherical mark point with the size of 1.5 inches and a second photogrammetry fluorescent reflection coding point on a photogrammetry self-calibration measurement tool by using a photogrammetry camera to obtain a photogrammetry spherical mark point coordinate with the size of 1.5 inches and a photogrammetry fluorescent reflection coding point coordinate;
and then, carrying out common point conversion according to the measurement control field data of the beam line terminal arranged by the laser tracker to obtain the relative relation between the beam line terminal and the second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tool, and simultaneously obtaining the coordinates of the second photogrammetry fluorescence reflection coding point under the coordinate system of the beam line terminal.
Further, the system orientation and coding point coordinate calculation is performed based on the image data acquired by the two-camera photogrammetry system, including:
based on the image data collected by the two photogrammetry cameras, orienting the two-camera photogrammetry system by using a calibration result;
and resolving the coordinates of the measurement points according to the orientation result and the measurement image to obtain the coordinates of a second photogrammetry fluorescence reflection coding point in the photogrammetry self-calibration measurement tool and a first photogrammetry fluorescence reflection coding point around the beam hole of the treatment room in the current state under the beam line terminal coordinate system.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the dual camera photogrammetry system for shielding and protecting treatment by special radiation is arranged at the top of the 360-degree horizontal rotation beam line terminal in a combined mode, and the directional control fields are distributed around beam holes of each treatment room, so that after the rotation of the rotation beam line is switched to a working treatment room, key geometric elements between the 360-degree rotation beam line terminal and the isocenter of the working treatment room can be measured quickly and contactlessly, 6 degrees of freedom deviation between the rotation beam line terminal and the treatment room is regulated to be within an error tolerance range by the control system, and the positioning measurement efficiency of the rotation beam line terminal after each rotation switching can be greatly improved.
2. In the patient radiotherapy process, the photographic measurement control field distributed around the beam hole of the working treatment room is measured in real time through the two camera photographic measurement system arranged at the 360-degree rotating beam line terminal, the 6-degree-of-freedom change between the beam line terminal equipment and the isocenter of the working treatment room is monitored dynamically in real time, and the reliability and the precision in the patient radiotherapy process are further improved.
3. According to the invention, the single-set double-camera photogrammetry equipment is arranged on the rotating beam line which horizontally rotates by 360 degrees, and the photogrammetry self-calibration tool is arranged on the rotating frame, so that the photogrammetry double-camera can be calibrated in real time and directionally, and the rapid positioning function of dynamically measuring a plurality of treatment rooms by the single-set double-camera photogrammetry equipment is realized by combining the control fields arranged in each treatment room, thereby saving time and manpower in the positioning process and simultaneously maximally saving the construction cost.
4. According to the invention, the special ionizing radiation protection treatment is carried out on the camera of the ordinary photogrammetry system, so that the ionizing radiation damage to the camera caused by the ions scattered in the beam supplying process of the 360-degree rotating beam line can be avoided, and the use safety and the service life of the photogrammetry system can be increased through radiation protection.
The invention has simple and convenient operation, and is suitable for the technical field of rotary beam line switching positioning and real-time monitoring of 360-degree horizontal rotation multi-beam line delivery radiotherapy devices.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like parts are designated with like reference numerals throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of the layout of the positional relationship between a 360 degree horizontal rotation harness housing and surrounding treatment room beam holes in the present invention;
FIG. 2 is a schematic view of the present invention of a dual camera photogrammetry system in a rotational beam line terminal mounted position and a treatment room aperture orientation control field layout;
FIG. 3 is a schematic diagram of a self-calibrating measurement tooling position layout of the dual camera photogrammetry system of the present invention;
FIG. 4 is a schematic diagram of a self-calibrating measurement tool orientation control website of the dual camera photogrammetry system of the present invention;
FIG. 5 is a schematic diagram of a dual camera photogrammetry system after ionizing radiation shielding in accordance with the present invention;
FIG. 6 is a schematic diagram of a treatment room beam aperture control field layout of the present invention;
reference numerals illustrate:
1. a treatment room beam hole; 2. 360-degree horizontal rotation wire harness rack; 3. a beam hole measuring control field; 4. photogrammetry self-calibration measurement tool; 5. two-camera photogrammetry erection fixture; 61. a first photogrammetry spherical landmark target seat; 62. a first photogrammetry spherical landmark target seat; 71. a first photogrammetric fluorescence reflection encoding point; 72. a first photogrammetric fluorescence reflection encoding point; 8. a photogrammetry camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In the description of the present invention, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Moreover, the use of the terms first, second, etc. to define elements is merely for convenience in distinguishing the elements from each other, and the terms are not specifically meant to indicate or imply relative importance unless otherwise indicated.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In some embodiments of the present invention, a positioning and real-time monitoring system for a rotating beam line terminal of a radiotherapy device is provided, by a group of dual camera photogrammetry systems which are disposed at 360 degrees of horizontal rotation beam line terminals (hereinafter referred to as beam line terminals) and are subjected to special radiation protection treatment, and by matching with measurement control fields disposed around beam holes of each treatment room around the beam line terminals, key geometric elements between the beam line terminals and isocenter of the treatment room can be rapidly and accurately measured in a non-contact manner after the beam line terminals are rotationally switched to the treatment room by using the dual camera photogrammetry systems, and 6 degree of freedom deviation between the beam line terminals and isocenter of the treatment room is automatically calculated, 6 degree of freedom deviation adjustment instructions are synchronously fed back to a rotation control system, and the 6 degree of freedom deviation between the beam line terminals and isocenter of the treatment room is adjusted to be within an allowable range by the rotation control system, so that rapid measurement and positioning between the beam line terminals and isocenter of the treatment room are realized. In the radiotherapy process of a patient, the two-camera photogrammetry system arranged at the end part of the beam line terminal is used for dynamically monitoring the real-time position change between the beam line terminal and the isocenter of the working treatment room in real time by measuring the measurement control field around the beam hole of the working treatment room in real time, so that the reliability and the precision of the treatment of the patient are further improved.
Accordingly, in other embodiments of the present invention, a method for positioning and real-time monitoring a rotating harness terminal of a radiotherapy apparatus is provided.
Example 1
The present embodiment is described by taking the rotating harness terminal of the radiotherapy apparatus shown in fig. 1 as an example, and the radiotherapy apparatus includes the harness terminal and a rotation control system for controlling the harness terminal. The wire harness terminal comprises a base, a 360-degree horizontal rotation wire harness rack 2 arranged on the base, treatment rooms which are arranged outside the 360-degree horizontal rotation wire harness rack 2 in a surrounding mode and are connected with each other, and treatment room beam holes 1 arranged in the working treatment rooms.
As shown in fig. 2 to 6, the positioning and real-time monitoring system for a rotating beam line terminal of a radiotherapy apparatus provided in this embodiment includes:
the measurement control field comprises beam hole measurement control fields 3 arranged around the beam holes 1 of each treatment room and beam line terminal measurement control fields arranged on the 360-degree horizontal rotation beam line rack 2, and is used for carrying out auxiliary positioning on the beam holes and the beam line terminals of each treatment room;
the double-camera photogrammetry system is used for dynamically monitoring the measurement control field in real time;
and the data processing system is used for automatically calculating the 6-degree-of-freedom deviation between the beam line terminal and the isocenter of the working treatment room according to the monitoring data of the two-camera photogrammetry system, synchronously feeding back a 6-degree-of-freedom deviation adjusting instruction to the rotation control system, and adjusting the 6-degree-of-freedom deviation between the beam line terminal and the isocenter of the working treatment room to be within an allowable range by the rotation control system, so that the rapid positioning between the beam line terminal and the isocenter of the working treatment room is realized.
Preferably, as shown in fig. 2 and 6, the beam hole measurement control field 3 is arranged on a wall surface with stable and unchanged beam hole circumference of each working treatment room relative to the isocenter of the working treatment room, and comprises a plurality of photogrammetric fluorescence reflection coding points 71 arranged in an array and a plurality of photogrammetric spherical marker point target seats 61 arranged between every two photogrammetric fluorescence reflection coding points 71.
As shown in fig. 4, the beam line terminal measurement control field includes a photogrammetry self-calibration measurement tool 4, a plurality of photogrammetry spherical marker point targets 62, and a plurality of photogrammetry fluorescent reflection encoding points 72. The photogrammetry self-calibration measurement tool 4 is arranged on the 360-degree horizontal rotation beam line frame 2, and a plurality of photogrammetry spherical mark point target seats 62 and a plurality of photogrammetry fluorescent reflection coding points 72 are arranged on the photogrammetry self-calibration measurement tool 4 and used for ensuring that the relative relationship between the beam line terminal and the photogrammetry self-calibration measurement tool 4 is stable and unchanged.
More preferably, in the present embodiment, the beam hole measurement control field includes four groups of photogrammetric fluorescent reflection code points 71 and four photogrammetric spherical marker point target seats 61, and the four groups of photogrammetric fluorescent reflection code points 71 form a rectangular array around the hole 1, and the four photogrammetric spherical marker point target seats 61 form a cross-shaped array.
The beam line terminal measurement control field comprises 6 groups of photogrammetry fluorescent reflection coding points 72 and 5 photogrammetry spherical mark point target seats 62, the 6 groups of photogrammetry fluorescent reflection coding points 72 form a rectangular array, and the 5 photogrammetry spherical mark point target seats 62 form a cross-shaped structure.
Preferably, as shown in fig. 5, the two-camera photogrammetry system comprises a two-camera photogrammetry erection fixture 5 and two photogrammetry cameras 8. Wherein, the dual camera photogrammetry erects frock 5 fixed setting on 360 degrees horizontal rotation beam line frame 2, and two photogrammetry cameras 8 fixed mounting erects frock 5 both ends at dual camera photogrammetry, and the camera lens orientation of two photogrammetry cameras 8 meet in beam line terminal and treatment room beam hole, guarantees that camera lens field of vision can cover beam line terminal and single treatment room beam hole measurement control field. The photogrammetry camera 8 can rapidly and accurately measure key geometric elements between the rotating beam line terminal and the isocenter of the working treatment room in a directional and non-contact manner by collecting images of the beam line terminal measurement control field and each photogrammetry spherical mark point target seat and photogrammetry fluorescent reflection coding point in the single treatment room beam hole measurement control field.
Preferably, the photogrammetry camera 8 is subjected to a special radiation protection treatment, in particular, except for the lens part, the other part is protected from ionizing radiation by using an inner layer and an outer layer of a lead plate and a boron-containing polyethylene plate. More preferably, in this embodiment, a lead plate with a thickness of 5mm is selected to be mounted on the inner layer, and a boron-containing polyethylene plate with a thickness of 5mm is selected to be mounted on the outer layer, so as to protect the photogrammetry camera 8 from ionizing radiation.
Example 2
Based on the positioning and real-time monitoring system of the rotating beam line terminal of the radiotherapy device provided in embodiment 1, this embodiment provides a positioning and real-time monitoring method of the rotating beam line terminal of the radiotherapy device, and the whole system can be divided into an equipment installation stage, a pre-calibration stage, a data acquisition stage, a data feedback and adjustment stage. The device installation stage and the early calibration stage can be completed during system debugging, and during subsequent use, the matching, positioning and collimation between the rotating beam line terminal and the isocenter of the working treatment room can be realized through the data acquisition stage and the data feedback and adjustment stage. Specifically, the method comprises the following steps:
s1, equipment installation stage: a dual camera photogrammetry system and a measurement control field are disposed on the radiotherapy apparatus.
Specifically, the method comprises the following steps:
s11, after the two photogrammetry cameras 8 are protected from ionizing radiation, the two photogrammetry cameras are installed at two ends of the two-camera photogrammetry erection fixture 5 (shown in fig. 5).
S12, arranging beam hole measuring control fields at preset positions around the beam holes 1 of each treatment room.
In this embodiment, when the beam hole measurement control field is arranged, in order to improve positioning accuracy, four groups of photogrammetric fluorescent reflection coding points 71 and four photogrammetric spherical marker point target seats 61 are installed on a wall surface where the circumference of the beam hole 1 of each treatment room is stable relative to the isocenter of the corresponding treatment room, so as to ensure that the relative positional relationship between the photogrammetric fluorescent reflection coding points 71 and the photogrammetric spherical marker point target seats 61 around the beam hole 1 of each treatment room and the isocenter of the corresponding treatment room is stable and unchanged.
S13, arranging a beam line terminal measurement control field at a preset position of the photogrammetry self-calibration measurement tool 4.
In this embodiment, when the control field is measured by the wire harness terminal, six groups of photogrammetry fluorescent reflection coding points 72 and five photogrammetry spherical marker point target seats 62 are arranged on the surface of the photogrammetry self-calibration measurement tool 4 formed by adopting a high-strength metal plate, so as to ensure that the relative relationship between the wire harness terminal and the photogrammetry self-calibration measurement tool 4 is stable and unchanged. Wherein the photogrammetry spherical landmark target mount 62 needs to be able to fit a 1.5 inch laser tracker target ball and a 1.5 inch photogrammetry spherical landmark.
S14, the two-camera photogrammetry erection fixture 5 and the photogrammetry self-calibration fixture 4 are arranged at preset positions (shown in fig. 2) of the 360-degree horizontal rotation beam line rack 2, so that the lens orientations of the two photogrammetry cameras 8 meet at the beam line terminal and the beam current hole 1 of the single treatment room, and the camera lens vision is ensured to cover the beam line terminal measurement control field and the beam current hole measurement control field of the single working treatment room.
S2, a pre-calibration stage: and calibrating the relative pose relationship based on the measurement control field.
Specifically, the method comprises the following steps:
s21, calibrating the relative pose relation between the beam line terminal and each photogrammetry fluorescence reflection coding point 7 on the photogrammetry self-calibration measurement tool 4 based on the beam current terminal measurement control field.
In this embodiment, the purpose of calibrating the relative pose relationship between the wire harness terminal and the photogrammetry self-calibration measurement tool 4 is to obtain the position and pose of the wire harness terminal after rotation switching by measuring the photogrammetry self-calibration measurement tool 4 on the wire harness terminal with the photogrammetry camera 8.
Specifically, the calibration method comprises the following steps: firstly, calibrating and obtaining a relative pose relation between a beam line terminal and a photogrammetry spherical mark point target seat 62 near the beam line terminal under a beam line terminal coordinate system by using a laser tracker; next, the relative pose relationship between the photogrammetry spherical landmark target mount 62 and the photogrammetry self-calibrating measurement fixture 4 is calibrated.
Wherein, when calibrating the relative pose relation between photogrammetry spherical marker target seat 62 and photogrammetry self-calibration measurement frock 4, include: firstly, placing a photogrammetry spherical mark of 1.5 inches on a photogrammetry spherical mark point target seat 62 arranged at a beam line terminal, and simultaneously measuring the photogrammetry spherical mark point of 1.5 inches and a photogrammetry fluorescence reflection coding point 72 on a photogrammetry self-calibration measurement tool 4 by using a photogrammetry camera 8 to obtain a photogrammetry spherical mark point coordinate of 1.5 inches and a photogrammetry fluorescence reflection coding point coordinate; and then, carrying out common point conversion according to control field data laid by the laser tracker to obtain the relative relation between the beam line terminal and the photogrammetry fluorescence reflection coding point 72 on the photogrammetry self-calibration measurement tool 4, and simultaneously obtaining the coordinates of the photogrammetry fluorescence reflection coding point 72 on the photogrammetry self-calibration measurement tool 4 under the coordinate system of the beam line terminal.
S22, calibrating the relative pose relation between the isocenter of the treatment room and the photogrammetry fluorescence reflection coding points 71 around the beam hole 1 of the treatment room based on the beam hole measurement control field.
In this embodiment, the relative pose relationship between the isocenter of each treatment room and the photogrammetric fluorescence reflection encoding points 71 of the beam holes of the treatment room is calibrated, so as to obtain the position and the pose of the isocenter of the treatment room by measuring the photogrammetric fluorescence reflection encoding points 71 of the beam holes of the treatment room by the photogrammetric camera 8.
Because the relative pose relationship between the isocenter and the laser tracker target ball base near the isocenter is obtained by calibrating the laser tracker under the isocenter coordinate system of each treatment room in advance, the system only needs to calibrate the relative pose relationship between the laser tracker target ball base and the photogrammetry fluorescent reflection coding points of the beam holes of the treatment rooms.
Specifically, the calibration method comprises the following steps: firstly, a photogrammetry spherical mark of 1.5 inches is placed on a photogrammetry spherical mark point target seat 61 around a beam hole of a treatment room, and a photogrammetry camera 8 is used for simultaneously measuring the photogrammetry spherical mark of 1.5 inches and a photogrammetry fluorescence reflection coding point 71 of the beam hole of the treatment room to obtain coordinates of the photogrammetry spherical mark of 1.5 inches and coordinates of the photogrammetry fluorescence reflection coding point 71 of the beam hole of the treatment room; then, the common point conversion is performed according to the control field data laid out by the laser tracker, so that the relative relation between the isocenter of each treatment room and the photogrammetric fluorescence reflection coding point 71 of the beam current hole of the treatment room can be obtained.
S3, data acquisition: and (3) carrying out system orientation and coding point coordinate calculation based on image data acquired by the two-camera photogrammetry system.
Specifically, the method comprises the following steps:
and S31, orienting the two-camera photogrammetry system based on the image data acquired by the two photogrammetry cameras 8.
The orientation of the two-camera photogrammetry system is to calibrate the pose relationship between the two photogrammetry cameras 8. Because two photogrammetry cameras 8 are all installed on the rotary mechanism of 360 degrees horizontal rotation beam line frame, photogrammetry cameras 8 may have vibration in the rotation process, in order to guarantee the measurement accuracy of the two camera photogrammetry systems during each data acquisition, the control field real-time orientation mode is adopted for orientation.
During each measurement, two photogrammetry cameras 8 measure the photogrammetry fluorescent reflection coding points 72 on the photogrammetry self-calibration measurement tool 4 at the same time, and coordinate data of the photogrammetry fluorescent reflection coding points 72 on the photogrammetry self-calibration measurement tool 4 obtained by calibration in advance are used as a control field to orient the photogrammetry system. Since the photogrammetry fluorescent reflection coding point 72 on the photogrammetry self-calibration measurement tool 4 is calibrated under the beam line terminal coordinate system, the measurement coordinate system after orientation is the beam line terminal coordinate system established in the laser tracker.
S32, resolving the coordinates of the measurement points according to the orientation result and the measurement image to obtain the coordinates of the photogrammetry fluorescence reflection coding points 71 of the photogrammetry self-calibration measurement tool 4 and the beam current hole of the treatment room in the current state under the beam line terminal coordinate system.
After the orientation result is obtained, the photogrammetry system can calculate according to the orientation result and the two images acquired during the measurement, and obtain the coordinates of the photogrammetry fluorescent reflection coding point 71 on the photogrammetry self-calibration measurement tool 4 and the beam current hole of the treatment room, and because the measurement coordinate system is the rotating beam line terminal coordinate system established by the laser tracker at this time, the coordinates of the photogrammetry fluorescent reflection coding point 72 on the photogrammetry self-calibration measurement tool 4 of the current state rotating beam line terminal under the rotating beam line terminal coordinate system can be obtained.
S4, data feedback and adjustment stages: based on the result of the coordinate calculation of the encoding points, the deviation of 6 degrees of freedom between the beam line terminal and the isocenter of the working treatment room is adjusted to be within an allowable range by using a rotation control system.
Specifically, the method comprises the following steps:
s41, obtaining the 6-degree-of-freedom adjustment quantity of the wire harness terminal based on the code point coordinate settlement result and the calibration data.
After the coordinates of the photogrammetry fluorescence reflection coding points of the photogrammetry self-calibration measurement tool 4 and the beam holes of the treatment room of the rotating beam line terminal are obtained, the relative pose relationship between the photogrammetry self-calibration measurement tool 4 and the beam line terminal, the relative pose relationship between the isocenter of each treatment room and the photogrammetry fluorescence reflection coding points of the beam holes of the treatment room can be obtained through common point conversion according to the photogrammetry self-calibration measurement tool 4 and the beam line terminal, namely the relative pose relationship between the beam line terminal and the isocenter of the working treatment room, namely the 6-degree-of-freedom adjustment quantity of the beam line terminal.
S42, feeding back the 6-degree-of-freedom deviation amount of the wire harness terminal to the rotation control system, and adjusting the 6-degree-of-freedom deviation between the wire harness terminal and the isocenter of the working treatment room to be within an allowable range by the rotation control system.
Specifically, the rotation control system generates an adjustment command to adjust the 360-degree rotation harness rack adjustment mechanism according to the 6-degree-of-freedom deviation amount of the harness terminal. After the adjustment, the double camera photogrammetry system will re-measure and feed back the measurement result until the alignment precision of the rotating beam line terminal and the isocenter of the working treatment room reaches the allowable error range.
In the embodiment, the positioning precision mainly comprises the calibration precision of a photogrammetry self-calibration measurement tool, the measurement precision of a dual-camera photogrammetry system, the precision of a laser tracker layout control field, and the coincidence precision of a tracker target ball and a photogrammetry 1.5 inch spherical mark.
The self-calibration measurement tool for the rotary beam line terminal photogrammetry adopts a high-precision MPS/S industrial photogrammetry system for calibration, and the precision of the system calibration rotary beam line terminal measurement tool is about 0.030mm. When the measurement accuracy of the photogrammetry system is less than or equal to 4m, the measurement accuracy is 0.04mm, and in the embodiment, the distance measurement points of the camera are all smaller than 3m, so in the embodiment, the measurement accuracy of photogrammetry is about 0.04mm. The precision of the laser tracker layout control field is estimated at present according to 0.050 mm. The accuracy of the laser tracker target ball and photogrammetry 1.5 inch spherical mark when used separately was estimated to be 0.03 mm.
Therefore, the overall positioning accuracy of the measurement system is estimated as:meets the requirement of the positioning precision (0.10 mm) of the treatment device.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (10)
1. The positioning and real-time monitoring system for the rotating beam line terminal of the radiotherapy device comprises a radiotherapy device, wherein the radiotherapy device comprises a beam line terminal and a rotation control system for controlling the beam line terminal; the beam line terminal comprises a base, a 360-degree horizontal rotation beam line rack arranged on the base, and treatment rooms which are mutually connected and are arranged outside the 360-degree horizontal rotation beam line rack in a surrounding mode, and a treatment room beam hole arranged in each working treatment room: characterized by further comprising:
the measurement control field comprises beam hole measurement control fields arranged at preset positions around the beam holes of the treatment rooms and beam line terminal measurement control fields arranged on the 360-degree horizontal rotation beam line rack and is used for carrying out auxiliary positioning on the isocenter and the beam line terminals of the treatment rooms;
the two-camera photogrammetry system is used for dynamically monitoring the measurement control field in real time;
and the data processing system is used for automatically calculating the 6-degree-of-freedom deviation between the beam line terminal and the isocenter of the working treatment room according to the monitoring data of the two-camera photogrammetry system, synchronously feeding back a 6-degree-of-freedom deviation adjusting instruction to the rotation control system, and adjusting the 6-degree-of-freedom deviation between the beam line terminal and the isocenter of the working treatment room to a preset range by the rotation control system so as to realize rapid measurement and positioning between the beam line terminal and the isocenter of the working treatment room.
2. The positioning and real-time monitoring system of a rotating beam line terminal of a radiotherapy device according to claim 1, wherein the beam hole measurement control field is arranged on a wall surface with the periphery of the beam hole of each working treatment room stable and unchanged relative to the isocenter of the working treatment room, and comprises a plurality of first photogrammetric fluorescence reflection coding points arranged in an array and a plurality of first photogrammetric spherical marker point target seats arranged between every two first photogrammetric fluorescence reflection coding points;
the beam line terminal measurement control field comprises a photogrammetry self-calibration measurement tool, a plurality of second photogrammetry fluorescent reflection coding points and a plurality of second photogrammetry spherical mark point target seats, wherein the second photogrammetry fluorescent reflection coding points and the second photogrammetry spherical mark point target seats are arranged on the photogrammetry self-calibration measurement tool in an array mode.
3. The positioning and real-time monitoring system for a rotating beam line terminal of a radiotherapy apparatus according to claim 1, wherein the dual camera photogrammetry system comprises a dual camera photogrammetry erection fixture and two photogrammetry cameras, the dual camera photogrammetry erection fixture is fixedly arranged on the 360-degree horizontal rotation beam line frame, the two photogrammetry cameras are fixedly arranged at two ends of the dual camera photogrammetry erection fixture, and lens orientations of the two photogrammetry cameras meet at the beam line terminal and a beam hole of a single working treatment room, so that a camera lens field of view can cover a beam line terminal measurement control field and a beam hole measurement control field of the single working treatment room.
4. A positioning and real-time monitoring system for a rotating harness terminal of a radiotherapy apparatus according to claim 3, wherein the photogrammetric camera is subjected to special radiation protection treatment, and other parts except for the lens part are subjected to special radiation protection treatment by using an inner layer and an outer layer of a lead plate and a boron-containing polyethylene plate.
5. A method of using a positioning and real-time monitoring system employing a rotating harness terminal of a radiotherapy apparatus according to any one of claims 1 to 4, comprising:
arranging a dual camera photogrammetry system and a measurement control field on the radiotherapy device;
calibrating the relative pose relationship based on the measurement control field;
based on image data acquired by a two-camera photogrammetry system, system orientation and coding point coordinate calculation are carried out;
and based on the coordinate calculation result of the coding points, the deviation of 6 degrees of freedom between the beam line terminal and the isocenter of the working treatment room is regulated to be within a preset range by using a rotation control system.
6. The method of claim 5, wherein disposing a dual camera photogrammetry system and measuring control fields on the radiotherapy apparatus comprises:
after ionizing radiation protection is carried out on the two photogrammetry cameras, the two photogrammetry cameras are arranged at two ends of the two-camera photogrammetry erection fixture;
arranging beam hole measurement control fields at preset positions around the beam hole of each treatment room, wherein the beam hole measurement control fields comprise first photogrammetry fluorescent reflection coding points and first photogrammetry spherical mark point target seats at preset positions;
arranging a beam line terminal measurement control field at a preset position of a photogrammetry self-calibration measurement tool, wherein the beam line terminal measurement control field comprises second photogrammetry fluorescent reflection coding points and second photogrammetry spherical mark point target seats at the preset position;
the camera lens visual field of the camera is ensured to cover the beam line terminal measurement control field and the beam hole measurement control field of the single working treatment room.
7. The method of claim 6, wherein the calibrating the relative pose relationship based on the measurement control field comprises:
calibrating the relative pose relation between the isocenter of the working treatment room and each first photogrammetry fluorescence reflection coding point around the beam hole of the treatment room based on the beam hole measurement control field;
and calibrating the relative pose relation between the beam line terminal and each second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tool based on the beam current terminal measurement control field.
8. The method of claim 7, wherein calibrating the relative pose relationship between the beam line terminal and each second photogrammetric fluorescence reflection encoding point on the photogrammetric self-calibrating measurement tool based on the beam line terminal measurement control field comprises:
calibrating the relative pose relationship between the beam line terminal and a second photogrammetry spherical marker point target seat on the photogrammetry self-calibration measurement tool by using a laser tracker;
and calibrating the relative pose relationship between the beam line terminal and a second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tool by using a double photogrammetry camera.
9. The method of claim 8, wherein calibrating the relative pose relationship between the beam line terminal and the second photogrammetric fluorescence reflection encoding point on the photogrammetric self-calibrating measurement tool using the dual photogrammetric camera comprises:
firstly, placing a photogrammetry spherical mark with the size of 1.5 inches on a target seat of each second photogrammetry spherical mark point, and simultaneously measuring the photogrammetry spherical mark point with the size of 1.5 inches and a second photogrammetry fluorescent reflection coding point on a photogrammetry self-calibration measurement tool by using a photogrammetry camera to obtain a photogrammetry spherical mark point coordinate with the size of 1.5 inches and a photogrammetry fluorescent reflection coding point coordinate;
and then, carrying out common point conversion according to the measurement control field data of the beam line terminal arranged by the laser tracker to obtain the relative relation between the beam line terminal and the second photogrammetry fluorescence reflection coding point on the photogrammetry self-calibration measurement tool, and simultaneously obtaining the coordinates of the second photogrammetry fluorescence reflection coding point under the coordinate system of the beam line terminal.
10. The method of claim 7, wherein performing system orientation and encoding point coordinate resolution based on image data acquired by a dual camera photogrammetry system comprises:
based on the image data collected by the two photogrammetry cameras, orienting the two-camera photogrammetry system by using a calibration result;
and resolving the coordinates of the measurement points according to the orientation result and the measurement image to obtain the coordinates of a second photogrammetry fluorescence reflection coding point in the photogrammetry self-calibration measurement tool and a first photogrammetry fluorescence reflection coding point around the beam hole of the treatment room in the current state under the beam line terminal coordinate system.
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