WO2019019188A1 - 肿瘤追踪方法及装置、存储介质 - Google Patents

肿瘤追踪方法及装置、存储介质 Download PDF

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Publication number
WO2019019188A1
WO2019019188A1 PCT/CN2017/095041 CN2017095041W WO2019019188A1 WO 2019019188 A1 WO2019019188 A1 WO 2019019188A1 CN 2017095041 W CN2017095041 W CN 2017095041W WO 2019019188 A1 WO2019019188 A1 WO 2019019188A1
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Prior art keywords
reference image
image
sequence
image sequence
library
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PCT/CN2017/095041
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English (en)
French (fr)
Inventor
闫浩
李金升
李久良
刘海峰
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西安大医集团有限公司
深圳市奥沃医学新技术发展有限公司
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Priority to PCT/CN2017/095041 priority Critical patent/WO2019019188A1/zh
Priority to CN201780042615.2A priority patent/CN109789314B/zh
Priority to US16/634,500 priority patent/US11132798B2/en
Publication of WO2019019188A1 publication Critical patent/WO2019019188A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G06T7/0014—Biomedical image inspection using an image reference approach
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
    • A61N5/1065—Beam adjustment
    • A61N5/1067—Beam adjustment in real time, i.e. during treatment
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A61N5/1037—Treatment planning systems taking into account the movement of the target, e.g. 4D-image based planning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • G06T2207/10076—4D tomography; Time-sequential 3D tomography
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    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30096—Tumor; Lesion

Definitions

  • the present invention relates to the field of object positioning technologies, and in particular, to a tumor tracking method and device, and a storage medium.
  • Radiotherapy is a topical treatment for treating tumors using radiation (eg, x-rays, beta rays, gamma rays, etc.).
  • radiation eg, x-rays, beta rays, gamma rays, etc.
  • One of the key technologies of radiotherapy is the precise positioning of tumors.
  • tumor tracking is usually required to achieve precise positioning.
  • a lung tumor a tumor that grows in the patient's lungs
  • the lung tumor needs to be tracked.
  • a tumor tracking method the first type is to monitor an external replacement signal associated with breathing, and based on this, predicts tumor movement.
  • External replacement signals include: up and down movement of the patient's body surface marker, increase or decrease in the amount of gas breathed by the patient, or changes in the patient's abdominal pressure.
  • the second type is to directly perform fluoroscopic imaging on the tumor area, which is realized by two mutually angled projection devices. Each projection device includes a ray source and a detector respectively to obtain two X-rays with mutually angled angles. The 2D position of the tumor in the projection, and then the inverse calculation of the 3D position of the tumor in space.
  • the above two types of methods are usually combined to track the movement of the tumor.
  • the main disadvantage of the first type of method is that external replacement signals do not accurately characterize the motion of the tumor and there is greater uncertainty.
  • the main disadvantage of the second type of method is that the dose of X-rays allows the method to be used only at regular intervals (for example, 10 seconds), and is currently generally used to calibrate the first class after a certain time interval. The phase offset of the method.
  • Both the first type of method and the second type of method require additional hardware devices.
  • the method based on X-ray fluoroscopy generally requires two projections at different angles, or a single projection at a fixed angle. In most cases, the actual device is rotated by a flat frame, which can generate a single projection with varying angles. The current method cannot. Applicable to this type of situation.
  • embodiments of the present invention provide a tumor tracking method and apparatus, and a storage medium.
  • the technical solution is as follows:
  • a tumor tracking method for use in a radiotherapy apparatus, the radiotherapy apparatus comprising a first radiation source, a second radiation source, and a detector, wherein the first radiation source is located at a first detection point, the first The two-ray source is located at the second detection point, and the method includes:
  • the detection image is that the radiation emitted by the first radiation source from the first detection point to the tumor area is received by the detector Determined image;
  • the preset image library Determining, from a first reference image sequence of the preset image library, a first reference image corresponding to the detected image, the preset image library comprising a first reference image sequence and a second reference image sequence, the first reference image
  • the sequence is a reference image sequence determined based on an optical signal emitted from the location of the first collection point to the tumor region, the second reference image sequence being based on an optical emission from the location of the second collection point to the tumor region a reference image sequence determined by the signal, the first detection point is the same as the position of the first collection point relative to the tumor area, and the position of the second detection point and the second collection point relative to the tumor area
  • the first reference image sequence and the second reference image sequence respectively comprise a plurality of reference images determined at different times;
  • a tumor tracking device for use in a radiotherapy apparatus, the radiotherapy apparatus comprising a first radiation source, a second radiation source, and a detector, wherein the first radiation source is located at a first detection point, the first The two-ray source is located at the second detection point, and the device comprises:
  • a first acquiring module configured to acquire a detection image when the first radiation source is located at the first detection point, where the detection image is radiation emitted by the first radiation source from the first detection point to a tumor area Receiving the determined image by the detector;
  • a first determining module configured to determine, from a first reference image sequence of the preset image library, a first reference image corresponding to the detected image, where the preset image library includes a first reference image sequence and a second reference image sequence
  • the first reference image sequence is a sequence of reference images determined based on an optical signal emitted from a location of the first collection point to the tumor region, the second reference image sequence being based on a location from the second collection point a reference image sequence determined by an optical signal emitted by the tumor region,
  • the first detection point is the same as the position of the first collection point relative to the tumor area, and the second detection point is the same as the position of the second collection point relative to the tumor area, the first reference image sequence
  • the second reference image sequence respectively includes a plurality of reference images determined at different times;
  • a second acquiring module configured to acquire, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined moment of the first reference image ;
  • a second determining module configured to determine a location of the tumor relative to the second radiation source according to the second reference image.
  • a readable storage medium stores instructions that, when executed on a processing component, cause the processing component to perform the tumor tracking method of the present application .
  • the beneficial effects of the technical solution provided by the embodiments of the present invention are: the tumor tracking method and device, and the storage medium provided by the embodiment of the present invention, after acquiring the detection image when the first radiation source is located at the first detection point, from the preset image library Determining, in the first reference image sequence, a first reference image corresponding to the detected image, and acquiring, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, the same as the determined time of the first reference image
  • the second reference image determines the position of the tumor relative to the second source based on the second reference image. Since tumor tracking can be achieved only by using radiotherapy equipment, less hardware equipment is needed, and a new tumor tracking device is provided, which solves the problem of high tumor tracking cost and helps to reduce the cost of tumor tracking.
  • FIG. 1 is an application scenario diagram of a radiotherapy apparatus according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for a tumor tracking method according to an embodiment of the present invention
  • 3-1 is a flowchart of a method for another tumor tracking method according to an embodiment of the present invention.
  • 3-2 is a flowchart of a method for generating a preset image library according to an embodiment of the present invention
  • 3-3 is a schematic diagram of generating a preset image library according to an embodiment of the present invention.
  • 3-4 are flowcharts of another method for generating a preset image library according to an embodiment of the present invention.
  • 3-5 are flowcharts of still another method for generating a preset image library according to an embodiment of the present invention.
  • FIG. 3-6 are schematic diagrams of obtaining a reference image according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for another tumor tracking method according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for another tumor tracking method according to an embodiment of the present invention.
  • 6-1 is a flowchart of a method for another tumor tracking method according to an embodiment of the present invention.
  • 6-2 is a flowchart of a method for predicting a tumor trajectory according to an embodiment of the present invention
  • 7-1 is a flowchart of a method for another tumor tracking method according to an embodiment of the present invention.
  • FIG. 7-2 is a flowchart of a method for determining an actual image sequence according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for another tumor tracking method according to an embodiment of the present invention.
  • 9-1 is a block diagram of a tumor tracking apparatus according to an embodiment of the present invention.
  • 9-2 is a block diagram of another tumor tracking device according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a terminal according to an embodiment of the present invention.
  • the radiotherapy apparatus includes: an apparatus body 01 , a first radiation source 02 , a second radiation source 03 , and a detection
  • the device body 01 has a cylindrical structure, and the first source 02, the second source 03, and the detector 04 are respectively disposed on the same circumference of the apparatus body 01, and the first source 02 and the second source 03
  • the central angle corresponding to the circular arc is a, and the apparatus body 01 is rotatable about its own axis in the rotational direction f, thereby causing the first radiation source 02 and the second radiation source 03 to rotate.
  • the first ray source 02 may be an imaging source, which may specifically be a diagnostic source
  • the second ray source 03 may be a therapeutic source, which may specifically be a treatment head, the device body 01, the first ray source 02, and the second
  • the specific structure of the ray source 03 and the detector 04 can be referred to the related art, and the details are not described herein again.
  • the apparatus body may also be a cantilever or a robot arm, or the like, and may also rotate the circumference of the first radiation source and the second radiation source.
  • the first ray source 02 and the second ray source 03 are capable of emitting radiation
  • the detector 04 can be a flat panel detector
  • the detector 04 can receive the radiation emitted by the first ray source 02
  • the radiotherapy apparatus further includes a first source 02, a second source 03, and a detector 04 respectively, a processing component (not shown in FIG. 1) electrically connected, the processing component may be located in a computer (for example, a computer), specifically a processor of a computer, etc., and the processing component may determine the detection based on the radiation received by the detector 04. image.
  • the patient 05 has a tumor 06 grown in the body, and if the tumor is a lung tumor, the tumor 06 can regularly move with the breathing of the patient 05.
  • the patient 05 can be placed in the apparatus body 01 through a treatment bed (not shown in FIG. 1), and the patient 05 can be fixed in position on the treatment bed to maintain a smooth breathing, after which the treatment component can control the first
  • a radiation source 02 emits radiation to the tumor region (including the region where the tumor 06 is located and the normal organ tissue surrounding the tumor 06), and the radiation passes through the tumor region to reach the detector 04, and the detector 04 receives the radiation transmitted through the tumor region, and
  • the received radiation is converted into an optical signal, and then the optical signal is converted into an analog signal.
  • the detector 04 can include an analog to digital converter (English: Analog to Digital Converter; abbreviated as: ADC), and the ADC converts the analog signal into a digital signal.
  • ADC Analog to Digital Converter
  • the processing component generates a detection image according to the received digital signal, and the detection image may be a computed tomography (English: Computed Tomography; CT) image.
  • CT Computed Tomography
  • the processing component may determine, according to the detection image, the first reference image corresponding to the detection image from the first reference image sequence of the preset image library, and corresponding to the first reference image sequence from the preset image library.
  • a second reference image identical to the determined time of the first reference image is acquired in the second reference image sequence, and the position of the tumor 06 relative to the second radiation source 03 is determined according to the second reference image, thereby achieving tracking of the tumor motion.
  • the parameters of the second ray source 03 can be adjusted according to the position of the tumor 06 relative to the second ray source 03, and then the second ray source 03 is controlled to emit radiation to the tumor 06.
  • the first ray source 02 may be an imaging source
  • the second ray source 03 may be a treatment source
  • the processing component may adjust the position of the second ray source 03 according to the position of the tumor 06 relative to the second ray source 03. At least one of a parameter, a dose parameter, and a field parameter.
  • FIG. 2 is a flowchart of a method for tracking a tumor according to an embodiment of the present invention.
  • the embodiment is applied to the radiotherapy apparatus shown in FIG. 1 to illustrate that the radiotherapy apparatus includes a first source, a second source, and a detector.
  • the tumor tracking method can be performed by a tumor tracking device, which can be a functional unit in a processing component of the radiotherapy device.
  • the method includes:
  • Step 201 Acquire a detection image when the first radiation source is located at the first detection point.
  • the detected image is an image determined by the radiation emitted by the first source from the first detection point to the tumor area being received by the detector.
  • the first ray source 02 is located at the first detection point
  • the second ray source 03 is located at the second detection point.
  • the first source 02 emits radiation from the first position illustrated, and is received by the detector through the human tumor to determine the current tumor image, ie, the detected image.
  • Step 202 Determine a first reference image corresponding to the detected image from the first reference image sequence of the preset image library.
  • the preset image library includes a first reference image sequence and a second reference image sequence
  • the first reference image sequence is a reference image sequence determined based on an optical signal emitted from the location of the first collection point to the tumor region
  • the second reference The image sequence is a sequence of reference images determined based on an optical signal emitted from the location of the second collection point to the tumor region, the first detection point being the same as the position of the first collection point relative to the tumor region, and the second detection point and the second collection point
  • the positions of the tumor regions are the same, and the first reference image sequence and the second reference image sequence respectively include a plurality of reference images determined at different times.
  • the preset image library can be formed by acquiring an image.
  • the first ray source 02 is located at the first detection point
  • the second ray source 03 is located at the second detection point.
  • the first collection point may be located at the position of the first detection point of the first radiation source 02 as shown in FIG. 1
  • the second collection point may be located at the second radiation source as shown in FIG.
  • the position of the second detection point of 03 is such that the first collection point and the first detection point are at the same position relative to the tumor, and the second collection point and the second detection point are at the same position relative to the tumor.
  • the first reference image sequence includes a plurality of tumor images at different times acquired by the first collection point, and the first reference corresponding to the detected image is determined from the first reference image sequence of the preset image library.
  • the image can determine the position information of the tumor relative to the first detection point at this time.
  • determining a first reference image corresponding to the detected image from the first reference image sequence of the preset image library may be each first reference in the first reference image sequence of the image of the detected image and the preset image library. The images of the images are separately compared to determine a first reference image corresponding to the detected image.
  • Step 203 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image.
  • the second reference image sequence includes a plurality of tumor images acquired at the second collection point, and the first reference image sequence and the second reference image sequence respectively include a plurality of reference images determined at different times, according to the first reference image
  • the determined second reference image may be a second reference image of the tumor relative to the second detection point at this time.
  • the first reference image sequence includes a plurality of first reference images
  • the second reference image sequence includes a plurality of second reference images
  • the first reference image and the second reference image may be configured by setting a serial number.
  • the sequence numbers of the reference images obtained at the same time are the same to facilitate acquisition of the second reference image that is the same as the determined time of the first reference image.
  • the first reference image sequence and the second reference image sequence may be directly used to determine the second reference image that is the same as the determined time of the first reference image, which is not limited in this application. The above is taken as an example for illustration.
  • Step 204 Determine a position of the tumor relative to the second ray source according to the second reference image.
  • the tumor tracking method collects a first reference image of a plurality of tumors at different times from a first collection point to form a first reference image sequence, and collects multiple times at different times at the second collection point.
  • the second reference image of the tumor forms a second reference image sequence forming a library of preset images.
  • the first radiation source is located at the first detection point
  • the second radiation source is located at the second detection point, wherein the first detection point corresponds to the position of the first collection point relative to the tumor, and the second detection point and the second The collection point corresponds to the location of the tumor.
  • the first reference image corresponding to the detection image is determined from the first reference image sequence of the preset image library, and then corresponding to the first reference image determined from the first reference image sequence.
  • the second radiation source can be adjusted according to the position of the tumor relative to the second radiation source, so that the radiation emitted by the second radiation source passes through the tumor region to avoid damage to surrounding normal tissue, and the tracking irradiation of the tumor is realized.
  • the tumor tracking method provided by the present application can realize tumor tracking by using two radiation sources and one detector of the radiotherapy device, so that there is no need to set two projection devices with mutual angles, so less hardware equipment is needed, which helps to reduce Tumor tracking costs. Moreover, the tumor tracking method provided by the present application directly tracks the movement of the tumor, and the tracking accuracy is higher than the tracking of the tumor on the surface of the patient.
  • FIG. 3-1 is a flowchart of another method for tracking a tumor according to an embodiment of the present invention. The embodiment is illustrated by using the tumor tracking method in the radiotherapy apparatus shown in FIG. Referring to Figure 3-1, the method includes:
  • Step 301 Generate a preset image library, where the preset image library includes a training image library and/or a depth image library.
  • Step 302 Acquire a detection image when the first radiation source is located at the first detection point.
  • the detected image is an image determined by the radiation emitted by the first source from the first detection point to the tumor area being received by the detector.
  • Step 303 Determine a first reference image corresponding to the detected image from the first reference image sequence of the preset image library.
  • Step 304 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image.
  • Step 305 Determine a position of the tumor relative to the second radiation source according to the second reference image. That is, the tracking of the second radiation source relative to the tumor motion is achieved.
  • the embodiment shown in FIG. 3-1 before determining the first reference image corresponding to the detected image from the first reference image sequence of the preset image library, further includes: generating a pre- Set the steps for the image library.
  • the preset image library includes a training image library and/or a depth image library, and the preset image library may include a training image library, or the preset image library may include a depth image library. Or the preset image library includes a training image library and a depth image library.
  • the preset image library may include a plurality of reference image sequence groups, and each of the reference image sequence groups includes a first reference image sequence and a second reference image sequence. For example, the first radiation source and the second radiation source of the radiotherapy apparatus can be rotated around the circumference of the tumor area.
  • the first radiation source and the second radiation source can be located at a plurality of preset detection stations, each pre- The detection station includes a first detection point and a second detection point, and each preset detection station corresponds to a reference image sequence group, that is, the first detection point of each preset detection station corresponds to a reference image sequence group.
  • the first collection point corresponds to the location of the tumor, thereby corresponding to the first reference image sequence.
  • the second detection point of each preset detection station corresponds to the position of the second collection point corresponding to one reference image sequence group, thereby corresponding to the second reference image sequence.
  • each preset detection station is not specifically limited. For example, every 2s (may be 4s, 5s, etc.) may be a preset detection station, and each rotation may be performed.
  • the center angle of 5° also 8°, 10°, 15°, etc. is a preset detection station.
  • the reference image sequence in the training image library may be an image sequence determined when the patient performs training breathing (training to obtain a smooth breathing of the patient), and each reference image sequence in the training image library includes n sheets in the image sequence.
  • n reference pictures determined at different times, n>1, and n is an integer
  • the reference image sequence in the depth image library may be a sequence of images determined when the patient performs deep breathing
  • each reference image sequence in the depth image library includes p is a reference image determined at p different times, p>n, and p is an integer.
  • the specific values of n and p may be determined according to the deep breathing period and the training breathing period, which are not limited in the embodiment of the present invention.
  • the preset image library can be obtained by using an existing CT device or other imaging device.
  • the specific method and procedure for obtaining a preset image library are not limited in this application.
  • FIG. 3-2 is a flowchart of a method for generating a preset image library according to an embodiment of the present invention.
  • the method includes:
  • Sub-step 3011A determining a first collection point and a second collection point.
  • the first collection point is the same as the first detection point relative to the tumor area
  • the second collection point is the same as the second detection point relative to the tumor area. Then, the position of the first collection point and the second collection point relative to the tumor area may be determined first, and then the positions of the first detection point and the second detection point are determined. It is also possible to first determine the position of the first detection point and the second detection point relative to the tumor area, and then determine the positions of the first collection point and the second collection point.
  • the number of the first collection points and the number of the second collection points may be multiple.
  • a plurality of collection point groups may be determined, and each collection point group includes a first collection point and a second collection point.
  • the preset image library may include multiple references. The image sequence group, each reference image sequence group corresponding to one collection point group, thereby including a first reference image sequence and a second reference image sequence.
  • the first collection point in each collection point group is the same as the position of the first detection point relative to the tumor area
  • the second collection point is the same as the position of the second detection point relative to the tumor area
  • the first collection in each collection point group The central angle corresponding to the arc between the point and the second collection point is equal to the central angle corresponding to the arc between the first detection point and the second detection point.
  • determining the first collection point and the second collection point may be setting the patient in the device body of the radiotherapy apparatus through the treatment bed, allowing the patient to fix the position on the treatment bed and maintaining a smooth deep breathing, and then determining the patient's respiratory cycle (depth) The respiratory cycle or the training respiratory cycle), the characteristics of the tumor in the patient, and the movement of the tumor in the patient, and the collection of the point group according to the patient's respiratory cycle, the characteristics of the tumor in the patient, and the movement of the tumor in the patient.
  • depth The respiratory cycle or the training respiratory cycle
  • a collection point (the first collection point or the second collection point) may be disposed in a second direction (eg, the y-axis direction) perpendicular to the first direction.
  • another collection point is set, thereby realizing the setting of the collection point group, so that the image during the motion of the tumor can be collected subsequently.
  • the relationship between the first collection point and the second collection point may be that the arc angle corresponding to the arc between the first collection point and the second collection point is 5°, 10°, 15° or 20°, etc.
  • the present application does not limit the specific relationship such as the degree of the central angle, and only the above is exemplified.
  • the central angle corresponding to the arc between the first collection point and the second collection point is equal to the central angle corresponding to the arc between the first radiation source and the second radiation source of the radiotherapy apparatus.
  • the central angle corresponding to the arc between the first ray source and the second ray source of the radiotherapy apparatus is equal to a
  • the arc corresponding to the arc between the first collection point and the second collection point in each collection point group The central angle is equal to a.
  • a central angle corresponding to an arc between the first collection point and the second collection point in each collection group, and an arc between two first collection points of any two adjacent acquisition groups The corresponding central angles are equal.
  • a central angle corresponding to an arc between the first collection point and the second collection point in each collection group corresponds to an arc between two adjacent collection points of any two adjacent acquisition groups
  • the central angles are equal.
  • One of the collection points can be used for two different collection point groups, which can reduce the setting of the collection point.
  • a central angle corresponding to an arc between a first detection point and a second detection point in each preset detection station, and a first detection point among any two adjacent preset detection stations The arc angles corresponding to the arcs are equal.
  • a circle between a central angle corresponding to an arc between the first detection point and the second detection point in each preset detection station, and a second detection point of any two adjacent preset detection stations The center angles corresponding to the arcs are equal.
  • FIG. 3-3 is a schematic diagram of generating a preset image library according to an embodiment of the present invention.
  • multiple collection points include 7 collection points J1 to J7.
  • the 7 collection points are located on the same circumference of the device body (not shown in FIG. 3-3) of the radiotherapy apparatus, and the 7 collection points can form 7 collection point groups, for example, the collection point J1 and the collection point Point J2 can form a first collection point group, and collection point J2 and collection point J3 can form a second collection point group.
  • the collection point J1 is the second collection point
  • the collection point J2 is the first collection point
  • the central angle corresponding to the arc between the collection point J1 and the collection point J2 is equal to a.
  • the collection point J2 is the second collection point
  • the collection point J3 is the first collection point
  • the central angle corresponding to the arc between the collection point J2 and the collection point J3 is equal to a.
  • the central angle corresponding to the arc between the first collection point group and the two first collection points in the second collection group ie, the collection point J2 and the collection point J3 is equal to a.
  • the central angle corresponding to the arc between the first collection point group and the two second collection points in the second collection group is equal to a. Then, the collection point J2 is used for the first collection point and the second collection point, thereby reducing the number of collection points.
  • the collection point J3 and the collection point J4 can form a collection point group
  • the collection point J3 and the collection point J5 can form a collection point group, and so on.
  • Sub-step 3012A emitting an optical signal from the location of the first collection point to the tumor area, and based on The optical signal determines a first reference image sequence.
  • the bulb of the imaging device can continuously emit an optical signal from the position of the first collection point to the tumor area, and the flat panel detector is based on the received The optical signal determines a reference image to obtain a first reference image sequence.
  • the imaging device can also be a CT device.
  • the tumor tracking device can control the imaging device to emit an optical signal to the tumor region continuously n times from the position of the first collection point, and based on the received Each of the n optical signals determines a reference image to obtain a first reference image sequence, the first reference image sequence comprising n reference images.
  • the patient maintains deep breathing.
  • Sub-step 3013A emitting an optical signal from the location of the second collection point to the tumor area, and determining a second reference image sequence based on the optical signal.
  • an imaging device may be deployed at each collection point (including the first collection point and the second collection point), that is, at the first collection point and the second respectively.
  • the collecting point is provided with a tube, and each tube has a flat panel detector, and further, the first reference image sequence is collected at the first collecting point, and the optical signal is continuously sent from the position of the second collecting point to the tumor area. And determining a reference image based on each of the plurality of received optical signals to obtain a second reference image sequence.
  • the imaging device may be one, that is, including a ray source (ball tube) and a flat panel detector.
  • the flat panel detector receives the beam emitted from the first collection point by the bulb.
  • the patient when generating the training image library, the patient maintains a smooth breathing to obtain a second reference image sequence; when generating the depth image library, the patient maintains deep breathing to obtain a second reference image sequence.
  • Sub-step 3014A generating a preset image library according to the first reference image sequence and the second reference image sequence.
  • the tumor tracking device may generate a preset image library according to the first reference image sequence and the second reference image sequence.
  • the tumor tracking device may further store an index relationship between the collection point and the reference image sequence, so as to subsequently determine the reference map according to the index relationship.
  • the one-to-one correspondence between the information of the collection point (for example, the identifier) and the information of the reference image sequence (for example, the identifier) is recorded in the index relationship, and the index relationship is used to indicate the collection point and the reference image sequence.
  • a one-to-one correspondence, in which the information of the reference image having the same time is stored correspondingly, and the determined time of the reference image may also be stored in the index relationship.
  • the preset image library includes a training image library and/or a depth image library
  • the index relationship corresponding to the training image library generated by the tumor tracking device according to the seven collection points J1 to J7 may be as shown in Table 1 below.
  • the index relationship corresponding to the depth image library can be as shown in Table 2 below:
  • each reference image sequence includes n reference images determined at n different times.
  • the reference image sequence K1 includes n reference images K11 to K1n determined at n different times t1 to tn
  • the reference image sequence K2 includes n reference images K21 to K2n determined at n different times t1 to tn, And so on.
  • each reference image image sequence includes p reference images determined at p different times, for example, the reference image sequence K1 includes p slices determined at p different times from t1 to tp.
  • the reference image sequence K11 to K1p includes reference pictures K21 to K2p which are determined at p different times t1 to tp, and so on.
  • the reference image sequence K1 and the reference image sequence K2 may form a reference image sequence group, in which the reference image sequence K2 may be a first reference image sequence, and the reference image sequence K1 It can be a second reference image sequence.
  • the reference image sequence K2 and the reference image sequence K3 may form a reference image sequence group, in which the reference image sequence K3 may be a first reference image sequence, and the reference image sequence K2 may be a second reference image sequence;
  • the image sequence K3 and the reference image sequence K4 may form a reference image sequence group, in which the reference image sequence K4 may be a first reference image sequence, the reference image sequence K3 may be a second reference image sequence, and so on. .
  • Kab represents a reference image, where a indicates that the reference image sequence in which the reference image Kab is located is Ka, and b represents the serial number of the reference image Kab in the reference image sequence Ka, wherein In Table 1, 1 ⁇ a ⁇ 7, 1 ⁇ b ⁇ n, and in Table 2, 1 ⁇ a ⁇ 7, 1 ⁇ b ⁇ p, and a and b are integers.
  • FIG. 3-4 is a flowchart of another method for generating a preset image library according to an embodiment of the present invention.
  • the method includes:
  • Sub-step 3011B obtaining a 4D image of the tumor area.
  • the tumor tracking device can acquire a 4D image of the tumor region by using a Four-dimensional Computed Tomography (English: Four-Dimension Computed Tomography: 4DCT) device.
  • the tumor tracking device controls the 4DCT device to expose the tumor region to obtain the tumor. 4D image of the area.
  • 4DCT Four-dimensional Computed Tomography
  • Sub-step 3012B determining a first reference image sequence and a second reference according to the 4D image of the tumor region Test the image sequence.
  • the 4D image of the tumor region is an image sequence including spatial position coordinates and time information of the tumor region. For example, determining the first collection point and the second collection point, that is, determining the position of the collection point relative to the tumor,
  • the reference image sequence may be extracted from the 4D image to obtain a first reference image sequence corresponding to the first collection point and a second reference image sequence corresponding to the second collection point.
  • the tumor tracking device may extract a plurality of reference image sequence groups from the 4D image, and each reference image sequence group may include a first reference image sequence and a second reference image sequence, and the tumor tracking device selects from the 4D image.
  • the process of determining the first reference image sequence and the second reference image sequence may be referred to the related art, and details are not described herein again.
  • Sub-step 3013B generating a preset image library according to the first reference image sequence and the second reference image sequence.
  • step 3013B For the specific implementation process of the step 3013B, reference may be made to the foregoing sub-step 3014A, which is not described herein again.
  • the breathing depth of deep breathing is greater than the breathing depth of training breathing (smooth breathing)
  • the breathing time of deep breathing is greater than the breathing time of training breathing
  • the reference image sequence in the depth image library is referenced.
  • the image is more than the reference image of the reference image sequence in the training image library, that is, if the reference image sequence is regarded as a reference image set, each reference image set in the training image library may be a reference in the depth image library.
  • FIG. 3-5 is a flowchart of another method for generating a preset image library according to an embodiment of the present invention. Referring to FIG. 3-5, the method includes:
  • Sub-step 3011C generating a depth image library.
  • the depth image library can be generated by the method shown in FIG. 3-2 or FIG. 3-4.
  • the depth image library can be generated by the method shown in FIG. 3-2 or FIG. 3-4.
  • FIG. 3-2 or FIG. 3-4 For a specific implementation process, refer to the related description in FIG. 3-2 or FIG. 3-4, and details are not described herein again.
  • Sub-step 3012C generating a training image library from the depth image library.
  • a reference collection point may be determined in the first collection point and the second collection point, and then an optical signal is emitted from the position of the reference collection point to the tumor area, and the reference image sequence is determined based on the optical signal, according to the reference image sequence from the depth
  • the sequence and the second sub-reference image sequence are used as a sub-reference image sequence group to obtain a plurality of sub-reference image sequence groups
  • the related information of the depth image library and the training image library may also be stored.
  • Tables 1 and 2 above and related descriptions The embodiments are not described herein again. It is of course possible to generate a training image library according to the depth image library in a plurality of different manners, which is not limited in this application, and is merely exemplified by the above.
  • Step 302 is further described in conjunction with step 301. Obtaining a detection image when the first radiation source is located at the first detection point, and the detection image is an image determined by the first radiation source from the first detection point to the tumor area to be received by the detector.
  • the first detection point is the same as the position of the first collection point relative to the tumor area, as shown in FIG. 3-6 and FIG. 3-3, and the first detection point in FIG. 3-6 may be a figure.
  • the collection point J2 ie, the first collection point
  • the collection point J2 shown in 3-3 can be placed in the device body 01 of the radiotherapy apparatus through the treatment bed (not shown in FIGS. 3-6), so that the patient can fix the position on the treatment bed.
  • the apparatus body 01 And maintaining a smooth breathing, and then controlling the apparatus body 01 to rotate in the rotation direction f about its own axis, and controlling the first radiation source 02 to the tumor area when the first radiation source 02 is rotated to the position of the first detection point (the collection point J2) (not shown in Figure 3-6) emits radiation that passes through the tumor area to reach the detector 04.
  • the detector 04 After receiving the radiation, the detector 04 converts the radiation into an optical signal, and then converts the optical signal into a digital signal, the tumor.
  • the tracking device generates a detection image based on the digital signal.
  • the first detection point is the same as the position of the first collection point relative to the tumor area
  • the second detection point is the same as the position of the second collection point relative to the tumor area, so when the first radiation source 02 is rotated to the first position
  • the detection point is located, the second source 03 is located at the second detection point, and the second detection point may be the collection point J1 in FIG. 3-6.
  • the tumor tracking method shown in FIG. 3-1 is taken as an example for specific description.
  • the present application provides another method for tracking the tumor, including:
  • Step 401 Generate a preset image library, where the preset image library includes a training image library and/or a depth image library.
  • the preset image library includes a training image library and/or a depth image library.
  • Step 402 Acquire a detection image when the first radiation source is located at the first detection point.
  • the detected image is an image determined by the radiation emitted by the first source from the first detection point to the tumor area being received by the detector. For details, refer to step 302 shown in Figure 3-1, and details are not described herein.
  • Step 403 Determine whether there is a first reference image corresponding to the detected image in the first reference image sequence of the training image library.
  • the training image library is taken as an example.
  • the first detection point may be the collection point J2, and the training image library corresponds to the collection point J2 (the first detection point).
  • the first reference image sequence is the reference image sequence K2, and the reference image sequence K2 includes the reference images K21-K2n a total of n reference images, and the tumor tracking device may first determine the detected image, and then the detected image and the reference image K21-K2n Each of the reference images is separately compared to determine whether there is a first reference image identical to the image of the detected image in the first reference image sequence K2 of the training image library.
  • Step 404 Determine a first reference image corresponding to the detected image from the first reference image sequence of the training image library. For details, refer to step 303 shown in Figure 3-1, and no further details are provided here.
  • the first reference image corresponding to the detected image in the first reference image sequence K2 of the training image library is the reference image K21, and the reference image K21 is determined from the first reference image sequence K2 of the training image library.
  • Step 405 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the training image library, a second reference image that is the same as the determined time of the first reference image.
  • a second reference image that is the same as the determined time of the first reference image.
  • the reference image sequence corresponding to the second detection point (acquisition point J1) is the reference image sequence K1
  • the reference image sequence K1 is used as the first reference image sequence.
  • a second reference image sequence corresponding to (reference image sequence K2), and then a second reference image identical to the determined time of the first reference image is acquired from the reference image sequence K1.
  • the first reference image is the reference image K21
  • the reference image in the second reference image sequence K1 that is the same as the determined time of the reference image K21 may be the reference image K11, and therefore, the reference image K11 is taken as a second reference image corresponding to the first reference image K21.
  • Step 406 Determine a first reference image from a first reference image sequence of the depth image library. For details, refer to step 303 shown in Figure 3-1, and details are not described herein.
  • Step 407 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the depth image library, a second reference image that is the same as the determined time of the first reference image.
  • a second reference image that is the same as the determined time of the first reference image.
  • Step 408 Determine a position of the tumor relative to the second ray source according to the second reference image.
  • the confirmation of the reference image is preferentially performed from the training image library. This is due to the fact that the movement of the tumor is more stable during smooth breathing than for deep breathing, which is more conducive to tracking.
  • the method includes: determining whether there is a first reference image corresponding to the detected image in the first reference image sequence of the training image library, and the application is only illustrated by using FIG. 4 as an example.
  • the training image library may also include a plurality of reference image sequence groups.
  • the training image library may also include a plurality of reference image sequence groups.
  • Another method for tracking a tumor provided by the present application is described by taking the method shown in FIG. 2 as an example.
  • another embodiment provided by the present application includes:
  • Step 501 Acquire a detection image when the first radiation source is located at the first detection point.
  • the detected image is an image determined by the radiation emitted by the first source from the first detection point to the tumor area being received by the detector.
  • Step 502 Determine a first reference image corresponding to the detected image from the first reference image sequence of the preset image library.
  • Step 503 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image.
  • Step 504 Determine a position of the tumor relative to the second radiation source according to the second reference image.
  • Step 505 Adjust parameters of the second radiation source according to the position of the tumor relative to the second radiation source.
  • Step 505 further adjusts the parameters of the second radiation source, and the second radiation source emits radiation to the tumor according to the adjusted parameter, so as to track the tumor according to the position of the tumor, thereby avoiding normal tissue and reducing the normal tissue. hurt.
  • the above embodiment provided by the present application, after determining the position of the tumor relative to the second radiation source according to the second reference image, further comprising adjusting the parameter of the second radiation source according to the position of the tumor relative to the second radiation source, thereby implementing the second ray
  • the source performs precise position tracking of the movement of the tumor.
  • the first ray source may be an imaging source
  • the second ray source may be a therapeutic source
  • the tumor tracking device may adjust the parameter of the second ray source according to the position of the tumor relative to the second ray source
  • the method may include: the tumor tracking device At least one of a position parameter, a dose parameter, and a field parameter of the second source is adjusted based on a position of the tumor relative to the second source.
  • the treatment source may be a treatment head, the treatment head may include a radiation source and a multi-leaf collimator, the radiation source is used to emit radiation, the multi-leaf collimator is used to generate a desired target field, and the radiation field refers to radiation.
  • the multi-leaf collimator can be controlled to generate a field, a dose, etc. that meet the parameters, and the second source is controlled to emit radiation to the tumor, and the radiation emitted by the second source is irradiated to the tumor by the field generated by the multi-leaf collimator. Tracking for more precise radiation therapy.
  • the implementation process of adjusting the parameters of the second ray source according to the position of the tumor relative to the second ray source may be to adjust the multi-leaf collimator to form a field.
  • the specific method refers to the related art, and details are not described herein again.
  • FIG. 5 is only taken as an example of the embodiment shown in FIG. 2 . It can be understood that it can be applied to any tracking method provided by the present application, for example, to FIG. 3-1 or FIG. 4 .
  • the tracking method shown in the present application is only shown in FIG. 5, and other examples can be referred to FIG. 5, and details are not described herein.
  • FIG. 2 Another method for tracking a tumor provided by the present application is exemplified by the method shown in FIG. 2, and another embodiment provided by the present application is illustrated with reference to FIG. 6-1, as shown in FIG.
  • the methods include:
  • Step 601 Acquire a detection image when the first radiation source is located at the first detection point.
  • the detected image is an image determined by the radiation emitted by the first source from the first detection point to the tumor area being received by the detector.
  • Step 602 Determine a first reference image corresponding to the detected image from the first reference image sequence of the preset image library.
  • Step 603 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image.
  • Step 604 Determine a position of the tumor relative to the second radiation source according to the second reference image.
  • Step 605 Predict a tumor motion trajectory according to at least two first reference images.
  • the method further includes: acquiring at least two detection images when the first radiation source is located at the first detection point; and acquiring, from the first reference image sequence of the preset image library, each of the at least two detection images Detecting a first reference image corresponding to the image, obtaining at least two first reference images; Two less first reference images predict the tumor trajectory to track the tumor.
  • FIG. 6-2 is a flowchart of a method for predicting a tumor motion trajectory according to an embodiment of the present invention.
  • the method includes:
  • Sub-step 6051 Acquire at least two detection images when the first radiation source is located at the first detection point.
  • each of the at least two detection images may be an image determined by the first radiation source to receive radiation emitted from the first detection point to the tumor area by the detector.
  • the at least two detection images may be an image determined by the first radiation source receiving radiation from the at least two first detection points to the tumor area, or may be the first radiation source from the first radiation source.
  • the radiation emitted by the first detection point to the tumor area is received by the detector by the determined image. Therefore, the sub-step 6051 may include: acquiring the first radiation source when each of the at least two first detection points is located One detection image obtains at least two detection images; or, at least two detection images when the first radiation source is located at a first detection point.
  • Sub-step 6052 Acquire, from a first reference image sequence of the preset image library, a first reference image corresponding to each of the at least two detected images to obtain at least two first reference images.
  • At least two detected images in the sub-step 6051 are images determined by the first radiation source receiving radiation from the at least two first detection points to the tumor region
  • the tumor tracking device is pre-processed in the sub-step 6052.
  • At least two first reference images are acquired in the first reference image sequence of the at least two reference image sequence groups of the image library.
  • the tumor tracking device is from the preset image.
  • Sub-step 6053 predicting a tumor motion trajectory based on the at least two first reference images.
  • the tumor tracking device may determine the motion direction of the tumor according to the image of the at least two first reference images, and predict the first reference image of the next moment according to the at least two first reference images in combination with the preset image database, The first reference image of the time or the like, thereby obtaining a series of first reference images, and then the tumor tracking device determines the tumor motion trajectory according to the images of the series of first reference images.
  • the tumor tracking device may further determine a second reference image at each moment according to the first reference image at each moment, and determine a position of the tumor relative to the second ray source at each moment according to the image of the second reference image at each moment.
  • the parameters of the second ray source are adjusted according to the position of the tumor relative to the second ray source, and the radiation is emitted to the tumor according to the adjusted parameter by the second ray source, which is not described herein again.
  • the present application provides another embodiment.
  • the tracking method shown in FIG. 2 is taken as an example. Referring to FIG. 7-1, the method includes:
  • Step 701 Obtain an actual respiratory cycle of the patient.
  • Step 702 Determine an actual image sequence according to a reference image sequence corresponding to the actual breathing cycle.
  • Step 703 Adjust the first reference image sequence and the second reference image sequence according to the actual image sequence.
  • the adjusted first reference image sequence may be a subset of the first reference image sequence in the preset image library, and the adjusted second reference image sequence may be a child of the second reference image sequence in the preset image library. Therefore, determining the first reference image according to the adjusted first reference image sequence, and determining the second reference image according to the adjusted second reference image sequence, the complexity of determining the first reference image and the second reference image may be reduced, Improve the efficiency of determination.
  • Step 704 Acquire a detection image when the first radiation source is located at the first detection point.
  • the detected image is an image determined by the radiation emitted by the first source from the first detection point to the tumor area being received by the detector.
  • Step 705 Determine a first reference image corresponding to the detected image from the first reference image sequence of the preset image library.
  • the first reference image sequence in step 705 is the first reference image sequence adjusted in step 703.
  • Step 706 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image.
  • the first reference image sequence in step 706 is the second reference image sequence adjusted in step 703.
  • Step 707 Determine a position of the tumor relative to the second ray source according to the second reference image.
  • the tumor tracking device may determine the actual respiratory cycle of the patient, and obtain a reference image sequence corresponding to the actual respiratory cycle from the reference image sequence of the preset image library, and obtain the reference image corresponding to the actual respiratory cycle.
  • the sequence is determined as an actual image sequence, and then the first reference image sequence and the second reference image sequence are adjusted according to the actual image sequence, and the adjusted first reference image sequence and the adjusted second reference image sequence are obtained, which may be subsequently adjusted according to the adjusted sequence.
  • the first reference image sequence and the adjusted second reference image sequence determine a first reference image and a second reference image, and determine a location of the tumor relative to the second source based on the determined second reference image. According to the adjusted second reference image
  • the sequence determines the second reference image, which can reduce the complexity of determining the first reference image and the second reference image, and improve the determination efficiency.
  • FIG. 7-2 is a flowchart of a method for determining an actual image sequence according to an embodiment of the present invention. Referring to FIG. 7-2, the method includes:
  • Sub-step 7021 sequentially, in the first duration, sequentially acquiring the s-detection images when the first radiation source is located at the first detection point, s>1, and s is an integer, and the first duration is greater than the respiratory cycle of the patient.
  • each of the detected images in the s-detection image is an image determined by the first radiation source to receive radiation emitted from the first detection point to the tumor region by the detector.
  • the smear detection image may be an image determined by the first ray source receiving radiation from the s first detection point to the tumor area to be received by the detector, or may be the first ray source from a first image. The radiation emitted by the detection point to the tumor area is received by the detector for the determined image.
  • Sub-step 7022 Acquire a first reference image corresponding to each detected image in the s-detected image from the first reference image sequence of the preset image library, to obtain s first reference images.
  • the tumor tracking device is from the preset image.
  • the first reference image sequence of the s reference image sequence groups of the library s first reference images are acquired. If the s-shot detection image in the sub-step 7021 is that the radiation emitted by the first ray source from the first detection point to the tumor region is received by the detector, then in the sub-step 7022, the tumor tracking device is from the preset image library.
  • a first reference image sequence of a reference image sequence group wherein the first reference image is acquired, and the reference image sequence group is a reference image sequence group corresponding to a preset detection station in the preset image library, and a first detection The point is the first detection point in a preset detection station.
  • Sub-step 7023 determines the actual breathing cycle of the patient based on the s first reference image.
  • the image of the tumor in each of the first reference images in the first reference image may be determined, and the position of the tumor at each moment is determined according to the image of the tumor, and the tumor is maximized.
  • the multiple of the time difference between the determined time of the reference image at the position and the determined time of the reference image when the tumor is at the minimum position is determined as the actual breathing cycle.
  • Sub-step 7024 determining an actual image sequence based on the reference image sequence corresponding to the actual breathing cycle.
  • the actual image sequence can be determined according to the reference image sequence corresponding to the actual breathing cycle.
  • the amplitude of the regular motion of the tumor may be determined according to the first reference image of the s.
  • the tumor tracking device may determine an image of the tumor in each of the first reference images in the first reference image, and determine that the tumor moves away from the midpoint according to the image of the tumor (the midpoint of the regular motion is performed)
  • the maximum position, the distance between the position point corresponding to the maximum position and the midpoint of the regular motion is determined as the amplitude of the regular motion of the tumor, which will not be repeated herein.
  • the sequence of the steps of the tumor tracking method provided by the embodiment of the present invention may be appropriately adjusted, and the steps may be correspondingly increased or decreased according to the situation, and any person skilled in the art may be within the technical scope disclosed by the present invention.
  • the method that can be easily conceived of the changes should be covered by the scope of the present invention, and therefore will not be described again.
  • the steps may be applied to other embodiments, and a specific embodiment is provided below to illustrate.
  • the present application provides a tumor tracking method, which is applied to the radiotherapy apparatus shown in FIG. 1, wherein the radiotherapy apparatus includes a first radiation source and a second radiation source, the first radiation source is an imaging source, and the second The source of radiation is the source of treatment.
  • the method includes:
  • Step 801 Generate a preset image library, where the preset image library includes a training image library and/or a depth image library.
  • Step 802 Acquire a detection image when the first radiation source is located at the first detection point.
  • the detected image is an image determined by the radiation emitted by the first source from the first detection point to the tumor area being received by the detector.
  • Step 803 Determine whether a first reference image corresponding to the detected image exists in the first reference image sequence of the training image library.
  • Step 804 Determine a first reference image corresponding to the detected image from the first reference image sequence of the training image library.
  • Step 805 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the training image library, a second reference image that is the same as the determined time of the first reference image.
  • Step 806 Determine a first reference image corresponding to the detected image from the first reference image sequence of the depth image library.
  • Step 807 Acquire, from a second reference image sequence corresponding to the first reference image sequence in the depth image library, a second reference image that is the same as the determined time of the first reference image.
  • Step 808 Determine a position of the tumor relative to the second radiation source according to the second reference image.
  • Step 809 Adjust parameters of the second radiation source according to the position of the tumor relative to the second radiation source.
  • Step 810 Obtain an actual respiratory cycle of the patient.
  • Step 811 Determine an actual image sequence according to a reference image sequence corresponding to the actual breathing cycle.
  • Step 812 Adjust the first reference image sequence and the second reference image sequence according to the actual image sequence.
  • the tumor tracking method after acquiring the detection image when the first radiation source is located at the first detection point, determines the first corresponding to the detection image from the first reference image sequence of the preset image library. a reference image, and acquiring, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image, and determining the tumor according to the second reference image Relative to the position of the second source. Since tumor tracking can be achieved only by using radiotherapy equipment, less hardware equipment is needed, and a new tumor tracking device is provided, which solves the problem of high tumor tracking cost and helps to reduce the cost of tumor tracking.
  • FIG. 9-1 is a block diagram of a tumor tracking device 400 according to an embodiment of the present invention.
  • the tumor tracking device 400 can be applied to a radiotherapy device including a first radiation source and a second radiation source.
  • the detector when the first source is located at the first detection point, the second source is located at the second detection point, and the tumor tracking device 400 can be used to perform the method provided by any of the embodiments shown in FIG. 2 to FIG. 9-1, the tumor tracking device 400 can include, but is not limited to:
  • the first obtaining module 401 is configured to acquire a detection image when the first radiation source is located at the first detection point, and the detection image is an image determined by the first radiation source from the first detection point to the tumor area to be received by the detector.
  • the first determining module 402 is configured to determine, from a first reference image sequence of the preset image library, a first reference image corresponding to the detected image.
  • the preset image library includes a first reference image sequence and a second reference image sequence, the first reference image sequence is a reference image sequence determined based on an optical signal emitted from the location of the first collection point to the tumor region, and the second reference image sequence The reference image sequence is determined based on an optical signal emitted from the position of the second collection point to the tumor area, the first detection point is the same as the position of the first collection point relative to the tumor area, and the second detection point is opposite to the second collection point. Location of the area Similarly, the first reference image sequence and the second reference image sequence respectively include a plurality of reference images determined at different times.
  • the second obtaining module 403 is configured to acquire, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image.
  • the second determining module 404 is configured to determine, according to the second reference image, a location of the tumor relative to the second ray source.
  • the tumor tracking device after acquiring the detection image when the first radiation source is located at the first detection point, determines the first corresponding to the detection image from the first reference image sequence of the preset image library. a reference image, and acquiring, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image, and determining the tumor according to the second reference image Relative to the position of the second source. Since tumor tracking can be achieved only by using radiotherapy equipment, less hardware equipment is needed, and a new tumor tracking device is provided, which solves the problem of high tumor tracking cost and helps to reduce the cost of tumor tracking.
  • the preset image library includes a training image library and/or a depth image library.
  • the reference image sequence in the training image library is a sequence of images determined when the patient performs training breathing, and each reference image sequence in the training image library includes n reference images determined at n different times, n>1, and n is Integer.
  • the reference image sequence in the depth image library is a sequence of images determined when the patient performs deep breathing, and each reference image sequence in the depth image library includes p reference images determined at p different times, p>n, and p is Integer.
  • the preset image library includes a training image library and a depth image library.
  • FIG. 9-2 shows a block diagram of another tumor tracking device 400 according to an embodiment of the present invention. Referring to FIG. 9-2, Based on FIG. 9-1, the tumor tracking device 400 further includes:
  • the determining module 405 is configured to determine whether the first reference image exists in the first reference image sequence of the training image library.
  • the first determining module 402 is configured to determine a first reference image from a first reference image sequence of the training image library.
  • the second obtaining module 403 is configured to obtain, from a second reference image sequence corresponding to the first reference image sequence in the training image library, a second reference image that is the same as the determined time of the first reference image.
  • the first determining module 402 is configured to determine a first reference image from a first reference image sequence of the depth image library.
  • the second obtaining module 403 is configured to acquire, from a second reference image sequence corresponding to the first reference image sequence in the depth image library, a second reference image that is the same as the determined time of the first reference image.
  • the tumor tracking apparatus 400 further includes: a generating module 406, configured to generate a preset image library.
  • the generating module 406 is configured to: determine a first collection point and a second collection point; emit an optical signal from the location of the first collection point to the tumor area, and determine a first reference image sequence based on the optical signal; The location of the acquisition point emits an optical signal to the tumor area and a second reference image sequence is determined based on the optical signal.
  • the generating module 406 is configured to: acquire a 4D image of the tumor region; and determine the first reference image sequence and the second reference image sequence according to the 4D image of the tumor region.
  • the generating module 406 is configured to: generate a depth image library; and generate a training image library according to the depth image library.
  • the preset image library includes a plurality of reference image sequence groups, each reference image sequence group including a first reference image sequence and a second reference image sequence;
  • the first source and the second source are rotatable around the circumference of the tumor region.
  • the first source and the second source can be located at a plurality of preset detection stations, each of the preset detection stations including a first A detection point and a second detection point, each preset detection station corresponding to a reference image sequence group.
  • a central angle corresponding to an arc between the first detection point and the second detection point in each preset detection station, and a first detection point in any two adjacent preset detection stations The circular arc angles corresponding to the circular arcs are equal; or the central angle corresponding to the circular arc between the first detection point and the second detection point in each preset detection station, and any two adjacent adjacent detection stations
  • the arc angles corresponding to the arcs between the second detection points are equal.
  • the tumor tracking device 400 further includes:
  • the third obtaining module 407 is configured to acquire at least two detection images when the first radiation source is located at the first detection point.
  • the fourth obtaining module 408 is configured to obtain, from the first reference image sequence of the preset image library, the first reference image corresponding to each of the at least two detected images to obtain at least two first reference images.
  • the prediction module 409 is configured to predict a tumor motion trajectory according to the at least two first reference images.
  • the third obtaining module 407 is configured to: acquire a detection image when the first radiation source is located at each of the at least two first detection points, to obtain at least two detection images.
  • the fourth obtaining module 408 is configured to: acquire, from the first reference image sequence of the at least two reference image sequence groups of the preset image library, at least two first reference images, where each first reference image is from one The reference image acquired in the first reference image sequence, the at least two reference image sequence groups are reference image sequence groups corresponding to the at least two preset detection stations in the preset image library, and the at least two first detection points include at least two A first detection point in each of the preset detection stations in the detection station is preset. or,
  • the third obtaining module 407 is configured to: acquire at least two detection images when the first radiation source is located at a first detection point.
  • the fourth obtaining module 408 is configured to: obtain at least two first reference images from a first reference image sequence of a reference image sequence group of the preset image library, where one reference image sequence group is a preset image library and one The reference image sequence group corresponding to the preset detection station, and the first detection point is the first detection point in a preset detection station.
  • the tumor tracking device 400 further includes:
  • the fifth obtaining module 410 is configured to sequentially acquire, in the first duration, the s detecting images of the first radiation source at the first detecting point, s>1, and s is an integer, and the first duration is greater than the breathing period of the patient. .
  • the sixth obtaining module 411 is configured to obtain, from the first reference image sequence of the preset image library, a first reference image corresponding to each detected image in the s detecting images, to obtain s first reference images.
  • the third determining module 412 is configured to determine an actual respiratory cycle of the patient according to the s first reference image.
  • the fourth determining module 413 is configured to determine an actual image sequence according to the reference image sequence corresponding to the actual breathing cycle.
  • the fifth obtaining module 410 is configured to: sequentially acquire, in a first duration, a detection image of the first radiation source located at each of the first detection points of the first detection points, to obtain s Zhang detection image;
  • the sixth obtaining module 410 is configured to: acquire, from the first reference image sequence of the s reference image sequence groups of the preset image library, the first reference image, where each first reference image is from a first Referring to the reference image acquired in the image sequence, the s reference image sequence group is a reference image sequence group corresponding to the s preset detection stations in the preset image library, and the s first detection points include the s preset detection stations. One of the first detection points in each preset detection station. Or,
  • the fifth obtaining module 410 is configured to sequentially acquire, in sequence, consecutively, the s detecting images when the first radiation source is located at a first detecting point.
  • the sixth obtaining module 410 is configured to: acquire, according to a first reference image sequence of a reference image sequence group of the preset image library, a first reference image, where the reference image sequence group is a preset image library and a preset A reference image sequence group corresponding to the detection station is set, and a first detection point is a first detection point in a preset detection station.
  • the tumor tracking device 400 further includes:
  • the adjustment module 414 is configured to adjust a parameter of the second radiation source according to a position of the tumor relative to the second radiation source.
  • the first ray source is an imaging source
  • the second ray source is a treatment source
  • the adjusting module 414 is configured to: adjust a position parameter, a dose parameter, and a shot of the second ray source according to a position of the tumor relative to the second ray source At least one of the wild parameters.
  • the tumor tracking device after acquiring the detection image when the first radiation source is located at the first detection point, determines the first corresponding to the detection image from the first reference image sequence of the preset image library. a reference image, and acquiring, from a second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image, and determining the tumor according to the second reference image Relative to the position of the second source. Since tumor tracking can be achieved only by using radiotherapy equipment, less hardware equipment is needed, and a new tumor tracking device is provided, which solves the problem of high tumor tracking cost and helps to reduce the cost of tumor tracking.
  • FIG. 10 is a schematic structural diagram of a terminal 500 according to an embodiment of the present invention.
  • the terminal 500 may be a medical device such as a radiotherapy device, a 3DCT device, or a 4DCT device.
  • terminal 500 can include one or more of the following components: processing component 502, memory 504, power component 506, multimedia component 508, audio component 510, input/output (I/O) interface 512, sensor component 514, and communication. Component 516.
  • Processing component 502 typically controls the overall operations of terminal 500, such as operations associated with display, data processing, and recording operations.
  • Memory 504 is configured to store various types of data to support operations on terminal 500. Examples of such data include instructions, image data, and the like for any method of operation on terminal 500.
  • Power component 506 provides power to various components of terminal 500. Power component 506 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for terminal 500.
  • Multimedia component 508 includes providing an output between terminal 500 and the user The screen of the interface.
  • the audio component 510 is configured to output and/or input an audio signal.
  • the I/O interface 512 provides an interface between the processing component 502 and the peripheral interface module, which may be a keyboard, a click wheel, a button, or the like.
  • Sensor assembly 514 includes one or more sensors for providing terminal 500 with various aspects of status assessment.
  • Communication component 516 is configured to facilitate wired or wireless communication between terminal 500 and other devices.
  • the terminal 500 may be configured by one or more Application Specific Integrated Circuits (ASICs), digital signal processors (English: Digital Signal Processing; DSP), digital signals. Processing equipment (English: Digital Signal Processing Device; referred to as: DSPD), programmable logic device (English: Programable Logic Device; referred to as: PLD), field programmable gate array (English: Field-Programmable GateArray; referred to as: FPGA), control Implemented by a microcontroller, microcontroller, microprocessor or other electronic component for performing the above described tumor tracking method.
  • ASICs Application Specific Integrated Circuits
  • DSP Digital Signal Processing
  • DSPD Digital Signal Processing Device
  • PLD Programable Logic Device
  • FPGA Field-Programmable GateArray
  • non-transitory computer readable storage medium comprising instructions, such as a memory 504 comprising instructions executable by processor 520 of terminal 500 to perform the above described tumor tracking method.
  • the non-transitory computer readable storage medium may be a ROM, a random access memory (English: Random Access Memory; RAM), a compact disk read-only memory (English: Compact Disk Read-Only Memory; CD-ROM). Tapes, floppy disks, and optical data storage devices.
  • a non-transitory computer readable storage medium that, when executed by a processor of terminal 500, enables terminal 500 to perform the above described tumor tracking method.
  • the terminal after acquiring the detection image when the first ray source is located at the first detection point, determines a first reference corresponding to the detection image from the first reference image sequence of the preset image library. And acquiring, from the second reference image sequence corresponding to the first reference image sequence in the preset image library, a second reference image that is the same as the determined time of the first reference image, and determining the tumor relative to the second reference image The location of the second source. Since tumor tracking can be achieved only by using radiotherapy equipment, less hardware equipment is needed, and a new tumor tracking device is provided, which solves the problem of high tumor tracking cost and helps to reduce the cost of tumor tracking.
  • a readable storage medium having instructions stored therein that, when executed on a processing component, cause the processing component to perform the method of any of Figures 2-8.
  • a computer program product comprising instructions for causing a computer to be described in any of Figures 2 through 8 when the computer program product is run on a computer.
  • a person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium.
  • the storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

Abstract

一种肿瘤追踪方法及装置、存储介质，属于物体定位技术领域。该方法包括：步骤201：获取第一射线源（02）位于第一检测点（J2）时的检测图像；步骤202：从预设图像库的第一参考图像序列（K2）中确定与检测图像对应的第一参考图像（K21）；步骤203：从预设图像库中的与第一参考图像序列（K2）对应的第二参考图像序列（K1）中，获取与第一参考图像的确定时刻相同的第二参考图像（K11）；步骤204：根据第二参考图像（K11）确定肿瘤相对于第二射线源（03）的位置。通过提供一种新的肿瘤追踪装置，解决了肿瘤追踪成本较高的问题，有助于降低肿瘤追踪成本。

Description

肿瘤追踪方法及装置、存储介质 技术领域
本发明涉及物体定位技术领域，特别涉及一种肿瘤追踪方法及装置、存储介质。
背景技术
放射治疗(简称：放疗)是利用放射线(例如，x射线、β射线、γ射线等)治疗肿瘤的一种局部治疗方法。放疗的关键技术之一就是对肿瘤进行精准定位，对于能够运动的肿瘤，通常需要进行肿瘤追踪以实现精准定位。例如，肺部肿瘤(生长在患者肺部的肿瘤)能够随着患者的呼吸而运动，在对肺部肿瘤进行放疗的过程中，就需要对肺部肿瘤进行追踪。
相关技术中的肿瘤追踪方法，第一类为监测与呼吸相关联的外部替代信号，以此为根据对肿瘤移动进行预测。外部替代信号包括：病人体表标记物的上下移动、病人呼吸的气体量的增减、或病人腹压的变化。第二类为直接对肿瘤区域做透视成像，通过两个互成角度的投影设备来实现，每个投影设备分别包括一个射线源和一个探测器，以分别获取两幅互成夹角的X光投影中肿瘤的2D位置，进而来反推计算肿瘤在空间的3D位置。目前通常也将上述两类方法进行结合，来跟踪肿瘤的运动。
在实现本发明的过程中，发明人发现相关技术至少存在以下问题：
第一类方法(监测与呼吸相关联的外部替代信号)的主要缺点是：外部替代信号无法准确表征肿瘤的运动，存在较大的不确定性。第二类方法(对肿瘤进行透视成像)的主要缺点是：X光的剂量使得该方法只能间隔一定时间(例如，10秒)使用，目前一般用于在一定时间间隔后，校准第一类方法的相位偏移。且第一类方法和第二类方法都需要添置额外的硬件设备。目前基于X线透视的方法一般需要两个互成角度的投影，或者固定角度的单个投影，而实际设备中大多数情况为一块平板随机架旋转，可生成变化角度的单个投影，目前的方法无法适用于该类情况。
发明内容
为了解决肿瘤追踪成本较高的问题，本发明实施例提供了一种肿瘤追踪方法及装置、存储介质。所述技术方案如下：
第一方面，提供一种肿瘤追踪方法，应用于放疗设备，所述放疗设备包括第一射线源、第二射线源以及探测器，所述第一射线源位于第一检测点时，所述第二射线源位于第二检测点，所述方法包括：
获取所述第一射线源位于所述第一检测点时的检测图像，所述检测图像是所述第一射线源从所述第一检测点向肿瘤区域发出的放射线被所述探测器接收所确定的图像；
从预设图像库的第一参考图像序列中确定与所述检测图像对应的第一参考图像，所述预设图像库包括第一参考图像序列和第二参考图像序列，所述第一参考图像序列是基于从第一采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所述第二参考图像序列是基于从第二采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所述第一检测点与所述第一采集点相对所述肿瘤区域的位置相同，所述第二检测点与所述第二采集点相对所述肿瘤区域的位置相同，所述第一参考图像序列和所述第二参考图像序列分别包括多张在不同时刻确定的参考图像；
从所述预设图像库中的与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像；
根据所述第二参考图像确定肿瘤相对所述第二射线源的位置。
第二方面，提供一种肿瘤追踪装置，应用于放疗设备，所述放疗设备包括第一射线源、第二射线源以及探测器，所述第一射线源位于第一检测点时，所述第二射线源位于第二检测点，所述装置包括：
第一获取模块，用于获取所述第一射线源位于所述第一检测点时的检测图像，所述检测图像是所述第一射线源从所述第一检测点向肿瘤区域发出的放射线被所述探测器接收所确定的图像；
第一确定模块，用于从预设图像库的第一参考图像序列中确定与所述检测图像对应的第一参考图像，所述预设图像库包括第一参考图像序列和第二参考图像序列，所述第一参考图像序列是基于从第一采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所述第二参考图像序列是基于从第二采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所 述第一检测点与所述第一采集点相对所述肿瘤区域的位置相同，所述第二检测点与所述第二采集点相对所述肿瘤区域的位置相同，所述第一参考图像序列和所述第二参考图像序列分别包括多张在不同时刻确定的参考图像；
第二获取模块，用于从所述预设图像库中的与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像；
第二确定模块，用于根据所述第二参考图像确定肿瘤相对所述第二射线源的位置。
第三方面，提供一种可读存储介质，所述可读存储介质中存储有指令，当所述可读存储介质在处理组件上运行时，使得所述处理组件执行本申请中的肿瘤追踪方法。
本发明实施例提供的技术方案的有益效果是：本发明实施例提供的肿瘤追踪方法及装置、存储介质，获取第一射线源位于第一检测点时的检测图像后，从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，并从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像，根据第二参考图像确定肿瘤相对于第二射线源的位置。由于仅采用放疗设备就能够实现肿瘤追踪，因此需要的硬件设备较少，提供了一种新的肿瘤追踪装置，解决了肿瘤追踪成本较高的问题，有助于降低肿瘤追踪成本。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种放疗设备的应用场景图；
图2是本发明实施例提供的一种肿瘤追踪方法的方法流程图；
图3-1是本发明实施例提供的另一种肿瘤追踪方法的方法流程图；
图3-2是本发明实施例提供的一种生成预设图像库的方法流程图；
图3-3是本发明实施例提供的一种生成预设图像库的示意图；
图3-4是本发明实施例提供的另一种生成预设图像库的方法流程图；
图3-5是本发明实施例提供的再一种生成预设图像库的方法流程图；
图3-6是本发明实施例提供的一种获取参考图像的示意图；
图4是本发明实施例提供的另一种肿瘤追踪方法的方法流程图；
图5是本发明实施例提供的另一种肿瘤追踪方法的方法流程图；
图6-1是本发明实施例提供的另一种肿瘤追踪方法的方法流程图；
图6-2是本发明实施例提供的一种预测肿瘤运动轨迹的方法流程图；
图7-1是本发明实施例提供的另一种肿瘤追踪方法的方法流程图；
图7-2是本发明实施例提供的一种确定实际图像序列的方法流程图；
图8是本发明实施例提供的另一种肿瘤追踪方法的方法流程图；
图9-1是本发明实施例提供的一种肿瘤追踪装置的框图；
图9-2是本发明实施例提供的另一种肿瘤追踪装置的框图；
图10是本发明实施例提供的一种终端的结构示意图。
具体实施方式
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步地详细描述，显然，所描述的实施例仅仅是本发明一部份实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
请参考图1，其示出了本发明实施例提供的一种放疗设备的应用场景图，参见图1，该放疗设备包括：设备本体01、第一射线源02、第二射线源03和探测器04，设备本体01为圆筒状结构，第一射线源02、第二射线源03和探测器04分别设置在设备本体01的同一圆周上，且第一射线源02与第二射线源03之间的圆弧对应的圆心角为a，设备本体01能够绕自身的轴线按照旋转方向f旋转，从而带动第一射线源02及第二射线源03旋转。实际应用中，第一射线源02可以为成像源，其具体可以为诊断源，第二射线源03可以为治疗源，其具体可以为治疗头，设备本体01、第一射线源02、第二射线源03和探测器04的具体结构可以参考相关技术，本实施例在此不再赘述。设备本体还可以是悬臂或机械臂等，也可以带动第一射线源及第二射线源等圆周旋转。
其中，第一射线源02和第二射线源03能够发射出放射线，探测器04可以为平板探测器，且探测器04能够对第一射线源02发射出的放射线进行接收，需要说明的是，该放疗设备还包括与第一射线源02、第二射线源03和探测器 04分别电连接的处理组件(图1中未示出)，该处理组件可以位于计算机(例如电脑)中，具体可以是计算机的处理器等，处理组件可以基于探测器04接收到的放射线确定检测图像。
如图1所示，患者05体内生长有肿瘤06，若肿瘤为肺部肿瘤，则肿瘤06能够随患者05的呼吸而规律性运动。该放疗设备在使用时，可以通过治疗床(图1中未示出)将患者05设置在设备本体01中，并使患者05在治疗床上固定体位，保持平稳呼吸，之后，处理组件可以控制第一射线源02向肿瘤区域(包括肿瘤06所在区域以及肿瘤06周围的正常器官组织)发出放射线，放射线透过肿瘤区域到达探测器04，探测器04对透过肿瘤区域的放射线进行接收，并将接收到的放射线转化为光信号，之后将光信号转化为模拟信号，探测器04中可以包括模拟数字转换器(英文：Analog to Digital Converter；简称：ADC)，ADC将模拟信号转化为数字信号发送给处理组件，处理组件根据接收到的数字信号生成检测图像，该检测图像可以为电子计算机断层扫描(英文：Computed Tomography；简称：CT)图像。生成检测图像后，处理组件可以根据检测图像从预设图像库的第一参考图像序列中确定该检测图像对应的第一参考图像，并从预设图像库中的与该第一参考图像序列对应的第二参考图像序列中获取与第一参考图像的确定时刻相同的第二参考图像，根据第二参考图像确定肿瘤06相对第二射线源03的位置，从而实现对肿瘤运动的追踪。并进一步可以根据肿瘤06相对第二射线源03的位置调整第二射线源03的参数，然后控制第二射线源03向肿瘤06发出放射线。在本发明实施例中，第一射线源02可以为成像源，第二射线源03可以为治疗源，处理组件可以根据肿瘤06相对第二射线源03的位置，调整第二射线源03的位置参数、剂量参数和射野参数中的至少一个。
请参考图2，其示出了本发明实施例提供的一种肿瘤追踪方法的方法流程图，本实施例以该肿瘤追踪方法应用于图1所示的放疗设备中来举例说明，放疗设备包括第一射线源、第二射线源以及探测器。本申请中，肿瘤追踪方法可由肿瘤追踪装置来执行，该肿瘤追踪装置可以为放疗设备的处理组件中的功能单元，参见图2，该方法包括：
步骤201、获取第一射线源位于第一检测点时的检测图像。检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。 示例的，如图1所示，第一射线源02位于第一检测点，则第二射线源03位于第二检测点。第一射线源02从图示的第一位置发出放射线，穿过人体肿瘤被探测器接收，以确定当前的肿瘤图像即检测图像。
步骤202、从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。
其中，预设图像库包括第一参考图像序列和第二参考图像序列，第一参考图像序列是基于从第一采集点所在位置向肿瘤区域发出的光学信号所确定的参考图像序列，第二参考图像序列是基于从第二采集点所在位置向肿瘤区域发出的光学信号所确定的参考图像序列，第一检测点与第一采集点相对肿瘤区域的位置相同，第二检测点与第二采集点相对肿瘤区域的位置相同，第一参考图像序列和第二参考图像序列分别包括多张在不同时刻确定的参考图像。
需要说明的是，预设图像库可以通过采集图像形成，以图1为例，第一射线源02位于第一检测点，第二射线源03位于第二检测点，则本申请实施例中，在形成预设图像库时，第一采集点可以位于如图1所示的第一射线源02的第一检测点的位置处，第二采集点可以位于如图1所示的第二射线源03的第二检测点的位置处，从而第一采集点和第一检测点相对肿瘤的位置相同，第二采集点和第二检测点相对肿瘤的位置相同。
由于预设图像库中，第一参考图像序列包括在第一采集点获取的多张不同时刻的肿瘤图像，则从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，可以确定此时肿瘤相对于第一检测点的位置信息。
示例的，从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，可以是将检测图像的影像与预设图像库的第一参考图像序列中的各个第一参考图像的影像分别进行比较，来确定与检测图像对应的第一参考图像。
步骤203、从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
第二参考图像序列包括在第二采集点获取的多张不同时刻的肿瘤图像，第一参考图像序列和第二参考图像序列分别包括多张在不同时刻确定的参考图像，则根据第一参考图像确定的第二参考图像可以为此时肿瘤相对于第二检测点的第二参考图像。
这里需要说明的是，第一参考图像序列包括多张第一参考图像，第二参考图像序列包括多张第二参考图像，第一参考图像和第二参考图像可以是通过设置序列号，对应使得同一时刻获得的参考图像的序列号相同，以方便获取与第一参考图像的确定时刻相同的第二参考图像。当然，也可以是直接用确定时刻来对应第一参考图像序列和第二参考图像序列，以方便获取与第一参考图像的确定时刻相同的第二参考图像，本申请对此不做限定，仅以上述为例进行示例说明。
步骤204、根据第二参考图像确定肿瘤相对第二射线源的位置。
综上所述，本发明实施例提供的肿瘤追踪方法，从第一采集点采集不同时刻的多张肿瘤的第一参考图像形成第一参考图像序列，在第二采集点采集不同时刻的多种肿瘤的第二参考图像形成第二参考图像序列，形成预设图像库。在放射治疗过程中，第一射线源位于第一检测点，第二射线源位于第二检测点，其中，第一检测点与第一采集点相对肿瘤的位置对应，第二检测点与第二采集点相对肿瘤的位置对应。则在第一检测点获取检测图像后，从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，再根据从第一参考图像序列确定的第一参考图像，对应获得此时肿瘤相对于第二采集点(即相当于此时的第二检测点)的第二参考图像，从而根据第二参考图像可以确定肿瘤相对第二射线源的位置，实现第二射线源对肿瘤的运动追踪。进而可以根据肿瘤相对第二射线源的位置调整第二射线源，使得第二射线源发出的射线穿过肿瘤区域，以避免对周围正常组织的损伤，实现对肿瘤的追踪照射。则本申请提供的肿瘤追踪方法，可以采用放疗设备的两个射线源和一个探测器实现肿瘤追踪，从而无需设置两个互成角度的投影设备，因此需要的硬件设备较少，有助于降低肿瘤追踪成本。且本申请提供的肿瘤追踪方法，直接对肿瘤的运动进行跟踪，相对于在病人体表做标记对肿瘤的追踪，追踪精度更高。
请参考图3-1，其示出了本发明实施例提供的另一种肿瘤追踪方法的方法流程图，本实施例以该肿瘤追踪方法应用于图1所示的放疗设备中来举例说明，参见图3-1，该方法包括：
步骤301、生成预设图像库，预设图像库包括训练图像库和/或深度图像库。
步骤302、获取第一射线源位于第一检测点时的检测图像。检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
步骤303、从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。
步骤304、从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
步骤305、根据第二参考图像确定肿瘤相对第二射线源的位置。即实现第二射线源相对肿瘤运动的跟踪。
相对于图2所示的实施例，图3-1所示的实施例，在从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像之前，还包括：生成预设图像库的步骤。
对上述步骤301进行具体说明，在步骤301中，预设图像库包括训练图像库和/或深度图像库，可以是预设图像库包括训练图像库，或者可以是预设图像库包括深度图像库，或者可以是预设图像库包括训练图像库和深度图像库。其中，预设图像库中可以包括多个参考图像序列组，每个参考图像序列组包括一个第一参考图像序列和一个第二参考图像序列。则以放疗设备的第一射线源和第二射线源能够绕肿瘤区域圆周旋转为例，在一个旋转圆周上，第一射线源和第二射线源可以位于多个预设检测站，每个预设检测站包括一个第一检测点和一个第二检测点，每个预设检测站与一个参考图像序列组对应，即每个预设检测站的第一检测点与一个参考图像序列组对应的第一采集点相对于肿瘤的位置对应，从而对应该第一参考图像序列。同理，每个预设检测站的第二检测点与一个参考图像序列组对应的第二采集点相对于肿瘤的位置对应，从而对应该第二参考图像序列。从而，在第一射线源和第二射线源沿圆周运动的过程中，可以连续的对肿瘤的位置进行跟踪。
需要说明的是，本实施例中，对每个预设检测站的位置不做具体限定，例如可以是每隔2s(也可以是4s、5s等)为一个预设检测站，也是可以每旋转5°(也可以是8°、10°、15°等)圆心角为一个预设检测站。
在本发明实施例中，训练图像库中的参考图像序列可以为在患者进行训练呼吸(训练得到患者的平稳呼吸)时确定的图像序列，训练图像库中的每个参考图像序列包括n张在n个不同时刻确定的参考图像，n>1，且n为整数；深度图像库中的参考图像序列可以为在患者进行深度呼吸时确定的图像序列，深度图像库中的每个参考图像序列包括p张在p个不同时刻确定的参考图像， p>n，且p为整数。其中，n和p的具体取值可以根据深度呼吸周期和训练呼吸周期确定，本发明实施例对此不作限定。
预设图像库可以利用现有CT设备或其他成像设备等进行获得，本申请对获取预设图像库的具体方法和步骤不做限定，以下列举几种进行示例说明。
示例地，请参考图3-2，其示出了本发明实施例提供的一种生成预设图像库的方法流程图，参见图3-2，该方法包括：
子步骤3011A、确定第一采集点和第二采集点。
需要说明的是，本申请中，第一采集点与第一检测点相对肿瘤区域的位置相同，第二采集点与第二检测点相对肿瘤区域的位置相同。则可以是先确定第一采集点和第二采集点相对肿瘤区域的位置，再确定第一检测点和第二检测点的位置。也可以是先确定第一检测点和第二检测点相对肿瘤区域的位置，再确定第一采集点和第二采集点的位置。
本申请中，第一采集点的个数和第二采集点的个数均可以为多个。示例的，在本发明实施例中，可以确定多个采集点组，每个采集点组包括一个第一采集点和一个第二采集点，对应的，预设图像库中可以包括是多个参考图像序列组，每个参考图像序列组对应一个采集点组，从而包括一个第一参考图像序列和一个第二参考图像序列。每个采集点组中的第一采集点与第一检测点相对肿瘤区域的位置相同，第二采集点与第二检测点相对肿瘤区域的位置相同，则每个采集点组中的第一采集点和第二采集点之间的圆弧对应的圆心角等于第一检测点与第二检测点之间的圆弧对应的圆心角。
示例的，确定第一采集点和第二采集点可以是通过治疗床将患者设置在放疗设备的设备本体中，使患者在治疗床上固定体位并保持平稳的深呼吸，然后确定患者的呼吸周期(深度呼吸周期或训练呼吸周期)、患者体内肿瘤的特点以及患者体内肿瘤的运动情况等，并根据患者的呼吸周期、患者体内肿瘤的特点以及患者体内肿瘤的运动情况等设置采集点组。例如，当肿瘤沿第一方向(例如x轴方向)运动时，可以在与第一方向垂直的第二方向(例如y轴方向)上设置一个采集点(第一采集点或第二采集点)，并根据第一采集点与第二采集点的关系，设置另外一个采集点，从而实现采集点组的设置，以便后续能够采集到肿瘤运动过程中的图像。示例的，第一采集点和第二采集点的关系可以是第一采集点和第二采集点之间的圆弧对应的圆心角为5°、10°、15°或20°等， 本申请对具体关系如圆心角的度数等不做限定，仅以上述为例进行示例说明。
本申请中，示例的，第一采集点与第二采集点之间的圆弧对应的圆心角等于放疗设备的第一射线源与第二射线源之间的圆弧对应的圆心角。例如，当放疗设备的第一射线源与第二射线源之间的圆弧对应的圆心角等于a时，每个采集点组中的第一采集点与第二采集点之间的圆弧对应的圆心角等于a。
进一步的，每个采集组中的第一采集点和第二采集点之间的圆弧对应的圆心角，与任意相邻的两个采集组中的两个第一采集点之间的圆弧对应的圆心角相等。或者，每个采集组中的第一采集点和第二采集点之间的圆弧对应的圆心角，与任意相邻的两个采集组中的两个第二采集点之间的圆弧对应的圆心角相等。则其中一个采集点可以共用于两个不同的采集点组，从而可以减少采集点的设置。则对应的，每个预设检测站中的第一检测点和第二检测点之间的圆弧对应的圆心角，与任意相邻的两个预设检测站中的第一检测点之间的圆弧对应的圆心角相等。或者，每个预设检测站中的第一检测点和第二检测点之间的圆弧对应的圆心角，与任意相邻的两个预设检测站中的第二检测点之间的圆弧对应的圆心角相等。
示例的，请参考图3-3，其示出了本发明实施例提供的一种生成预设图像库的示意图，参见图3-3，多个采集点包括采集点J1～J7共7个采集点，该7个采集点位于放疗设备的设备本体(图3-3中未标出)的同一圆周上，且该7个采集点可以形成7个采集点组，示例地，采集点J1和采集点J2可以形成一个第一采集点组，采集点J2和采集点J3可以形成一个第二采集点组。在第一采集点组中，采集点J1为第二采集点，采集点J2为第一采集点，且采集点J1和采集点J2之间的圆弧对应的圆心角等于a。在第二采集点组中，采集点J2为第二采集点，采集点J3为第一采集点，且采集点J2和采集点J3之间的圆弧对应的圆心角等于a。第一采集点组和第二采集组中的两个第一采集点(即采集点J2和采集点J3)之间的圆弧对应的圆心角等于a。第一采集点组和第二采集组中的两个第二采集点(即采集点J1和采集点J2)之间的圆弧对应的圆心角等于a。则采集点J2共用于第一采集点和第二采集点，从而减少了采集点的设置数量。当然，采集点J3和采集点J4可以形成一个采集点组，采集点J3和采集点J5可以形成一个采集点组，依次类推。
子步骤3012A、从第一采集点所在位置向肿瘤区域发出光学信号，并基于 光学信号确定第一参考图像序列。
确定第一采集点和第二采集点之后，成像设备(一般包括球管和平板探测器)的球管可以从第一采集点所在位置连续向肿瘤区域发出光学信号，平板探测器基于接收到的光学信号确定一个参考图像，得到第一参考图像序列。示例的，成像设备也可以为CT设备。
示例的，在生成训练图像库时，在该步骤3012A中，患者保持平稳呼吸，肿瘤追踪装置可以控制成像设备从第一采集点所在位置连续n次向肿瘤区域发出光学信号，并基于接收到的n个光学信号中的每个光学信号确定一个参考图像，得到第一参考图像序列，该第一参考图像序列包括n张参考图像。在生成深度图像库时，患者则保持深度呼吸。
子步骤3013A、从第二采集点所在位置向肿瘤区域发出光学信号，并基于光学信号确定第二参考图像序列。
示例的，确定第一采集点和第二采集点之后，可以在每个采集点(包括第一采集点和第二采集点)所在位置部署一个成像设备，即分别在第一采集点和第二采集点设置一个球管，每个球管对应有一个平板探测器，进而还可以在第一采集点采集第一参考图像序列的同时，从第二采集点所在位置连续向肿瘤区域发出光学信号，并基于接收到的多个光学信号中的每个光学信号确定一个参考图像，得到第二参考图像序列。
当然，也可以是成像设备为一个，即包括一个射线源(球管)和一个平板探测器，当球管位于第一采集点时，平板探测器接收球管从第一采集点发出的射束，获取第一参考图像序列；再使得球管运动至第二采集点，平板探测器接收球管从第二采集点发出的射束，以获取第二参考图像序列。
同理，在生成训练图像库时，患者保持平稳呼吸，以得到第二参考图像序列；在生成深度图像库时，患者保持深度呼吸，以得到第二参考图像序列。
子步骤3014A、根据第一参考图像序列和第二参考图像序列生成预设图像库。
确定第一参考图像序列和第二参考图像序列之后，肿瘤追踪装置可以根据第一参考图像序列和第二参考图像序列生成预设图像库。
需要说明的是，实际应用中，生成预设图像库后，肿瘤追踪装置还可以存储采集点与参考图像序列的索引关系，以便于后续根据该索引关系确定参考图 像序列和参考图像，该索引关系中记录的是采集点的信息(例如标识)与参考图像序列的信息(例如标识)的一一对应关系，且该索引关系用于指示采集点与参考图像序列的一一对应关系，在该索引关系中，可以将确定时刻相同的参考图像的信息对应存储，且该索引关系中还可以存储参考图像的确定时刻。在本发明实施例中，预设图像库包括训练图像库和/或深度图像库，肿瘤追踪装置根据采集点J1～J7这7个采集点生成的训练图像库对应的索引关系可以如下表1所示，深度图像库对应的索引关系可以如下表2所示：
表1(训练图像库)
Figure PCTCN2017095041-appb-000001
表2(深度图像库)
Figure PCTCN2017095041-appb-000002
Figure PCTCN2017095041-appb-000003
参见表1可知，在训练图像库中，每个参考图像序列包括n张在n个不同时刻确定的参考图像。例如，参考图像序列K1包括n张在t1～tn这n个不同时刻确定的参考图像K11～K1n，参考图像序列K2包括n张在t1～tn这n个不同时刻确定的参考图像K21～K2n，依次类推。参见表2可知，在深度图像库中，每个参考图像图像序列包括p张在p个不同时刻确定的参考图像，例如，参考图像序列K1包括p张在t1～tp这p个不同时刻确定的参考图像K11～K1p，参考图像序列K2包括p张在t1～tp这p个不同时刻确定的参考图像K21～K2p，依次类推。
在上述表1和表2中，参考图像序列K1和参考图像序列K2可以形成一个参考图像序列组，在该参考图像序列组中，参考图像序列K2可以为第一参考图像序列，参考图像序列K1可以为第二参考图像序列。参考图像序列K2和参考图像序列K3可以形成一个参考图像序列组，在该参考图像序列组中，参考图像序列K3可以为第一参考图像序列，参考图像序列K2可以为第二参考图像序列；参考图像序列K3和参考图像序列K4可以形成一个参考图像序列组，在该参考图像序列组中，参考图像序列K4可以为第一参考图像序列，参考图像序列K3可以为第二参考图像序列，依次类推。需要说明的是，在本发明实施例中，Kab表示一张参考图像，其中a表示参考图像Kab所在的参考图像序列为Ka，b表示参考图像Kab在参考图像序列Ka中的序列号，其中，在表1中，1≤a≤7，1≤b≤n，在表2中，1≤a≤7，1≤b≤p，且a和b均为整数。
示例地，请参考图3-4，其示出了本发明实施例提供的另一种生成预设图像库的方法流程图，参见图3-4，该方法包括：
子步骤3011B、获取肿瘤区域的4D图像。
肿瘤追踪装置可以通过四维电子计算机断层扫描(英文：Four-dimension Computed Tomography；简称：4DCT)设备，获取肿瘤区域的4D图像，可选地，肿瘤追踪装置控制4DCT设备对肿瘤区域进行曝光以获取肿瘤区域的4D图像。4DCT设备对肿瘤区域进行曝光的具体实现过程可以参考相关技术，本发明实施例在此不再赘述。
子步骤3012B、根据肿瘤区域的4D图像确定第一参考图像序列和第二参 考图像序列。
在本发明实施例中，肿瘤区域的4D图像为包括肿瘤区域的空间位置坐标和时间信息的图像序列，示例的，确定第一采集点和第二采集点，即确定采集点相对肿瘤的位置，可以从4D图像中提取参考图像序列得到对应第一采集点的第一参考图像序列和对应第二采集点的第二参考图像序列。
需要说明的是，肿瘤追踪装置可以从4D图像中提取多个参考图像序列组，每个参考图像序列组中可以包括一个第一参考图像序列和一个第二参考图像序列，肿瘤追踪装置从4D图像确定第一参考图像序列和第二参考图像序列的过程可以参考相关技术，本发明实施例在此不再赘述。
子步骤3013B、根据第一参考图像序列和第二参考图像序列生成预设图像库。该步骤3013B的具体实现过程可以参考上述子步骤3014A，本实施例在此不再赘述。
需要说明的是，实际应用中，由于深度呼吸的呼吸深度大于训练呼吸(平稳呼吸)的呼吸深度，则深度呼吸的呼吸时长大于训练呼吸的呼吸时长，则深度图像库中的参考图像序列的参考图像比训练图像库中的参考图像序列的参考图像多，也即是，如果将参考图像序列看做一个参考图像集合，则训练图像库中的每个参考图像集合可以是深度图像库中的参考图像集合的子集。因此，在本发明实施例中，在已知深度图像库的基础上，肿瘤追踪装置还可以根据深度图像库生成训练图像库。具体地，请参考图3-5，其示出了本发明实施例提供的再一种生成预设图像库的方法流程图，参见图3-5，该方法包括：
子步骤3011C、生成深度图像库。
示例的，可以采用图3-2或图3-4所示的方法生成深度图像库。具体的实现过程请参考图3-2或图3-4的相关描述，本发明实施例在此不再赘述。
子步骤3012C、根据深度图像库生成训练图像库。
示例的，可以在第一采集点和第二采集点中确定一个基准采集点，然后从基准采集点所在位置向肿瘤区域发出光学信号，并基于光学信号确定基准图像序列，根据基准图像序列从深度图像库中的参考图像序列中获取子参考图像序列，并根据获取到的子参考图像序列，从深度图像库中的其他参考图像序列中获取子参考图像序列，将从深度图像库中的第一参考图像序列中获取到的子参考图像序列作为第一子参考图像序列，将从深度图像库中的第二参考图像序列 中获取到的子参考图像序列作为第二子参考图像序列，且将从深度图像库中的一个参考图像序列组中的第一参考图像序列和第二参考图像序列中获取的第一子参考图像序列和第二子参考图像序列作为一个子参考图像序列组，得到多个子参考图像序列组，进而根据多个子参考图像序列组生成训练图像库。
需要说明的是，肿瘤追踪装置生成深度图像库和训练图像库后，还可以存储深度图像库和训练图像库的相关信息，具体的实现过程可以参考上述表1和表2及相关描述，本发明实施例在此不再赘述。当然也可以通过多种不同方式来根据深度图像库生成训练图像库，本申请对此不做限定，仅以上述为例进行示例说明。
再结合步骤301，对步骤302进行具体说明。获取第一射线源位于第一检测点时的检测图像，检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
在本发明实施例中，第一检测点与第一采集点相对肿瘤区域的位置相同，如图3-6以及图3-3所示，在图3-6中的第一检测点可以为图3-3所示的采集点J2(即第一采集点)，可以通过治疗床(图3-6中未示出)将患者设置在放疗设备的设备本体01中，使患者在治疗床上固定体位并保持平稳呼吸，然后控制设备本体01绕自身的轴以旋转方向f旋转，当第一射线源02旋转至第一检测点(采集点J2)所在位置时，控制第一射线源02向肿瘤区域(图3-6中未标出)发出放射线，该放射线透过肿瘤区域到达探测器04，探测器04接收到放射线后，将放射线转化为光信号，之后再将光信号转化为数字信号，肿瘤追踪装置根据数字信号生成检测图像。在本发明实施例中，第一检测点与第一采集点相对肿瘤区域的位置相同，第二检测点与第二采集点相对肿瘤区域的位置相同，因此当第一射线源02旋转至第一检测点所在位置，第二射线源03位于第二检测点所在位置，该第二检测点可以为图3-6中的采集点J1。
具体以图3-1所示的肿瘤追踪方法为例进行具体说明，则如图4所示，本申请提供了另一种该肿瘤追踪方法包括：
步骤401、生成预设图像库，预设图像库包括训练图像库和/或深度图像库。具体可以参照图3-1所示的步骤301，在此不做赘述。
步骤402、获取第一射线源位于第一检测点时的检测图像。检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。 具体可以参照图3-1所示的步骤302，在此不做赘述。
步骤403、判断训练图像库的第一参考图像序列中是否存在与检测图像对应的第一参考图像。
当训练图像库的第一参考图像序列中存在与检测图像对应的第一参考图像时，执行以下步骤404至步骤405。
示例地，以训练图像库为例，在本发明实施例中，如图3-6所示，第一检测点可以为采集点J2，训练图像库中与采集点J2(第一检测点)对应的第一参考图像序列为参考图像序列K2，且参考图像序列K2中包括参考图像K21～K2n共n张参考图像，肿瘤追踪装置可以先确定检测图像，然后将检测图像与参考图像K21～K2n中的每张参考图像分别进行比较，来判断训练图像库的第一参考图像序列K2中是否存在与检测图像的影像相同的第一参考图像。
步骤404、从训练图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。具体可以参照图3-1所示的步骤303，在此不做赘述。
示例的，训练图像库的第一参考图像序列K2中与检测图像对应的第一参考图像为参考图像K21，则从训练图像库的第一参考图像序列K2中确定出参考图像K21。
步骤405、从训练图像库中与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。具体可以参照图3-1所示的步骤304，在此不做赘述。
示例地，在本发明实施例中，如图3-6所示，第二检测点(采集点J1)对应的参考图像序列为参考图像序列K1，将该参考图像序列K1作为第一参考图像序列(参考图像序列K2)对应的第二参考图像序列，然后从参考图像序列K1中获取与第一参考图像的确定时刻相同的第二参考图像。
示例的，在本发明实施例中，第一参考图像为参考图像K21，第二参考图像序列K1中与参考图像K21的确定时刻相同的参考图像可以为参考图像K11，因此，将参考图像K11作为与第一参考图像K21对应的第二参考图像。
当训练图像库的第一参考图像序列中不存在与检测图像对应的第一参考图像时，执行以下步骤406至步骤407。
步骤406、从深度图像库的第一参考图像序列中确定第一参考图像。具体可以参考具体可以参照图3-1所示的步骤303，在此不做赘述。
步骤407、从深度图像库中与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。具体可以参照图3-1所示的步骤304，在此不做赘述。
步骤408、根据第二参考图像确定肿瘤相对第二射线源的位置。
本申请提供的上述实施例，在预设图像库包括深度图像库和训练图像库的情况下，优先从训练图像库进行参考图像的确认。这是由于相对于深度呼吸，平稳呼吸时肿瘤的运动更加稳定，更有利于进行追踪。
当然，在图2所示的实施例中，也可以是在获取第一射线源位于第一检测点时的检测图像之后，在根据第二参考图像确定肿瘤相对第二射线源的位置之前，还包括：判断训练图像库的第一参考图像序列中是否存在与检测图像对应的第一参考图像，本申请仅以图4为例进行示例说明
需要说明的是，在图4所示的实施例中，训练图像库中也可以包括多个参考图像序列组，具体可以参照图3-1所示的实施例中的描述，在此不做赘述。
本申请提供的另一种肿瘤追踪方法，以图2所示的方法为例进行说明，如图5所示，为本申请提供的另一种实施方式，包括：
步骤501、获取第一射线源位于第一检测点时的检测图像。检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
步骤502、从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。
步骤503、从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
步骤504、根据第二参考图像确定肿瘤相对第二射线源的位置。
步骤505、根据肿瘤的相对第二射线源的位置调整第二射线源的参数。
其中，步骤501-步骤504可以参考图2所示实施例的具体描述，这里不做赘述。步骤505进一步调整第二射线源的参数，则第二射线源根据调整后的参数向肿瘤发出放射线，以对根据肿瘤的位置对肿瘤进行追踪照射，从而避开正常组织，减小对正常组织的伤害。
即本申请提供的以上实施方式，在根据第二参考图像确定肿瘤相对第二射线源的位置之后，还包括根据肿瘤相对第二射线源的位置调整第二射线源的参数，从而实现第二射线源对肿瘤的运动进行精确的位置跟踪。
在本发明实施例中，第一射线源可以为成像源，第二射线源可以为治疗源，肿瘤追踪装置根据肿瘤相对第二射线源的位置调整第二射线源的参数可以包括：肿瘤追踪装置根据肿瘤相对第二射线源的位置，调整第二射线源的位置参数、剂量参数和射野参数中的至少一个。可选地，治疗源可以为治疗头，治疗头可以包括射线源和多叶准直器，射线源用于发出放射线，多叶准直器用于产生满足要求的射野，射野指的是放射线照射至患者体表上的范围。可以控制多叶准直器产生满足参数的射野、剂量等，控制第二射线源向肿瘤发出放射线，第二射线源发出的放射线经过多叶准直器产生的射野照射至肿瘤对肿瘤进行追踪实现更加精确的放射治疗。其中，根据肿瘤相对第二射线源的位置调整第二射线源的参数的实现过程可以是调整多叶准直器形成射野，具体方法参考相关技术，本发明实施例在此不再赘述。
需要说明的是，实际应用中，对于任一第一检测点，可以重复执行上述步骤，以在整个放疗过程中对肿瘤实时跟踪治疗。且图5所示的方法仅以图2所示的实施例为例，可以理解的，其可以应用于本申请提供的任何一种追踪方法中，例如可以应用于图3-1或图4所示的追踪方法，本申请仅以图5所示为例，其他可参考图5所示，在此不做赘述。
本申请提供的另一种肿瘤追踪方法，以图2所示的方法为例，参照图6-1所示，来说明本申请提供的另一种实施方式，如图6-1所示，所述方法包括：
步骤601、获取第一射线源位于第一检测点时的检测图像。检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
步骤602、从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。
步骤603、从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
步骤604、根据第二参考图像确定肿瘤相对第二射线源的位置。
步骤605、根据至少两张第一参考图像预测肿瘤运动轨迹。
其中，步骤601-步骤604可以参考图2所示实施例的具体描述，这里不做赘述。在本发明实施例中，还包括：获取第一射线源位于第一检测点时的至少两张检测图像；从预设图像库的第一参考图像序列中，获取至少两张检测图像中的每张检测图像对应的第一参考图像，得到至少两张第一参考图像；根据至 少两张第一参考图像预测肿瘤运动轨迹，以对肿瘤进行追踪。
示例地，请参考图6-2，其示出了本发明实施例提供的一种预测肿瘤运动轨迹的方法流程图，参见图6-2，该方法包括：
子步骤6051、获取第一射线源位于第一检测点时的至少两张检测图像。
其中，至少两张检测图像中的每张检测图像可以是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。在本发明实施例中，至少两张检测图像可以是第一射线源从至少两个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像，也可以是第一射线源从一个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像，因此，该子步骤6051可以包括：获取第一射线源位于至少两个第一检测点中的每个第一检测点时的一张检测图像，得到至少两张检测图像；或者，获取第一射线源位于一个第一检测点时的至少两张检测图像。
子步骤6052、从预设图像库的第一参考图像序列中，获取至少两张检测图像中的每张检测图像对应的第一参考图像，得到至少两张第一参考图像。
若子步骤6051中的至少两张检测图像是第一射线源从至少两个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像，则该子步骤6052中，肿瘤追踪装置从预设图像库的至少两个参考图像序列组的第一参考图像序列中，获取至少两张第一参考图像。
若子步骤6051中的至少两张检测图像是第一射线源从一个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像，则该子步骤6052中，肿瘤追踪装置从预设图像库的一个参考图像序列组的第一参考图像序列中，获取至少两张第一参考图像，一个参考图像序列组是预设图像库中与一个预设检测站对应的参考图像序列组，一个第一检测点为一个预设检测站中的第一检测点。
子步骤6053、根据至少两张第一参考图像预测肿瘤运动轨迹。
具体地，肿瘤追踪装置可以根据至少两张第一参考图像的影像确定肿瘤的运动方向，并根据该至少两张第一参考图像结合预设图像库预测下一时刻的第一参考图像，下下时刻的第一参考图像等，从而可以得到一系列第一参考图像，然后肿瘤追踪装置根据该一系列第一参考图像的影像确定肿瘤运动轨迹。
需要说明的是，本发明实施例中，在预测到每个时刻的第一参考图像后， 肿瘤追踪装置还可以根据每个时刻的第一参考图像确定每个时刻的第二参考图像，并根据每个时刻的第二参考图像的影像确定该每个时刻肿瘤相对第二射线源的位置，根据肿瘤相对第二射线源的位置调整第二射线源的参数，通过第二射线源根据调整后的参数向肿瘤发出放射线，本发明实施例在此不再赘述。
本申请提供另一种实施方式，以图2所示的追踪方法为例，参照图7-1所示，包括：
步骤701、获取患者的实际呼吸周期。
步骤702、根据实际呼吸周期对应的参考图像序列，确定实际图像序列。
步骤703、根据实际图像序列调整第一参考图像序列和第二参考图像序列。
通常，调整后的第一参考图像序列可以为预设图像库中的第一参考图像序列的子集，调整后的第二参考图像序列可以为预设图像库中的第二参考图像序列的子集，因此，根据调整后的第一参考图像序列确定第一参考图像，根据调整后的第二参考图像序列确定第二参考图像，可以降低确定第一参考图像和第二参考图像的复杂度，提高确定效率。
步骤704、获取第一射线源位于第一检测点时的检测图像。检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
步骤705、从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。其中，步骤705中的第一参考图像序列为步骤703中调整后的第一参考图像序列。
步骤706、从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。其中，步骤706中的第一参考图像序列为步骤703中调整后的第二参考图像序列。
步骤707、根据第二参考图像确定肿瘤相对第二射线源的位置。
在本发明实施例中，肿瘤追踪装置可以确定患者的实际呼吸周期，并从预设图像库的参考图像序列中获取实际呼吸周期对应的参考图像序列，将获取到的实际呼吸周期对应的参考图像序列确定为实际图像序列，然后根据实际图像序列调整第一参考图像序列和第二参考图像序列，得到调整后的第一参考图像序列和调整后的第二参考图像序列，后续可以根据调整后的第一参考图像序列和调整后的第二参考图像序列确定第一参考图像和第二参考图像，并基于确定的第二参考图像确定肿瘤相对第二射线源的位置。根据调整后的第二参考图像 序列确定第二参考图像，可以降低确定第一参考图像和第二参考图像的复杂度，提高确定效率。
当然，该方法也适用于本申请中的其他实施方式，以上仅以图2所示的为例进行示例说明。
本发明实施例中，步骤702中根据实际呼吸周期对应的参考图像序列确定实际图像序列的具体实现过程可以参考下述图7-2及其相关描述。请参考图7-2，其示出了本发明实施例提供的一种确定实际图像序列的方法流程图，参见图7-2，该方法包括：
子步骤7021、在第一时长内，依次连续获取第一射线源位于第一检测点时的s张检测图像，s>1，且s为整数，第一时长大于患者的呼吸周期。
其中，s张检测图像中的每张检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。在本发明实施例中，s张检测图像可以是第一射线源从s个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像，也可以是第一射线源从一个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
子步骤7022、从预设图像库的第一参考图像序列中，获取s张检测图像中的每张检测图像对应的第一参考图像，得到s张第一参考图像。
若子步骤7021中的s张检测图像是第一射线源从s个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像，则该子步骤7022中，肿瘤追踪装置从预设图像库的s个参考图像序列组的第一参考图像序列中，获取s张第一参考图像。若子步骤7021中的s张检测图像是第一射线源从一个第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像，则该子步骤7022中，肿瘤追踪装置从预设图像库的一个参考图像序列组的第一参考图像序列中，获取s张第一参考图像，一个参考图像序列组是预设图像库中与一个预设检测站对应的参考图像序列组，一个第一检测点为一个预设检测站中的第一检测点。
子步骤7023、根据s张第一参考图像确定患者的实际呼吸周期。
肿瘤追踪装置获取s张第一参考图像后，可以确定s张第一参考图像中的每个第一参考图像中肿瘤的影像，并根据肿瘤的影像确定肿瘤在各个时刻的位置，将肿瘤在最大位置处时参考图像的确定时刻和肿瘤在最小位置处时参考图像的确定时刻之间的时间差的2倍数确定为实际呼吸周期。
子步骤7024、根据实际呼吸周期对应的参考图像序列，确定实际图像序列。
肿瘤追踪装置确定实际呼吸周期后，可以根据实际呼吸周期对应的参考图像序列确定实际图像序列。
需要说明的是，本发明实施例中，肿瘤追踪装置确定s张第一参考图像后，还可以根据s张第一参考图像确定肿瘤进行规律性运动的振幅。具体地，肿瘤追踪装置可以确定s张第一参考图像中的每个第一参考图像中肿瘤的影像，并根据肿瘤的影像确定肿瘤进行规律性运动时远离中点(进行规律性运动的中点)的最大位置，将该最大位置对应的位置点与规律性运动的中点之间的距离确定为肿瘤进行规律性运动的振幅，本发明实施例在此不再赘述。
还需要说明的是，本发明实施例提供的肿瘤追踪方法步骤的先后顺序可以进行适当调整，步骤也可以根据情况进行相应增减，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化的方法，都应涵盖在本发明的保护范围之内，因此不再赘述。且不同实施方式中，各步骤也可适用于其他实施方式，以下再提供一具体实施例来示例说明。
如图8所示，本申请提供一种肿瘤的追踪方法，应用于图1所示的放疗设备，其中放疗设备包括第一射线源和第二射线源，第一射线源为成像源、第二射线源为治疗源。该方法包括：
步骤801、生成预设图像库，预设图像库包括训练图像库和/或深度图像库。
步骤802、获取第一射线源位于第一检测点时的检测图像。检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
步骤803、判断训练图像库的第一参考图像序列中是否存在与检测图像对应的第一参考图像。
步骤804、从训练图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。
步骤805、从训练图像库中与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
步骤806、从深度图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。
步骤807、从深度图像库中与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
步骤808、根据第二参考图像确定肿瘤相对第二射线源的位置。
步骤809、根据肿瘤的相对第二射线源的位置调整第二射线源的参数。
步骤810、获取患者的实际呼吸周期。
步骤811、根据实际呼吸周期对应的参考图像序列，确定实际图像序列。
步骤812、根据实际图像序列调整第一参考图像序列和第二参考图像序列。
重复上述步骤801-812，循环执行，直至完成肿瘤的照射治疗为止。以上各步骤的具体实施方式可以参照本申请的其他实施例，在这里不做赘述。
综上所述，本发明实施例提供的肿瘤追踪方法，获取第一射线源位于第一检测点时的检测图像后，从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，并从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像，根据第二参考图像确定肿瘤相对于第二射线源的位置。由于仅采用放疗设备就能够实现肿瘤追踪，因此需要的硬件设备较少，提供了一种新的肿瘤追踪装置，解决了肿瘤追踪成本较高的问题，有助于降低肿瘤追踪成本。
下述为本发明装置实施例，可以用于执行本发明方法实施例所提供的方法。对于本发明装置实施例中未披露的细节，请参照本发明方法实施例。
请参考图9-1，其示出了本发明实施例提供的一种肿瘤追踪装置400的框图，该肿瘤追踪装置400可以应用于放疗设备，放疗设备包括第一射线源、第二射线源以及探测器，第一射线源位于第一检测点时，第二射线源位于第二检测点，且该肿瘤追踪装置400可以用于执行图2至图8任一所示实施例提供的方法，参见图9-1，该肿瘤追踪装置400可以包括但不限于：
第一获取模块401，用于获取第一射线源位于第一检测点时的检测图像，检测图像是第一射线源从第一检测点向肿瘤区域发出的放射线被探测器接收所确定的图像。
第一确定模块402，用于从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像。预设图像库包括第一参考图像序列和第二参考图像序列，第一参考图像序列是基于从第一采集点所在位置向肿瘤区域发出的光学信号所确定的参考图像序列，第二参考图像序列是基于从第二采集点所在位置向肿瘤区域发出的光学信号所确定的参考图像序列，第一检测点与第一采集点相对肿瘤区域的位置相同，第二检测点与第二采集点相对肿瘤区域的位置相 同，第一参考图像序列和第二参考图像序列分别包括多张在不同时刻确定的参考图像。
第二获取模块403，用于从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
第二确定模块404，用于根据第二参考图像确定肿瘤相对第二射线源的位置。
综上所述，本发明实施例提供的肿瘤追踪装置，获取第一射线源位于第一检测点时的检测图像后，从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，并从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像，根据第二参考图像确定肿瘤相对于第二射线源的位置。由于仅采用放疗设备就能够实现肿瘤追踪，因此需要的硬件设备较少，提供了一种新的肿瘤追踪装置，解决了肿瘤追踪成本较高的问题，有助于降低肿瘤追踪成本。
示例的，预设图像库包括训练图像库和/或深度图像库，
训练图像库中的参考图像序列为在患者进行训练呼吸时确定的图像序列，训练图像库中的每个参考图像序列包括n张在n个不同时刻确定的参考图像，n>1，且n为整数。
深度图像库中的参考图像序列为在患者进行深度呼吸时确定的图像序列，深度图像库中的每个参考图像序列包括p张在p个不同时刻确定的参考图像，p>n，且p为整数。
示例的，预设图像库包括训练图像库和深度图像库，请参考图9-2，其示出了本发明实施例提供的另一种肿瘤追踪装置400的框图，参见图9-2，在图9-1的基础上，该肿瘤追踪装置400还包括：
判断模块405，用于判断训练图像库的第一参考图像序列中是否存在第一参考图像。
当训练图像库的第一参考图像序列中存在第一参考图像时，
第一确定模块402，用于从训练图像库的第一参考图像序列中确定第一参考图像。
第二获取模块403，用于从训练图像库中与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
或者，当训练图像库的第一参考图像序列中不存在第一参考图像时，
第一确定模块402，用于从深度图像库的第一参考图像序列中确定第一参考图像。
第二获取模块403，用于从深度图像库中与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像。
进一步地，请继续参考图9-2，该肿瘤追踪装置400还包括：生成模块406，用于生成预设图像库。
可选地，生成模块406，用于：确定第一采集点和第二采集点；从第一采集点所在位置向肿瘤区域发出光学信号，并基于光学信号确定第一参考图像序列；从第二采集点所在位置向肿瘤区域发出光学信号，并基于光学信号确定第二参考图像序列。或者，生成模块406，用于：获取肿瘤区域的4D图像；根据肿瘤区域的4D图像确定第一参考图像序列和第二参考图像序列。
可选地，生成模块406，用于：生成深度图像库；根据深度图像库生成训练图像库。
可选地，预设图像库包括多个参考图像序列组，每个参考图像序列组包括一个第一参考图像序列和一个第二参考图像序列；
第一射线源和第二射线源能够绕肿瘤区域圆周旋转，在一个旋转圆周上，第一射线源和第二射线源能够位于多个预设检测站，每个预设检测站包括一个第一检测点和一个第二检测点，每个预设检测站与一个参考图像序列组对应。
可选地，每个预设检测站中的第一检测点和第二检测点之间的圆弧对应的圆心角，与任意相邻的两个预设检测站中的第一检测点之间的圆弧对应的圆心角相等；或者，每个预设检测站中的第一检测点和第二检测点之间的圆弧对应的圆心角，与任意相邻的两个预设检测站中的第二检测点之间的圆弧对应的圆心角相等。
可选地，请继续参考图9-2，该肿瘤追踪装置400还包括：
第三获取模块407，用于获取第一射线源位于第一检测点时的至少两张检测图像。
第四获取模块408，用于从预设图像库的第一参考图像序列中，获取至少两张检测图像中的每张检测图像对应的第一参考图像，得到至少两张第一参考图像。
预测模块409，用于根据至少两张第一参考图像预测肿瘤运动轨迹。
可选地，第三获取模块407，用于：获取第一射线源位于至少两个第一检测点中的每个第一检测点时的一张检测图像，得到至少两张检测图像。
第四获取模块408，用于：从预设图像库的至少两个参考图像序列组的第一参考图像序列中，获取至少两张第一参考图像，其中，每张第一参考图像是从一个第一参考图像序列中获取的参考图像，至少两个参考图像序列组是预设图像库中与至少两个预设检测站对应的参考图像序列组，至少两个第一检测点包括至少两个预设检测站中的每个预设检测站中的一个第一检测点。或者，
第三获取模块407，用于：获取第一射线源位于一个第一检测点时的至少两张检测图像。
第四获取模块408，用于：从预设图像库的一个参考图像序列组的第一参考图像序列中，获取至少两张第一参考图像，一个参考图像序列组是预设图像库中与一个预设检测站对应的参考图像序列组，一个第一检测点为一个预设检测站中的第一检测点。
可选地，请继续参考图4-2，该肿瘤追踪装置400还包括：
第五获取模块410，用于在第一时长内，依次连续获取第一射线源位于第一检测点时的s张检测图像，s>1，且s为整数，第一时长大于患者的呼吸周期。
第六获取模块411，用于从预设图像库的第一参考图像序列中，获取s张检测图像中的每张检测图像对应的第一参考图像，得到s张第一参考图像。
第三确定模块412，用于根据s张第一参考图像确定患者的实际呼吸周期。
第四确定模块413，用于根据实际呼吸周期对应的参考图像序列，确定实际图像序列。
可选地，第五获取模块410，用于：在第一时长内，依次连续获取第一射线源位于s个第一检测点中的每个第一检测点时的一张检测图像，得到s张检测图像；
第六获取模块410，用于：从预设图像库的s个参考图像序列组的第一参考图像序列中，获取s张第一参考图像，其中，每张第一参考图像是从一个第一参考图像序列中获取的参考图像，s个参考图像序列组是预设图像库中与s个预设检测站对应的参考图像序列组，s个第一检测点包括s个预设检测站中的每个预设检测站中的一个第一检测点。或者，
第五获取模块410，用于：在第一时长内，依次连续获取第一射线源位于一个第一检测点时的s张检测图像。
第六获取模块410，用于：从预设图像库的一个参考图像序列组的第一参考图像序列中，获取s张第一参考图像，一个参考图像序列组是预设图像库中与一个预设检测站对应的参考图像序列组，一个第一检测点为一个预设检测站中的第一检测点。
可选地，请继续参考图9-2，该肿瘤追踪装置400还包括：
调整模块414，用于根据肿瘤相对第二射线源的位置，调整第二射线源的参数。
可选地，第一射线源为成像源，第二射线源为治疗源，调整模块414，用于：根据肿瘤相对第二射线源的位置，调整第二射线源的位置参数、剂量参数和射野参数中的至少一个。
综上所述，本发明实施例提供的肿瘤追踪装置，获取第一射线源位于第一检测点时的检测图像后，从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，并从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像，根据第二参考图像确定肿瘤相对于第二射线源的位置。由于仅采用放疗设备就能够实现肿瘤追踪，因此需要的硬件设备较少，提供了一种新的肿瘤追踪装置，解决了肿瘤追踪成本较高的问题，有助于降低肿瘤追踪成本。
请参考图10，其示出了本发明实施例提供的一种终端500的结构示意图，该终端500可以是放疗设备、3DCT设备、4DCT设备等医疗设备等。
参见图10，终端500可以包括以下一个或多个组件：处理组件502、存储器504、电源组件506、多媒体组件508、音频组件510、输入/输出(I/O)接口512、传感器组件514以及通信组件516。
处理组件502通常控制终端500的整体操作，诸如与显示、数据处理和记录操作相关联的操作。存储器504被配置为存储各种类型的数据以支持在终端500上的操作。这些数据的示例包括用于在终端500上操作的任何方法的指令、图像数据等。电源组件506为终端500的各种组件提供电力。电源组件506可以包括电源管理系统、一个或多个电源及其他与为终端500生成、管理和分配电力相关联的组件。多媒体组件508包括在终端500和用户之间提供一个输出 接口的屏幕。
音频组件510被配置为输出和/或输入音频信号。I/O接口512为处理组件502和外围接口模块之间提供接口，上述外围接口模块可以是键盘、点击轮、按钮等。传感器组件514包括一个或多个传感器，用于为终端500提供各个方面的状态评估。通信组件516被配置为便于终端500和其他设备之间有线或无线方式的通信。
在示例性实施例中，终端500可以被一个或多个应用专用集成电路(英文：Application Specific Integrated Circuit；简称：ASIC)、数字信号处理器(英文：Digital Signal Processing；简称：DSP)、数字信号处理设备(英文：Digital Signal Processing Device；简称：DSPD)、可编程逻辑器件(英文：Programable Logic Device；简称：PLD)、现场可编程门阵列(英文：Field-Programmable GateArray；简称：FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述肿瘤追踪方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器504，上述指令可由终端500的处理器520执行以完成上述肿瘤追踪方法。例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(英文：RandomAccess Memory；简称：RAM)、激光唱片只读存储器(英文：Compact DiskRead-Only Memory；简称：CD-ROM)、磁带、软盘和光数据存储设备等。
一种非临时性计算机可读存储介质，当存储介质中的指令由终端500的处理器执行时，使得终端500能够执行上述肿瘤追踪方法。
综上所述，本发明实施例提供的终端，获取第一射线源位于第一检测点时的检测图像后，从预设图像库的第一参考图像序列中确定与检测图像对应的第一参考图像，并从预设图像库中的与第一参考图像序列对应的第二参考图像序列中，获取与第一参考图像的确定时刻相同的第二参考图像，根据第二参考图像确定肿瘤相对于第二射线源的位置。由于仅采用放疗设备就能够实现肿瘤追踪，因此需要的硬件设备较少，提供了一种新的肿瘤追踪装置，解决了肿瘤追踪成本较高的问题，有助于降低肿瘤追踪成本。
一种可读存储介质，该可读存储介质中存储有指令，当该可读存储介质在处理组件上运行时，使得处理组件执行图2至图8任一所描述的方法。
一种包含指令的计算机程序产品，当计算机程序产品在计算机上运行时，使得计算机图2至图8任一所描述的方法。
本发明中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (20)

  1. 一种肿瘤追踪方法，其特征在于，应用于放疗设备，所述放疗设备包括第一射线源、第二射线源以及探测器，所述第一射线源位于第一检测点时，所述第二射线源位于第二检测点，所述方法包括：
    获取所述第一射线源位于所述第一检测点时的检测图像，所述检测图像是所述第一射线源从所述第一检测点向肿瘤区域发出的放射线被所述探测器接收所确定的图像；
    从预设图像库的第一参考图像序列中确定与所述检测图像对应的第一参考图像，所述预设图像库包括第一参考图像序列和第二参考图像序列，所述第一参考图像序列是基于从第一采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所述第二参考图像序列是基于从第二采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所述第一检测点与所述第一采集点相对所述肿瘤区域的位置相同，所述第二检测点与所述第二采集点相对所述肿瘤区域的位置相同，所述第一参考图像序列和所述第二参考图像序列分别包括多张在不同时刻确定的参考图像；
    从所述预设图像库中的与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像；
    根据所述第二参考图像确定肿瘤相对所述第二射线源的位置。
  2. 根据权利要求1所述的方法，其特征在于，所述预设图像库包括训练图像库和/或深度图像库，
    所述训练图像库中的参考图像序列为在患者进行训练呼吸时确定的图像序列，所述训练图像库中的每个参考图像序列包括n张在n个不同时刻确定的参考图像，n>1，且n为整数；
    所述深度图像库中的参考图像序列为在患者进行深度呼吸时确定的图像序列，所述深度图像库中的每个参考图像序列包括p张在p个不同时刻确定的参考图像，p>n，且p为整数。
  3. 根据权利要求2所述的方法，其特征在于，所述预设图像库包括训练图像库和深度图像库，
    在所述从预设图像库的第一参考图像序列中确定与所述检测图像对应的第 一参考图像之前，所述方法还包括：
    判断所述训练图像库的第一参考图像序列中是否存在所述第一参考图像；
    当所述训练图像库的第一参考图像序列中存在所述第一参考图像时，
    所述从预设图像库的第一参考图像序列中确定与所述检测图像对应的第一参考图像，包括：从所述训练图像库的第一参考图像序列中确定所述第一参考图像；
    所述从所述预设图像库中的与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像，包括：从所述训练图像库中与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像；
    或者，
    当所述训练图像库的第一参考图像序列中不存在所述第一参考图像时，
    所述从预设图像库的第一参考图像序列中确定与所述检测图像对应的第一参考图像，包括：从所述深度图像库的第一参考图像序列中确定所述第一参考图像；
    所述从所述预设图像库中的与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像，包括：从所述深度图像库中与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像。
  4. 根据权利要求1所述的方法，其特征在于，在从预设图像库的第一参考图像序列中确定与所述检测图像对应的第一参考图像之前，所述方法还包括：生成所述预设图像库。
  5. 根据权利要求4所述的方法，其特征在于，
    所述生成所述预设图像库，包括：
    确定所述第一采集点和所述第二采集点；
    从所述第一采集点所在位置向所述肿瘤区域发出光学信号，并基于所述光学信号确定所述第一参考图像序列；
    从所述第二采集点所在位置向所述肿瘤区域发出光学信号，并基于所述光学信号确定所述第二参考图像序列；
    或者，
    所述生成所述预设图像库，包括：
    获取所述肿瘤区域的4D图像；
    根据所述肿瘤区域的4D图像确定所述第一参考图像序列和所述第二参考图像序列。
  6. 根据权利要求4所述的方法，其特征在于，所述生成所述预设图像库，包括：
    生成深度图像库；
    根据所述深度图像库生成训练图像库。
  7. 根据权利要求1所述的方法，其特征在于，
    所述预设图像库包括多个参考图像序列组，每个所述参考图像序列组包括一个所述第一参考图像序列和一个所述第二参考图像序列；
    所述第一射线源和所述第二射线源能够绕所述肿瘤区域圆周旋转，在一个旋转圆周上，所述第一射线源和所述第二射线源能够位于多个预设检测站，每个所述预设检测站包括一个所述第一检测点和一个所述第二检测点，每个所述预设检测站与一个所述参考图像序列组对应。
  8. 根据权利要求7所述的方法，其特征在于，
    每个所述预设检测站中的所述第一检测点和所述第二检测点之间的圆弧对应的圆心角，与任意相邻的两个所述预设检测站中的所述第一检测点之间的圆弧对应的圆心角相等；或者，
    每个所述预设检测站中的所述第一检测点和所述第二检测点之间的圆弧对应的圆心角，与任意相邻的两个所述预设检测站中的所述第二检测点之间的圆弧对应的圆心角相等。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    获取所述第一射线源位于第一检测点时的至少两张检测图像；
    从所述预设图像库的第一参考图像序列中，获取所述至少两张检测图像中的每张检测图像对应的第一参考图像，得到至少两张第一参考图像；
    根据所述至少两张第一参考图像预测肿瘤运动轨迹。
  10. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    在第一时长内，依次连续获取所述第一射线源位于第一检测点时的s张检测图像，s>1，且s为整数，所述第一时长大于患者的呼吸周期；
    从所述预设图像库的第一参考图像序列中，获取所述s张检测图像中的每张检测图像对应的第一参考图像，得到s张第一参考图像；
    根据所述s张第一参考图像确定患者的实际呼吸周期；
    根据所述实际呼吸周期对应的参考图像序列，确定实际图像序列。
  11. 根据权利要求1至10任一所述的方法，其特征在于，在根据所述第二参考图像确定肿瘤相对所述第二射线源的位置之后，所述方法还包括：
    根据所述肿瘤相对所述第二射线源的位置，调整所述第二射线源的参数。
  12. 根据权利要求11所述的方法，其特征在于，所述第一射线源为成像源，所述第二射线源为治疗源，所述根据所述肿瘤相对所述第二射线源的位置，调整所述第二射线源的参数，包括：
    根据所述肿瘤相对所述第二射线源的位置，调整所述第二射线源的位置参数、剂量参数和射野参数中的至少一个。
  13. 一种肿瘤追踪装置，其特征在于，应用于放疗设备，所述放疗设备包括第一射线源、第二射线源以及探测器，所述第一射线源位于第一检测点时，所述第二射线源位于第二检测点，所述装置包括：
    第一获取模块，用于获取所述第一射线源位于所述第一检测点时的检测图像，所述检测图像是所述第一射线源从所述第一检测点向肿瘤区域发出的放射线被所述探测器接收所确定的图像；
    第一确定模块，用于从预设图像库的第一参考图像序列中确定与所述检测图像对应的第一参考图像，所述预设图像库包括第一参考图像序列和第二参考图像序列，所述第一参考图像序列是基于从第一采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所述第二参考图像序列是基于从第二采集点所在位置向所述肿瘤区域发出的光学信号所确定的参考图像序列，所述第一检测点与所述第一采集点相对所述肿瘤区域的位置相同，所述第二检测点与所述第二采集点相对所述肿瘤区域的位置相同，所述第一参考图像序列和所述第二参考图像序列分别包括多张在不同时刻确定的参考图像；
    第二获取模块，用于从所述预设图像库中的与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像；
    第二确定模块，用于根据所述第二参考图像确定肿瘤相对所述第二射线源 的位置。
  14. 根据权利要求13所述的装置，其特征在于，所述预设图像库包括训练图像库和/或深度图像库，
    所述训练图像库中的参考图像序列为在患者进行训练呼吸时确定的图像序列，所述训练图像库中的每个参考图像序列包括n张在n个不同时刻确定的参考图像，n>1，且n为整数；
    所述深度图像库中的参考图像序列为在患者进行深度呼吸时确定的图像序列，所述深度图像库中的每个参考图像序列包括p张在p个不同时刻确定的参考图像，p>n，且p为整数。
  15. 根据权利要求14所述的装置，其特征在于，所述预设图像库包括训练图像库和深度图像库，所述装置还包括：
    判断模块，用于判断所述训练图像库的第一参考图像序列中是否存在所述第一参考图像；
    当所述训练图像库的第一参考图像序列中存在所述第一参考图像时，
    所述第一确定模块，用于从所述训练图像库的第一参考图像序列中确定所述第一参考图像；
    所述第二获取模块，用于从所述训练图像库中与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像；
    或者，
    当所述训练图像库的第一参考图像序列中不存在所述第一参考图像时，
    所述第一确定模块，用于从所述深度图像库的第一参考图像序列中确定所述第一参考图像；
    所述第二获取模块，用于从所述深度图像库中与所述第一参考图像序列对应的第二参考图像序列中，获取与所述第一参考图像的确定时刻相同的第二参考图像。
  16. 根据权利要求13所述的装置，其特征在于，所述装置还包括：生成模块，用于生成所述预设图像库。
  17. 根据权利要求13所述的装置，其特征在于，所述装置还包括：
    第三获取模块，用于获取所述第一射线源位于第一检测点时的至少两张检 测图像；
    第四获取模块，用于从所述预设图像库的第一参考图像序列中，获取所述至少两张检测图像中的每张检测图像对应的第一参考图像，得到至少两张第一参考图像；
    预测模块，用于根据所述至少两张第一参考图像预测肿瘤运动轨迹。
  18. 根据权利要求13所述的装置，其特征在于，所述装置还包括：
    第五获取模块，用于在第一时长内，依次连续获取所述第一射线源位于第一检测点时的s张检测图像，s>1，且s为整数，所述第一时长大于患者的呼吸周期；
    第六获取模块，用于从所述预设图像库的第一参考图像序列中，获取所述s张检测图像中的每张检测图像对应的第一参考图像，得到s张第一参考图像；
    第三确定模块，用于根据所述s张第一参考图像确定患者的实际呼吸周期；
    第四确定模块，用于根据所述实际呼吸周期对应的参考图像序列，确定实际图像序列。
  19. 根据权利要求13至18任一所述的装置，其特征在于，所述装置还包括：调整模块，用于根据所述肿瘤相对所述第二射线源的位置，调整所述第二射线源的参数。
  20. 一种可读存储介质，其特征在于，所述可读存储介质中存储有指令，当所述可读存储介质在处理组件上运行时，使得所述处理组件执行权利要求1至12任一所述的肿瘤追踪方法。
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