WO2019140853A1 - 摆位方法、装置及放射治疗系统 - Google Patents

摆位方法、装置及放射治疗系统 Download PDF

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Publication number
WO2019140853A1
WO2019140853A1 PCT/CN2018/089995 CN2018089995W WO2019140853A1 WO 2019140853 A1 WO2019140853 A1 WO 2019140853A1 CN 2018089995 W CN2018089995 W CN 2018089995W WO 2019140853 A1 WO2019140853 A1 WO 2019140853A1
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Prior art keywords
image
affected part
gamma angle
deviation value
treated
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PCT/CN2018/089995
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English (en)
French (fr)
Inventor
李金升
张鹏飞
Original Assignee
深圳市奥沃医学新技术发展有限公司
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Application filed by 深圳市奥沃医学新技术发展有限公司 filed Critical 深圳市奥沃医学新技术发展有限公司
Priority to CN201880014398.0A priority Critical patent/CN110366439B/zh
Publication of WO2019140853A1 publication Critical patent/WO2019140853A1/zh
Priority to US16/931,928 priority patent/US11684803B2/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A61N5/1039—Treatment planning systems using functional images, e.g. PET or MRI
    • 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 or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • 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
    • 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
    • A61N5/1077—Beam delivery systems
    • A61N5/1081—Rotating beam systems with a specific mechanical construction, e.g. gantries
    • 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
    • A61N5/1077—Beam delivery systems
    • A61N5/1084—Beam delivery systems for delivering multiple intersecting beams at the same time, e.g. gamma knives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092—Details
    • A61N2005/1097—Means for immobilizing the patient

Definitions

  • the invention relates to the technical field of radiotherapy, in particular to a positioning method, a device and a radiotherapy system.
  • the patient Prior to radiation therapy, the patient is typically placed in an image guided radiation therapy (IGRT) system.
  • IGRT image guided radiation therapy
  • CT computed tomography
  • the position of the patient can then be adjusted by adjusting the position of the treatment couch and aligning the imaged point with the point of the film.
  • the relative positional relationship between the imaging point and the beam focus of the radiation source, and the relative positional relationship between the preset filming point and the target point in the CT image can be determined to determine the focus of the beam and the target of the affected part.
  • the relative positional relationship between the two can finally adjust the position of the treatment bed according to the relative positional relationship between the beam focus and the target point, so that the target point of the affected part is aligned with the beam for radiotherapy.
  • the position of the patient is usually adjusted by adjusting the gamma angle of the radiation treatment system, so that the treatment beam can be avoided.
  • the gamma angle may refer to an angle between the support surface of the fixed structure for supporting the patient and located at the bottom of the patient and the vertical plane.
  • the gamma angle is fixed. If the gamma angle needs to be adjusted during the radiotherapy process, the accuracy of the IGRT system when positioning according to the CT image will be much lower, which seriously affects the effect of radiotherapy.
  • the present application provides a positioning method, a device and a radiation therapy system, which can solve the problem of low accuracy of the positioning method in the related art.
  • the technical solutions are as follows:
  • a method of positioning for use in an image guidance system, the method comprising:
  • the IGRT image being an image generated by the image guiding system
  • the obtaining the gamma angle to be treated comprises:
  • a gamma angle to be treated is determined from the at least one gamma angle.
  • the method before the acquiring the reconstructed image of the gamma angle to be treated, the method further includes:
  • a reconstructed image of the gamma angle to be treated is acquired from the reconstructed image of the at least one gamma angle.
  • the reconstructing the reconstructed image of each gamma angle in the at least one gamma angle according to the electronic image of the affected part comprises:
  • a rotation axis Determining a rotation axis according to a preset film point in the electronic image, the rotation axis being a specified coordinate axis of a coordinate system in which the film point is located, or a linear axis parallel to the specified coordinate axis;
  • comparing the reconstructed image and the IGRT image, acquiring a deviation value of the location of the affected part and issuing including:
  • the method further includes:
  • Another positioning method for use in a host computer in a radiation therapy system, the method comprising:
  • the deviation value is a reconstructed image obtained by the image guiding system to obtain a gamma angle to be treated, and the affected part is under the gamma angle to be treated
  • the reconstructed image is an image reconstructed according to an electronic image of the affected part acquired in advance
  • the position of the affected part is adjusted according to the deviation value.
  • the deviation value is a first offset between a film point in the reconstructed image and an imaging point of the image guiding system
  • the method After receiving the deviation value of the location of the affected part sent by the image guiding system, the method further includes:
  • the position of the treatment couch is adjusted based on the second offset such that the beam focus is aligned with the target.
  • the method further includes:
  • the deviation value includes translation data and angle data
  • the adjusting the position of the affected part includes:
  • the method further includes:
  • the position of the treatment bed is adjusted according to the coordinates corresponding to the gamma angle to be treated.
  • an image guidance system comprising: a processor and a memory, the memory for storing instructions executed by the processor, the processor, configured to:
  • the IGRT image being an image generated by the image guiding system
  • the processor acquires a gamma angle to be treated, including:
  • a gamma angle to be treated is determined from the at least one gamma angle.
  • the processor is further configured to:
  • the processor acquires the reconstructed image of the gamma angle to be treated, including:
  • a reconstructed image of the gamma angle to be treated is acquired from the reconstructed image of the at least one gamma angle.
  • the processor reconstructs the reconstructed image of each of the at least one gamma angle according to the electronic image of the affected part, including:
  • a rotation axis Determining a rotation axis according to a preset film point in the electronic image, the rotation axis being a specified coordinate axis of a coordinate system in which the film point is located, or a linear axis parallel to the specified coordinate axis;
  • the processor compares the reconstructed image and the IGRT image, obtains a deviation value of the location of the affected part, and sends out, including:
  • the processor is further configured to:
  • a host computer for use in a radiation therapy system, the host computer comprising: a processor and a memory, the memory for storing instructions executed by the processor, the processor, to:
  • the deviation value is a reconstructed image obtained by the image guiding system to obtain a gamma angle to be treated, and the affected part is under the gamma angle to be treated
  • the reconstructed image is an image reconstructed according to an electronic image of the affected part acquired in advance
  • the position of the affected part is adjusted according to the deviation value.
  • the deviation value is a first offset between a film point in the reconstructed image and an imaging point of the image guiding system
  • the processor is further configured to:
  • the position of the treatment couch is adjusted based on the second offset such that the beam focus is aligned with the target.
  • the processor is further configured to:
  • the deviation value includes translation data and angle data
  • the processor adjusts the position of the affected part, including:
  • the processor is further configured to:
  • the position of the treatment bed is adjusted according to the coordinates corresponding to the gamma angle to be treated.
  • the fifth aspect provides a radiotherapy system, comprising: the upper computer according to the fourth aspect, and the image guiding system according to the third aspect, wherein the upper computer is established with the image guiding system Communication connection.
  • a computer readable storage medium in a sixth aspect, storing instructions for causing a computer to perform the pendulum of the first aspect when the computer readable storage medium is run on a computer The bit method, or the positioning method described in the second aspect.
  • the embodiment of the present invention provides a positioning method, a device, and a radiation therapy system.
  • the image guiding system can acquire the reconstructed image of the gamma angle to be treated.
  • the reconstructed image of the gamma angle to be treated is an image reconstructed according to the electronic image of the affected part; then the image guiding system can obtain the deviation of the position of the affected part by comparing the IGRT image under the gamma angle to be treated and the reconstructed image.
  • the value is sent out, so that the adjusting device can adjust the position of the affected part according to the deviation value when the deviation value is greater than the preset threshold to achieve the position of the patient.
  • the image referenced by the image guiding system when acquiring the deviation value is the reconstructed image of the gamma angle to be treated reconstructed according to the electronic image, the accuracy of the positioning based on the deviation value determined by the reconstructed image is high, and the radiation can be ensured. The effect of treatment. Moreover, since it is not necessary to obtain an electronic image of the affected part at different gamma angles, it is possible to avoid increasing the radiation dose received by the patient and minimize the influence of radiation on the patient's health.
  • FIG. 1 is a schematic structural view of a radiation therapy system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the positional relationship between a target point and a treatment beam during radiotherapy according to an embodiment of the present invention
  • FIG. 3 is a schematic view showing the positional relationship between a target point and a treatment beam in another radiation therapy process according to an embodiment of the present invention
  • FIG. 4 is a flowchart of a positioning method according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of another positioning method according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of still another positioning method according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram showing a relative positional relationship between a preset film point and a target point in a CT image according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram showing a relative position relationship between a target point and an actual target point in a DRR image according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of an image guiding system according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of another image guiding system according to an embodiment of the present invention.
  • FIG. 11 is a schematic structural diagram of a host computer according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of another host computer according to an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a radiation therapy system according to an embodiment of the present invention.
  • the radiation therapy system may include an image guiding system 01, a host computer 02, a treatment bed 03, and a treatment frame 04.
  • the upper computer 02 is in communication connection with the image guiding system 01 and the treatment bed 03, respectively.
  • the upper computer 02 can also be a control device in the treatment control system.
  • the treatment control system can be a record verify system (RVS), and the image guidance system 01 can be an IGRT system.
  • the treatment frame 04 is provided with a plurality of radiation sources 041, and the treatment beams emitted by the plurality of radiation sources 041 can intersect at one point, which is the beam focus (also referred to as a treatment point) A1.
  • the image guiding system 01 can include a plurality of sets of image capturing components, each set of image capturing components can include a relatively disposed detector 011 and a bulb 012, which can emit radiation (eg, X-rays), and the detector 011 can be A flat panel detector that can receive the radiation from the bulb 012.
  • the image system 01 can generate an IGRT image based on the rays received by the respective detectors 011.
  • the rays emitted by the tube 012 in the plurality of sets of image acquisition components in the IGRT system may intersect at a point which is the imaging point A2 of the IGRT system.
  • the image guiding system 01 is an IGRT system, and the IGRT system includes two sets of image capturing components as an example for description.
  • the rays emitted by the tube 012 of the two sets of image acquisition components may intersect at the imaging point A2.
  • step S1 the patient is fixed on the treatment bed by using a positioning device, and the patient is subjected to CT scan to obtain a CT image of the patient.
  • Step S2 The treating physician formulates a treatment plan for the affected part according to the size, shape, surrounding tissue, and the like of the affected part tumor displayed in the CT image, and inputs the treatment plan to the upper computer 02, and simultaneously obtains the CT image and other CT images required by the IGRT system.
  • the information is transmitted to the IGRT system via a file such as DICOM RT, a transmission standard for radiotherapy data.
  • step S3 the upper computer retrieves and confirms the patient's treatment plan, and the IGRT system also loads the patient's IGRT plan information.
  • Step S4 The patient enters the radiotherapy room, and the treating physician fixes the patient on the treatment bed through the fixing device, and starts to position the patient.
  • the fixation device can be a head frame, a tray or a mask.
  • the process of arranging through the IGRT system may specifically include:
  • the upper computer 02 moves the affected part of the patient to the imaging area of the IGRT system 01 by adjusting the position of the treatment bed 03, and acquires an IGRT image.
  • the IGRT system 01 compares the IGRT image with the CT image, determines a relative positional relationship between the preset film point in the CT image and the imaging point A2 of the IGRT system 01, and transmits the relative positional relationship to the host computer 02.
  • the preset film point in the CT image may be a predetermined fixed point in the CT image.
  • the upper computer 02 adjusts the position of the treatment bed 03 such that the preset shooting point of the CT image coincides with the imaging point A2 of the IGRT system 01.
  • the host computer 02 determines the relative positional relationship between the beam focus A1 and the imaging point A2 of the IGRT system, and the relative positional relationship between the preset film point and the target point A3 in the CT, to determine the target point A3 and the beam focus point A1.
  • the offset is adjusted and the position of the treatment couch 03 is adjusted according to the offset such that the target A3 is aligned with the beam focus A1 to achieve a positional alignment of the patient.
  • the patient when performing CT positioning scan on the patient in the above step S1, the patient is generally lying on the treatment bed 03, but in the actual treatment process, if the patient lies on the treatment bed 03, as shown in FIG. 2,
  • the therapeutic beam may pass through the patient's sensitive tissue or organ, such as the eye, to reach target A3. Therefore, as shown in FIG. 3, the treating physician adjusts the posture of the patient by a fixing structure or the like such as the head fixing device 031, so that the treatment beam avoids sensitive tissues or organs, and the fixing structure can be wound around a fixed rotation axis.
  • the vertical plane (i.e., the plane perpendicular to the horizontal plane) rotates, the axis of the fixed axis of rotation being parallel to the horizontal plane and perpendicular to the length direction Z of the couch.
  • the supporting surface n of the supporting portion for supporting the patient in the fixing structure (or the plane parallel to the supporting surface n and passing through the rotating shaft) and the angle ⁇ of the vertical plane m may be referred to as a radiation therapy system Gamma angle.
  • the treating physician chooses to treat at a gamma angle of 70°, and when the IGRT system is used for positioning, it is necessary to adjust the head fixing device 031 to make the patient at 70°.
  • the gamma angle is then acquired by the IGRT image.
  • the IGRT system 01 directly compares the CT image with the IGRT image, since the angle of deflection of the patient's body position is different, the offset cannot be obtained, and accurate treatment cannot be achieved.
  • the patient cannot determine the gamma angle used in the actual treatment process before the patient takes the CT image, if the CT image is taken in advance using multiple gamma angles, for example, the gamma angles are 70°, 90°, and 110, respectively. ° CT image, and then in the actual treatment process, IGRT selects the corresponding gamma angle CT image for placement, then the calculated offset error can be guaranteed. However, this will significantly increase the radiation dose received by the patient, which is detrimental to the patient's physical health and will additionally increase the patient's treatment cost.
  • FIG. 4 is a flowchart of a positioning method according to an embodiment of the present invention.
  • the method may be applied to the image guiding system 01 shown in FIG. 1 , for example, may be applied to an IGRT system.
  • the method may include :
  • Step 101 Obtain a gamma angle to be treated.
  • the image guiding system may obtain a treatment plan in advance, and the treatment plan may include at least one gamma angle, and the image guiding system may determine the current from the at least one gamma angle Gamma angle to be treated. For example, after the radiation therapy system completes the placement and treatment of a certain gamma angle, the image guidance system can determine the next gamma angle in the treatment plan as the current gamma angle to be treated.
  • the image guiding system may directly receive the gamma angle to be processed sent by the upper computer.
  • the treating physician can input the current gamma angle to be treated to the upper computer; or the upper computer can also determine the current waiting according to the pre-acquired treatment plan.
  • the gamma angle of treatment After the upper computer determines the current gamma angle to be treated, the gamma angle to be treated can be sent to the image guiding system.
  • Step 102 Obtain a reconstructed image of the gamma angle to be treated.
  • the reconstructed image may be an image reconstructed based on an electronic image (for example, a CT image or a nuclear magnetic resonance image or the like) of the affected part acquired in advance.
  • the reconstructed image may be an image reconstructed by the image guiding system according to the electronic image, or may be an image reconstructed by the electronic image generating device (for example, a CT device) according to the electronic image, or may be another electronic image based on the image processing system.
  • the generated reconstructed image, the embodiment of the present invention does not limit the device for generating the reconstructed image.
  • the reconstructed image may be a Digitally Reconstructed Radiographic (DRR) image
  • DRR Digitally Reconstructed Radiographic
  • the DRR image may be an image reconstructed according to the CT image after the CT image of the affected part is acquired by the IGRT system.
  • DRR Digitally Reconstructed Radiographic
  • the IGRT system may reconstruct a DRR image of multiple gamma angles according to the CT image.
  • the IGRT system can retrieve the DRR image of the gamma angle to be treated from the plurality of DRR images.
  • the IGRT system can reconstruct DRR images of 60°, 70°, 80°, 90°, 100°, and 110° from CT images. If the current gamma angle to be treated is 70°, the IGRT system can retrieve a DRR image of 70° gamma angle.
  • Step 103 Obtain an IGRT image of the affected part at the gamma angle to be treated.
  • the upper computer can adjust the position of the treatment bed according to the preset fixed coordinate value, and feed the affected part of the patient into the imaging area of the middle IGRT system. Since the current patient has been fixed under the gamma angle to be treated, the image guiding system can directly acquire the IGRT image of the affected part at the gamma angle to be treated through the plurality of sets of image capturing components.
  • the upper computer can send an imaging instruction to the IGRT system
  • the IGRT system can control the bulb 012 to emit radiation (for example, X-ray)
  • the detector 011 can receive the radiation emitted by the bulb 012
  • the IGRT system 01 can The ray received by the detector 011 generates an IGRT image.
  • Step 104 Compare the reconstructed image and the IGRT image, obtain a deviation value of a position where the affected part is located, and issue the deviation value.
  • the image guiding system may obtain the deviation value of the position of the affected part by comparing the reconstructed image and the IGRT image, and send the deviation value to the adjusting device, so that the adjusting device may be when the deviation value is greater than a preset threshold.
  • the position of the affected part is adjusted according to the deviation value.
  • the image guiding system may send the deviation value to the upper computer, and when the deviation value is greater than the preset threshold, the upper computer may adjust the position of the treatment bed according to the deviation value, thereby adjusting the position of the affected part to achieve the position of the patient.
  • the image guiding system may determine a first offset between the filming point of the reconstructed image and the imaging point of the IGRT system by comparing the reconstructed image (eg, a DRR image) and the IGRT image, and the first The offset is sent to the host computer as the deviation value.
  • the reconstructed image eg, a DRR image
  • the film point of the reconstructed image is determined according to the film point of the electronic image (for example, the CT image), and the film point of the reconstructed image is also a fixed point in the reconstructed image, for example, may be a center point of the reconstructed image.
  • the adjusting device for example, the upper computer
  • the adjustment device can determine the relative positional relationship between the film point and the target point, and the relative positional relationship between the imaging point and the beam focus to determine the target point and the beam focus. Relative positional relationship, so that the target of the affected part can be aligned with the beam focus by adjusting the treatment bed.
  • the embodiment of the present invention provides a positioning method. After the image guiding system acquires the gamma angle to be treated, the image of the gamma angle to be treated can be acquired, and the gamma angle to be treated is obtained.
  • the reconstructed image is an image reconstructed in advance by the image guiding system according to the electronic image of the affected part; the image guiding system can then determine the deviation value of the position of the affected part by comparing the IGRT image under the gamma angle to be treated and the reconstructed image. Therefore, when the deviation value is greater than the preset threshold, the adjustment device can adjust the position of the affected part according to the deviation value to achieve the position of the patient.
  • the image referenced by the image guiding system when calculating the deviation value is the reconstructed image of the gamma angle to be treated reconstructed according to the electronic image, the accuracy of the positioning based on the deviation value determined by the reconstructed image is high, which can ensure The effect of radiation therapy. Moreover, since it is not necessary to obtain an electronic image of the affected part at different gamma angles, it is possible to avoid increasing the radiation dose received by the patient and minimize the influence of radiation on the patient's health.
  • FIG. 5 is a flowchart of another positioning method according to an embodiment of the present invention. The method may be applied to the host computer 02 shown in FIG. 1 . Referring to FIG. 5 , the method may include:
  • Step 201 Receive a deviation value of a position where the affected part is sent by the image guiding system.
  • the deviation value is obtained by the image guiding system acquiring the reconstructed image of the gamma angle to be treated, and after the affected part is the IGRT image under the gamma angle to be treated, by comparing the reconstructed image with the IGRT image, the reconstructed image An image reconstructed based on an electronic image of the affected part acquired in advance.
  • the treating physician after the treating physician fixes the patient to a certain gamma angle through the fixed structure, the treating physician can input the gamma angle to be treated to the upper computer, and the upper computer can further the gamma to be treated.
  • the angle is sent to the image guidance system so that the image guidance system can acquire the reconstructed image of the gamma angle to be treated and the IGRT image, and obtain the deviation value of the position of the affected part.
  • the host computer may determine the current gamma angle to be treated according to at least one gamma angle included in the treatment plan, and the The gamma angle of the treatment is sent to the image guidance system.
  • the upper computer can determine the next gamma angle in the treatment plan as the current gamma angle to be treated after the radiation therapy system completes the positioning and treatment of a certain gamma angle.
  • Step 202 Adjust the position of the affected part when the deviation value is greater than a preset threshold.
  • the upper computer can detect whether the deviation value is greater than a preset threshold. If the preset value is greater than the preset threshold, the upper computer can adjust the position of the treatment bed according to the deviation value, thereby realizing adjustment of the position of the affected part, thereby achieving pendulum to the patient. If the deviation value is not greater than the preset threshold, the upper computer can determine that the position of the affected part has met the requirement of the treatment accuracy, and no adjustment is needed.
  • the deviation value is the first offset between the film point in the reconstructed image and the imaging point of the IGRT system
  • the host computer adjusts the position of the treatment bed according to the deviation value
  • the film can be recorded.
  • the point is aligned with the imaged point.
  • the upper computer can also be based on the relative positional relationship between the imaging point and the beam focus during radiotherapy, and A relative positional relationship between the film point in the electronic image and the target of the affected part is calculated, and a second offset between the target point and the focus of the beam is calculated.
  • the upper computer then adjusts the position of the treatment bed according to the second offset, so that the target point can be aligned with the beam focus, so that radiation therapy can be started.
  • the embodiment of the present invention provides a positioning method, where the upper computer can receive the deviation value sent by the image guiding system, and the deviation value is obtained after the image guiding system acquires the reconstructed image of the gamma angle to be treated. Comparing the IGRT image under the gamma angle to be treated and the deviation value obtained by the reconstructed image, the host computer may adjust the position of the affected part according to the deviation value when the deviation value is greater than a preset threshold. Since the image referenced by the image guiding system when calculating the deviation value is the reconstructed image of the gamma angle to be treated reconstructed according to the electronic image, the accuracy of the positioning based on the deviation value determined by the reconstructed image is high, which can ensure The effect of radiation therapy. Moreover, since it is not necessary to obtain an electronic image of the affected part at different gamma angles, it is possible to avoid increasing the radiation dose received by the patient and minimize the influence of radiation on the patient's health.
  • FIG. 6 is a flowchart of still another method for positioning according to an embodiment of the present invention.
  • the method can be applied to the radiotherapy system shown in FIG. 1 , and the image guiding system 01 in the radiotherapy system is an IGRT system.
  • the method may include:
  • Step 301 When the upper computer obtains the gamma angle to be treated, the gamma angle to be treated is sent to the IGRT system.
  • the TPS can transmit the Extensible Markup Language (XML) file of the treatment plan to the upper computer, and can perform DICOM RT (a radiotherapy data).
  • XML Extensible Markup Language
  • the transfer standard) file is transferred to the IGRT system.
  • the XML file sent by the TPS to the host computer may include at least one gamma angle to be treated, and coordinates of the film point and the target point in the electronic image (for example, a CT image).
  • the treating physician fixes the patient to a certain gamma angle through a fixed structure (for example, the head fixing device 031 shown in FIG. 1)
  • the current gamma angle to be treated can be input to the upper computer.
  • the host computer obtains the gamma angle to be treated
  • the gamma angle to be treated can be sent to the IGRT system.
  • the treating physician can adjust the head restraint 031 shown in FIG. 1 such that the gamma angle is 70°.
  • the gamma angle to be treated can be input to the upper computer by 70°, and the upper computer can further send the gamma angle to be treated: 70° to the IGRT system.
  • the upper computer can also obtain the gamma angle to be treated by other means, for example, can be directly obtained from the treatment plan.
  • the upper computer can directly detect the current gamma angle to be treated after the therapeutic physician adjusts the gamma angle through the fixed structure.
  • the embodiment of the present invention does not limit the manner in which the upper computer obtains the gamma angle to be treated.
  • Step 302 The IGRT system acquires a reconstructed image of the gamma angle to be treated.
  • the DICOM RT file sent by the TPS system to the IGRT system may include at least one gamma angle to be treated, and an electronic image (for example, a CT image) obtained by scanning the affected part of the patient in advance.
  • the IGRT system After receiving the DICOM RT file sent by the TPS system, the IGRT system can reconstruct the reconstructed image of each of the at least one gamma angle according to the electronic image.
  • the electronic image sent by the TPS system may be a plurality of consecutive tomographic images obtained by scanning the affected part with the CT device, that is, the electronic image may be a set of image sequences.
  • Each tomographic image in the sequence of images is perpendicular to the horizontal axis of the treatment couch, the horizontal axis extending in a direction parallel to the direction of movement (i.e., the direction of advancement) of the couch as it moves closer to the treatment chamber. Since each tomographic image is a two-dimensional image, the plurality of consecutive tomographic images can be reconstructed into three-dimensional volume data of the affected part by computer processing.
  • the CT device may scan the affected part with a layer thickness of no more than 2 mm and no layer spacing.
  • the IGRT system may first determine a rotation axis according to a preset film point in the electronic image, and the rotation axis may be a specified coordinate axis of a coordinate system in which the film point is located, or a linear axis parallel to the specified coordinate axis.
  • a linear axis that passes through the film point and is parallel to a specified coordinate axis may be determined as a rotation axis in the coordinate system in which the film point is located.
  • the IGRT system can rotate the electronic image by a deflection angle with the rotation axis as an axis, thereby reconstructing the reconstructed image of the gamma angle.
  • the deflection angle is the deflection angle between the gamma angle and the initial gamma angle at which the electronic image is acquired.
  • the IGRT system can rotate the three-dimensional volume data corresponding to the plurality of tomographic images by the rotation axis as an axis, and project the rotated three-dimensional volume data into the IGRT system according to the installation parameters of the IGRT system. Virtually imaging the surface to obtain a reconstructed image of the gamma angle.
  • the film point in the electronic image is a preset point in the electronic image, and the position of the film point can be described by the coordinates of three coordinate axes in the three-dimensional coordinate system (for example, DICOM coordinate system) where the film point is located.
  • the virtual imaging surface is an imaging surface of the IGRT system that is virtually constructed in the coordinate system of the film point, and the virtual imaging surface is located in the three-dimensional coordinate system of the film point, and the imaging surface of the detector in the IGRT system is The position in the coordinate system (also called the device coordinate system) where the treatment bed is located is the same.
  • the IGRT system may include: multiple sets of image capturing components, each set of image capturing components may include oppositely disposed detectors and tubes. Since the installation parameters of each group of image acquisition components affect the virtual imaging plane when the IGRT system generates the DRR image, the IGRT system can also be based on the projection of the rotated 3D volume data to the virtual imaging surface of the IGRT system. The installation parameters of the image acquisition component determine the position of the virtual imaging surface of the IGRT system within the coordinate system in which the filming point is located.
  • the installation parameter may include: an angle between the rays of the two groups of image acquisition components, a distance between the detector and the tube in each group of image acquisition components, and a distance between the intersection of the rays and the detector.
  • the rays of each set of image acquisition components may be the lines between the detector and the bulb in the set of image acquisition components, and the imaging surface of the detector is perpendicular to the rays emitted by the bulb.
  • the rotation of the three-dimensional volume data may be determined according to the deflection direction of the initial gamma angle of the gamma angle with respect to the acquired electronic image.
  • the direction is to ensure that the rotation direction of the three-dimensional volume data in the image coordinate system (for example, the DICOM coordinate system) is consistent with the deflection direction of the gamma angle in the coordinate system of the treatment bed, and the deflection angle is also consistent.
  • the reconstructed image of the gamma angle to be treated may be retrieved from the reconstructed image of the at least one gamma angle reconstructed in advance.
  • the IGRT system can reconstruct the DRR of the 70° gamma angle according to the CT image after receiving the DICOM RT file sent by the TPS. Image, DRR image of 90° gamma angle, and DRR image of 110° gamma angle.
  • a DRR image of 70° gamma angle can be retrieved from the three DRR images reconstructed in advance.
  • the relative positional relationship between the preset film point A4 and the target point A3 in the CT image can be as shown in FIG. 7.
  • the gamma angle to be treated is 70°
  • the IGRT system can take the preset point A4 in the CT image as a center point, and take a line passing through the film point and parallel to the X axis in the DICOM coordinate system as an axis.
  • the three-dimensional volume data corresponding to the CT image is deflected by 20°, and the rotated three-dimensional volume data is projected onto the virtual imaging surface in the IGRT to obtain a DRR image having a gamma angle of 70°.
  • the coordinates of the target A3 in the DRR image are updated to A3".
  • Step 303 The upper computer adjusts the position of the treatment bed according to the preset fixed coordinates, and sends the affected part of the patient into the imaging area of the middle IGRT system.
  • the position of the imaging point of the IGRT system is a fixed position
  • the fixed coordinates determined according to the coordinates of the imaging point may be pre-stored in the upper computer, and when the treatment bed is located at the fixed coordinate, it can be guaranteed
  • the affected part of the patient (the part of the affected part including the photographing point in the DRR image) is located in the imaging area of the IGRT system.
  • Step 304 The host computer sends an image guiding instruction to the IGRT system.
  • the treating physician can trigger the upper computer to send an image guiding instruction to the IGRT system through a preset operation.
  • the upper computer may be provided with a touch display screen, and after the upper computer completes the position adjustment of the treatment bed, an icon for indicating an image guiding instruction may be displayed on the touch display screen, when the treating physician clicks the prompt When the icon is displayed, the host computer can send an image guiding instruction to the IGRT system for instructing the IGRT system to acquire the IGRT image.
  • Step 305 The IGRT system acquires an IGRT image of the affected part at the gamma angle to be treated.
  • the IGRT system After receiving the image guiding instruction sent by the upper computer, the IGRT system can acquire the IGRT image of the affected part at the gamma angle to be treated through the plurality of sets of image capturing components.
  • the IGRT system can acquire an IGRT image of the affected part at the 70° gamma angle.
  • Step 306 The IGRT system compares the reconstructed image and the IGRT image to obtain a deviation value of a position where the affected part is located.
  • the IGRT system can compare the acquired IGRT image with the reconstructed image of the gamma angle to be treated, and obtain the deviation value of the position of the affected part. For example, the IGRT system can calculate a first offset between the scene point in the reconstructed image and the imaged point of the IGRT system by comparing the reconstructed image with the IGRT image, and using the first offset as the location of the affected part. The deviation value.
  • the deviation value may include translation data and angle data, wherein the translation data may be three-dimensional translation data, that is, the translation data may include three sub-data, each sub-data may be used to indicate that the treatment bed is preset.
  • the offset along each coordinate axis; the angle data may also be three-dimensional angle data, that is, the angle data may also include three sub-data, each sub-data is used to indicate that the treatment bed is in the three-dimensional coordinate system. , the amount of rotation in each plane.
  • the translation data can then be used to indicate that the treatment bed is translated 2 mm in the positive direction of the X-axis in the three-dimensional coordinate system and is translated 1 mm in the negative direction of the Z-axis without moving in the Y-axis direction; the angle data can be used to indicate that the treatment bed is in Y
  • the axis and the Z axis are rotated 1° in the YZ plane and rotated 2° in the XZ plane defined by the X and Z axes without rotating in the XY plane.
  • the upper computer adjusts the position of the treatment bed and sends the affected part into the imaging area of the IGRT system, if the treating physician observes the reconstructed image and the first acquired IGRT image, the film point of the reconstructed image is determined.
  • the deviation value can also be manually input directly in the IGRT system, so that the IGRT system can transmit the deviation value of the manual input to the upper computer.
  • the angle data of the deviation value may be declared in the sent data, so that the upper computer can Adjust the order and adjust each angle in turn.
  • the IGRT system when the IGRT system includes multiple sets of image capturing components, since each image capturing component can collect an image of the affected part (ie, an X-ray image), the IGRT system acquires the image.
  • the IGRT image may include a plurality of affected part images collected by the plurality of sets of image capturing components.
  • the IGRT system can respectively determine a virtual imaging surface corresponding to the imaging surface of the detector in each set of image capturing components, and obtain multiple virtual imaging surfaces. Moreover, the IGRT system can respectively project the rotated three-dimensional volume data to each virtual imaging surface to obtain a reconstructed image corresponding to each virtual imaging surface, that is, obtain a reconstructed image corresponding to each group of image capturing components. .
  • the image of the affected part collected by each set of image capturing components and the reconstructed image corresponding to the set of image capturing components may be compared to obtain a set of deviation values.
  • multiple sets of deviation values can be obtained.
  • the IGRT system can perform a comprehensive analysis of the plurality of sets of deviation values and determine the final deviation value of the location of the affected part.
  • Step 307 The IGRT system sends the deviation value to the upper computer.
  • the IGRT system can transmit the deviation value including the translation data and the angle data to the upper computer.
  • Step 308 When the deviation value is greater than a preset threshold, the upper computer adjusts the position of the affected part according to the deviation value.
  • the upper computer may first detect whether the deviation value is greater than a preset threshold. If the preset value is greater than the preset threshold, the position of the treatment bed may be adjusted according to the deviation value to adjust the position of the affected part, thereby achieving The patient's position. If the deviation value is not greater than the preset threshold, the host computer can determine that the position of the affected part has met the requirements of the radiotherapy accuracy, and thus no further adjustment is needed.
  • the deviation value is a first offset between the film point in the reconstructed image and the imaging point of the IGRT system
  • the upper computer adjusts the position of the treatment bed according to the deviation value
  • the The shot point in the reconstructed image coincides with the imaged point of the IGRT system.
  • the treatment bed in the radiation therapy system may be a three-dimensional treatment bed (ie, the treatment bed can only move up and down, left and right translation, and back and forth translation), or may be a six-dimensional treatment.
  • the bed that is, the treatment bed can not only translate up and down, left and right translation, but also translate back and forth, and can also rotate up and down, left and right rotation, and rotate back and forth. Therefore, when the upper computer adjusts the position of the treatment bed according to the deviation value, the translation can be based on the deviation.
  • Data is translated into the treatment bed; if the treatment bed is a six-dimensional treatment bed, the treatment bed can be rotated according to the angle data in the deviation value; if the treatment bed is a three-dimensional treatment bed, the angle data in the deviation value can be Convert to panning data and translate the couch based on the converted panning data.
  • the conversion of the angle data into the translation data can be implemented according to the sine and cosine theorem of the triangle, which is not described in detail in the embodiment of the present invention.
  • the treatment bed is a three-dimensional treatment bed
  • the upper computer can control the treatment bed to translate 2mm in the positive direction of the X axis and translate 1mm in the negative direction of the Z axis.
  • the upper computer can also convert the angle data into translation data, and then translate the treatment bed according to the converted angle data.
  • the upper position machine can adjust the position of the affected part to meet the requirements of the treatment precision by one adjustment, the IGRT system and the upper computer can perform more positions on the treatment bed. Adjustments.
  • the image guiding instruction may be sent to the IGRT system again, and the IGRT system may perform the method shown in the foregoing steps 305 to 307 again according to the received image guiding instruction. So that the upper computer can update the last received deviation value according to the received deviation value each time, and re-adjust the position of the treatment bed according to the latest received deviation value.
  • step 309 can be performed.
  • the upper position machine adjusts the position of the treatment bed so that the position of the affected part meets the requirements (for example, the filming point of the DRR image coincides with the imaging point of the IGRT system), the current coordinates of the treatment bed can also be acquired. And storing the correspondence between the target of the affected part and the coordinates of the treatment bed under the gamma angle to be treated. If, in the same treatment plan, the upper computer detects the gamma angle to be treated again, the upper computer can directly adjust the coordinates corresponding to the target point according to the gamma angle to be treated when performing the above step 303.
  • the treatment bed is positioned to feed the affected part of the patient into the imaging area of the IGRT system. Since the coordinates have been verified by the IGRT system during the last treatment, the efficiency in the subsequent re-adjustment can be effectively improved, that is, the number of repetitions required in the above steps 304 to 308 can be effectively reduced.
  • the upper computer can record the treatment to be treated.
  • the coordinates of the corresponding treatment bed are (x1, y1, z1).
  • the host computer detects that the gamma angle to be treated is 70° in the same treatment plan, the position of the treatment bed can be adjusted directly according to the coordinates (x1, y1, z1).
  • the upper computer can also detect the translation data and the angle data in the received deviation value before adjusting the position of the treatment bed.
  • the host computer detects that any sub-data in the angle data is greater than a preset angle threshold (for example, 3°), or detects that any sub-data in the translation data is greater than a preset translation threshold, the host computer may display an alarm prompt message. .
  • the warning message may indicate that the treatment physician has a large offset of the current treatment bed, and the patient needs to be placed again.
  • Step 309 When the deviation value is less than the preset deviation threshold, the upper computer controls the treatment bed and the collision detecting device to perform collision simulation detection.
  • the upper computer can also control the treatment bed and the collision detecting device to perform collision simulation detection.
  • the treating physician can first insert the collision detecting device (for example, the anti-collision detecting rocker), and then the upper computer can move the treatment bed so that the target of the affected part is in focus with the virtual beam in the collision detecting device.
  • the treating physician (or the upper computer) can then control the collision detecting device to move according to a predetermined trajectory (for example, can be rotated around the treatment bed) to detect whether the collision detecting device collides with the patient (or the accessory to which the head fixing device belongs).
  • Step 310 When the result of detecting the collision simulation detection is that the detection passes, the radiation therapy operation is started.
  • Step 311 When the result of detecting the collision simulation detection is that the detection fails, the radiotherapy operation is suspended.
  • the treating physician can determine whether the result of the collision simulation detection can be received according to the number of collisions, and the treating physician can indicate the result of the collision simulation detection to the upper computer by a preset operation, The result can be a pass or a test failure. If the host computer detects that the result is a test pass, the radiation therapy can be continued, that is, step 312 is continued. If the result of the collision simulation test is detected as the detection fails, the treatment procedure can be aborted to reposition the patient or re-examine the treatment plan.
  • an icon for indicating the passing of the detection may be displayed on the touch display screen of the upper computer, and an icon for indicating that the detection fails, and the treating physician may indicate the upper position by clicking any one of the icons. The result of this collision simulation test.
  • each treatment plan it may be necessary to treat the patient at multiple gamma angles, so for each gamma to be treated, when the gamma angle to be treated is included in the treatment plan,
  • the angle, the IGRT system and the host computer can perform the methods shown in the above steps 301 to 311 to complete the position verification and collision detection for each gamma angle to be treated.
  • the upper machine is anti-collision at the completion of the 70° gamma angle.
  • the treating physician can adjust the gamma angle to be treated to 90°, the operator exits the treatment room and closes the treatment room protection door, and then can perform the 90° gamma angle by the method shown in the above steps 301 to 311. Placement verification and collision detection.
  • the treating physician can adjust the gamma angle to be treated to 110°, the operator exits the treatment room and closes the treatment room protection door, and then can pass the above step 301.
  • the method shown in step 311 performs position verification and collision detection at a 110° gamma angle.
  • Step 312 The host computer calculates a second offset between the target point and the beam focus.
  • the host computer can also determine the relative positional relationship between the filming point of the electronic image and the target point of the affected part according to the file transmitted by the TPS, so the host computer can calculate the target point of the affected part according to the above two relative positional relationships. A second offset from the focus of the beam.
  • the second offset may include translation data and angle data
  • the translation data may include three sub-data, each of which may be used to indicate that the treatment bed is in a preset three-dimensional coordinate system along each coordinate axis.
  • the offset data; the angle data may also include three sub-data, each sub-data used to indicate the amount of rotation of the treatment couch in each plane in the three-dimensional coordinate system.
  • the second offset may also be calculated by the IGRT system.
  • the host computer adjusts the location of the treatment bed by adjusting the position of the treatment bed and the IGRT system.
  • a calculation command can be sent to the IGRT system, and after receiving the calculation instruction, the IGRT system can according to the relative positional relationship between the imaging point of the IGRT system and the beam focus, and the electrons.
  • the relative positional relationship between the film spot in the image and the target of the affected part is calculated, and a second offset between the target point of the affected part and the focus of the beam is calculated, and the second offset is sent to the upper computer.
  • Step 313 The host computer adjusts the position of the treatment bed according to the second offset, so that the target point is in focus with the beam.
  • the second offset may include the translation data and the angle data
  • the translation when the upper computer adjusts the position of the treatment bed according to the second offset, the translation may be according to the second offset.
  • the data is translated into the treatment bed; if the treatment bed is a six-dimensional treatment bed, the upper computer can rotate the treatment bed according to the angle data in the second offset; if the treatment bed is a three-dimensional treatment bed, the upper computer can The angle data in the second offset is converted to translation data, and then the treatment bed is translated according to the converted translation data, ultimately aligning the target with the beam focus. Radiation therapy can then begin.
  • the IGRT system and the host computer perform the above steps 301 to 311 in a loop to complete the position verification and collision detection of all the gamma angles to be treated, and if the treatment plan is not withdrawn, Then, the treatment operation under the current gamma angle can be directly started, that is, step 312 and step 313 are directly performed.
  • the treating physician may choose to perform the position verification again, that is, control the IGRT system and the upper computer to perform the methods shown in the above steps 304 to 308 again to correct the position of the treatment bed again, and then perform the position verification. Treatment operation.
  • the upper computer can receive the same again.
  • the treatment plan according to the detected gamma angle to be treated, the pre-stored coordinates corresponding to the gamma angle to be treated are acquired, and the position of the treatment bed is adjusted according to the coordinates, and then the above steps 304 to steps are sequentially performed.
  • the method shown in 308 completes the placement verification of the patient.
  • the radiation therapy system can then begin the treatment operation.
  • the upper computer may first adjust the position of the treatment bed according to the translation data in the deviation value.
  • the angle data in the deviation value is not processed.
  • the upper computer can retrieve the latest stored deviation value (ie, the last deviation value sent by the IGRT system) before starting the treatment, and convert the angle data in the deviation value into translation data, and then according to the converted translation data. Adjust the position of the treatment bed. Thereafter, the host computer can adjust the position of the treatment bed again by the method shown in the above steps 312 and 313, so that the target point is in focus with the beam, and then the treatment operation can be started.
  • the following cyclic operation can be performed: the treating physician can open the protective door and adjust the gamma angle to be treated; the upper computer detects After the adjusted gamma angle, the pre-stored coordinates corresponding to the adjusted gamma angle are acquired, and the position of the treatment bed is adjusted according to the coordinates, and then the methods shown in the above steps 304 to 308 are sequentially performed to complete Verification of the patient's position. Thereafter, the host computer can perform the methods shown in the above steps 312 and 313 again to align the target with the beam focus. Finally, the radiation therapy system can begin the treatment operation at the gamma angle.
  • the radiation therapy system can repeat the above-described cycling operations in sequence until the target treatment for all gamma angles to be treated is completed.
  • the radiation therapy system can cycle through the above-described cycling operations until all target treatments under the gamma angle of all treatments (single or fractional treatment) are completed.
  • step 303 can be performed simultaneously with step 302; steps 309 to 311 can be deleted according to the situation, and step 312 can also be performed by the IGRT system. Any method that can be easily conceived within the scope of the present invention within the technical scope of the present invention is well within the scope of the present invention, and therefore will not be described again.
  • the embodiment of the present invention provides a positioning method, where the upper computer can receive the deviation value sent by the image guiding system, and the deviation value is obtained after the image guiding system acquires the reconstructed image of the gamma angle to be treated. Comparing the IGRT image under the gamma angle to be treated and the deviation value obtained by the reconstructed image, the host computer may adjust the position of the affected part according to the deviation value when the deviation value is greater than a preset threshold. Since the image referenced by the image guiding system when calculating the deviation value is the reconstructed image of the gamma angle to be treated reconstructed according to the electronic image, the accuracy of the positioning based on the deviation value determined by the reconstructed image is high, which can ensure The effect of radiation therapy. Moreover, since it is not necessary to obtain an electronic image of the affected part at different gamma angles, it is possible to avoid increasing the radiation dose received by the patient and minimize the influence of radiation on the patient's health.
  • FIG. 9 is a schematic structural diagram of an image guidance system according to an embodiment of the present invention.
  • the image guidance system can be applied to the radiation therapy system shown in FIG. 1.
  • the image guidance system can include:
  • the first obtaining module 401 is configured to acquire a gamma angle to be treated.
  • the second obtaining module 402 is configured to acquire a reconstructed image of the gamma angle to be treated, where the reconstructed image is an image reconstructed according to an electronic image of the affected part acquired in advance.
  • the third obtaining module 403 is configured to acquire an IGRT image of the affected part at the gamma angle to be treated, where the IGRT image is an image generated by the image guiding system.
  • the third obtaining module 403 can include multiple sets of image capturing components.
  • the fourth obtaining module 404 is configured to compare the reconstructed image and the IGRT image, obtain a deviation value of the position of the affected part, and issue the same, so as to adjust the position of the affected part according to the deviation value when the deviation value is greater than a preset threshold.
  • the first obtaining module 401 can be used to:
  • a gamma angle to be treated is determined from the at least one gamma angle.
  • the image guiding system may further include:
  • the fifth obtaining module 405 is configured to acquire an electronic image of the affected part before acquiring the reconstructed image of the gamma angle to be treated.
  • the reconstruction module 406 is configured to reconstruct, according to the electronic image of the affected part, a reconstructed image of each of the at least one gamma angle.
  • the second obtaining module 402 can be used to:
  • a reconstructed image of the gamma angle to be treated is acquired.
  • the reconstruction module 406 can be configured to:
  • a rotation axis is determined according to a preset film point in the electronic image, and the rotation axis is a specified coordinate axis of a coordinate system in which the film point is located, or a linear axis parallel to the specified coordinate axis.
  • the electronic image is rotated by an angle of rotation with the axis of rotation as an axis to obtain a reconstructed image of the gamma angle, which is a deflection angle between the gamma angle and an initial gamma angle when the electronic image is acquired.
  • the fourth obtaining module 404 can be used to:
  • the first offset is sent to the upper computer as the deviation value of the position where the affected part is located.
  • the image guiding system may further include:
  • the calculation module 407 is configured to calculate the relative positional relationship between the imaging point of the image guiding system and the beam focus of the radiation source, and the relative positional relationship between the filming point in the electronic image and the target point of the affected part, and calculate the radiation source A second offset between the focus of the beam and the target of the affected part.
  • the sending module 408 is configured to send the second offset to the upper computer, so that the upper computer adjusts the position of the treatment bed according to the second offset, so that the beam focus is aligned with the target.
  • the embodiment of the present invention provides an image guiding system, and after acquiring the gamma angle to be treated, the image guiding system can acquire a reconstructed image of the gamma angle to be treated, and the gamma to be treated
  • the reconstructed image of the angle is an image reconstructed in advance by the image guiding system according to the electronic image of the affected part; then the image guiding system can determine the deviation value of the position of the affected part by comparing the IGRT image under the gamma angle to be treated and the reconstructed image. Is issued, so that when the deviation value is greater than the preset threshold, the position of the affected part can be adjusted according to the deviation value to achieve the position of the patient.
  • the image referenced by the image guiding system when calculating the deviation value is the reconstructed image of the gamma angle to be treated reconstructed according to the electronic image, the accuracy of the positioning based on the deviation value determined by the reconstructed image is high, which can ensure The effect of radiation therapy. Moreover, since it is not necessary to obtain an electronic image of the affected part at different gamma angles, it is possible to avoid increasing the dose of radiation received by the patient and reducing the influence of radiation on the health of the patient.
  • FIG. 11 is a schematic structural diagram of a host computer according to an embodiment of the present invention.
  • the host computer can be applied to the radiotherapy system shown in FIG. 1.
  • the host computer can include:
  • the receiving module 501 is configured to receive a deviation value of a position where the affected part is sent by the image guiding system, where the deviation value is a reconstructed image of the gamma angle to be treated by the image guiding system, and the affected part is in the gamma to be treated After the IGRT image under the corner, the reconstructed image is obtained by comparing the reconstructed image with the IGRT image, and the reconstructed image is an image reconstructed according to the electronic image of the affected part acquired in advance.
  • the adjusting module 502 is configured to adjust the position of the affected part according to the deviation value when the deviation value is greater than a preset threshold.
  • the offset value may be a first offset between the image point in the reconstructed image and the imaged point of the image guiding system.
  • the host computer may further include:
  • the calculating module 503 is configured to: according to the relative position relationship between the imaging point of the image guiding system and the beam focus of the radiation source, and the film spot in the electronic image after receiving the deviation value of the position of the affected part transmitted by the image guiding system A second offset between the focus of the beam of the radiation source and the target of the affected part is calculated in relation to the relative position of the target of the affected part.
  • the adjusting module 502 is further configured to adjust the position of the treatment bed according to the second offset such that the beam focus is aligned with the target point.
  • the host computer may further include:
  • the control module 504 is configured to control the treatment bed and the collision detecting device to perform collision simulation detection after adjusting the position of the affected part according to the deviation value; and when the result of detecting the collision simulation detection is to pass the detection, start the radiation therapy operation; The result of detecting the collision simulation test is to stop the radiation therapy operation when the detection fails.
  • the deviation value includes translation data and angle data
  • the adjustment module 502 can be used to:
  • the treatment bed is rotated according to the angle data, or the angle data is converted into translation data, and the treatment bed is translated according to the converted translation data.
  • the host computer may further include:
  • the obtaining module 505 is configured to acquire coordinates of the treatment bed after adjusting the position of the affected part.
  • the storage module 506 is configured to store a correspondence between a target point of the affected part and a coordinate of the treatment bed under the gamma angle to be treated.
  • the adjusting module 502 is further configured to: when the gamma angle to be treated is detected again in the same treatment plan, adjust the position of the treatment bed according to the coordinate corresponding to the gamma angle to be treated. .
  • the embodiment of the present invention provides a host computer, which can receive a deviation value sent by an image guiding system, and the deviation value is obtained after the image guiding system acquires the reconstructed image of the gamma angle to be treated. Comparing the IGRT image under the gamma angle to be treated and the deviation value obtained by the reconstructed image, the host computer may adjust the position of the affected part according to the deviation value when the deviation value is greater than a preset threshold. Since the image referenced by the image guiding system when calculating the deviation value is the reconstructed image of the gamma angle to be treated reconstructed according to the electronic image, the accuracy of the positioning based on the deviation value determined by the reconstructed image is high, which can ensure The effect of radiation therapy. Moreover, since it is not necessary to obtain an electronic image of the affected part at different gamma angles, it is possible to avoid increasing the radiation dose received by the patient and minimize the influence of radiation on the patient's health.
  • An embodiment of the present invention further provides an image guidance system, which may include a processor and a memory for storing instructions executed by a processor, and the processor may be used to implement the pendulum shown in FIG.
  • the embodiment of the present invention further provides a host computer, where the host computer may include: a processor and a memory, where the memory is used to store instructions executed by the processor, and the processor may be used to implement the positioning method shown in FIG. , or the step performed by the host computer in the positioning method shown in FIG. 6.
  • the embodiment of the present invention further provides a radiotherapy system.
  • the system may include: a host computer 02 and an image guiding system 01, and the host computer 02 establishes a communication connection with the image guiding system 01.
  • the image guiding system 01 may be a system as shown in FIG. 9 or FIG. 10, and the upper computer may be a host computer as shown in FIG. 11 or 12.

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Abstract

本发明实施例提供了一种摆位方法、装置及放射治疗系统，涉及放疗技术领域，所述方法包括：图像引导系统获取待治疗的伽玛角的DRR图像，并对比该待治疗的伽玛角下的IGRT图像以及DRR图像，计算得到DRR图像中的拍片点与图像引导系统的成像点之间的第一偏移量，使得上位机可以根据该第一偏移量调整治疗床的位置，将拍片点与成像点对准。由于图像引导系统在计算第一偏移量时所参考的图像是根据CT图像重建的该待治疗的伽玛角的DRR图像，根据该DRR图像进行摆位时的精度较高，能保证放射治疗的效果。并且由于无需获取患部在不同伽玛角下的CT图像，因此可以避免增加患者所接收到的辐射剂量。

Description

摆位方法、装置及放射治疗系统 技术领域
本发明涉及放疗技术领域，特别涉及一种摆位方法、装置及放射治疗系统。
背景技术
在放射治疗前，一般采用图像引导放射治疗(image guide radiation therapy，IGRT)系统对患者进行摆位。摆位时可以通过对比IGRT系统获取到的IGRT图像以及预先获取的患部的电子计算机断层扫描(Computed Tomography，CT)图像，确定IGRT系统的成像点与该CT图像中预设拍片点之间的位置关系。然后可以通过调整治疗床的位置，将该成像点与拍片点对准，即可完成对患者的摆位。在放射治疗时，可以根据成像点与放射源的射束焦点的相对位置关系，以及CT图像中预设拍片点与靶点之间的相对位置关系，确定该射束焦点与患部的靶点之间的相对位置关系，最后可以根据该射束焦点与靶点之间的相对位置关系调整治疗床的位置，以使得患部的靶点与射束焦点对准，以便进行放射治疗。
在放射治疗时，为了避免治疗射束对患部之外的敏感组织或器官(例如眼睛)造成影响，一般会通过调整放射治疗系统的伽玛角，来调整患者的体位，使得治疗射束可以避开敏感部位。其中，伽玛角可以是指用于支撑患者且位于患者底部的固定结构的支撑面与竖直面的夹角。
但是，由于患者在拍摄CT图像时，一般是平躺拍摄的，即伽玛角是固定的。若在放射治疗的过程中需要调整伽玛角，则IGRT系统根据该CT图像进行摆位时的准确性将会大大较低，严重影响放射治疗的效果。
发明内容
本申请提供了一种摆位方法、装置及放射治疗系统，可以解决相关技术中的摆位方法的准确性较低的问题。技术方案如下：
第一方面，提供了一种摆位方法，应用于图像引导系统，所述方法包括：
获取待治疗的伽玛角；
获取所述待治疗的伽玛角的重建图像，所述重建图像为根据预先获取的患部的电子图像重建的图像；
获取患部在所述待治疗的伽玛角下的IGRT图像，所述IGRT图像为所述图像引导系统生成的图像；
对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，以便在所述偏差值大于预设阈值时根据所述偏差值调整所述患部的位置。
可选的，所述获取待治疗的伽玛角，包括：
获取治疗计划，所述治疗计划中包括至少一个伽玛角；
从所述至少一个伽玛角中确定待治疗的伽玛角。
可选的，在所述获取所述待治疗的伽玛角的重建图像之前，所述方法还包括：
获取患部的电子图像；
根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像；
所述获取所述待治疗的伽玛角的重建图像，包括：
从所述至少一个伽玛角的重建图像中，获取所述待治疗的伽玛角的重建图像。
可选的，所述根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像，包括：
根据所述电子图像中预设的拍片点确定旋转轴，所述旋转轴为所述拍片点所在坐标系的指定坐标轴，或者与所述指定坐标轴平行的直线轴；
以所述旋转轴为轴线将所述电子图像旋转偏转角度，得到所述伽玛角的重建图像，所述偏转角度为所述伽玛角与采集所述电子图像时的初始伽玛角之间的偏转角。
可选的，所述对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，包括：
对比所述重建图像和所述IGRT图像，计算所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
将所述第一偏移量作为所述患部所处位置的偏差值发送至上位机。
可选的，所述方法还包括：
根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
将所述第二偏移量发送至所述上位机，以便所述上位机根据所述第二偏移量调整治疗床的位置，使得所述射束焦点与所述靶点对准。
第二方面，提供了另一种摆位方法，应用于放射治疗系统中的上位机，所述方法包括：
接收图像引导系统发送的患部所处位置的偏差值，所述偏差值为所述图像引导系统获取到待治疗的伽玛角的重建图像，以及所述患部在所述待治疗的伽玛角下的IGRT图像之后，通过对比所述重建图像和所述IGRT图像得到的，所述重建图像为根据预先获取的所述患部的电子图像重建的图像；
在所述偏差值大于预设阈值时，根据所述偏差值调整所述患部的位置。
可选的，所述偏差值为所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
在所述接收图像引导系统发送的患部所处位置的偏差值之后，所述方法还包括：
根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
根据所述第二偏移量调整所述治疗床的位置，使得所述射束焦点与所述靶点对准。
可选的，在所述调整所述患部的位置之后，所述方法还包括：
控制治疗床和碰撞检测装置进行碰撞模拟检测；
当检测到所述碰撞模拟检测的结果为检测通过时，启动放射治疗操作；
当检测到所述碰撞模拟检测的结果为检测未通过时，中止放射治疗操作。
可选的，所述偏差值包括平移数据和角度数据，所述调整所述患部的位置，包括：
根据所述平移数据平移治疗床；
根据所述角度数据旋转所述治疗床，或者，将所述角度数据转换为平移数据，并根据转换后的平移数据平移所述治疗床。
可选的，在所述调整所述患部的位置之后，所述方法还包括：
获取所述治疗床的坐标；
存储所述待治疗的伽玛角下，所述患部的靶点与所述治疗床的坐标的对应关系；
当在同一治疗计划中，再次检测到所述待治疗的伽玛角时，根据所述待治疗的伽玛角对应的坐标，调整所述治疗床的位置。
第三方面，提供了一种图像引导系统，所述图像引导系统包括：处理器和存储器，所述存储器用于存储由所述处理器执行的指令，所述处理器，用于：
获取待治疗的伽玛角；
获取所述待治疗的伽玛角的重建图像，所述重建图像为根据预先获取的患部的电子图像重建的图像；
获取患部在所述待治疗的伽玛角下的IGRT图像，所述IGRT图像为图像引导系统生成的图像；
对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，以便在所述偏差值大于预设阈值时根据所述偏差值调整所述患部的位置。
可选的，所述处理器获取待治疗的伽玛角，包括：
获取治疗计划，所述治疗计划中包括至少一个伽玛角；
从所述至少一个伽玛角中确定待治疗的伽玛角。
可选的，所述处理器还用于：
在获取所述待治疗的伽玛角的重建图像之前，获取患部的电子图像；
根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像；
所述处理器获取所述待治疗的伽玛角的重建图像，包括：
从所述至少一个伽玛角的重建图像中，获取所述待治疗的伽玛角的重建图像。
可选的，所述处理器根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像，包括：
根据所述电子图像中预设的拍片点确定旋转轴，所述旋转轴为所述拍片点所在坐标系的指定坐标轴，或者与所述指定坐标轴平行的直线轴；
以所述旋转轴为轴线将所述电子图像旋转偏转角度，得到所述伽玛角的重 建图像，所述偏转角度为所述伽玛角与采集所述电子图像时的初始伽玛角之间的偏转角。
可选的，所述处理器对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，包括：
对比所述重建图像和所述IGRT图像，计算所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
将所述第一偏移量作为所述患部所处位置的偏差值发送至上位机。
可选的，所述处理器还用于：
根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
将所述第二偏移量发送至所述上位机，以便所述上位机根据所述第二偏移量调整治疗床的位置，使得所述射束焦点与所述靶点对准。
第四方面，提供了一种上位机，应用于放射治疗系统中，所述上位机包括：处理器和存储器，所述存储器用于存储由所述处理器执行的指令，所述处理器，用于：
接收图像引导系统发送的患部所处位置的偏差值，所述偏差值为所述图像引导系统获取到待治疗的伽玛角的重建图像，以及所述患部在所述待治疗的伽玛角下的IGRT图像之后，通过对比所述重建图像和所述IGRT图像得到的，所述重建图像为根据预先获取的所述患部的电子图像重建的图像；
在所述偏差值大于预设阈值时，根据所述偏差值调整所述患部的位置。
可选的，所述偏差值为所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
所述处理器还用于：
在接收图像引导系统发送的患部所处位置的偏差值之后，根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
根据所述第二偏移量调整所述治疗床的位置，使得所述射束焦点与所述靶点对准。
可选的，所述处理器还用于：
在调整所述患部的位置之后，控制治疗床和碰撞检测装置进行碰撞模拟检测；
当检测到所述碰撞模拟检测的结果为检测通过时，启动放射治疗操作；
当检测到所述碰撞模拟检测的结果为检测未通过时，中止放射治疗操作。
可选的，所述偏差值包括平移数据和角度数据，所述处理器调整所述患部的位置，包括：
根据所述平移数据平移治疗床；
根据所述角度数据旋转所述治疗床，或者，将所述角度数据转换为平移数据，并根据转换后的平移数据平移所述治疗床。
可选的，所述处理器还用于：
在调整所述患部的位置之后，获取所述治疗床的坐标；
存储所述待治疗的伽玛角下，所述患部的靶点与所述治疗床的坐标的对应关系；
当在同一治疗计划中，再次检测到所述待治疗的伽玛角时，根据所述待治疗的伽玛角对应的坐标，调整所述治疗床的位置。
第五方面，提供了一种放射治疗系统，所述系统包括：如第四方面所述的上位机以及如第三方面所述的图像引导系统，所述上位机与所述图像引导系统建立有通信连接。
第六方面，提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当所述计算机可读存储介质在计算机上运行时，使得计算机执行第一方面所述的摆位方法，或者执行第二方面所述的摆位方法。
综上所述，本发明实施例提供了一种摆位方法、装置及放射治疗系统，图像引导系统在获取到待治疗的伽玛角后，可以获取该待治疗的伽玛角的重建图像，该待治疗的伽玛角的重建图像为根据患部的电子图像重建的图像；之后图像引导系统可以通过对比该待治疗的伽玛角下的IGRT图像以及该重建图像，获取患部所处位置的偏差值并发出，使得调整设备可以在该偏差值大于预设阈值时，根据该偏差值调整患部的位置，以实现对患者的摆位。由于图像引导系统在获取偏差值时所参考的图像是根据电子图像重建的该待治疗的伽玛角的重建图像，基于该重建图像确定的偏差值进行摆位时的精度较高，能够保证放射治疗的效果。并且由于无需获取患部在不同伽玛角下的电子图像，因此可以避免增加患者所接收到的辐射剂量，尽量降低辐射对患者身体健康的影响。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
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射治疗系统的结构示意图；
图2是本发明实施例提供的一种放射治疗过程中靶点与治疗射束的位置关系示意图；
图3是本发明实施例提供的另一种放射治疗过程中靶点与治疗射束的位置关系示意图；
图4是本发明实施例提供的一种摆位方法的流程图；
图5是本发明实施例提供的另一种摆位方法的流程图；
图6是本发明实施例提供的又一种摆位方法的流程图；
图7是本发明实施例提供的一种CT图像中预设的拍片点与靶点的相对位置关系示意图；
图8是本发明实施例提供的一种DRR图像中的靶点与实际靶点的相对位置关系示意图；
图9是本发明实施例提供的一种图像引导系统的结构示意图；
图10是本发明实施例提供的另一种图像引导系统的结构示意图；
图11是本发明实施例提供的一种上位机的结构示意图；
图12是本发明实施例提供的另一种上位机的结构示意图。
通过上述附图，已示出本发明明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本发明构思的范围，而是通过参考特定实施例为本领域技术人员说明本发明的概念。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明 实施方式作进一步地详细描述。
图1是本发明实施例提供的一种放射治疗系统的结构示意图，如图1所示，该放射治疗系统可以包括图像引导系统01、上位机02、治疗床03以及治疗机架04。该上位机02分别与图像引导系统01以及治疗床03建立有通信连接。其中，该上位机02也可以为治疗控制系统中的控制设备，该治疗控制系统可以为放疗记录验证系统(record verify system，RVS)，该图像引导系统01可以为IGRT系统。
其中，该治疗机架04中设置有多个放射源041，该多个放射源041发出的治疗射束可以相交于一点，该点即为射束焦点(也可以称为治疗点)A1。该图像引导系统01可以包括多组影像采集组件，每组影像采集组件可以包括相对设置的探测器011和球管012，该球管012可以发出射线(例如X射线)，该探测器011可以为平板探测器，该探测器011可以接收球管012发出的射线。该图像系统01可以根据各个探测器011接收到的射线生成IGRT图像。该IGRT系统中的多组影像采集组件中的球管012发射的射线可以相交于一点，该点即为IGRT系统的成像点A2。本申请中，以图像引导系统01为IGRT系统，且IGRT系统包括两组影像采集组件为例进行说明。其中，两组影像采集组件的球管012发射的射线可以相交于成像点A2。
采用IGRT系统进行摆位的流程如下：
步骤S1，采用定位装置将患者固定在治疗床上，对患者进行CT扫描，获取患者的CT图像。
步骤S2、治疗医师根据CT图像中显示的患部肿瘤的大小、形状、周围组织等，制定针对患部的治疗计划，并将治疗计划输入到上位机02，同时将IGRT系统所需的CT图像及其他信息通过例如DICOM RT(一种放射治疗数据的传输标准)文件形式传输到IGRT系统中。
步骤S3、上位机调取并确认患者的治疗计划，同时IGRT系统也加载该患者的IGRT计划信息。
步骤S4、患者进入放疗室，治疗医师通过固定装置将患者固定在治疗床上，开始对患者进行摆位。示例的，固定装置可以是头框、牙托或面膜。
其中，通过IGRT系统进行摆位的过程具体可以包括：
S41、上位机02通过调整治疗床03的位置，将患者的患部移动至IGRT系统01的成像区域，获取IGRT图像。
S42、IGRT系统01对比IGRT图像和CT图像，确定CT图像中的预设拍片点与IGRT系统01的成像点A2的相对位置关系，并将该相对位置关系发送至上位机02。
其中，CT图像中的预设拍片点可以是CT图像中预先确定的一个固定点。
S43、上位机02通过调整治疗床03的位置，使得CT图像的预设拍片点与IGRT系统01的成像点A2重合。
S44、上位机02根据射束焦点A1与IGRT系统的成像点A2的相对位置关系，以及CT中的预设拍片点与靶点A3的相对位置关系，确定靶点A3与射束焦点A1之间的偏移量，并依据该偏移量调整治疗床03的位置，使得靶点A3与射束焦点A1对准，以实现对患者的摆位。
但是，在上述步骤S1中对患者做CT定位扫描时，患者一般是平躺在治疗床03上的，但在实际治疗过程中，若患者平躺在治疗床03上，如图2所示，治疗射束有可能会穿过患者的敏感组织或器官，比如眼睛才能照射到靶点A3。因此，如图3所示，治疗医师会通过头部固定装置031等固定结构等来调整患者的体位，以使得治疗射束避开敏感组织或器官，并且该固定结构可以绕固定的旋转轴在竖直平面(即与水平面垂直的平面)内旋转，该固定旋转轴的轴线平行于水平面，且垂直于治疗床的长度方向Z。其中，该固定结构中用于支撑患者的支撑部的支撑面n(或者与该支撑面n平行且经过该旋转轴的平面)，与竖直平面m的夹角α即可以称为放射治疗系统的伽玛角。
示例的，若在上述步骤S1中，CT图像是在患者处于平躺状态下(即伽玛角α为90°)扫描得到的。而在实际治疗过程中，如图3所示，治疗医师选择以70°的伽玛角进行治疗，则在利用IGRT系统进行摆位时，需要通过调整头部固定装置031使得患者处于70°的伽玛角，然后采集IGRT图像。此时，如果IGRT系统01直接通过对比该CT图像与IGRT图像，因为患者体位偏转角度的不同，因此无法得到偏移量，从而无法实现精确治疗。
由于患者在拍摄CT图像之前，治疗医师无法确定实际治疗过程中所采用的伽玛角，因此如果预先采用多个伽玛角度拍摄CT图像，例如分别拍摄伽玛角为70°、90°和110°的CT图像，然后在实际治疗过程中，IGRT选择对应的伽玛角的CT图像进行摆位，则可以保证计算得到的偏移量的误差。但这样会显著增加患者接收到的辐射剂量，不利于患者的身体健康，并且会额外增加患者的治疗费用。
图4是本发明实施例提供的一种摆位方法的流程图，该方法可以应用于图1所示的图像引导系统01中，例如可以应用于IGRT系统中，参考图4，该方法可以包括：
步骤101、获取待治疗的伽玛角。
在本发明实施例一种可选的实现方式中，图像引导系统可以预先获取到治疗计划，该治疗计划中可以包括至少一个伽玛角，图像引导系统可以从该至少一个伽玛角中确定当前待治疗的伽玛角。例如，当放射治疗系统完成对某个伽玛角的摆位和治疗后，该图像引导系统即可将该治疗计划中的下一个伽玛角确定为当前待治疗的伽玛角。
在本发明实施例另一种可选的实现方式中，该图像引导系统也可以直接接收上位机所发送的待治疗的伽玛角。例如，当治疗医师通过固定结构将患者固定在某个伽玛角时，治疗医师可以向上位机输入当前待治疗的伽玛角；或者上位机也可以根据预先获取到的治疗计划，确定当前待治疗的伽玛角。上位机确定当前待治疗的伽玛角之后，即可将该待治疗的伽玛角发送至图像引导系统。
步骤102、获取该待治疗的伽玛角的重建图像。
该重建图像可以为根据预先获取的患部的电子图像(例如CT图像或者核磁共振图像等)重建的图像。并且，该重建图像可以是图像引导系统根据电子图像所重建的图像，也可以是电子图像生成设备(例如CT设备)根据该电子图像所重建的图像，或者还可以为其他图像处理系统根据电子图像生成的重建图像，本发明实施例对生成该重建图像的设备不做限定。
可选的，该重建图像可以为数字重建放射影像DRR(Digitally Reconstructured Radiograph，DRR)图像，该DRR图像可以为IGRT系统在获取到患部的CT图像之后，根据该CT图像重建的图像。
示例的，在本发明实施例中，该IGRT系统在获取到患部的CT图像之后，可以根据该CT图像重建多个伽玛角的DRR图像。待获取到当前待治疗的伽玛角后，IGRT系统可以从该多个DRR图像中调取该待治疗的伽玛角的DRR图像。例如，IGRT系统可以根据CT图像重建60°、70°、80°、90°、100°以及110°的DRR图像。若当前待治疗的伽玛角为70°，则IGRT系统可以调取70°伽玛角的DRR图像。
步骤103、获取患部在该待治疗的伽玛角下的IGRT图像。
进一步的，上位机可以根据预设的固定坐标值调整治疗床的位置，将患者的患部送入中IGRT系统的成像区域内。由于当前患者已经固定在该待治疗的伽玛角下，因此图像引导系统可以通过多组影像采集组件直接获取患部在该待治疗的伽玛角下的IGRT图像。
示例的，本申请中，上位机可以向IGRT系统发送成像指令，IGRT系统可以控制球管012发出射线(例如X射线)，探测器011可以接收球管012发出的射线，IGRT系统01可以根据各个探测器011接收到的射线生成IGRT图像。
步骤104、对比该重建图像和该IGRT图像，获取患部所处位置的偏差值并发出。
进一步的，图像引导系统可以通过对比该重建图像和该IGRT图像，获取患部所处位置的偏差值，并将该偏差值发送至调整设备，以便该调整设备可以在该偏差值大于预设阈值时，根据该偏差值调整患部的位置。例如图像引导系统可以将该偏差值发送至上位机，上位机可以在该偏差值大于预设阈值时，根据该偏差值调整治疗床的位置，进而调整患部的位置，实现对患者的摆位。
示例的，图像引导系统可以通过对比该重建图像(例如DRR图像)和该IGRT图像，确定该重建图像的拍片点与该IGRT系统的成像点之间的第一偏移量，并将该第一偏移量作为该偏差值发送至上位机。
其中，重建图像的拍片点是根据电子图像(例如CT图像)的拍片点确定的，且该重建图像的拍片点也为重建图像中的固定点，例如可以为重建图像的中心点。相应的，调整设备(例如上位机)根据该偏差值调整患部的位置后，可以使得该拍片点与该成像点对准，以实现对患者的摆位。之后，在放射治疗时，调整设备即可再根据拍片点与靶点之间的相对位置关系，以及成像点与射束焦点之间的相对位置关系，确定靶点与该射束焦点之间的相对位置关系，从而可以通过调整治疗床将患部的靶点与射束焦点对准。
综上所述，本发明实施例提供了一种摆位方法，图像引导系统获取到待治疗的伽玛角后，可以获取该待治疗的伽玛角的重建图像，该待治疗的伽玛角的重建图像为图像引导系统预先根据患部的电子图像重建的图像；之后图像引导系统可以通过对比该待治疗的伽玛角下的IGRT图像以及该重建图像，确定患部所处位置的偏差值并发出，使得调整设备可以在该偏差值大于预设阈值时，根据该偏差值调整患部的位置，以实现对患者的摆位。由于图像引导系统在计算偏差值时所参考的图像是根据电子图像重建的该待治疗的伽玛角的重建图 像，基于该重建图像所确定的偏差值进行摆位时的精度较高，能够保证放射治疗的效果。并且由于无需获取患部在不同伽玛角下的电子图像，因此可以避免增加患者所接收到的辐射剂量，尽量降低辐射对患者身体健康的影响。
图5是本发明实施例提供的另一种摆位方法的流程图，该方法可以应用于图1所示的上位机02中，参考图5，该方法可以包括：
步骤201、接收图像引导系统发送的患部所处位置的偏差值。
该偏差值为图像引导系统获取到待治疗的伽玛角的重建图像，以及患部在该待治疗的伽玛角下的IGRT图像之后，通过对比该重建图像和该IGRT图像得到的，该重建图像为根据预先获取的患部的电子图像重建的图像。
在本发明实施例中，当治疗医师通过固定结构将患者固定在某个伽玛角度后，治疗医师可以向上位机输入该待治疗的伽玛角度，上位机进而能够将该待治疗的伽玛角度发送至图像引导系统，以便图像引导系统可以获取该待治疗的伽玛角的重建图像以及IGRT图像，并获取患部所处位置的偏差值。
或者，上位机也可以在接收到治疗计划系统(Treatment Plan System，TPS)发送的治疗计划后，根据该治疗计划所包括的至少一个伽玛角确定当前待治疗的伽玛角，并将该待治疗的伽玛角发送至图像引导系统。例如，上位机可以在放射治疗系统完成对某个伽玛角的摆位和治疗后，将该治疗计划中的下一个伽玛角确定为当前待治疗的伽玛角。
步骤202、在该偏差值大于预设阈值时，调整患部的位置。
进一步的，上位机可以检测该偏差值是否大于预设阈值，若大于该预设阈值，则上位机可以根据该偏差值调整治疗床的位置，实现对患部位置的调整，进而实现对患者的摆位；若该偏差值不大于该预设阈值，则上位机可以确定患部所处的位置已经满足治疗精度的需求，无需再进行调整。
示例的，假设该偏差值为重建图像中的拍片点与该IGRT系统的成像点之间的第一偏移量，则当上位机根据该偏差值调整治疗床的位置后，即可将该拍片点与成像点对准。进一步的，由于IGRT系统的成像点的位置，以及放射源的射束焦点的位置均为固定的，因此在放射治疗时，上位机还可以根据该成像点与射束焦点的相对位置关系，以及电子图像中的拍片点与患部的靶点之间的相对位置关系，计算得到靶点与该射束焦点之间的第二偏移量。上位机再根据该第二偏移量调整治疗床的位置，即可将靶点与射束焦点对准，从而可以开始进行放射治疗。
综上所述，本发明实施例提供了一种摆位方法，上位机可以接收图像引导系统发送的偏差值，该偏差值是图像引导系统获取到待治疗的伽玛角的重建图像之后，通过对比该待治疗的伽玛角下的IGRT图像以及该重建图像获取到的偏差值，上位机可以在该偏差值大于预设阈值时，根据该偏差值调整患部的位置。由于图像引导系统在计算偏差值时所参考的图像是根据电子图像重建的该待治疗的伽玛角的重建图像，基于该重建图像所确定的偏差值进行摆位时的精度较高，能够保证放射治疗的效果。并且由于无需获取患部在不同伽玛角下的电子图像，因此可以避免增加患者所接收到的辐射剂量，尽量降低辐射对患者身体健康的影响。
图6是本发明实施例提供的又一种摆位方法的流程图，该方法可以应用于图1所示的放射治疗系统中，以该放射治疗系统中的图像引导系统01为IGRT系统为例，参考图6，该方法可以包括：
步骤301、上位机获取到待治疗的伽玛角时，向IGRT系统发送该待治疗的伽玛角。
在本发明实施例中，示例的，TPS在确定治疗计划之后，可以将治疗计划的可扩展标记语言(Extensible Markup Language，XML)文件传输给上位机，并可以将DICOM RT(一种放射治疗数据的传输标准)文件传输给IGRT系统。其中，TPS发送至上位机的XML文件中可以包括待治疗的至少一个伽玛角，以及电子图像(例如CT图像)中拍片点与靶点的坐标。
在摆位的过程中，当治疗医师通过固定结构(例如图1所示的头部固定装置031)将患者固定在某个伽玛角后，可以将当前待治疗的伽玛角输入至上位机，上位机获取到该待治疗的伽玛角之后，即可将该待治疗的伽玛角发送至IGRT系统。
示例的，假设当前待治疗的伽玛角为70°，则治疗医师可以通过调整图1所示的头部固定装置031，使得伽玛角为70°。治疗医师完成头部固定装置031的固定后，可以向上位机输入当前待治疗的伽玛角度为70°，上位机进而可以将该待治疗的伽玛角：70°发送至IGRT系统。
需要说明的是，在本发明实施例中，上位机还可以通过其他方式获取待治疗的伽玛角，例如可以直接从治疗计划中获取。或者上位机也可以在治疗医师通过固定结构调整完伽玛角之后，直接检测到当前待治疗的伽玛角。本发明实 施例对该上位机获取待治疗的伽玛角的方式不做限定。
步骤302、IGRT系统获取该待治疗的伽玛角的重建图像。
在本发明实施例中，TPS系统发送至IGRT系统的DICOM RT文件中可以包括待治疗的至少一个伽玛角，以及预先对患者患部进行扫描得到的电子图像(例如CT图像)。IGRT系统接收到该TPS系统发送的DICOM RT文件后，即可根据该电子图像重建该至少一个伽玛角中，每个伽玛角的重建图像。
可选的，该TPS系统发送的电子图像可以为采用CT设备对患部进行扫描得到的多个连续的断层扫描图像，即该电子图像可以为一组图像序列。该图像序列中的每个断层扫描图像均与治疗床的水平轴垂直，该水平轴的延伸方向可以与治疗床沿靠近治疗腔室移动时的移动方向(即前进方向)平行。由于每个断层扫描图像为一个二维图像，因此可以通过计算机处理将该多个连续的断层扫描图像重建成患部的三维体数据。可选的，CT设备对患部进行扫描时的层厚可以不大于2mm，且无层间距。
在重建图像的过程中，IGRT系统可以先根据该电子图像中预设的拍片点确定旋转轴，该旋转轴可以为拍片点所在坐标系的指定坐标轴，或者与该指定坐标轴平行的直线轴。例如可以将该拍片点所在坐标系中，经过该拍片点且与指定坐标轴(例如X轴)平行的直线轴确定为旋转轴。进一步的，对于每个伽玛角，该IGRT系统可以以该旋转轴为轴线将该电子图像旋转偏转角度，从而重建该伽玛角的重建图像。该偏转角度为该伽玛角与采集电子图像时的初始伽玛角之间的偏转角。具体的，IGRT系统可以以该旋转轴为轴线将该多个断层扫描图像对应的三维体数据旋转该偏转角度，并将旋转后的三维体数据依照IGRT系统的安装参数，投影至该IGRT系统的虚拟成像面，从而得到该伽玛角的重建图像。
其中，电子图像中的拍片点是电子图像中的预设点，该拍片点的位置可以用拍片点所在的三维坐标系(例如DICOM坐标系)中三个坐标轴的坐标来描述。该虚拟成像面为在该拍片点所在坐标系中虚拟构建的IGRT系统的成像面，该虚拟成像面在该拍片点所在三维坐标系中的位置，与该IGRT系统中的探测器的成像面在治疗床所在坐标系(也可以称为设备坐标系)中的位置相同。
可选的，如前文所述，IGRT系统可以包括：多组影像采集组件，每组影像采集组件可以包括相对设置的探测器和球管。由于该每组影像采集组件的安装参数会影响该IGRT系统生成DRR图像时的虚拟成像面，因此在将旋转后 的三维体数据投影至该IGRT系统的虚拟成像面之前，该IGRT系统还可以根据影像采集组件的安装参数，确定IGRT系统的虚拟成像面在拍片点所在坐标系内的位置。其中，该安装参数可以包括：两组影像采集组件的射线的夹角、每组影像采集组件中探测器和球管之间的距离以及射线的交点与探测器之间的距离等。每组影像采集组件的射线可以为该组影像采集组件中探测器和球管之间的连线，该探测器的成像面与球管发出的射线垂直。
需要说明的是，在旋转三维体数据以重建某个伽玛角的重建图像时，可以根据该伽玛角相对于采集电子图像时的初始伽玛角的偏转方向，确定该三维体数据的旋转方向，以保证该三维体数据在图像坐标系(例如DICOM坐标系)中的旋转方向，与该伽玛角在治疗床所在坐标系中的偏转方向一致，且偏转角度也一致。
进一步的，当IGRT系统接收到上位机发送的当前待治疗的伽玛角之后，即可从预先重建的至少一个伽玛角的重建图像中，调取该待治疗的伽玛角的重建图像。
示例的，假设治疗计划中待治疗的伽玛角包括70°、90°以及110°，则IGRT系统接收到TPS发送的DICOM RT文件后，可以根据CT图像，分别重建70°伽玛角的DRR图像、90°伽玛角的DRR图像以及110°伽玛角的DRR图像。当该IGRT系统检测到上位机发送的待治疗的伽玛角为70°，可以从该预先重建的三个DRR图像中调取出70°伽玛角的DRR图像。
若CT图像是在患者处于平躺状态(即伽玛角为90°)下扫描得到的，该CT图像中预设的拍片点A4与靶点A3的相对位置关系可以如图7所示。当待治疗的伽玛角为70°时，参考图8，该待治疗的伽玛角与获取CT图像时的伽玛角之间的偏转角度为β，且β＝20°。则IGRT系统在重建70°伽玛角的DRR图像时，能够以该CT图像中预设的拍片点A4为中心点，以DICOM坐标系中穿过拍片点且平行于X轴的直线为轴线，将该CT图像对应的三维体数据偏转20°，并将旋转后的三维体数据投影至IGRT中的虚拟成像面，得到伽玛角为70°的DRR图像。此时靶点A3在该DRR图像中的坐标更新为A3”。
但由于在实际治疗时，头部固定装置031中支架的旋转点A0与该CT图像中预设的拍片点A4并不重合，因此治疗医师通过将头部固定装置031中用于支撑患者的支架旋转20°后，靶点A3将会移动至A3'。从图8可以看出，DRR图像中的靶点A3”与实际靶点A3'也并不重合，两者之间存在一定偏差， 因此还需要通过调整治疗床的位置，来减小两者之间的偏差。
步骤303、上位机根据预设的固定坐标调整治疗床的位置，将患者的患部送入中IGRT系统的成像区域内。
在本发明实施例中，由于IGRT系统的成像点的位置为固定位置，因此上位机中可以预先存储有根据该成像点的坐标所确定的固定坐标，当治疗床位于该固定坐标时，可以保证患者的患部(该患部包括DRR图像中的拍片点对应的部位)位于该IGRT系统的成像区域内。
步骤304、上位机向IGRT系统发送图像引导指令。
当上位机完成对治疗床的位置调整后，治疗医师可以通过预设操作触发上位机向IGRT系统发送图像引导指令。例如，该上位机中可以设置有触控显示屏，上位机完成对治疗床的位置调整后，可以在该触控显示屏上显示用于指示发送图像引导指令的图标，当治疗医师点击该提示图标时，上位机即可向IGRT系统发送图像引导指令，该图像引导指令用于指示IGRT系统获取IGRT图像。
步骤305、IGRT系统获取患部在该待治疗的伽玛角下的IGRT图像。
IGRT系统接收到上位机发送的图像引导指令之后，即可通过多组影像采集组件获取患部在该待治疗的伽玛角下的IGRT图像。
示例的，由于当前患者固定在70°伽玛角，因此IGRT系统可以获取到患部在该70°伽玛角下的IGRT图像。
步骤306、IGRT系统对比该重建图像和该IGRT图像，获取患部所处位置的偏差值。
进一步的，IGRT系统可以将获取到的IGRT图像与待治疗的伽玛角的重建图像进行对比，并获取患部所处位置的偏差值。例如，IGRT系统可以通过对比重建图像和IGRT图像，计算该重建图像中的拍片点与该IGRT系统的成像点之间的第一偏移量，并将该第一偏移量作为患部所处位置的偏差值。
在本发明实施例中，该偏差值可以包括平移数据和角度数据，其中平移数据可以为三维平移数据，即该平移数据可以包括三个子数据，每个子数据可以用于指示治疗床在预设的三维坐标系中，沿每个坐标轴的偏移量；该角度数据也可以为三维角度数据，即该角度数据也可以包括三个子数据，每个子数据用于指示治疗床在该三维坐标系中，在每个平面内的旋转量。
示例的，假设IGRT系统计算得到的偏差值中的平移数据为：X＝2毫米(mm)，Y＝0，Z＝-1mm，角度数据为：XY＝0，YZ＝1°，XZ＝2°。则该平 移数据可以用于指示治疗床沿三维坐标系中X轴的正方向平移2mm，并沿Z轴的负方向平移1mm，无需在Y轴方向移动；该角度数据可以用于指示治疗床在Y轴和Z轴定义的YZ平面内旋转1°，并在X轴和Z轴定义的XZ平面内旋转2°，而无需在XY平面内旋转。
需要说明的是，由于上位机调整治疗床的位置，将患部送入到IGRT系统的成像区域后，如果治疗医师通过观察重建图像和该首次获取到的IGRT图像，判断出该重建图像的拍片点与IGRT图像的成像点之间的偏差较大时，也可以直接在该IGRT系统中人工输入偏差值，以便IGRT系统可以将该人工输入的偏差值发送至上位机。
可选的，在本发明实施例中，IGRT系统向上位机发送偏差值时，还可以在发送的数据中声明该偏差值的角度数据中，各个角度的调整顺序，以使得上位机可以根据该调整顺序，依次调整各个角度。
需要说明的是，在本发明实施例中，当IGRT系统包括多组影像采集组件时，由于每组影像采集组件均可以采集到一个患部图像(即X射线图像)，因此该IGRT系统获取到的IGRT图像可以包括该多组影像采集组件采集到的多个患部图像。
相应的，在上述步骤302中，对于该多组影像采集组件，IGRT系统可以分别确定出与每组影像采集组件中的探测器的成像面对应的一个虚拟成像面，得到多个虚拟成像面。并且，该IGRT系统可以将旋转后的三维体数据分别投影至每个虚拟成像面，得到与每个虚拟成像面对应的重建图像，也即是，得到与每组影像采集组件对应的重建图像。
在对比IGRT图像和重建图像时，可以将每组影像采集组件采集到的患部图像和与该组影像采集组件对应的重建图像进行对比，得到一组偏差值。将各组影像采集组件采集的患部图像分别与对应的重建图像进行对比后，可以得到多组偏差值。最后，IGRT系统可以对该多组偏差值进行综合分析处理，并确定患部所处位置的最终偏差值。
步骤307、IGRT系统将该偏差值发送至上位机。
示例的，该IGRT系统可以将包括平移数据和角度数据的偏差值发送至上位机。
步骤308、上位机在该偏差值大于预设阈值时，根据该偏差值调整患部的位置。
上位机接收到该偏差值后，可以先检测该偏差值是否大于预设阈值，若大于该预设阈值，则可以根据该偏差值调整治疗床的位置，实现对患部位置的调整，进而实现对患者的摆位。若该偏差值不大于预设阈值，则上位机可以确定患部所处的位置已经满足放射治疗精度的要求，因此无需再进行调整。
在本发明实施例中，当该偏差值为重建图像中的拍片点与该IGRT系统的成像点之间的第一偏移量时，上位机根据该偏差值调整治疗床的位置后，可以使得该重建图像中的拍片点与该IGRT系统的成像点重合。
进一步的，由于该偏差值可以包括平移数据和角度数据，而放射治疗系统中的治疗床可以为三维治疗床(即治疗床只能上下平移、左右平移和前后平移)，也可以为六维治疗床(即治疗床不仅能够上下平移、左右平移和前后平移，还可以上下旋转、左右旋转以及前后旋转)，因此上位机根据该偏差值调整治疗床的位置时，可以根据该偏差值中的平移数据平移该治疗床；若该治疗床为六维治疗床，则可以根据该偏差值中的角度数据旋转该治疗床；若该治疗床为三维治疗床，则可以将该偏差值中的角度数据转换为平移数据，并根据转换后的平移数据平移该治疗床。其中，将角度数据转换为平移数据可以依据三角形的正余弦定理实现，本发明实施例对此不做赘述。
示例的，假设该治疗床为三维治疗床，且偏差值中的平移数据为：X＝2mm，Y＝0，Z＝-1mm，角度数据为：XY＝0，YZ＝1°，XZ＝2°。则上位机可以控制治疗床沿X轴的正方向平移2mm，并沿Z轴的负方向平移1mm。并且上位机还可以将该角度数据转换为平移数据，然后再根据转换后的角度数据平移该治疗床。
在本发明实施例中，由于上位机通过一次调整，可能无法保证患部所处的位置满足治疗精度的要求，因此为了保证对准的精度，该IGRT系统和上位机可以对治疗床的位置进行多次调整。
可选的，上位机在根据偏差值调整治疗床的位置之后，可以再次向IGRT系统发送图像引导指令，该IGRT系统可以根据接收到的图像引导指令再次执行上述步骤305至步骤307所示的方法，使得上位机可以根据每次接收到的偏差值更新上一次接收到的偏差值，并根据该最新接收到的偏差值重新调整治疗床的位置。
当上位机检测到接收到的偏差值小于预设偏差阈值时，可以确定患部所处的位置已经满足要求，无需再调整治疗床的位置，因此可以继续进行下一步治 疗流程，例如可以执行步骤309。
需要说明的是，上位机在调整治疗床的位置，使得患部所处位置满足要求(例如使得该DRR图像的拍片点与该IGRT系统的成像点重合)之后，还可以获取该治疗床当前的坐标，并存储该待治疗的伽玛角下，该患部的靶点与该治疗床的坐标的对应关系。若在同一治疗计划中，上位机再次检测到该待治疗的伽玛角，则上位机在执行上述步骤303时，可以直接根据该待治疗的伽玛角下，该靶点对应的坐标，调整该治疗床的位置，将患者的患部送入至该IGRT系统的成像区域内。由于该坐标在上一次治疗过程中，已经经过IGRT系统的验证，因此可以有效提高后续再次调整时的效率，也即是可以有效减少上述步骤304至步骤308所需重复的次数。
示例的，假设当前待治疗的伽玛角为70°，DRR图像的拍片点与该IGRT系统的成像点重合时，治疗床的坐标为(x1，y1，z1)，则上位机可以记录待治疗的伽玛角为70°时对应的治疗床的坐标为(x1，y1，z1)。当上位机在同一次治疗计划中，再次检测到待治疗的伽玛角为70°时，可以直接根据该坐标(x1，y1，z1)调整治疗床的位置。
还需要说明的是，在本发明实施例中，上位机在调整治疗床的位置之前，还可以对接收到的偏差值中的平移数据和角度数据进行检测。当上位机检测到该角度数据中任一子数据大于预设角度阈值(例如3°)，或者检测到该平移数据中的任一子数据大于预设平移阈值时，上位机可以显示告警提示信息。该告警提示信息可以提示治疗医师当前治疗床的偏移量较大，需要重新对患者进行摆位。
步骤309、在该偏差值小于预设偏差阈值时，上位机控制治疗床和碰撞检测装置进行碰撞模拟检测。
在本发明实施例中，IGRT系统和上位机在完成对患者的摆位后，为了避免治疗过程中患者与治疗机架发生碰撞，上位机还可以控制治疗床和碰撞检测装置进行碰撞模拟检测。可选的，治疗医师可以先插接好碰撞检测装置(例如防碰撞检测摇杆)，然后上位机可以移动治疗床，使得患部的靶点与碰撞检测装置中的虚拟射束焦点对准。之后治疗医师(或者上位机)可以控制该碰撞检测装置按照预设轨迹移动(例如可以围绕治疗床旋转)，以检测该碰撞检测装置是否与患者(或头部固定装置所属附件)发生碰撞干涉。
步骤310、当检测到碰撞模拟检测的结果为检测通过时，启动放射治疗操 作。
步骤311、当检测到碰撞模拟检测的结果为检测未通过时，中止放射治疗操作。
碰撞检测装置完成碰撞模拟检测后，可以由治疗医师根据碰撞的次数，判断该碰撞模拟检测的结果是否可以接收，并且治疗医师可以通过预设操作向该上位机指示该碰撞模拟检测的结果，该结果可以为检测通过或检测未通过。若上位机检测到该结果为检测通过，则可以继续进行放射治疗，即继续执行步骤312。若检测到该碰撞模拟检测的结果为检测未通过，则可以中止治疗流程，以重新对患者进行摆位或重新检查治疗计划。
例如，在碰撞模拟检测完成后，上位机的触控显示屏上可以显示有用于指示检测通过的图标，以及用于指示检测未通过的图标，治疗医师可以通过点击其中任一图标，指示该上位机该碰撞模拟检测的结果。
如前文所述，在每一次治疗计划中，可能需要对患者在多个伽玛角下进行治疗，因此当治疗计划中待治疗的伽玛角包括多个时，对于每一个待治疗的伽玛角，IGRT系统和上位机均可以执行上述步骤301至步骤311所示的方法，以完成对每个待治疗的伽玛角的摆位验证和碰撞检测。
示例的，假设治疗计划中待治疗的伽玛角分别为：70°、90°和110°，当前待治疗的伽玛角为70°，则上位机在完成70°伽玛角下的防碰撞检测后，治疗医师可以将待治疗的伽玛角调整到90°，操作人员退出治疗机房并关闭治疗室防护门，然后即可通过上述步骤301至步骤311所示的方法进行90°伽玛角下的摆位验证和碰撞检测。
上位机在完成90°伽玛角下的防碰撞检测后，治疗医师可以将待治疗的伽玛角调整到110°，操作人员退出治疗机房并关闭治疗室防护门，然后即可通过上述步骤301至步骤311所示的方法进行110°伽玛角下的摆位验证和碰撞检测。
步骤312、上位机计算靶点与射束焦点之间的第二偏移量。
在完成摆位和碰撞检测后，在开始进行放射治疗时，由于当前IGRT系统的成像点与重建图像的拍片点已经对准，又由于IGRT系统的成像点与射束焦点之间的相对位置关系是固定的，并且上位机还可以根据TPS传输的文件确定该电子图像的拍片点与患部的靶点的相对位置关系，因此上位机即可根据上述两个相对位置关系，计算得到患部的靶点与该射束焦点之间的第二偏移量。
同样的，该第二偏移量可以包括平移数据和角度数据，并且该平移数据可以包括三个子数据，每个子数据可以用于指示治疗床在预设的三维坐标系中，沿每个坐标轴的偏移量；该角度数据也可以包括三个子数据，每个子数据用于指示治疗床在该三维坐标系中，在每个平面内的旋转量。
需要说明的是，在本发明实施例中，上述第二偏移量也可以是由IGRT系统计算得到的，例如，该上位机在通过调整治疗床的位置，将重建图像的拍片点与IGRT系统的成像点对准之后，在放射治疗前，可以向IGRT系统发送计算指令，该IGRT系统接收到该计算指令后，可以根据IGRT系统的成像点与射束焦点之间的相对位置关系，以及电子图像中的拍片点与患部的靶点的相对位置关系，计算得到患部的靶点与该射束焦点之间的第二偏移量，并将该第二偏移量发送至上位机。
步骤313、上位机根据该第二偏移量调整治疗床的位置，使得该靶点与该射束焦点对准。
在本发明实施例中，由于该第二偏移量可以包括平移数据和角度数据，因此上位机根据该第二偏移量调整治疗床的位置时，可以根据该第二偏移量中的平移数据平移该治疗床；若该治疗床为六维治疗床，则上位机可以根据该第二偏移量中的角度数据旋转该治疗床；若该治疗床为三维治疗床，则上位机可以将该第二偏移量中的角度数据转换为平移数据，然后再根据转换后的平移数据平移该治疗床，最终使得靶点与该射束焦点对准。之后即可开始进行放射治疗。
在一种可选的实现方式中，该IGRT系统和上位机通过循环执行上述步骤301至步骤311，完成对所有待治疗的伽玛角的摆位验证和碰撞检测之后，若未退出治疗计划，则可以直接开始执行在当前伽玛角下的治疗操作，即直接执行步骤312和步骤313。或者治疗医师也可以选择重新进行摆位验证，即控制IGRT系统和上位机再次执行上述步骤304至步骤308所示的方法，以再次对治疗床的位置进行校正，在完成摆位验证之后再进行治疗操作。
在另一种可选的实现方式中，该IGRT系统和上位机完成对所有待治疗的伽玛角的摆位验证和碰撞检测之后，若退出了治疗计划，则上位机可以在再次接收到该治疗计划时，根据检测到的待治疗的伽玛角，获取预先存储的与该待治疗的伽玛角对应的坐标，并根据该坐标调整治疗床的位置，然后再依次执行上述步骤304至步骤308所示的方法，完成对患者的摆位验证。之后，放射治疗系统即可开始进行治疗操作。
需要说明的是，当放射治疗系统中的治疗床为三维治疗床，则上位机在接收到IGRT系统每次发送的偏差值后，可以先根据该偏差值中的平移数据调整治疗床的位置，而不对该偏差值中的角度数据进行处理。该上位机可以在开始治疗前，调取最新存储的偏差值(即IGRT系统最后一次发送的偏差值)，并将该偏差值中的角度数据转换为平移数据，再根据该转换后的平移数据对治疗床的位置进行调整。之后，上位机可以再通过上述步骤312和步骤313所示的方法再次调整治疗床的位置，使得靶点与射束焦点对准，然后可以开始进行治疗操作。
进一步的，放射治疗系统在完成某个待治疗的伽玛角下各个靶点的治疗后，可以执行如下循环操作：治疗医师可以打开防护门，对待治疗的伽玛角进行调整；上位机检测到调整后的伽玛角后，获取预先存储的与该调整后的伽玛角对应的坐标，并根据该坐标调整治疗床的位置，然后再依次执行上述步骤304至步骤308所示的方法，完成对患者的摆位验证。之后，上位机可以再次执行上述步骤312和步骤313所示的方法，将靶点与射束焦点对准。最后放射治疗系统即可开始进行该伽玛角下的治疗操作。
对于治疗计划中的其他待治疗的伽玛角，该放射治疗系统可以依次重复上述循环操作，直至完成对所有待治疗的伽玛角的靶点治疗。
当患者后续再次进行治疗时，放射治疗系统可以循环执行上述循环操作，直至完成所有待治疗的(单次或分次治疗下的所有)伽玛角下的靶点治疗。
需要说明的是，本发明实施例提供的摆位方法的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。例如步骤303可以与步骤302同时执行；步骤309至步骤311可以根据情况进行删除，步骤312还可以由IGRT系统执行。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。
综上所述，本发明实施例提供了一种摆位方法，上位机可以接收图像引导系统发送的偏差值，该偏差值是图像引导系统获取到待治疗的伽玛角的重建图像之后，通过对比该待治疗的伽玛角下的IGRT图像以及该重建图像获取到的偏差值，上位机可以在该偏差值大于预设阈值时，根据该偏差值调整患部的位置。由于图像引导系统在计算偏差值时所参考的图像是根据电子图像重建的该待治疗的伽玛角的重建图像，基于该重建图像所确定的偏差值进行摆位时的精度较高，能够保证放射治疗的效果。并且由于无需获取患部在不同伽玛角下的 电子图像，因此可以避免增加患者所接收到的辐射剂量，尽量降低辐射对患者身体健康的影响。
图9是本发明实施例提供的一种图像引导系统的结构示意图，该图像引导系统可以应用于图1所示的放射治疗系统中，参考图9，该图像引导系统可以包括：
第一获取模块401，用于获取待治疗的伽玛角。
第二获取模块402，用于获取该待治疗的伽玛角的重建图像，该重建图像为根据预先获取的患部的电子图像重建的图像。
第三获取模块403，用于获取患部在该待治疗的伽玛角下的IGRT图像，该IGRT图像为图像引导系统生成的图像。
该第三获取模块403可以包括多组影像采集组件。
第四获取模块404，用于对比该重建图像和该IGRT图像，获取该患部所处位置的偏差值并发出，以便在该偏差值大于预设阈值时根据该偏差值调整患部的位置。
可选的，该第一获取模块401可以用于：
获取治疗计划，该治疗计划中包括至少一个伽玛角。
从该至少一个伽玛角中确定待治疗的伽玛角。
可选的，如图10所示，该图像引导系统还可以包括：
第五获取模块405，用于在获取该待治疗的伽玛角的重建图像之前，获取患部的电子图像。
重建模块406，用于根据该患部的电子图像重建该至少一个伽玛角中，每个伽玛角的重建图像。
相应的，该第二获取模块402可以用于：
从该至少一个伽玛角的重建图像中，获取该待治疗的伽玛角的重建图像。
可选的，该重建模块406可以用于：
根据该电子图像中预设的拍片点确定旋转轴，该旋转轴为该拍片点所在坐标系的指定坐标轴，或者与该指定坐标轴平行的直线轴。
以该旋转轴为轴线将该电子图像旋转偏转角度，得到该伽玛角的重建图像，该偏转角度为所述伽玛角与采集该电子图像时的初始伽玛角之间的偏转角。
可选的，该第四获取模块404可以用于：
对比该重建图像和该IGRT图像，计算该重建图像中的拍片点与该图像引导系统的成像点之间的第一偏移量。
将该第一偏移量作为该患部所处位置的偏差值发送至上位机。
可选的，如图10所示，该图像引导系统还可以包括：
计算模块407，用于根据该图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及该电子图像中的拍片点与该患部的靶点的相对位置关系，计算放射源的射束焦点与该患部的靶点之间的第二偏移量。
发送模块408，用于将该第二偏移量发送至该上位机，以便该上位机根据该第二偏移量调整治疗床的位置，使得该射束焦点与该靶点对准。
综上所述，本发明实施例提供了一种图像引导系统，该图像引导系统获取到待治疗的伽玛角后，可以获取该待治疗的伽玛角的重建图像，该待治疗的伽玛角的重建图像为图像引导系统预先根据患部的电子图像重建的图像；之后图像引导系统可以通过对比该待治疗的伽玛角下的IGRT图像以及该重建图像，确定患部所处位置的偏差值并发出，使得调整设备可以在该偏差值大于预设阈值时，可以根据该偏差值调整患部的位置，以实现对患者的摆位。由于图像引导系统在计算偏差值时所参考的图像是根据电子图像重建的该待治疗的伽玛角的重建图像，基于该重建图像所确定的偏差值进行摆位时的精度较高，能够保证放射治疗的效果。并且由于无需获取患部在不同伽玛角下的电子图像，因此可以避免增加患者所接收到的辐射剂量，降低辐射对患者身体健康的影响。
图11是本发明实施例提供的一种上位机的结构示意图，该上位机可以应用于图1所示的放射治疗系统中，参考图11，该上位机可以包括：
接收模块501，用于接收图像引导系统发送的患部所处位置的偏差值，该偏差值为该图像引导系统获取到待治疗的伽玛角的重建图像，以及该患部在该待治疗的伽玛角下的IGRT图像之后，通过对比该重建图像和该IGRT图像得到的，该重建图像为根据预先获取的该患部的电子图像重建的图像。
调整模块502，用于在该偏差值大于预设阈值时，根据该偏差值调整该患部的位置。
可选的，该偏差值可以为该重建图像中的拍片点与该图像引导系统的成像点之间的第一偏移量，如图12所示，该上位机还可以包括：
计算模块503，用于在接收图像引导系统发送的患部所处位置的偏差值之后，根据该图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及该电子图像中的拍片点与该患部的靶点的相对位置关系，计算放射源的射束焦点与该患部的靶点之间的第二偏移量。
相应的，该调整模块502，还可以用于根据该第二偏移量调整该治疗床的位置，使得该射束焦点与该靶点对准。
可选的，如图12所示，该上位机还可以包括：
控制模块504，用于在根据该偏差值调整该患部的位置之后，控制治疗床和碰撞检测装置进行碰撞模拟检测；当检测到该碰撞模拟检测的结果为检测通过时，启动放射治疗操作；当检测到该碰撞模拟检测的结果为检测未通过时，中止放射治疗操作。
可选的，该偏差值包括平移数据和角度数据，该调整模块502可以用于：
根据该平移数据平移治疗床；
根据该角度数据旋转该治疗床，或者，将该角度数据转换为平移数据，并根据转换后的平移数据平移该治疗床。
可选的，如图12所示，该上位机还可以包括：
获取模块505，用于在调整该患部的位置之后，获取该治疗床的坐标。
存储模块506，用于存储该待治疗的伽玛角下，该患部的靶点与该治疗床的坐标的对应关系。
相应的，该调整模块502，还可以用于：当在同一治疗计划中，再次检测到该待治疗的伽玛角时，根据该待治疗的伽玛角对应的坐标，调整该治疗床的位置。
综上所述，本发明实施例提供了一种上位机，该上位机可以接收图像引导系统发送的偏差值，该偏差值是图像引导系统获取到待治疗的伽玛角的重建图像之后，通过对比该待治疗的伽玛角下的IGRT图像以及该重建图像获取到的偏差值，上位机可以在该偏差值大于预设阈值时，根据该偏差值调整患部的位置。由于图像引导系统在计算偏差值时所参考的图像是根据电子图像重建的该待治疗的伽玛角的重建图像，基于该重建图像所确定的偏差值进行摆位时的精度较高，能够保证放射治疗的效果。并且由于无需获取患部在不同伽玛角下的电子图像，因此可以避免增加患者所接收到的辐射剂量，尽量降低辐射对患者身体健康的影响。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的图像引导系统和上位机的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本发明实施例还提供了一种图像引导系统，该图像引导系统可以包括：处理器和存储器，该存储器用于存储由处理器执行的指令，该处理器可以用于实现图4所示的摆位方法，或者图6所示的摆位方法中由IGRT系统执行的步骤。
本发明实施例还提供了一种上位机，该上位机可以包括：处理器和存储器，该存储器用于存储由处理器执行的指令，该处理器可以用于实现图5所示的摆位方法，或者图6所示的摆位方法中由上位机执行的步骤。
本发明实施例还提供了一种放射治疗系统，参考图1，该系统可以包括：上位机02以及图像引导系统01，该上位机02与该图像引导系统01建立有通信连接。
其中，该图像引导系统01可以为如图9或图10所示的系统，该上位机可以为如图11或12所示的上位机。
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，该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。当该计算机可读存储介质在计算机上运行时，使得计算机执行如图4至图6任一所示的摆位方法。
以上所述仅为本发明的示例性实施例，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 (24)

  1. 一种摆位方法，其特征在于，应用于图像引导系统，所述方法包括：
    获取待治疗的伽玛角；
    获取所述待治疗的伽玛角的重建图像，所述重建图像为根据预先获取的患部的电子图像重建的图像；
    获取患部在所述待治疗的伽玛角下的IGRT图像，所述IGRT图像为所述图像引导系统生成的图像；
    对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，以便在所述偏差值大于预设阈值时根据所述偏差值调整所述患部的位置。
  2. 根据权利要求1所述的方法，其特征在于，所述获取待治疗的伽玛角，包括：
    获取治疗计划，所述治疗计划中包括至少一个伽玛角；
    从所述至少一个伽玛角中确定待治疗的伽玛角。
  3. 根据权利要求2所述的方法，其特征在于，在所述获取所述待治疗的伽玛角的重建图像之前，所述方法还包括：
    获取患部的电子图像；
    根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像；
    所述获取所述待治疗的伽玛角的重建图像，包括：
    从所述至少一个伽玛角的重建图像中，获取所述待治疗的伽玛角的重建图像。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像，包括：
    根据所述电子图像中预设的拍片点确定旋转轴，所述旋转轴为所述拍片点所在坐标系的指定坐标轴，或者与所述指定坐标轴平行的直线轴；
    以所述旋转轴为轴线将所述电子图像旋转偏转角度，得到所述伽玛角的重建图像，所述偏转角度为所述伽玛角与采集所述电子图像时的初始伽玛角之间 的偏转角。
  5. 根据权利要求1至4任一所述的方法，其特征在于，所述对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，包括：
    对比所述重建图像和所述IGRT图像，计算所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
    将所述第一偏移量作为所述患部所处位置的偏差值发送至上位机。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
    将所述第二偏移量发送至所述上位机，以便所述上位机根据所述第二偏移量调整治疗床的位置，使得所述射束焦点与所述靶点对准。
  7. 一种摆位方法，其特征在于，应用于放射治疗系统中的上位机，所述方法包括：
    接收图像引导系统发送的患部所处位置的偏差值，所述偏差值为所述图像引导系统获取到待治疗的伽玛角的重建图像，以及所述患部在所述待治疗的伽玛角下的IGRT图像之后，通过对比所述重建图像和所述IGRT图像得到的，所述重建图像为根据预先获取的所述患部的电子图像重建的图像；
    在所述偏差值大于预设阈值时，根据所述偏差值调整所述患部的位置。
  8. 根据权利要求7所述的方法，其特征在于，所述偏差值为所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
    在所述接收图像引导系统发送的患部所处位置的偏差值之后，所述方法还包括：
    根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
    根据所述第二偏移量调整治疗床的位置，使得所述射束焦点与所述靶点对 准。
  9. 根据权利要求7或8所述的方法，其特征在于，在所述根据所述偏差值调整所述患部的位置之后，所述方法还包括：
    控制治疗床和碰撞检测装置进行碰撞模拟检测；
    当检测到所述碰撞模拟检测的结果为检测通过时，启动放射治疗操作；
    当检测到所述碰撞模拟检测的结果为检测未通过时，中止放射治疗操作。
  10. 根据权利要求7或8所述的方法，其特征在于，所述偏差值包括平移数据和角度数据，所述根据所述偏差值调整所述患部的位置，包括：
    根据所述平移数据平移治疗床；
    根据所述角度数据旋转所述治疗床，或者，将所述角度数据转换为平移数据，并根据转换后的平移数据平移所述治疗床。
  11. 根据权利要求7或8所述的方法，其特征在于，在所述根据所述偏差值调整所述患部的位置之后，所述方法还包括：
    获取治疗床的坐标；
    存储所述待治疗的伽玛角下，所述患部的靶点与所述治疗床的坐标的对应关系；
    当在同一治疗计划中，再次检测到所述待治疗的伽玛角时，根据所述待治疗的伽玛角对应的坐标，调整所述治疗床的位置。
  12. 一种图像引导系统，所述图像引导系统包括：处理器和存储器，所述存储器用于存储由所述处理器执行的指令，所述处理器，用于：
    获取待治疗的伽玛角；
    获取所述待治疗的伽玛角的重建图像，所述重建图像为根据预先获取的患部的电子图像重建的图像；
    获取患部在所述待治疗的伽玛角下的IGRT图像，所述IGRT图像为所述图像引导系统生成的图像；
    对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，以便在所述偏差值大于预设阈值时根据所述偏差值调整所述患部的位置。
  13. 根据权利要求12所述的系统，其特征在于，所述处理器获取待治疗的伽玛角，包括：
    获取治疗计划，所述治疗计划中包括至少一个伽玛角；
    从所述至少一个伽玛角中确定待治疗的伽玛角。
  14. 根据权利要求13所述的系统，其特征在于，所述处理器还用于：
    在获取所述待治疗的伽玛角的重建图像之前，获取患部的电子图像；
    根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像；
    所述处理器获取所述待治疗的伽玛角的重建图像，包括：
    从所述至少一个伽玛角的重建图像中，获取所述待治疗的伽玛角的重建图像。
  15. 根据权利要求14所述的系统，其特征在于，所述处理器根据所述患部的电子图像重建所述至少一个伽玛角中，每个伽玛角的重建图像，包括：
    根据所述电子图像中预设的拍片点确定旋转轴，所述旋转轴为所述拍片点所在坐标系的指定坐标轴，或者与所述指定坐标轴平行的直线轴；
    以所述旋转轴为轴线将所述电子图像旋转偏转角度，得到所述伽玛角的重建图像，所述偏转角度为所述伽玛角与采集所述电子图像时的初始伽玛角之间的偏转角。
  16. 根据权利要求12至15任一所述的系统，其特征在于，所述处理器对比所述重建图像和所述IGRT图像，获取所述患部所处位置的偏差值并发出，包括：
    对比所述重建图像和所述IGRT图像，计算所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
    将所述第一偏移量作为所述患部所处位置的偏差值发送至上位机。
  17. 根据权利要求16所述的系统，其特征在于，所述处理器还用于：
    根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以 及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
    将所述第二偏移量发送至所述上位机，以便所述上位机根据所述第二偏移量调整治疗床的位置，使得所述射束焦点与所述靶点对准。
  18. 一种上位机，其特征在于，应用于放射治疗系统中，所述上位机包括：处理器和存储器，所述存储器用于存储由所述处理器执行的指令，所述处理器，用于：
    接收图像引导系统发送的患部所处位置的偏差值，所述偏差值为所述图像引导系统获取到待治疗的伽玛角的重建图像，以及所述患部在所述待治疗的伽玛角下的IGRT图像之后，通过对比所述重建图像和所述IGRT图像得到的，所述重建图像为根据预先获取的所述患部的电子图像重建的图像；
    在所述偏差值大于预设阈值时，根据所述偏差值调整所述患部的位置。
  19. 根据权利要求18所述的上位机，其特征在于，所述偏差值为所述重建图像中的拍片点与所述图像引导系统的成像点之间的第一偏移量；
    所述处理器还用于：
    在接收图像引导系统发送的患部所处位置的偏差值之后，根据所述图像引导系统的成像点与放射源的射束焦点的相对位置关系，以及所述电子图像中的拍片点与所述患部的靶点的相对位置关系，计算放射源的射束焦点与所述患部的靶点之间的第二偏移量；
    根据所述第二偏移量调整治疗床的位置，使得所述射束焦点与所述靶点对准。
  20. 根据权利要求18或19所述的上位机，其特征在于，
    所述处理器还用于：
    在根据所述偏差值调整所述患部的位置，控制治疗床和碰撞检测装置进行碰撞模拟检测；
    当检测到所述碰撞模拟检测的结果为检测通过时，启动放射治疗操作；
    当检测到所述碰撞模拟检测的结果为检测未通过时，中止放射治疗操作。
  21. 根据权利要求18或19所述的上位机，其特征在于，所述偏差值包括平移数据和角度数据，所述处理器根据所述偏差值调整所述患部的位置，包括：
    根据所述平移数据平移治疗床；
    根据所述角度数据旋转所述治疗床，或者，将所述角度数据转换为平移数据，并根据转换后的平移数据平移所述治疗床。
  22. 根据权利要求18或19所述的上位机，其特征在于，
    所述处理器还用于：
    在根据所述偏差值调整所述患部的位置之后，获取治疗床的坐标；
    存储所述待治疗的伽玛角下，所述患部的靶点与所述治疗床的坐标的对应关系；
    当在同一治疗计划中，再次检测到所述待治疗的伽玛角时，根据所述待治疗的伽玛角对应的坐标，调整所述治疗床的位置。
  23. 一种放射治疗系统，其特征在于，所述放射治疗系统包括：如权利要求12至17任一所述的图像引导系统，以及如权利要求18至22任一所述的上位机，所述上位机与所述图像引导系统建立有通信连接。
  24. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有指令，当所述计算机可读存储介质在计算机上运行时，使得计算机执行权利要求1至6任一所述的摆位方法，或者执行权利要求7至11任一所述的摆位方法。
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