WO2020014934A1 - 一种肿瘤定位方法及装置 - Google Patents

一种肿瘤定位方法及装置 Download PDF

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Publication number
WO2020014934A1
WO2020014934A1 PCT/CN2018/096348 CN2018096348W WO2020014934A1 WO 2020014934 A1 WO2020014934 A1 WO 2020014934A1 CN 2018096348 W CN2018096348 W CN 2018096348W WO 2020014934 A1 WO2020014934 A1 WO 2020014934A1
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Prior art keywords
patient
head
tumor
head moves
positioning
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PCT/CN2018/096348
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English (en)
French (fr)
Inventor
苟天昌
闫浩
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西安大医集团有限公司
深圳市奥沃医学新技术发展有限公司
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Priority to EP18927196.8A priority Critical patent/EP3824815A4/en
Priority to PCT/CN2018/096348 priority patent/WO2020014934A1/zh
Priority to CN201880006895.6A priority patent/CN111194184B/zh
Publication of WO2020014934A1 publication Critical patent/WO2020014934A1/zh
Priority to US17/150,542 priority patent/US20210137454A1/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
    • A61N5/1048—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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4887—Locating particular structures in or on the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
    • A61B90/18—Retaining sheets, e.g. immobilising masks made from a thermoplastic material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A61N5/1037—Treatment planning systems taking into account the movement of the target, e.g. 4D-image based planning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B2090/101—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis for stereotaxic radiosurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1051—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an active marker

Definitions

  • the invention relates to the field of medical equipment, and in particular, to a tumor localization method and device.
  • radiation therapy is a method of treating tumors by using radiation. It can completely necrotize cancer cells or make cancer cells apoptosis. It is one of the main methods for treating malignant tumors.
  • the patient's tumor needs to be positioned at an isocentric position, that is, the intersection of the rays, and then the rays pass through the tumor to kill the tumor tissue. If there is a deviation in the positioning of the tumor, it will not only lead to the inability to kill the tumor cells effectively, increase the risk of secondary cancer, but also cause damage to healthy parts. Therefore, one of the key technologies of radiation therapy is to maintain accurate positioning of the tumor during the treatment process.
  • a CT Computer Tomography
  • the head of the patient needs to be fixed with the treatment head frame in order to locate the tumor at the isocenter of the radiotherapy equipment.
  • the four nails set in the treatment head frame need to pass through the human skin and be fixed on the cranium of the patient's head.
  • the tumor can be avoided during the treatment. Move and wait until the treatment is over, then remove the nail.
  • This method is called invasive positioning. Although the positioning accuracy is high, it will cause greater harm to the patient.
  • the related art also provides a non-invasive positioning method.
  • the non-invasive positioning method the patient's head is fixed on the treatment bed by a head positioning film or the like.
  • this non-invasive positioning method has the problem of insecure fixation, and the patient's head may still have the possibility of position movement.
  • the inventors believe that a more optimized tumor localization method is needed to eliminate the effect of the position movement of the patient's head on the tumor localization result.
  • Embodiments of the present invention provide a tumor localization method and device, which can eliminate the effect of the position movement of the patient's head on the tumor localization result and improve the accuracy of tumor localization.
  • an embodiment of the present invention provides a tumor localization method.
  • the method is applied to localize a tumor in a patient's head.
  • the method includes: obtaining a position of a localization mark before the patient's head moves.
  • the position of the positioning mark after the patient's head moves, and the position of the tumor before the patient's head moves; wherein the positioning mark is set at a preset position on the body surface of the patient's head;
  • the position of the tumor after the part moves.
  • the position of the positioning mark before the patient's head moves, the position of the positioning mark after the patient's head moves, and the position of the tumor before the patient's head moves, Confirming the position of the tumor after the patient's head moves includes determining the position of the positioning marker before the patient's head moves and the position of the positioning marker after the patient's head moves.
  • the type of movement of the patient's head wherein the type of movement includes at least one or both of translation and rotation around a preset fulcrum; according to the type of movement of the patient's head, and the tumor in the patient
  • the position before the head movement confirms the position of the tumor after the patient's head moves.
  • determining the movement type of the patient's head based on the position of the positioning mark before the patient's head moves and the position of the positioning mark after the patient's head moves includes: The position of the positioning mark before the patient's head moves and the position of the patient's head after moving, determining the moving amount of the positioning mark; and determining the moving amount of the patient's head according to the moving amount of the positioning mark Movement type.
  • the movement type of the patient's head is determined to be translation
  • the movement type of the patient's head and the position of the tumor before the movement of the patient's head are confirmed in the
  • the position of the tumor after the patient's head moves includes: confirming the position of the tumor after the patient's head moves according to the amount of movement of the positioning mark and the position of the tumor before the patient's head moves.
  • Confirming the position of the tumor after the patient's head moves includes: judging whether the position of the tumor before the patient's head moves coincides with the preset fulcrum; determining whether the tumor is on the patient's head In a case where the position before the movement coincides with the preset fulcrum, the position of the tumor after the patient's head moves is still the position of the tumor before the patient's head moves; it is determined that the tumor is in the desired position.
  • the method specifically includes: more than three positioning marks, the three or more positioning marks are respectively set at different preset positions on the body surface of the patient's head, and the three or more positioning marks are not on the same straight line on.
  • an embodiment of the present invention further provides a tumor localization device, which is used to locate a tumor in a patient's head.
  • the device includes: an acquisition unit for acquiring a localization mark on the patient's head. The position before the movement, the position of the positioning mark after the patient's head moves, and the position of the tumor before the patient's head moves; wherein the positioning mark is provided on the body surface of the patient's head A preset position; a processing unit configured to obtain, at the acquisition unit, a position of the positioning mark before the patient's head moves, a position of the positioning mark after the patient's head moves, and the tumor at After the position before the patient's head moves, according to the position of the positioning mark before the patient's head moves, the position of the positioning mark after the patient's head moves, and the tumor in the patient
  • the position before the head movement confirms the position of the tumor after the patient's head moves.
  • the processing unit specifically includes: a type determination subunit and a position determination subunit; the type determination subunit is used to position the patient's head before the patient's head moves according to the positioning identifier, and the The position of the positioning marker after the patient's head moves to determine the type of motion of the patient's head; wherein the type of motion includes at least one or two of translation and rotation around a preset fulcrum; the position determination The subunit confirms the position of the tumor after the patient's head moves according to the type of movement of the patient's head and the position of the tumor before the patient's head moves.
  • the type determination subunit is specifically configured to determine the movement amount of the positioning mark according to the position of the positioning mark before the patient's head moves and the position of the patient's head after moving; The amount of movement determines the type of movement of the patient's head.
  • the position determining subunit is specifically configured to determine the movement type of the patient's head as translation, according to the movement amount of the positioning mark and the tumor before the patient's head moves The position of the tumor was confirmed after the patient's head moved.
  • the position determining subunit is specifically configured to determine the position and position of the tumor before the patient's head moves when it is determined that the type of motion of the patient's head is rotating around a preset fulcrum. Whether the preset fulcrum coincides; in a case where the position of the tumor before the patient's head moves coincides with the preset fulcrum, the position of the tumor is still the tumor after the patient's head moves A position before the patient's head moves; and in a case where it is determined that the position of the tumor before the patient's head moves does not coincide with the preset fulcrum, according to the positioning identifier before the patient's head moves The position of the positioning marker after the patient's head moves, and the position of the tumor before the patient's head moves, confirming the position of the tumor after the patient's head moves.
  • the three or more positioning marks are respectively set at different preset positions on the body surface of the patient's head, and the three or more positioning marks are not on the same straight line.
  • an embodiment of the present invention provides a tumor localization device, including: a processor, a memory, a bus, and a communication interface; the memory is used to store a computer to execute instructions, and the processor and the memory are connected through the bus When the cache server is running, the processor executes the computer execution instructions stored in the memory, so that the tumor localization device executes the tumor localization method provided by the first aspect.
  • an embodiment of the present invention provides a computer storage medium, which includes instructions that, when run on a computer, causes the computer to execute the tumor localization method provided by the first aspect above.
  • an embodiment of the present invention provides a computer program product containing instructions, which is characterized in that when it is run on a computer, the computer is caused to execute the tumor localization method provided in the first aspect above.
  • the position of at least one positioning mark set on the surface of the patient's head is collected by collecting The way of moving the situation can know the movement of the patient's head, so as to determine the position of the tumor.
  • the tumor position can still be accurately located, and the effect of the patient's head position movement on the tumor positioning result is eliminated.
  • FIG. 1 is a schematic structural diagram of a head positioning film in the prior art
  • FIG. 2 is a schematic flowchart of a tumor localization method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a patient's head movement
  • FIG. 4 is a schematic diagram of another patient's head movement
  • FIG. 5 is a schematic diagram of establishing a coordinate system corresponding to a treatment bed at a preset pivot point as the origin O of a spatial coordinate system according to an embodiment of the present invention
  • FIG. 6 is a schematic flowchart of another tumor localization method according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a tumor localization device according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of another tumor localization device according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of still another tumor localization device according to an embodiment of the present invention.
  • the invention is applied to localize a tumor in a patient's head.
  • Positioning film positioning film is a new type of functional medical material with memory function. It is made of high molecular polymer low temperature thermoplastic plate. It is widely used for auxiliary positioning and fixation of radiation therapy tumor patients, reducing the impact of patient position movement. Unnecessary damage to normal tissues improves the absorption of radiation by local lesions.
  • the positioning films can be divided into: head positioning films, chest positioning films, abdominal positioning films, and body positioning films. As shown in FIG. 1, it is a schematic structural diagram of a head positioning film.
  • the head positioning film includes a low-temperature thermoplastic board body 4, a middle hole of the low-temperature thermoplastic board body corresponding to the nose is provided with a through hole 1, and two sides of the low-temperature thermoplastic board body are provided with mounting grooves, which are fixed in the mounting grooves. There are ribbed plates 2, mesh holes 3 are distributed on the body of the low-temperature thermoplastic plate other than the through holes 1 and the ribbed plates 2.
  • Positioning tray a functional medical material, is used for auxiliary positioning and fixing of radiation therapy tumor patients.
  • the dental tray is positioned by the patient's occlusion, so that the position of the patient's head and the treatment device is relatively fixed.
  • IGRT full name Image Guided Radiation Therapy
  • IGRT is image guided radiation therapy.
  • This positioning method uses radiation to scan the 3D image of the entire patient's head, and then to locate the tumor.
  • a patient's head in order to accurately locate a tumor during radiotherapy in the prior art, a patient's head is usually fixed, thereby eliminating the influence of the position movement of the patient's head on the accuracy of tumor positioning. .
  • the position may still move.
  • the patient's head when using a head positioning film for fixation, the patient's head is often rotated around the contact point between the head and the treatment bed.
  • the positioning bracket for fixing the patient's head often rotates around the axis of the bracket. This will affect the positioning of the tumor location.
  • the IGRT technology scans the internal structure image of the entire patient's head through radiation irradiation, and then locates the tumor position.
  • this positioning method will cause additional radiation damage to the patient, and IGRT equipment is also more expensive, so the treatment cost is higher.
  • the inventor of the present invention based on the characteristic that the head of the human body can only move rigidly, it is thought that by collecting the position movement of the positioning mark on the surface of the patient's head, the entire head of the patient can be known The movement situation can further know the movement of the tumor position, so as to achieve accurate positioning of the tumor position.
  • an embodiment of the present invention provides a tumor localization method, which can eliminate the influence of the position movement of the patient's head on the tumor localization result and improve the accuracy of tumor localization.
  • the following Embodiments 1 to 4 are provided here for reference:
  • the tumor localization method provided by the embodiment of the present invention includes:
  • the positioning mark is set at a preset position on the body surface of the patient's head.
  • the positioning marks in the embodiments of the present invention may be optical positioning marks, such as infrared positioning balls, and these infrared positioning balls may be affixed to the nose of a patient, the junction of ears and cheeks, and the like.
  • optical tracking system such as an infrared tracking system
  • the movement of the optical positioning mark can be tracked in time, and then the position of the positioning mark before and after the patient's head moves can be obtained.
  • the relative position of the tumor in the patient's head can be calculated from the CT image of the position of the tumor before the patient's head moves, and then position information such as the position coordinates of the tumor can be obtained.
  • the movement of the patient's head can be obtained after the position change of at least one positioning mark on the body surface of the head is obtained. After knowing the position of the tumor before the patient's head is moved, the position of the tumor after the patient's head can be obtained.
  • step S102 may specifically include the following steps S102a and S102b:
  • S102a Determine the movement type of the patient's head according to the position of the positioning mark before the patient's head moves and the position of the positioning mark after the patient's head moves; wherein the movement type includes at least one of translation and rotation around a preset fulcrum. One or two.
  • Step S102a may specifically include: determining a movement amount of the positioning mark according to a position of the positioning mark before the patient's head moves and a position after the patient's head moves; To determine the type of movement of the patient's head.
  • the patient's head when radiation treatment is performed on a tumor on a patient's head, the patient's head is usually fixed on the treatment bed through a positioning film or a positioning bracket. At this time, the patient's head will
  • Pivot rotation in rare cases, the patient's head may also translate.
  • the translation vector of each positioning mark can be calculated according to the three-dimensional coordinates in three-dimensional space before and after the movement of at least two positioning marks. Pan.
  • the patient's head movement type is determined according to the patient's fixation method. For example: if the mask is used for fixation, the patient's movement mode is to rotate around a preset fulcrum at the back of the patient's head; if the tray is fixed, the patient's movement mode is to rotate around a preset fulcrum at the tray. Of course, it can also continue to determine which pivot point the patient's head rotates around based on the geometric transformation relationship in at least three positioning marks in the three-dimensional space.
  • the positioning mark in the embodiment of the present invention may specifically include multiple positioning marks, and step S102a further includes: determining each positioning according to the positions of the multiple positioning marks before the patient's head moves and the positions of the patient's head after the moving.
  • the amount of movement of the mark; the type of movement of the patient's head is determined according to the amount of movement of each positioning mark.
  • the location of the tumor needs to be calculated based on the different types of motion that occur on the patient's head.
  • step S102b specifically includes: confirming the position of the patient's head according to the movement amount of the plurality of positioning marks and the position of the tumor before the patient's head moves. The location of the tumor after moving.
  • the positions of at least two positioning marks before the patient's head move and the positions of the at least two positioning marks after the patient's head move are obtained, where at least two positioning marks are respectively set on different body surfaces of the patient's head Preset position.
  • According to the translation vector of the first positioning mark and the translation vector of the second positioning mark it is determined whether there is a translation of the patient's head.
  • the translational vector of the patient's head is calculated, and according to the translational vector of the patient's head and the coordinate value of the coordinate point of the tumor in the spatial coordinate system before the patient's head is moved, The coordinates of the coordinate points of the tumor in the spatial coordinate system after the patient's head is moved.
  • step S102b when it is determined that the movement type of the patient's head is to rotate around a preset fulcrum, step S102b specifically includes:
  • S102b-1 Determine whether the position of the tumor before the patient's head moves coincides with a preset fulcrum.
  • FIG. 3 is a schematic diagram of the movement of the patient's head, where the solid line is the position of the patient's head before the movement, and the dotted line is the position of the patient's head after the movement.
  • the position of the tumor does not move with the movement of the patient's head. Therefore, in the embodiment of the present invention, after determining that the position of the tumor coincides with the preset fulcrum, it can be known that the position of the tumor after the patient's head moves is still the position of the tumor before the patient's head moves.
  • step S101 includes: obtaining coordinate values (X A , Y A , Z A ) of the coordinate point A of the first positioning mark in the spatial coordinate system before the patient's head moves, and the patient's head.
  • the spatial coordinate system is a coordinate system established relative to the treatment table, and the preset fulcrum is the origin O of the spatial coordinate system.
  • FIG. 4 a schematic diagram of the movement of the patient's head is shown.
  • the solid line is the position of the patient's head before the movement
  • the dotted line is the position of the patient's head after the movement.
  • Point A is the position of the first positioning mark before the patient's head moves
  • point B is the position of the first positioning mark after the patient's head moves
  • point C is the position of the tumor before the head moves
  • point D is the tumor before the head
  • the first positioning mark is attached to the tip of the nose of the head.
  • Point O is the preset fulcrum.
  • a coordinate system corresponding to the treatment bed is established by using the preset fulcrum as the origin O of the spatial coordinate system.
  • A is the position (X A , Y A , Z A ) of the first positioning mark before the head is moved
  • B is the position (X B , Y B , Z B ) of the first positioning mark after the head is moved.
  • C is the position of the tumor before head movement (X C , Y C , Z C )
  • D is the position of the tumor after head movement (X D , Y D , Z D ).
  • the vector OE is a normal vector of the vector OA and the vector OB.
  • the A and B coordinates are detected by the optical tracking system and the corresponding coordinate positions are calculated.
  • the C position is calculated from the relative relationship between the tumor and the fulcrum in the CT image. Therefore, as long as the D position is calculated, the tumor motion can be calculated.
  • step S102b-3 may specifically include: calculating the coordinate values (X D , Y D , Z D ) of the coordinate point D of the tumor in the spatial coordinate system after the patient's head is moved using the following formula 1:
  • M represents a rotation matrix M that is rotated by ⁇ degrees around the vector OE
  • the vector OE is a normal vector of the vector OA and the vector OB
  • the vector OA is a vector from the origin O to the coordinate point A
  • the vector OB is a vector from the origin O to the coordinate B Is the degree of the angle ⁇ AB between the vector OA and the vector OB.
  • the vector OE is obtained by cross-multiplying the vector OA and the vector OB, so the vector OE is:
  • any rigid transformation can be transformed into a fixed angle rotation about any axis, which is the degree of ⁇ AB rotation around OE in this example.
  • the rotation matrix in three-dimensional space includes:
  • the rotation matrix when rotating ⁇ degrees around the X axis is:
  • the rotation matrix when rotating ⁇ degrees around the Y axis is:
  • the rotation matrix when rotating ⁇ degrees around the Z axis is:
  • the rotation matrix M rotated by ⁇ degrees around the vector OE is:
  • ⁇ is the angle when the vector OE is rotated around the X axis to the XOY plane
  • ⁇ is the angle when the OE vector that has been rotated to the XOY plane is rotated around the Z axis to coincide with the Y axis
  • ⁇ is the vector Angle ⁇ AB.
  • the patient's head when a patient's head is fixed on a treatment table by a positioning film, the patient's head will rotate around a preset fulcrum, but there is often no contact point between the patient's head and the treatment table. Relative movement. Therefore, the change of the position of the tumor can be confirmed by obtaining the position change of a positioning mark. Furthermore, by obtaining the coordinate values of the first positioning mark in the spatial coordinate system before and after the head movement, the rotation matrix M of the head is calculated, and then the coordinates of the coordinate point D of the tumor in the spatial coordinate system are calculated by using the rotation matrix M. Values (X D , Y D , Z D ) to achieve precise localization of the tumor.
  • the motion trajectory of the patient's head can be confirmed directly according to the geometric transformation relationship in space based on at least three positioning marks that are not on the same straight line. Therefore, based on the method provided in the first embodiment above, where there are three or more positioning marks, the three or more positioning marks are respectively set at different preset positions on the body surface of the patient, and the three or more positioning marks are not in On the same straight line.
  • the method provided by the embodiment of the present invention may further specifically include:
  • the above step S101 may specifically include:
  • More than three positioning marks are respectively set at different preset positions on the body surface of the patient's head, and more than three positioning marks are not on the same straight line.
  • step S102 may specifically include the following steps S202-S203:
  • S202 Determine the movement trajectory of the patient's head according to the positions of the three or more positioning indicators before the patient's head moves, and the positions of the three or more positioning indicators after the patient's head moves.
  • S203 Determine the position of the tumor after the patient's head moves according to the movement trajectory of the patient's head and the position of the tumor before the patient's head moves.
  • an embodiment of the present invention further provides a tumor localization device.
  • the tumor localization device 30 includes:
  • the obtaining unit 301 is configured to obtain the position of the positioning mark before the patient's head moves, the position of the positioning mark after the patient's head moves, and the position of the tumor before the patient's head moves; wherein the positioning mark is set on the surface of the patient's head Preset position
  • the processing unit 302 is configured to obtain the position of the positioning mark before the patient's head moves in the acquisition unit, the position of the positioning mark after the patient's head moves, and the position of the tumor before the head of the patient according to the positioning mark. The position of the patient before the movement, the position of the positioning mark after the patient's head moved, and the position of the tumor before the patient's head moved, confirming the position of the tumor after the patient's head moved.
  • the processing unit 302 specifically includes a type determination subunit 3021 and a position determination subunit 3022.
  • a type determination subunit 3021 is used to determine the type of movement of the patient's head according to the position of the positioning mark before the patient's head moves, and the position of the positioning mark after the patient's head moves; Set one or two of the pivots;
  • the position determining subunit 3022 confirms the position of the tumor after the patient's head moves, based on the type of movement of the patient's head and the position of the tumor before the patient's head moves.
  • the type determination sub-unit 3021 is specifically configured to determine the movement amount of the positioning mark according to the position of the positioning mark before the patient's head moves and the position of the positioning mark after the patient's head moves; determine the patient according to the movement amount of the positioning mark. Head movement type.
  • the position determining subunit 3022 is specifically configured to confirm that the movement of the patient's head is based on the amount of movement of the positioning mark and the position of the tumor before the patient's head moves when it is determined that the movement type of the patient's head is translation. Post tumor location.
  • the position determining subunit 3022 is specifically configured to determine whether the position of the tumor before the patient's head moves with the preset fulcrum when it is determined that the movement type of the patient's head is about a preset fulcrum; determine the tumor In the case where the position before the patient's head coincides with the preset fulcrum, the position of the tumor after the patient's head is still the position of the tumor before the patient's head moves; determine the position of the tumor before the patient's head moves When the fulcrum is not coincident, the position of the positioning mark before the patient's head moves, the position of the positioning mark after the patient's head moves, and the position of the tumor before the patient's head move, confirm the tumor after the patient's head moves s position.
  • the three or more positioning marks are respectively set at different preset positions on the body surface of the patient's head, and the three or more positioning marks are not on the same straight line.
  • the tumor localization device in the embodiments of the present invention can be applied to implement the foregoing method embodiments, the technical effects that can be obtained can also refer to the above method embodiments, and the embodiments of the present invention will not be repeated here.
  • FIG. 8 shows a possible structural schematic diagram of the tumor localization device.
  • the tumor localization device 40 includes a storage unit 401, a processing unit 402, and an interface unit 403.
  • the processing unit 402 is configured to control and manage the operation of the tumor localization device 40.
  • the processing unit is a processor
  • the storage unit is a memory
  • the interface unit is a transceiver.
  • the tumor localization device includes a transceiver 503, a processor 502, a memory 501, and a bus 504.
  • the transceiver 503 and the processor 502 are connected to the memory 501 through the bus 504.
  • the processor 502 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more programs for controlling the execution of the program of the solution of the present invention. integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • the memory 501 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (Random Access Memory, RAM), or other types that can store information and instructions
  • the dynamic storage device can also be Electrically Erasable Programmable Read-only Memory (EEPROM), Compact Disc (Read-Only Memory, CD-ROM) or other optical disk storage, optical disk storage (Including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be used by a computer Any other media accessed, but not limited to this.
  • the memory may exist independently and be connected to the processor through a bus. The memory can also be integrated with the processor.
  • the memory 501 is configured to store application program code that executes the solution of the present invention, and is controlled and executed by the processor 502.
  • the transceiver 503 is configured to receive content input by an external device, and the processor 502 is configured to execute application program code stored in the memory 501, so as to implement the method for adjusting audio-visual synchronization described in the embodiment of the present invention.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be from a website site, a computer, a server, or a data center.
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more servers, data centers, and the like that can be integrated with the medium.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (Solid State Disk, SSD)), or the like.
  • An embodiment of the present invention also provides a computer storage medium.
  • the computer storage medium includes instructions that, when run on a computer, causes the computer to execute the tumor localization method provided by the foregoing embodiment.
  • An embodiment of the present invention also provides a computer program product including instructions, which is characterized in that when it is run on a computer, the computer is caused to execute the tumor localization method provided by the foregoing embodiment.

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Abstract

本发明实施例提供一种肿瘤定位方法及装置，涉及医疗器械领域。本发明实施例能够消除患者头部的位置移动对肿瘤定位结果的影响，提高肿瘤定位的准确性。该方法包括：获取定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置；其中定位标识设置在患者头部体表的预设位置；根据定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。本发明实施例应用于对患者头部内的肿瘤进行定位。

Description

一种肿瘤定位方法及装置 技术领域
本发明涉及医疗器械领域，尤其涉及一种肿瘤定位方法及装置。
背景技术
目前，放射治疗是利用放射线治疗肿瘤的一种方法，可以让癌症细胞完全坏死或者让癌细胞凋亡，是治疗恶性肿瘤的主要手段之一。在放射治疗过程中，需要将患者的肿瘤定位在等中心的位置，即射线的交点处，进而使射线穿过肿瘤将肿瘤组织杀死。若对肿瘤的定位有偏差，则不仅会导致肿瘤细胞不能被有效杀灭，增加二次癌的风险，还会对健康的部位产生伤害。因此放射治疗的关键技术之一就是在治疗过程中保持对肿瘤的精确定位。
目前，现有技术中，在进行肿瘤的放射治疗时，为了精确的将肿瘤定位在等中心处，首先需要对病人做CT(Computed Tomography，计算机断层扫描)获取CT图像，判断肿瘤的位置、大小、形状、周围组织等情况。然后在治疗过程中需要利用治疗头框对患者的头部进行固定，以将肿瘤定位在放疗设备的等中心处。
这种利用治疗头框进行定位的方式，治疗头框内设置的四根头钉需要穿过人体皮肤固定在患者头部的头盖骨上，通过固定患者头部的位置，避免在治疗过程中肿瘤的移动，待治疗结束后，再将头钉取出。这种方式称为有创定位，虽然定位精度较高，但会给患者带来较大的伤害。
另外，与上述有创定位相比，相关技术中还提供了一种无创定位方式，通常在无创定位方式中，是通过头部定位膜等方式将患者的头部固定在治疗床上。但相比上述有创定位方法，这种无创定位方式存在固定不牢靠的问题，患者头部还是可能存在位置移动的可能。
基于上述情况，本发明人认为需要一种更优化的肿瘤定位方法，以 消除患者头部的位置移动对肿瘤定位结果的影响。
发明内容
本发明实施例提供一种肿瘤定位方法及装置，能够消除患者头部的位置移动对肿瘤定位结果的影响，提高肿瘤定位的准确性。
为了达到上述目的，本发明的实施例采用如下技术方案：
第一方面，本发明实施例提供一种肿瘤定位方法，所述方法应用于对患者头部内的肿瘤进行定位，所述方法包括：获取定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置；其中所述定位标识设置在所述患者头部体表的预设位置；根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，所述根据定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置，包括：根据所述定位标识在所述患者头部移动前的位置，以及所述定位标识在所述患者头部移动后的位置，确定所述患者头部的运动类型；其中所述运动类型至少包括：平移和绕预设支点旋转中的一种或两种；根据所述患者头部的运动类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，所述根据定位标识在所述患者头部移动前的位置，以及所述定位标识在所述患者头部移动后的位置，确定所述患者头部的运动类型，包括：根据所述定位标识在所述患者头部移动前的位置以及在所述患者头部移动后的位置，确定所述定位标识的移动量；根据所述定位标识的移动量，确定所述患者头部的运动类型。
可选的，确定所述患者头部的运动类型为平移的情况下，所述根据所述患者头部的运动类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置，包括：根据所述定位标识 的移动量以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，确定所述患者头部的运动类型为绕预设支点旋转的情况下，所述根据所述患者头部的运动类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置，包括：判断所述肿瘤在所述患者头部移动前的位置与所述预设支点是否重合；确定所述肿瘤在所述患者头部移动前的位置与所述预设支点重合的情况下，在所述患者头部移动后所述肿瘤的位置仍为所述肿瘤在所述患者头部移动前的位置；确定所述肿瘤在所述患者头部移动前的位置与所述预设支点不重合的情况下，根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，该方法具体包括：所述定位标识为三个以上，三个以上定位标识分别设置在所述患者头部体表的不同预设位置，且所述三个以上定位标识不在同一直线上。
第二方面，本发明实施例还提供一种肿瘤定位装置，所述装置应用于对患者头部内的肿瘤进行定位，所述装置包括：获取单元，用于获取定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置；其中所述定位标识设置在所述患者头部体表的预设位置；处理单元，用于在所述获取单元获取所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置之后，根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，所述处理单元，具体包括：类型确定子单元、位置确定子单元；所述类型确定子单元，用于根据所述定位标识在所述患者头部移动前的位置，以及所述定位标识在所述患者头部移动后的位置，确定所述患者头部的运动类型；其中所述运动类型至少包括：平移和绕预设支点旋转中的一种或两种；所述位置确定子单元，根据所述患者头部的运动 类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，所述类型确定子单元，具体用于根据定位标识在所述患者头部移动前的位置以及在所述患者头部移动后的位置，确定定位标识的移动量；根据定位标识的移动量，确定所述患者头部的运动类型。
可选的，所述位置确定子单元，具体用于在确定所述患者头部的运动类型为平移的情况下，根据所述定位标识的移动量以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，所述位置确定子单元，具体用于在确定所述患者头部的运动类型为绕预设支点旋转的情况下，判断所述肿瘤在所述患者头部移动前的位置与所述预设支点是否重合；确定所述肿瘤在所述患者头部移动前的位置与所述预设支点重合的情况下，在所述患者头部移动后所述肿瘤的位置仍为所述肿瘤在所述患者头部移动前的位置；确定所述肿瘤在所述患者头部移动前的位置与所述预设支点不重合的情况下，根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
可选的，所述定位标识为三个以上；，三个以上定位标识分别设置在所述患者头部体表的不同预设位置，且所述三个以上定位标识不在同一直线上。
第三方面，本发明实施例提供一种肿瘤定位装置，包括：处理器、存储器、总线和通信接口；所述存储器用于存储计算机执行指令，所述处理器与所述存储器通过所述总线连接，当所述缓存服务器运行时，所述处理器执行所述存储器存储的所述计算机执行指令，以使所述肿瘤定位装置执行如上述第一方面所提供的肿瘤定位方法。
第四方面，本发明实施例提供一种计算机存储介质，其特征在于，包括指令，当其在计算机上运行时，使得所述计算机执行如上述第一方面所提供的肿瘤定位方法。
第五方面，本发明实施例提供一种包含指令的计算机程序产品，其 特征在于，当其在计算机上运行时，使得所述计算机执行如上述第一方面所提供的肿瘤定位方法。
本发明实施例所提供的肿瘤定位方法中，考虑到人体的头部只会发生刚性移动的这一特性，进而本发明实施例中通过采集设置在患者头部体表的至少一个定位标识的位置移动情况的方式，即可得知患者头部的移动情况，从而确定肿瘤的位置移动情况。最终实现当患者头部发生移动时，依然能够对肿瘤位置的进行精确定位，消除患者头部的位置移动对肿瘤定位结果的影响。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术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为现有技术中一种头部定位膜的结构示意图；
图2为本发明的实施例提供的一种肿瘤定位方法的流程示意图；
图3为一种患者头部的移动示意图；
图4为另一种患者头部的移动示意图；
图5为本发明的实施例提供的一种在以预设支点为空间坐标系的原点O，建立相对应治疗床的坐标系的示意图；
图6为本发明的实施例提供的另一种肿瘤定位方法的流程示意图；
图7为本发明的实施例提供的一种肿瘤定位装置的结构示意图；
图8为本发明的实施例提供的另一种肿瘤定位装置的结构示意图；
图9为本发明的实施例提供的又一种肿瘤定位装置的结构示意图。
具体实施方式
下面结合附图，对本发明的实施例进行描述。本发明应用于对患者头部内的肿瘤进行定位。
首先，对本发明实施例中涉及的专业术语进行介绍：
定位膜，定位膜是一种具有记忆功能的新型功能型医用材料，由高分子聚合物低温热塑板制成，广泛用于放射治疗肿瘤病人的辅助定位及固定，减少患者体位移动产生的对正常组织的不必要损伤，提高局部病灶对射线的吸收。具体的，按照固定位置的不同，定位膜可以分为：头部定位膜、胸部定位膜、腹部定位膜以及体部定位膜等种类。如图1所示，为一种头部定位膜的结构示意图。该头部定位膜包括低温热塑板本体4，低温热塑板本体的中上部与鼻子对应的位置有通孔1，在低温热塑板本体的两侧分别有安装槽，在安装槽内固定有加强筋板2，通孔1和加强筋板2以外的低温热塑板本体上分布有网孔3。在使用头部定位膜时，首先使患者躺在治疗床上，再将头部定位膜覆盖在患者脸部，然后通过头部定位膜的热塑成型将患者头部固定在治疗床上。
定位牙托，一种功能型医用材料，用于放射治疗肿瘤病人的辅助定位及固定。在放射治疗时，通过患者咬合定位牙托，从而起到使患者头部与治疗设备的位置相对固定的作用。
IGRT，全称Image Guided Radiation Therapy，即图像引导放射治疗。IGRT是一种四维的放射治疗技术。这种定位方法是通过射线照射，扫描出整个患者头部的3D影像，进而实现对肿瘤位置的定位。
以下对本发明的发明构思进行介绍：
本发明实施例中，考虑到现有技术中为了在放射治疗的过程中，对肿瘤进行精确定位，通常会对患者的头部进行固定，从而消除患者头部的位置移动对肿瘤定位精度的影响。但对患者头部进行固定时，特别是采用无创定位的方式对患者头部进行固定时，依然会出现位置移动的情况。例如，在使用头部定位膜进行固定时，患者的头部常常会绕头部与治疗床的接触点旋转移动。在使用定位牙托进行固定时，患者的头部常会绕牙托的轴进行旋转移动。这时就会影响对肿瘤位置的定位。对于这个问题，IGRT技术中通过射线照射，扫描出整个患者头部的内部结构 影像，进而实现对肿瘤位置的定位。但这中定位方式会对患者产生额外的辐射伤害，另外IGRT设备也较为昂贵，因此治疗成本较高。
进而本发明的发明人，基于人体的头部只会发生刚性移动的这一特性，想到通过采集患者头部体表的定位标识的位置移动情况的方式，即可得知患者头部的整体的移动情况，进而也就能够知道肿瘤的位置移动情况，从而实现对肿瘤的位置的精确定位。
基于上述发明构思，本发明实施例提供一种肿瘤定位方法，能够消除患者头部的位置移动对肿瘤定位结果的影响，提高肿瘤定位的准确性。此处提供以下实施例一至实施例四，以供参考：
实施例一：
本发明实施例提供的肿瘤定位方法，如图2所示，该方法包括：
S101、获取定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置。
其中，定位标识设置在患者头部体表的预设位置。
示例性的，本发明实施例中的定位标识可以是光学定位标识，例如红外定位小球，这些红外定位小球可以贴在患者的鼻尖、耳朵与脸颊的交界处等。通过光学追踪系统，例如红外追踪系统，可以及时追踪到光学定位标识的运动，进而获取到定位标识在患者头部移动前后的位置。
另外，肿瘤在患者头部移动前的位置，可以通过CT图像，计算出肿瘤在患者头部内的相对位置，进而得到肿瘤的位置坐标等位置信息。
S102、根据定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。
具体的，由于人体的头部是一个整体，只能进行刚性移动，因此，在获取头部体表的至少一个定位标识的位置变化情况后，即可得到患者头部的移动情况，进而在得知肿瘤在患者头部移动前的位置后，即可得到肿瘤在患者头部移动后的位置。
在一种实现方式中，步骤S102具体可以包括以下步骤S102a和S102b：
S102a、根据定位标识在患者头部移动前的位置，以及定位标识在患者头部移动后的位置，确定患者头部的运动类型；其中运动类型至少包括：平移和绕预设支点旋转中的一种或两种。
步骤S102a具体可以包括：根据所述定位标识在所述患者头部移动前的位置以及在所述患者头部移动后的位置，确定所述定位标识的移动量；根据所述定位标识的移动量，确定所述患者头部的运动类型。
具体的，在对患者头部的肿瘤进行放射治疗时，通常会将患者头部通过定位膜或者定位牙托固定在治疗床上。这时，患者的头部会发生绕
支点旋转的情况；在极少情况下，患者头部还可能会发生平移。
示例性的，可以根据至少两个定位标记运动前后在三维空间的三维坐标，分别计算每个定位标记的平移向量，若各个标记的平移向量相同或近似相同，则确定患者头部的运动类型为平移。
当排除了患者发生平移运动后，根据患者的固定方式确定患者头部运动类型。例如：若使用面膜固定，则患者的运动方式为绕患者后脑勺处的预设支点旋转；若为牙托固定，则患者的运动方式为绕牙托处的预设支点旋转。当然，也可以继续根据至少三个定位标记在三维空间中几何变换关系来确定患者头部绕哪个支点旋转。
因此，本发明实施例中的定位标识具体可以包括多个定位标识，进而步骤S102a具体包括：根据多个定位标识在患者头部移动前的位置以及在患者头部移动后的位置，确定各个定位标识的移动量；根据各个定位标识的移动量，确定患者头部的运动类型。
S102b、根据患者头部的运动类型，以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。
在确定患者头部的运动类型后，需根据患者头部发生的不同种类的运动类型，计算肿瘤的位置。
在一种实现方式中，在确定患者头部的运动类型为平移的情况下，步骤S102b具体包括：根据多个定位标识的移动量以及肿瘤在患者头部 移动前的位置，确认在患者头部移动后肿瘤的位置。
示例性的，获取至少两个定位标识在患者头部移动前的位置，以及至少两个定位标识在患者头部移动后的位置，其中至少两个定位标识分别设置在患者头部体表的不同预设位置。分别计算第一定位标识的平移向量，以及第二定位标识的平移向量。根据第一定位标识的平移向量以及第二定位标识的平移向量，判断患者头部是否存在平移。在确定患者头部存在平移移动的情况下，则计算患者头部的平移向量，并根据患者头部的平移向量以及患者头部移动前肿瘤在空间坐标系中的坐标点的坐标值，计算在患者头部移动后肿瘤在空间坐标系中的坐标点的坐标。
在一种实现方式中，在确定患者头部的运动类型为绕预设支点旋转的情况下，步骤S102b具体包括：
S102b-1、判断肿瘤在患者头部移动前的位置与预设支点是否重合。
S102b-2、在确定肿瘤在患者头部移动前的位置与预设支点重合的情况下，在患者头部移动后肿瘤的位置仍为肿瘤在患者头部移动前的位置。
具体的，考虑到当肿瘤的位置与预设支点重合时，当患者躺在治疗床上时，患者头部被定位面膜固定在治疗床的预设支点上，因此当患者头部发生绕预设支点旋转时，患者头部与预设支点之间不会发生相对移动。因此，肿瘤的位置就不会随着患者头部的运动而移动。如图3所示，图3为患者头部的移动示意图，其中实线部分是患者头部在移动前的位置，虚线是患者头部在移动后的位置。可以看出，当肿瘤的位置与预设支点重合时，肿瘤的位置并不会随着患者头部的运动而移动。因此本发明实施例中，在确定肿瘤的位置与预设支点重合后，则可以得知患者头部移动后肿瘤的位置仍为肿瘤在患者头部移动前的位置。
S102b-3、确定肿瘤在患者头部移动前的位置与预设支点不重合的情况下，根据定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。
具体的，在一种实现方式中，步骤S101包括：获取在患者头部移动前第一定位标识在空间坐标系中的坐标点A的坐标值(X A,Y A,Z A)、患 者头部移动后第一定位标识在空间坐标系中的坐标点B的坐标值(X B,Y B,Z B)，以及患者头部移动前肿瘤在空间坐标系中的坐标点C的坐标值(X C,Y C,Z C)。
其中，空间坐标系是相对于治疗床建立的坐标系，预设支点为空间坐标系的原点O。
示例性的，如图4所示为患者头部的移动示意图，其中实线部分是患者头部在移动前的位置，虚线是患者头部在移动后的位置。A点为第一定位标识在患者头部移动前的位置，B点为第一定位标识在患者头部移动后的位置；C点为肿瘤在头部移动前的位置，D点为肿瘤在头部移动后的位置。示例性的图中将第一定位标识贴于头部鼻尖处。O点为预设支点。
进而，如图5所示，在以预设支点为空间坐标系的原点O，建立相对应治疗床的坐标系中。A为第一定位标记在头部移动前的位置(X A,Y A,Z A)，B为第一定位标记在头部移动后的位置(X B,Y B,Z B)。C为肿瘤在头部移动前的位置(X C,Y C,Z C)，D为肿瘤在头部移动后的位置(X D,Y D,Z D)。向量OE为向量OA与向量OB的法向量。A、B坐标由光学追踪系统检测得出对应坐标位置，C的坐标位置由CT图像中肿瘤与支点的相对关系计算得出，因此只要计算出D位置，就可以推算出肿瘤的运动。
进一步的，上述步骤S102b-3具体可以包括：利用以下公式一计算在患者头部移动后肿瘤在空间坐标系中的坐标点D的坐标值(X D,Y D,Z D)，
公式一为：
Figure PCTCN2018096348-appb-000001
其中，M表示绕向量OE旋转α度的旋转矩阵M，向量OE为向量OA与向量OB的法向量，向量OA为从原点O指向坐标点A的向量，向量OB为从原点O指向坐标点B的向量，α为向量OA与向量OB之间的夹角∠AB的度数。
进一步的，利用公式一计算在患者头部移动后肿瘤在空间坐标系中 的坐标点D的坐标值，可以包括以下(1)-(6)的内容：
(1)向量OE由向量OA和向量OB叉乘所得，因此向量OE为：
(Y A*Z B-Z A*Y B,Z A*X B-X A*Z B,X A*Y B-Y A*X B)
(2)向量OA与向量OB的夹角∠AB的度数为：
Figure PCTCN2018096348-appb-000002
(3)由于本发明实施例中，由于人的头部只存在刚性变换，并且在头部被定位膜胡定在治疗床上后，头部只存在以预设支点为原点的旋转。因此根据三维空间变换原理，任何刚性变换都可以转化为绕任意轴旋转固定角度，在本例中即为绕OE旋转∠AB的度数。
进一步的，绕任意轴旋转的方法可以划分为：
a、将旋转轴平移至与坐标轴重合，对应操作为T；
b、旋转∠AB的度数，对应操作为R；
c、将旋转轴平移回原来位置，对应操作为T -1；
即整个过程就是P t＝P·T·R·T -1。
(4)按照右手坐标系的旋转法则，三维空间中旋转矩阵包括：
绕X轴旋转β度时的旋转矩阵为：
Figure PCTCN2018096348-appb-000003
绕Y轴旋转β度时的旋转矩阵为：
Figure PCTCN2018096348-appb-000004
绕Z轴旋转β度时的旋转矩阵为：
Figure PCTCN2018096348-appb-000005
(5)基于上述步骤(4)的内容，可知：
按照右手坐标系的旋转法则，绕向量OE旋转α度的旋转矩阵M为；
M＝R x(γ)·R z(-θ)·R y(α)·R z(θ)·R x(-γ)
其中，γ为向量OE绕X轴旋转至XOY平面时的夹角，θ为已经旋转至XOY平面的OE向量绕Z轴旋转至与Y轴重合时的夹角，α为向量OA与向量OB之间的夹角∠AB。
(6)进而可以根据公式一，即：
Figure PCTCN2018096348-appb-000006
即可计算出C点与D点的欧式距离，并分析肿瘤的运动情况。
本发明实施例中，考虑到当患者头部被定位膜固定在治疗床上时，患者头部会绕预设支点做旋转移动，但患者头部与治疗床之间的接触点处往往不会有相对移动。因此，可以通过获取一个定位标识的位置变化情况，确认肿瘤的位置变化情况。进而通过获取头部移动前后，第一定位标识在空间坐标系中的坐标值，计算出头部的旋转矩阵M，然后再利用旋转矩阵M计算出肿瘤在空间坐标系中的坐标点D的坐标值(X D,Y D,Z D)，从而实现肿瘤的精确定位。
实施例二：
在一种实现方式中，考虑到可以直接根据不在同一直线上的至少三个定位标识在空间中几何变换关系，来确认患者头部的运动轨迹。因此，基于上述实施例一所提供的方法，其中定位标识为三个以上，三个以上定位标识分别设置在所述患者头部体表的不同预设位置，且所述三个以 上定位标识不在同一直线上。如图6所示，本发明实施例所提供的方法具体还可以包括：
上述步骤S101，具体可以包括：
S201、获取三个以上定位标识在患者头部移动前的位置，三个以上定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置。
其中三个以上定位标识分别设置在患者头部体表的不同预设位置，且三个以上定位标识不在同一直线上。
上述步骤S102，具体可以包括以下步骤S202-S203的内容：
S202、根据三个以上定位标识在患者头部移动前的位置，三个以上定位标识在患者头部移动后的位置，确定患者头部的移动轨迹。
S203、根据患者头部的移动轨迹，以及肿瘤在患者头部移动前的位置，确定在患者头部移动后肿瘤的位置。
实施例三：
基于上述实施例所提供的肿瘤定位方法，本发明实施例还提供一种肿瘤定位装置。如图7所示，该肿瘤定位装置30包括：
获取单元301，用于获取定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置；其中定位标识设置在患者头部体表的预设位置；
处理单元302，用于在获取单元获取定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置之后，根据定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。
可选的，如图7所示，处理单元302，具体包括：类型确定子单元3021、位置确定子单元3022。
类型确定子单元3021，用于根据定位标识在患者头部移动前的位置，以及定位标识在患者头部移动后的位置，确定患者头部的运动类型；其 中运动类型至少包括：平移和绕预设支点旋转中的一种或两种；
位置确定子单元3022，根据患者头部的运动类型，以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。
可选的，类型确定子单元3021，具体用于根据定位标识在患者头部移动前的位置以及在患者头部移动后的位置，确定定位标识的移动量；根据定位标识的移动量，确定患者头部的运动类型。
可选的，位置确定子单元3022，具体用于在确定患者头部的运动类型为平移的情况下，根据定位标识的移动量以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。
可选的，位置确定子单元3022，具体用于在确定患者头部的运动类型为绕预设支点旋转的情况下，判断肿瘤在患者头部移动前的位置与预设支点是否重合；确定肿瘤在患者头部移动前的位置与预设支点重合的情况下，在患者头部移动后肿瘤的位置仍为肿瘤在患者头部移动前的位置；确定肿瘤在患者头部移动前的位置与预设支点不重合的情况下，根据定位标识在患者头部移动前的位置，定位标识在患者头部移动后的位置，以及肿瘤在患者头部移动前的位置，确认在患者头部移动后肿瘤的位置。
可选的，所述定位标识为三个以上；，三个以上定位标识分别设置在所述患者头部体表的不同预设位置，且所述三个以上定位标识不在同一直线上。
由于本发明实施例中的肿瘤定位装置可以应用于实施上述方法实施例，因此，其所能获得的技术效果也可参考上述方法实施例，本发明实施例在此不再赘述。
在采用集成的单元的情况下，图8示出了上述肿瘤定位装置的一种可能的结构示意图。该肿瘤定位装置40包括：存储单元401、处理单元402以及接口单元403。处理单元402用于对肿瘤定位装置40的动作进行控制管理。
其中，以处理单元为处理器，存储单元为存储器，接口单元为收发器为例。进而肿瘤定位装置参照图9中所示，包括收发器503、处理器 502、存储器501和总线504，收发器503、处理器502通过总线504与存储器501相连。
处理器502可以是一个通用中央处理器(Central Processing Unit，CPU)，微处理器，特定应用集成电路(Application-Specific Integrated Circuit，ASIC)，或一个或多个用于控制本发明方案程序执行的集成电路。
存储器501可以是只读存储器(Read-Only Memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(Random Access Memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(Electrically Erasable Programmable Read-only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。
其中，存储器501用于存储执行本发明方案的应用程序代码，并由处理器502来控制执行。收发器503用于接收外部设备输入的内容，处理器502用于执行存储器501中存储的应用程序代码，从而实现本发明实施例中所述的调整音画同步的方法。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件程序实现时，可以全部或部分地以计算机程序产品的形式来实现。该计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算 机、服务器或者数据中心通过有线(例如同轴电缆、光纤、数字用户线(Digital Subscriber Line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可以用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)，光介质(例如，DVD)、或者半导体介质(例如固态硬盘(Solid State Disk，SSD))等。
本发明实施例还提供一种计算机存储介质，该计算机存储介质中包括指令，当其在计算机上运行时，使得计算机执行如上述实施例所提供的肿瘤定位方法。
本发明实施例还提供一种包含指令的计算机程序产品，其特征在于，当其在计算机上运行时，使得计算机执行如上述实施例所提供的肿瘤定位方法。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，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，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (15)

  1. 一种肿瘤定位方法，其特征在于，所述方法应用于对患者头部内的肿瘤进行定位，所述方法包括：
    获取定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置；其中所述定位标识设置在所述患者头部体表的预设位置；
    根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  2. 根据权利要求1所述的肿瘤定位方法，其特征在于，
    所述根据定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置，包括：
    根据所述定位标识在所述患者头部移动前的位置，以及所述定位标识在所述患者头部移动后的位置，确定所述患者头部的运动类型；其中所述运动类型至少包括：平移和绕预设支点旋转中的一种或两种；
    根据所述患者头部的运动类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  3. 根据权利要求2所述的肿瘤定位方法，其特征在于，所述根据定位标识在所述患者头部移动前的位置，以及所述定位标识在所述患者头部移动后的位置，确定所述患者头部的运动类型，包括：
    根据所述定位标识在所述患者头部移动前的位置以及在所述患者头部移动后的位置，确定所述定位标识的移动量；
    根据所述定位标识的移动量，确定所述患者头部的运动类型。
  4. 根据权利要求3所述的肿瘤定位方法，其特征在于，
    确定所述患者头部的运动类型为平移的情况下，所述根据所述 患者头部的运动类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置，包括：
    根据所述定位标识的移动量以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  5. 根据权利要求2所述的肿瘤定位方法，其特征在于，
    确定所述患者头部的运动类型为绕预设支点旋转的情况下，所述根据所述患者头部的运动类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置，包括：
    判断所述肿瘤在所述患者头部移动前的位置与所述预设支点是否重合；
    确定所述肿瘤在所述患者头部移动前的位置与所述预设支点重合的情况下，在所述患者头部移动后所述肿瘤的位置仍为所述肿瘤在所述患者头部移动前的位置；
    确定所述肿瘤在所述患者头部移动前的位置与所述预设支点不重合的情况下，根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  6. 根据权利要求1所述的肿瘤定位方法，其特征在于，所述定位标识为三个以上，三个以上定位标识分别设置在所述患者头部体表的不同预设位置，且所述三个以上定位标识不在同一直线上。
  7. 一种肿瘤定位装置，其特征在于，所述装置应用于对患者头部内的肿瘤进行定位，所述装置包括：
    获取单元，用于获取定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置；其中所述定位标识设置在所述患者头部体表的预设位置；
    处理单元，用于在所述获取单元获取所述定位标识在所述患者 头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置之后，根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  8. 根据权利要求7所述的肿瘤定位装置，其特征在于，所述处理单元，具体包括：类型确定子单元、位置确定子单元；
    所述类型确定子单元，用于根据所述定位标识在所述患者头部移动前的位置，以及所述定位标识在所述患者头部移动后的位置，确定所述患者头部的运动类型；其中所述运动类型至少包括：平移和绕预设支点旋转中的一种或两种；
    所述位置确定子单元，根据所述患者头部的运动类型，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  9. 根据权利要求8所述的肿瘤定位装置，其特征在于，
    所述类型确定子单元，具体用于根据定位标识在所述患者头部移动前的位置以及在所述患者头部移动后的位置，确定所述定位标识的移动量；根据所述定位标识的移动量，确定所述患者头部的运动类型。
  10. 根据权利要求9所述的肿瘤定位装置，其特征在于，
    所述位置确定子单元，具体用于在确定所述患者头部的运动类型为平移的情况下，根据所述定位标识的移动量以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  11. 根据权利要求8所述的肿瘤定位装置，其特征在于，
    所述位置确定子单元，具体用于在确定所述患者头部的运动类型为绕预设支点旋转的情况下，判断所述肿瘤在所述患者头部移动前的位置与所述预设支点是否重合；确定所述肿瘤在所述患者头部 移动前的位置与所述预设支点重合的情况下，在所述患者头部移动后所述肿瘤的位置仍为所述肿瘤在所述患者头部移动前的位置；确定所述肿瘤在所述患者头部移动前的位置与所述预设支点不重合的情况下，根据所述定位标识在所述患者头部移动前的位置，所述定位标识在所述患者头部移动后的位置，以及所述肿瘤在所述患者头部移动前的位置，确认在所述患者头部移动后所述肿瘤的位置。
  12. 根据权利要求7所述的肿瘤定位装置，其特征在于，所述定位标识为三个以上；，三个以上定位标识分别设置在所述患者头部体表的不同预设位置，且所述三个以上定位标识不在同一直线上。
  13. 一种肿瘤定位装置，其特征在于，包括：处理器、存储器、总线和通信接口；所述存储器用于存储计算机执行指令，所述处理器与所述存储器通过所述总线连接，当所述缓存服务器运行时，所述处理器执行所述存储器存储的所述计算机执行指令，以使所述肿瘤定位装置执行如权利要求1-6中任一项所述的肿瘤定位方法。
  14. 一种计算机存储介质，其特征在于，包括指令，当其在计算机上运行时，使得所述计算机执行如权利要求1-6中任一项所述的肿瘤定位方法。
  15. 一种包含指令的计算机程序产品，其特征在于，当其在计算机上运行时，使得所述计算机执行如权利要求1-6中任一项所述的肿瘤定位方法。
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