WO2020020266A1

WO2020020266A1 - Focus tracking and positioning system for four-dimensional single-source gamma knife and positioning method thereof

Info

Publication number: WO2020020266A1
Application number: PCT/CN2019/097603
Authority: WO
Inventors: 王全锋
Original assignee: 王全锋
Priority date: 2018-07-27
Filing date: 2019-07-25
Publication date: 2020-01-30
Also published as: CN109011211A; CN109011211B

Abstract

Disclosed is a focus tracking and positioning system for a four-dimensional single-source gamma knife, comprising a coordinate system, a three-dimensional dual digital X-ray radioscopy system, a position tracking system and a data calculation center. The coordinate system and the three-dimensional dual digital X ray radioscopy system are respectively in connection with the data calculation center, and the coordinate system, the three-dimensional dual digital X ray radioscopy system and the data calculation center are all connected to the position tracking system. The position tracking system includes a position sensor, a displacement focus tracking mathematical model system, a sensor displacement data collecting and analyzing system, a central controller and a radiotherapy planning system. The positioning method of the present invention achieves smart focus tracking by first establishing a displacement focus tracking mathematical model, and employing data correlated with the position sensor, and has the advantages of no delay error and more accurate tracking at the millimeter scale. No tracking X-ray is used in the process of radiotherapy, avoiding radiation hazards and interference of laser positioning. The method has higher practicality, adaptability, efficiency and safety, and is suitable for other stereotactic radiotherapy systems.

Description

Four-dimensional single-source gamma knife focus tracking positioning system and positioning method thereof

Technical field

The invention belongs to the technical field of radiation therapy, and more particularly, relates to a four-dimensional single-source gamma knife focus tracking positioning system and a positioning method thereof.

Background technique

As is known to all, the four-dimensional single-source gamma knife is a single gamma source radiosurgery treatment system based on intelligent three-dimensional five-axis robotic arm laser positioning non-isocentric conformal intensity-modulated tracking focusing irradiation. The four-dimensional single-source gamma knife's displacement focus tracking is composed of a three-dimensional dual digital X-ray image, a body surface position sensor, and a mathematical model system for displacement focus tracking. The displacement focus tracking mathematical model system is a new type of focus tracking system for laser positioning non-isocentric conformal intensity-modulated intensity-tracking focused irradiation radiosurgery system, which has the ability to continuously and accurately correct the incident beam position and precise focus. By tracking mathematical models, data from position sensors, and static radiation treatment plans, the data calculation center and central control system automatically correct deviations in focus position and incident beam orientation, ensuring micron-level accuracy of focusing.

The mathematical model of displacement focus tracking includes, but is not limited to, a coordinate system, a three-dimensional dual digital X-ray imaging system, a digital combined MEMS position sensor, a coordinate automatic fusion software system, an image data processing software system, a software system for establishing a mathematical model of displacement focus tracking, a data center And computing center, imaging workstation, radiotherapy technician console, collaborative treatment bed, patient fixed binding system, etc.

Existing γ-knife focus tracking uses an implanted gold label tracking in X-ray images. X-ray images used for tracking or continuous fluoroscopy, or continuous pulse spotting, have been exposed to high-dose tracking X-ray radiation hazards during prolonged radiotherapy. The displacement focus tracking mathematical model system only uses the three-dimensional double digital X-ray imaging system to spot the patient twice during the establishment of the mathematical model, and sees 3 calm breaths, 3 deep breaths, and 3 coughs in less than 1 minute, which is completely avoided. X-ray image tracking is used to track the radiation hazards, and the serious interference of tracking X-rays on focus tracking is avoided.

Summary of the Invention

In view of this, in order to solve the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an intelligent, digital, accurate, harmless and painless four-dimensional single-source gamma knife focus tracking and positioning system and a positioning method thereof. Establish a mathematical model of displacement focus tracking, intelligently track focus using position sensor correlation data, no delay error, more accurate tracking, micron level, no X-ray tracking in radiation, avoiding radiation hazards and interference with laser positioning, practicality, applicability It has higher efficiency and safety, and is suitable for other stereotactic radiation therapy systems.

To achieve the above objective, the technical solution adopted by the present invention is:

A four-dimensional single-source gamma knife focus tracking and positioning system includes a coordinate system, a three-dimensional double digital X-ray fluoroscopy system, a position tracking system, and a data calculation center. The coordinate system, three-dimensional double digital X-ray fluoroscopy system is connected to the data calculation center, respectively. The coordinate system, the three-dimensional double digital X-ray fluoroscopy system, and the data calculation center are all connected to a position tracking system. The position tracking system includes a position sensor, a displacement focus tracking mathematical model system, a sensor displacement data acquisition and analysis system, and a central controller. And radiation treatment planning system, the position sensor, displacement focus tracking mathematical model system, sensor displacement data acquisition analysis system, and radiation treatment planning system are all connected to a central controller, the position sensor, displacement focus tracking mathematical model system, and sensor displacement data collection The analysis system is connected to the radiation treatment planning system.

Further, the coordinate system, the three-dimensional double digital X-ray fluoroscopy system, and the data calculation center are respectively connected with a central controller, and the coordinate system, the three-dimensional double digital X-ray fluoroscopy system, and the data calculation center are respectively connected with a radiation treatment planning system.

Further, the position sensor is a body surface high-performance combined MEMS position sensor fixed to the front midline of the chest or abdomen. The position sensor includes a gyroscope, an inertial sensor, a speed sensor, an angular velocity sensor, an angle sensor, a distance sensor, and a force sensor. The sensors and position sensors are respectively connected with the atomic clock synchronous timing system of the coordinate system, the three-dimensional laser positioning coordinate system, and the displacement focus tracking three-dimensional digital coordinate system.

Further, the components of the coordinate system are divided into a position tracking system, a three-dimensional double digital X-ray fluoroscopy system, and an intelligent projection system. The coordinate system includes an atomic clock synchronous timing system, a bone positioning coordinate system, a three-dimensional laser positioning coordinate system, and a displacement focus. Tracking three-dimensional digital coordinate system, target feature coordinate system, automatic fusion system of target feature coordinates and positioning coordinates, robot laser focusing projection coordinate system, atomic clock synchronous timing system and bone positioning coordinate system, three-dimensional laser positioning coordinate system, displacement focus tracking three-dimensional Digital coordinate system, target feature coordinate system, target feature coordinate and positioning coordinate automatic fusion system, robot laser focus projection coordinate system, position sensor, sensor displacement data acquisition and analysis system, digital image receiver, and image workstation are connected.

Further, the three-dimensional dual-digital X-ray fluoroscopy system includes a high-voltage generator, a C-arm frame, two sets of fluoroscopy mechanisms, an imaging workstation, a patient fixing and binding system, an automatic cooperative treatment bed, and a radiotherapy technician's console. Device, C-arm frame, two sets of perspective mechanism, imaging workstation, patient fixed binding system, automatic collaborative treatment bed are all connected to the radiotherapy technician's console, and the two groups of perspective mechanisms are installed on the C-arm frame and all It is connected to a high-voltage generator, the two groups of fluoroscopy mechanisms are arranged perpendicular to each other, and the automatic cooperative treatment bed is located at the center of the annular inner cavity formed by the two groups of fluoroscopy mechanisms.

Further, the fluoroscopy mechanism in a single group includes an X-ray source assembly and a digital image receiver which are oppositely arranged and connected, and the single X-ray source assembly includes an X-ray tube assembly and a variable light field shutter, The maximum light field boundary of the variable light field shutter is within the edge of the digital image receiver. The highest tube voltage of the X-ray tube bulb assembly is 150 kV, and the perspective tube current is continuously adjustable between 0.1 mA and 100 mA.

Further, the high-voltage generator is used to provide an X-ray tube voltage for the X-ray source assembly of the fluoroscopy mechanism. The tube voltage of the high-voltage generator is continuously adjustable in a range of 28-150kV, and the adjustment interval is 1kV.

Further, the image workstation includes an image data processing system, a computer system, an image display system, and an information input system. The image data processing system, the image display system, and the information input system are respectively connected to a computer system, and the image display system and the information input system are respectively It is connected to the image data processing system. The influence workstation is used to collect, store, analyze, and characterize the characteristics, shapes, and positions of the targets, focus, sensitive cells, tissues, and organs in the image data. Capturing and tracking of image feature data, and characterization of displacement focus feature data.

Further, the automatic cooperative treatment bed includes a base bracket that can be raised and lowered, and a bed board integrated body that can be translated back and forth, left and right.

Further, the patient fixing and binding system is connected with an automatic cooperative treatment bed and used in cooperation.

Further, the bone positioning coordinate system is positioned on the patient's body surface, and the three-dimensional laser positioning coordinate system is set around the automatic collaborative treatment bed and connected to the automatic collaborative treatment bed, the three-dimensional double digital X-ray fluoroscopy system, and the intelligent projection system, respectively. .

Further, the data computing center is used for acquiring, storing, and computing data of each system, analyzing and four-dimensionally describing the shape, nature, and location characteristics of tissues, organs, tumors, or lesions, and classifying and marking projection blocks, intelligent image analysis, Image recognition, image diagnosis, self-learning ability.

A positioning method of a four-dimensional single-source gamma knife focus tracking positioning system includes the following steps:

(1) According to the patient's own bone positioning coordinate system, the patient's fixed binding system is used to securely bind the patient to the automatic collaborative treatment bed and located in the three-dimensional laser positioning coordinate system, and the specific bone coordinate point is positioned to the three-dimensional laser positioning coordinate system. Near the origin

(2) Set up the position sensor on the patient's body, and connect the position sensor with the sensor displacement data acquisition and analysis system;

(3) For the patient's first spotting, the two digital image receivers synchronized in time will fuse the received data into a three-dimensional image, characterize and identify the three-dimensional coordinates and their coordinate origin, which is the focus, and compare the existing and analyzed characters. The typical characteristic data of the image is automatically coordinated with the treatment bed to move the focus of the target to the origin of the reference positioning coordinate to complete the automatic fusion of the origin of the target characteristic coordinate system, that is, the focus of the treatment with the origin of the bone positioning coordinate system and the three-dimensional laser positioning coordinate system;

(4) Point again, collect time-synchronized position sensor coordinate data and focus coordinate data, and correlate the data to complete the four-dimensional coordinate system fusion;

(5) Three-dimensional double-digital X-ray fluoroscopy system continuous fluoroscopy, time covers three quiet breaths, three deep breaths, three coughs, and the time-synchronized dynamic image data of the two digital image receivers is collected, transmitted, and stored to fit the three-dimensional image , Analyze, characterize, mark the focus, capture the focus, extract the four-dimensional typical feature data of the time-synchronized focus displacement in coordinates and the four-dimensional typical feature data of the position sensor, correlate the data, and establish a mathematical model of displacement focus tracking with respiratory or heartbeat displacement;

(6), data calculation center, radiation treatment planning system comprehensively formulate advanced radiotherapy physician prescription, patient image characteristic data, target and focus characteristic data and displacement focus tracking mathematical model, etc. intelligently formulate four-dimensional laser positioning in three-dimensional spatial overlay time dimension non-equivalence center Intensity-Tracking Focused Radiation Therapy Plan.

The beneficial effects of the present invention are:

A four-dimensional single-source gamma knife focus tracking and positioning system and positioning method. First, a mathematical model of displacement focus tracking is established, and the focus is intelligently tracked using position sensor correlation data. There is no delay error. The tracking is more accurate and micron-level. No tracking is used in radiation. X-ray avoids radiation hazards and interferes with laser positioning. It is more practical, applicable, efficient and safe, and is suitable for other stereotactic radiotherapy systems. The specific performance is as follows:

1. The mathematical model of displacement focus tracking is outstanding in innovation, strong in logic, accurate and perfect. The focus tracking of displacement mathematical model is continuous, micron-level high precision, painless and harmless;

2. The position sensor is a high-performance combined MEMS position sensor on the surface of the body. The position sensor and the displacement focus tracking 3D digital coordinate system cooperate with each other and have a close logic. The data is transmitted to the data calculation center without interruption. Special control algorithms such as predictive control, feedforward control, and adaptive control can be performed to achieve focus control of displacement focus tracking accurate to the micron level;

3. No gold label implantation, no pain, no discomfort and no risk of implantation;

4. Without the use of frame steel nails, no pain of steel nails;

5. Do not use X-rays during radiotherapy. There is no positioning and tracking X-ray radiation hazards, and no X-rays interfere with laser positioning.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.

FIG. 1 is a principle block diagram of a system of the present invention;

2 is a schematic structural diagram of a system of the present invention;

Markings in the figure: 1. Coordinate system, 101, Atomic clock synchronous timing system, 102, Bone positioning coordinate system, 103, 3D laser positioning coordinate system, 104, 3D digital coordinate system for displacement focus tracking, 2, 3D double digital X-ray perspective system , 201, high voltage generator, 202, C-arm frame, 203, fluoroscopy mechanism, 2031, X-ray source assembly, 2032, digital image receiver, 204, imaging workstation, 205, patient fixed binding system, 206, automatic Collaborative treatment bed, 2061, base support, 2062, bedboard integrated body, 207, radiotherapy technician console, 3, data computing center, 4, position tracking system, 401, position sensor, 402, displacement focus tracking mathematical model system, 403, Sensor displacement data acquisition and analysis system, 404, central controller, 405, radiation treatment planning system.

detailed description

Specific examples are given below to further explain the technical solution of the present invention in a clear, complete, and detailed manner. This embodiment is the best embodiment based on the technical solution of the present invention, but the protection scope of the present invention is not limited to the following embodiments.

As shown in Figure 1-2, a four-dimensional single-source gamma knife focus tracking and positioning system includes a coordinate system 1, a three-dimensional double digital X-ray fluoroscopy system 2, a position tracking system 4, and a data calculation center 3. The coordinate system 1, The three-dimensional double digital X-ray fluoroscopy system 2 is connected to the data calculation center 3, and the coordinate system 1, the three-dimensional double digital X-ray fluoroscopy system 2, and the data calculation center 3 are all connected to a position tracking system 4, which includes: Position sensor 401, displacement focus tracking mathematical model system 402, sensor displacement data collection and analysis system 403, central controller 404, and radiation therapy planning system 405, the position sensor 401, displacement focus tracking mathematical model system 402, and sensor displacement data collection and analysis The system 403 and the radiation treatment planning system 405 are all connected to the central controller 404, and the position sensor 401, the displacement focus tracking mathematical model system 402, and the sensor displacement data acquisition and analysis system 403 are connected to the radiation treatment planning system 405.

Further, the coordinate system 1, three-dimensional double digital X-ray fluoroscopy system 2, and data calculation center 3 are connected to the central controller 404, and the coordinate system 1, three-dimensional double digital X-ray fluoroscopy system 2, and data calculation center 3, respectively. It is connected to the radiation therapy planning system 405.

Further, the position sensor 401 is a body surface high-performance combined MEMS position sensor fixed on the front midline of the chest or abdomen. The position sensor 401 includes a gyroscope, an inertial sensor, a speed sensor, an angular velocity sensor, an angle sensor, a distance sensor, and The force sensor and position sensor 401 are respectively connected with the atomic clock synchronous timing system 101, the three-dimensional laser positioning coordinate system 103, and the displacement focus tracking three-dimensional digital coordinate system 104 of the coordinate system 1.

Further, the components of the coordinate system 1 are divided into a position tracking system 4, a three-dimensional double digital X-ray fluoroscopy system 2 and an intelligent projection system. The coordinate system 1 includes an atomic clock synchronous timing system 101, a bone positioning coordinate system 102, and a three-dimensional laser. Positioning coordinate system 103, displacement focus tracking three-dimensional digital coordinate system 104, target feature coordinate system, automatic fusion system of target feature coordinates and positioning coordinates, robot laser focus projection coordinate system, atomic clock synchronous timing system 101 and bone positioning coordinate system 102, Three-dimensional laser positioning coordinate system 103, displacement focus tracking three-dimensional digital coordinate system 104, target feature coordinate system, automatic fusion system of target feature coordinates and positioning coordinates, robot laser focusing projection coordinate system, position sensor 401, sensor displacement data acquisition and analysis system 403 The digital image receiver 2032 and the image workstation 204 are connected.

Further, the atomic clock synchronous timing system 101 includes an atomic clock and a synchronous timing device to realize precise time control, precise focus tracking of a four-dimensional single-source gamma knife overall system, establishment of a mathematical model of displacement focus tracking, three-dimensional dual digital X-ray perspective system 2 image fusion, The data of the high-precision combined MEMS position sensor 401 is real-time adjusted and focused precisely in real time. In addition, the time synchronization of each subsystem is an important content of the high intelligence of the four-dimensional single-source gamma knife.

Further, the three-dimensional dual-digital X-ray fluoroscopy system 2 includes a high-voltage generator 201, a C-arm frame 202, two sets of fluoroscopy mechanisms 203, an imaging workstation 204, a patient fixing and binding system 205, an automatic cooperative treatment bed 206, and a radiotherapy technician. Control table 207, the high-voltage generator 201, C-arm frame 202, two sets of perspective mechanism 203, imaging workstation 204, patient fixed binding system 205, and automatic collaborative treatment bed 206 are all connected to the radiotherapy technician control table 207, two groups The fluoroscopy mechanism 203 is installed on the C-arm frame 202 and is connected to the high-voltage generator 201. The two sets of fluoroscopy mechanisms 203 are arranged perpendicular to each other, and the automatic cooperative treatment bed 206 is located in a ring formed by the two sets of fluoroscopy mechanisms 203. The center position of the lumen.

Further, the fluoroscopy mechanism 203 in a single group includes an X-ray source assembly 2031 and a digital image receiver 2032 which are opposite and connected, and a single X-ray source assembly 2031 includes an X-ray tube assembly, a variable The light field shutter, the maximum light field boundary of the variable light field shutter is within the edge of the digital image receiver 2032, the maximum tube voltage of the X-ray tube bulb assembly is 150kV, and the perspective tube current is continuously between 0.1mA-100mA Adjustable.

Further, the high-voltage generator 201 is used to provide an X-ray tube voltage for the X-ray source assembly 2031 of the fluoroscopy mechanism 203. The tube voltage of the high-voltage generator 201 is continuously adjustable in the range of 28-150kV. The adjustment interval is 1kV.

Further, the image workstation 204 includes an image data processing system, a computer system, an image display system, and an information input system. The image data processing system, the image display system, and the information input system are respectively connected to a computer system. The image display system and the information input system Connected to the image data processing system, the influence workstation 204 is used to collect, store, analyze, and characterize the characteristics, shapes, and positions of the target, focus, sensitive cells, tissues, and organs in the image data. For the capture and tracking of dynamic image feature data, and the characterization of displacement focus feature data.

Further, the automatic cooperative treatment bed 206 includes a base stand 2061 that can be raised and lowered, and a bed plate integrated body 2062 that can be translated forward, backward, leftward, and rightward. Further, the bed plate integrated body 2062 is made of a material having a low atomic number, a low density, and a low gamma-ray absorptance and reflectance. The automatic cooperative treatment bed 206 can automatically shift the focus when used for multi-target therapy.

Further, the patient fixing and binding system 205 is connected to the automatic cooperative treatment bed 206 and is used in cooperation.

Further, the bone positioning coordinate system 102 is positioned on the body surface of the patient, and the three-dimensional laser positioning coordinate system 103 is arranged around the automatic cooperative treatment bed 206, that is, above, below, front, back, left, and right of the automatic cooperative treatment bed 206. Position, and are connected to the automatic cooperative treatment bed 206, the three-dimensional double digital X-ray fluoroscopy system 2, and the intelligent projection system, respectively.

Further, the four-dimensional single-source gamma knife focus tracking and positioning system of the present invention further includes an intelligent projection system, which is respectively coordinate system 1, position tracking system 4, central controller 404, and radiation treatment planning system 405. The automatic cooperative treatment bed 206, the radiotherapy technician control table 207, and the data calculation center 3 are connected.

Further, the data calculation center 3 is used for acquiring, storing, and computing data of each system, analyzing and four-dimensionally describing the shape, nature, and position characteristics of tissues, organs, tumors, or lesions, and classifying and marking projection blocks, and intelligent image analysis. , Image recognition, image diagnosis, self-learning ability.

Further, the C-shaped arm frame 202 may be a frame of other shapes, such as a square, but is preferably a C-shape.

(1) According to the patient's own bone positioning coordinate system 102, the patient's fixed binding system 205 is used to fix and bind the patient to the automatic cooperative treatment bed 206 and located in the three-dimensional laser positioning coordinate system 103, and the specific bone coordinate points are positioned to three-dimensional Near the origin of the laser positioning coordinate system 103;

(2) The position sensor 401 on the patient's body is set up, and the position sensor 401 is connected to the sensor displacement data acquisition and analysis system 403;

(3) For the first spot of the patient, the time-synchronized two digital image receivers 2032 fuse the received data into a three-dimensional image, characterize and identify the three-dimensional coordinates and their coordinate origin, that is, the focus, and compare existing and analyzed characters. The typical characteristic data of the image is automatically coordinated with the treatment bed 206 to move the focus of the target to the origin of the reference positioning coordinates, and complete the origin of the target feature coordinate system, that is, the focus of the treatment and the origin of the bone positioning coordinate system 102 and the three-dimensional laser positioning coordinate system 103. Automatic fusion

(4) Point again, collect time-synchronized position sensor 401 coordinate data and focus coordinate data, and correlate the data to complete the four-dimensional coordinate system 1 fusion;

(5) Three-dimensional dual digital X-ray fluoroscopy system 2 continuous perspective, time covers three quiet breaths, three deep breaths, three coughs, and the time-synchronized two digital image receivers 2032's dynamic image data are collected, transmitted, stored, and fitted. Three-dimensional image analysis, characterization, identification of focus, grabbing of focus, extraction of four-dimensional typical feature data of time-synchronized focus displacement in coordinates and position sensor 401 four-dimensional typical feature data, correlation data, establishment of displacement focus tracking with breathing or heartbeat displacement mathematical model;

(6) Data calculation center 3. Radiation treatment planning system 405 Comprehensively formulates four-dimensional laser positioning in three-dimensional spatial superposition time intelligently by integrating advanced radiotherapy physician prescription, patient image characteristic data, target and focus characteristic data, and mathematical model of displacement focus tracking. Central Conformal Intensity Modulation Tracking Focused Radiation Therapy Plan.

Further, the automatic fusion system of target feature coordinates and positioning coordinates locates the characteristic bone positioning coordinate marks on the patient's body, that is, the ischial tuberosity line is positioned near the midpoint mark of the midline of the bedplate of the automatic cooperative treatment bed 206, that is, three-dimensional Near the origin of the laser positioning coordinate system 103, the patient's body is fixed on the automatic cooperative treatment bed 206 with the patient fixing and binding system 205, and the body surface high-performance digital combined MEMS position sensor 401 and displacement focus tracking three-dimensional digital coordinate system 104 are set. , Adjust the automatic cooperative treatment bed 206 so that the target is positioned near the origin of the three-dimensional laser positioning coordinate system 103; the vertical and horizontal focal points of the three-dimensional double digital X-ray fluoroscopy system 2 are also positioned to the intersection of the line with the midpoint of the image acquisition board The displacement focus tracked the position near the origin of the three-dimensional digital coordinate system 104. The radiotherapy technician completed the manual positioning, left the computer room, closed the computer room door, and operated the three-dimensional dual digital X-ray fluoroscopy system 2 on the radiotherapy technician's console 207 to allow the patient to hold their breath for the first time. sheet;

The data calculation center 3 supports a three-dimensional dual-digital X-ray fluoroscopy system 2 to simultaneously collect data from two digital image receivers 2032, fit a three-dimensional image, analyze and characterize the target's target feature coordinate system and its coordinate origin, that is, focus, and grab the spot. The target's typical shape and coordinate data are compared with the existing data in the system, the bed is automatically adjusted, the coordinate origin of the target portrayed by the system is moved to the origin of the equipment reference positioning coordinate system, and the target characteristic coordinate system and bone positioning coordinate system are completed. Fusion of 3D laser positioning coordinate system;

Make the patient hold their breath and point again; the data calculation center 3 synchronously collects the body surface high-performance combined MEMS position sensor 401 data and focus coordinate displacement data, and associates the target feature coordinate system, the bone positioning coordinate system 102, and the three-dimensional laser positioning coordinate system 103 The coordinate data of the position sensor 401 and the displacement focus tracking three-dimensional digital coordinate system 104, that is, the reference positioning coordinate data of the associated equipment, the processing positioning coordinate data, the workpiece coordinate data, and the tracking coordinate data, are fused and correlated to complete the four-dimensional coordinate system 1 fusion.

Further, the radiotherapy technician control table 207 is a radiotherapy technician workstation, a four-dimensional single-source gamma knife, a displacement focus tracking three-dimensional digital coordinate system 104, and a three-dimensional dual digital X-ray fluoroscopy system 2 to realize the integration of all coordinate systems. Two technician keys Unlock and issue a laser positioning non-isocenter conformal intensity modulated tracking focused irradiation radiation treatment plan authorized by a senior radiotherapy physician.

Example 1

Further, the components of the coordinate system 1 are divided into a position tracking system 4, a three-dimensional double digital X-ray fluoroscopy system 2 and an intelligent projection system. The coordinate system 1 includes an atomic clock synchronous timing system 101, a bone positioning coordinate system 102, and a three-dimensional laser. Positioning coordinate system 103, displacement focus tracking three-dimensional digital coordinate system 104, target feature coordinate system, automatic fusion system of target feature coordinates and positioning coordinates, robot laser focus projection coordinate system, atomic clock synchronous timing system 101 and bone positioning coordinate system 102, Three-dimensional laser positioning coordinate system 103, displacement focus tracking three-dimensional digital coordinate system 104, target feature coordinate system, automatic fusion system of target feature coordinates and positioning coordinates, robot laser focusing projection coordinate system, position sensor 401, sensor displacement data acquisition and analysis system 403 A digital image receiver 2032 and an image workstation 204 are connected. In this embodiment, the base of the three-dimensional five-axis laser positioning focusing projection robot system mounting bracket is fixed on the head of the automatic cooperative treatment bed 206. The patient is fixed in supine position on the bed, and the doctor stands on the bed side of the patient's right hand side. The coordinates are determined using the right-handed rectangular coordinate system: the patient's head direction on the horizontal bed's longitudinal axis is the positive Y coordinate, the patient's right hand to the left hand direction on the horizontal bed's transverse axis is the X axis, and the direction perpendicular to the horizontal bed's upward is the Z axis. Positive. The origin of coordinates is the reference point: 100mm above the centerline of the bed's longitudinal axis, 1500mm above the horizontal floor, and 1100mm at the head of the bed. Marks are printed on the bed. Patients need only align the left and right ischial tuberosity lines. At the mark on the bed.

Further, the automatic cooperative treatment bed 206 includes a base bracket 2061 that can be raised and lowered, and a bed plate integrated body 2062 that can be translated back and forth, left and right, and the bed plate integrated body 2062 is made of a material with a low atomic number, low density, and low gamma-ray absorptivity and reflectance. to make. The automatic cooperative treatment bed 206 can automatically shift the focus when used for multi-target therapy.

A positioning method of a four-dimensional single-source gamma knife focus tracking positioning system, the specific implementation method thereof includes the following steps:

(1) The equipment engineer starts the system with the cooperation of a radiotherapy technician to check the performance of the focus tracking positioning system to ensure that the positioning system is normal;

(2) Authorized senior radiation therapist enters the confirmed patient information in the focus tracking and positioning system of the four-dimensional single-source gamma knife to complete the appointment;

(3) Determine the target and focus, radiotherapy prescription, establish a static non-isocentric conformal intensity-modulated focused radiation therapy plan and review it;

(4) Two authorized radiotherapy technicians are present at the same time to accept the patient, verify the patient's identity, confirm that the environmental condition of the computer room, and the condition of the four-dimensional single-source gamma knife equipment are all normal, and start the next step;

(5) Fixing the patient to the coordinate system 1: The four-dimensional single-source gamma knife uses a reference coordinate system, a bone positioning coordinate system 102, a three-dimensional laser positioning coordinate system 103, a position sensor 401, a displacement focus tracking three-dimensional digital coordinate system 104, and target characteristics. Coordinate system, robotic laser focusing projection coordinate system, coordinate system 1 integrates the radiosurgery treatment system that realizes patient positioning, focus positioning, focus displacement tracking, and projection robot tracking focus for laser positioning non-isocentric conformal intensity-modulation tracking focusing irradiation;

(5.1), let the patient lie on the automatic cooperative treatment bed 206;

(5.2) Injecting a sedative, the dose is such that the patient is asleep during the entire treatment time. While familiarizing the patient with the environment of the computer room, the patient will be introduced to the treatment process without pain, the robot arm should be moved around the body, or far or near, or Fast or slow, the device is safe without touching the body, don't be afraid, and don't struggle to move the body;

(5.3) Position the characteristic bone positioning coordinate mark of the patient's body-the ischial tuberosity line is positioned near the midpoint mark of the midline of the bed plate, that is, near the origin of the reference three-dimensional laser positioning coordinate system 103, and fixed with the patient. The restraint system 205 fixes the restraint patient's body on the automatic cooperative treatment bed 206;

(6) Setting the displacement focus tracking three-dimensional digital coordinate system 104: In the appropriate position where the tumor displacement correlation of the anterior midline of the patient is good, that is, the fourth intercostal level of the sternal stalk or the midpoint of the line between the xiphoid process and the umbilical cord in lung cancer Fixed position sensor 401 and displacement focus tracking three-dimensional digital coordinate system 104;

(7) Fusion of coordinate system 1: adjust the automatic cooperative treatment bed 206 so that the target is positioned near the origin of the three-dimensional laser positioning coordinate system 103; the vertical and horizontal focus of the three-dimensional double digital X-ray fluoroscopy system 2 is the image acceptance The intersection of the midpoint connection of the device is automatically positioned 10cm above the origin of the three-dimensional laser positioning coordinate system 103; the radiotherapy technician completes the manual positioning, leaves the machine room, closes the machine room door, and operates the three-dimensional dual digital X-ray perspective on the radiotherapy technician's console 207 System 2, let the patient hold their breath, first spot the film;

Make the patient hold their breath and point again; the data calculation center 3 synchronously collects the body surface high-performance combined MEMS position sensor 401 data and focus coordinate displacement data, and associates the target feature coordinate system, the bone positioning coordinate system 102, and the three-dimensional laser positioning coordinate system 103 The coordinate data of the position sensor 401 and the displacement focus tracking three-dimensional digital coordinate system 104, that is, the reference positioning coordinate data of the associated equipment, the processing positioning coordinate data, the workpiece coordinate data, and the tracking coordinate data, are fused and associated to complete the fusion of the entire coordinate system 1.

(8) Establishing a mathematical model of displacement focus tracking: The radiotherapy technician turns on the three-dimensional double digital X-ray fluoroscopy system 2 to continuously perform a fluoroscopy inspection of the target and the surrounding area. The time covers three calm breaths, three deep breaths, and three coughs. Center 3, image workstation 204, typical characteristic analysis and description system of moving target, moving target image recognition and capture system, capture the origin of target feature coordinate system, that is, the focus of treatment, in 3D laser positioning coordinate system 103, robot laser focus projection Characteristic data of displacement with breathing or heartbeat in the coordinate system, obtain data of coordinate system 1 of the three-dimensional digital position sensor 401 of the body surface high-performance combined MEMS position sensor, and correlate the feature with the focus displacement to establish target tracking with breathing or heartbeat displacement. Mathematical model of displacement focus tracking.

Example 2

A positioning method of a four-dimensional single-source gamma-knife focus tracking positioning system of the present invention, which is used for spinal tracking is as follows:

It includes the following steps:

(1) The equipment engineer starts the system with the cooperation of a radiotherapy technician to test the performance of the four-dimensional single-source gamma knife focus tracking positioning system to ensure that the positioning system is normal;

(2) Authorized senior radiotherapy physicians fully enter the information of patients who have been diagnosed in the focus tracking and positioning system of the four-dimensional single-source gamma knife to complete the appointment; determine the target and focus, radiotherapy prescription, and establish a static non-isocentric conformal intensity-modulated focus Radiation therapy plan and review;

(3) Two authorized radiotherapy technicians are present at the same time, accept the patient, verify the patient's identity, confirm that the environmental condition of the computer room, and the condition of the four-dimensional single-source gamma knife equipment are all normal, and start the next step;

(4) Fix the patient to the coordinate system 1

(4.1), let the patient lie on the automatic cooperative treatment bed 206;

(4.2) Inject a sedative at a dose such that the patient is asleep during the entire treatment period. While familiarizing the patient with the computer room environment, introduce the patient to the treatment process without pain, the robot arm should move around the body, or far or near, or Fast or slow, the device is safe without touching the body, don't be afraid, and don't struggle to move the body;

(4.3) Mark the characteristic bony positioning coordinate mark of the patient's body-the ischial tuberosity line is positioned near the midpoint mark of the midline of the bed plate, that is, near the origin of the reference three-dimensional laser positioning coordinate system 103, and the patient's body is longitudinally positive. The midline is directly opposite the midline of the bed, and the patient's body is fixed on the automatic cooperative treatment bed 206 with the patient fixing and binding system 205;

(5) Setting the displacement focus tracking three-dimensional digital coordinate system 104: In the appropriate position where the tumor displacement correlation of the anterior midline of the patient is good, that is, in the case of spinal cancer, the fourth intercostal level of the sternal handle or the midpoint of the xiphoid and umbilical line , Fixed position sensor 401 and displacement focus tracking three-dimensional digital coordinate system 104;

(6) Fusion of coordinate system 1: adjust the automatic side-by-side switch of the 206 bed, back of the bed, 3D double digital X-ray fluoroscopy system 2 vertical and horizontal focus, that is, the intersection of the image receiver midpoint connection Automatically positioned 10cm above the origin of the three-dimensional laser positioning coordinate system 103; the radiotherapy technician completes the manual positioning, leaves the computer room, closes the computer room door, and operates the three-dimensional double digital X-ray fluoroscopy system 2 on the radiotherapy technician console 207 to let the patient hold their breath for the first time Point

(7) Establishing a mathematical model of displacement focus tracking: The radiotherapy technician turns on the three-dimensional double digital X-ray fluoroscopy system 2 to continuously perform a fluoroscopy inspection of the target and the surrounding area. The time covers three calm breaths, three deep breaths, and three coughs. The image data is entered into the data calculation. Center 3, image workstation 204, typical characteristic analysis and description system of moving target, moving target image recognition and capture system, capture the origin of target feature coordinate system, that is, the focus of treatment, in 3D laser positioning coordinate system 103, robot laser focus projection Characteristic data of displacement with breathing or heartbeat in the coordinate system, obtain data of coordinate system 1 of the three-dimensional digital position sensor 401 of the body surface high-performance combined MEMS position sensor, and correlate the feature with the focus displacement to establish target tracking with breathing or heartbeat displacement. Mathematical model of displacement focus tracking.

In summary, the four-dimensional single-source gamma knife focus tracking and positioning system and positioning method of the present invention first establish a mathematical model of displacement focus tracking, and intelligently track the focus using position sensor correlation data, without delay errors, and more accurate tracking. Micron level. No tracking X-ray is used in radiation, which avoids radiation hazards and interference with laser positioning. It is more practical, applicable, efficient and safe, and is suitable for other stereotactic radiation therapy systems.

The main features, basic principles and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also be based on actual conditions. There are various changes and improvements in the situation, and these changes and improvements fall within the scope of the claimed invention. The claimed scope of the invention is defined by the appended claims and their equivalents.

Claims

A four-dimensional single-source gamma knife focus tracking and positioning system includes a coordinate system (1), a three-dimensional double digital X-ray fluoroscopy system (2), a position tracking system (4), and a data calculation center (3). The coordinate system (1 ). The three-dimensional double digital X-ray fluoroscopy system (2) is connected to the data calculation center (3), which is characterized by the coordinate system (1), the three-dimensional double digital X-ray fluoroscopy system (2), and the data calculation center (3). ) Are connected to a position tracking system (4), which includes a position sensor (401), a displacement focus tracking mathematical model system (402), a sensor displacement data acquisition and analysis system (403), and a central controller ( 404) and radiation treatment planning system (405), the position sensor (401), displacement focus tracking mathematical model system (402), sensor displacement data acquisition and analysis system (403), and radiation treatment planning system (405) are all controlled by the central control The device (404) is connected, and the position sensor (401), the displacement focus tracking mathematical model system (402), and the sensor displacement data acquisition and analysis system (403) are connected to the radiation treatment planning system (405).
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 1, characterized in that the coordinate system (1), the three-dimensional dual digital X-ray fluoroscopy system (2), and the data calculation center (3) are respectively A central controller (404) is connected, and the coordinate system (1), the three-dimensional double digital X-ray fluoroscopy system (2), and the data calculation center (3) are connected to a radiation treatment planning system (405), respectively.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 1, characterized in that the position sensor (401) is a body surface high-performance combined MEMS position sensor fixed to the front midline of the chest or abdomen, The position sensor (401) includes a gyroscope, an inertial sensor, a speed sensor, an angular velocity sensor, an angle sensor, a distance sensor, and a force sensor. The position sensor (401) is synchronized with the atomic clock of the coordinate system (1). The laser positioning coordinate system (103) and the displacement focus tracking three-dimensional digital coordinate system (104) are connected.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 1, characterized in that the components of the coordinate system (1) are divided into a position tracking system (4), a three-dimensional double digital X-ray fluoroscopy system (2 ) And intelligent projection system, the coordinate system (1) includes atomic clock synchronous timing system (101), bone positioning coordinate system (102), three-dimensional laser positioning coordinate system (103), displacement focus tracking three-dimensional digital coordinate system (104), Target feature coordinate system, target feature coordinate and positioning coordinate automatic fusion system, robot laser focusing projection coordinate system, atomic clock synchronous timing system (101), respectively, bone positioning coordinate system (102), three-dimensional laser positioning coordinate system (103), displacement Focus tracking three-dimensional digital coordinate system (104), target feature coordinate system, automatic fusion system of target feature coordinates and positioning coordinates, robot laser focusing projection coordinate system, position sensor (401), sensor displacement data acquisition and analysis system (403), digital The image receiver (2032) and the image workstation (204) are connected.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 1, wherein the three-dimensional double digital X-ray fluoroscopy system (2) comprises a high-voltage generator (201) and a C-shaped arm frame (202) , Two sets of perspective mechanism (203), imaging workstation (204), patient fixed binding system (205), automatic cooperative treatment bed (206) and radiotherapy technician control table (207), the high voltage generator (201), C The arm frame (202), two sets of perspective mechanism (203), imaging workstation (204), patient fixing and binding system (205), and automatic collaborative treatment bed (206) are all connected to the radiotherapy technician control table (207), two groups The fluoroscopy mechanisms (203) are all mounted on a C-arm frame (202) and connected to a high-voltage generator (201). The two sets of fluoroscopy mechanisms (203) are arranged perpendicular to each other and automatically cooperate with the treatment bed (206). ) Is located at the center of the annular inner cavity formed by the two groups of fluoroscopy mechanisms (203).
The four-dimensional single-source gamma-knife focus tracking and positioning system according to claim 5, characterized in that: the single-group perspective mechanism (203) includes an X-ray source assembly (2031) and digital images that are oppositely connected and connected A receiver (2032), the single X-ray source assembly (2031) includes an X-ray tube bulb assembly, a variable light field shutter, and a maximum light field boundary of the variable light field shutter is in the digital image receiver (2032) ) Within the edge, the highest tube voltage of the X-ray tube bulb assembly is 150 kV, and the see-through tube current is continuously adjustable between 0.1 mA and 100 mA.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 5, characterized in that: the high-voltage generator (201) is used to provide generation for an X-ray source assembly (2031) of a fluoroscopy mechanism (203). X-ray tube voltage. The tube voltage of the high-voltage generator (201) is continuously adjustable in the range of 28-150kV, and its adjustment interval is 1kV.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 5, wherein the image workstation (204) comprises an image data processing system, a computer system, an image display system, and an information input system, and the image data processing The system, the image display system, and the information input system are connected to the computer system, the image display system and the information input system are connected to the image data processing system, respectively. The influence workstation (204) is used to collect, store, analyze, target in the image data, Typical characteristic data of the nature, morphology, and position of focus, sensitive cells, tissues, and organs are marked and marked, which is used to capture and track dynamic image feature data, and to describe and identify the focus feature data.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 5, characterized in that: the automatic cooperative treatment bed (206) comprises an adjustable base support (2061), and a bedboard integrated body capable of moving forward, backward, leftward, and rightward. (2062).
The four-dimensional single-source gamma-knife focus tracking and positioning system according to claim 5, characterized in that: the patient fixed binding system (205) is connected to an automatic cooperative treatment bed (206) and used in cooperation.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 4, wherein the bone positioning coordinate system (102) is positioned on a patient's body surface, and the three-dimensional laser positioning coordinate system (103) is set on Around the automatic cooperative treatment bed (206) and connected to the automatic cooperative treatment bed (206), the three-dimensional double digital X-ray fluoroscopy system (2), and the intelligent projection system, respectively.
The four-dimensional single-source gamma knife focus tracking and positioning system according to claim 1, characterized in that the data calculation center (3) is used to acquire, store, and calculate data of each system, analyze and four-dimensionally describe tissues and organs , Morphology, nature, and location characteristics of tumors or lesions and classifying and marking projection blocks, intelligent image analysis, image recognition, image diagnosis, and self-learning ability.
The positioning method of a four-dimensional single-source gamma knife focus tracking positioning system according to claim 1, comprising the following steps:

(1) According to the patient's own bone positioning coordinate system (102), the patient's fixed binding system (205) is used to fix and bind the patient to the automatic cooperative treatment bed (206) and located in the three-dimensional laser positioning coordinate system (103). , The specific bone coordinate point is positioned near the origin of the three-dimensional laser positioning coordinate system (103);

(2) Setting up the position sensor (401) on the patient's body, and connecting the position sensor (401) with the sensor displacement data acquisition and analysis system (403);

(3) Two time-synchronized two digital image receivers (2032) that spot the patient for the first time, fuse the received data into a three-dimensional image, and characterize and identify the three-dimensional coordinates and their coordinate origin, that is, the focus. Analyze the characteristic data of the image depicting the logo, and automatically cooperate with the treatment bed (206) to move the focus of the target to the origin of the reference positioning coordinates, and complete the origin of the target feature coordinate system, that is, the focus of the treatment and the bone positioning coordinate system (102), and the 3D laser Automatic fusion of the origin of the positioning coordinate system (103);

(4) Point again, collect time-synchronized position sensor (401) coordinate data and focus coordinate data, and correlate the data to complete the four-dimensional coordinate system (1) fusion;

(5) Three-dimensional dual-digital X-ray fluoroscopy system (2) Continuous fluoroscopy, the time covers three quiet breaths, three deep breaths, and three coughs. The time-synchronized dynamic image data of the two digital image receivers (2032) is collected, transmitted, Store, fit three-dimensional images, analyze, characterize, identify focus, capture focus, extract four-dimensional typical feature data of time-synchronized focus displacement in coordinates and position sensor (401) four-dimensional typical feature data, correlate data, and establish with breath or Mathematical model of displacement focus tracking for heartbeat displacement;

(6), Data Computing Center (3), Radiation Therapy Planning System (405) Comprehensively formulate the four dimensions of the three-dimensional space superimposed time dimension intelligently, such as the prescription of senior radiotherapy physicians, patient image feature data, target and focus feature data, and displacement focus tracking mathematical models. Laser positioning non-isocentric conformal intensity-modulated tracking focused irradiation radiation therapy plan.