WO2020134047A1 - 放射治疗系统及其目标设备的控制方法、装置 - Google Patents

放射治疗系统及其目标设备的控制方法、装置 Download PDF

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Publication number
WO2020134047A1
WO2020134047A1 PCT/CN2019/097295 CN2019097295W WO2020134047A1 WO 2020134047 A1 WO2020134047 A1 WO 2020134047A1 CN 2019097295 W CN2019097295 W CN 2019097295W WO 2020134047 A1 WO2020134047 A1 WO 2020134047A1
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Prior art keywords
treatment head
imaging system
area
target area
target
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PCT/CN2019/097295
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English (en)
French (fr)
Inventor
昝鹏
张中元
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西安大医集团股份有限公司
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Publication of WO2020134047A1 publication Critical patent/WO2020134047A1/zh

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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
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source

Definitions

  • the present disclosure relates to the technical field of radiotherapy, and in particular, to a radiotherapy system and a control method and device of a target device.
  • the radiotherapy system generally includes a rack, a treatment bed, an imaging system, and a host computer.
  • the frame is ring-shaped or C-shaped, and a treatment head is installed on the frame to emit a treatment beam.
  • the imaging system can collect images of the patient's affected area.
  • the host computer can adjust the position of the treatment bed according to the position of the target point in the image, so as to align the target point with the treatment beam of the treatment head and ensure the accuracy of the radiation treatment.
  • the imaging system includes: a tube and a detector.
  • the radiation emitted by the tube can pass through the affected area of the patient and be received by the detector.
  • the imaging system can realize the collection of images of the affected area.
  • the present disclosure provides a method and device for controlling a radiotherapy system and its target equipment.
  • the technical solution is as follows:
  • a method for controlling a target device in a radiotherapy system includes: a treatment head and an imaging system; the method includes: detecting whether a target area covering an imaging area of the imaging system is The treatment head is blocked, and the imaging area is an area where the optical path between the bulb and the detector in the imaging system passes; when it is detected that the target area is blocked by the treatment head, the state of the target device is adjusted, To avoid being blocked by the treatment head when the imaging system collects an image; wherein the target device is at least one of the treatment head and the imaging system, and the state of the treatment head includes: position and rotation speed At least one of the states of the imaging system includes: at least one of position, rotation speed, and working state.
  • the radiotherapy system includes: a treatment head and an imaging system; the device includes: a detection module for detecting imaging covering the imaging system Whether the target area of the area is blocked by the treatment head, the imaging area is the area where the optical path between the bulb and the detector in the imaging system passes; the adjustment module, when it is detected that the target area is detected by the treatment head When blocking, it is used to adjust the state of the target device to avoid being blocked by the treatment head when the imaging system is collecting images; wherein the target device is at least one of the treatment head and the imaging system, the The state of the treatment head includes at least one of position and rotation speed, and the state of the imaging system includes at least one of position, rotation speed and working state.
  • a device for controlling a target device of a radiotherapy system includes: a processor and a memory, the memory is used to store instructions executed by the processor, and the processor is used to execute Instructions stored in the memory to implement the control method as described above.
  • a radiotherapy system in yet another aspect, includes a treatment head, an imaging system, and a host computer.
  • the host computer includes the control device described in the above aspect.
  • a computer-readable storage medium in which instructions are stored, and when the computer-readable storage medium runs on a computer, the computer is caused to execute the Control Method.
  • FIG. 1 is a schematic structural diagram of a radiation therapy system provided by an embodiment of the present disclosure
  • FIG. 2 is a flowchart of a method for controlling a target device in a radiotherapy system provided by an embodiment of the present disclosure
  • FIG. 3 is a flowchart of a method for detecting whether a target area of an imaging area covering an imaging system is blocked by a treatment head according to an embodiment of the present disclosure
  • FIG. 4 is a schematic structural diagram of a treatment head and an imaging system provided by an embodiment of the present disclosure
  • FIG. 5 is a schematic structural diagram of another treatment head and imaging system provided by an embodiment of the present disclosure.
  • FIG. 6 is a flowchart of another method for detecting whether a target area covering an imaging area of an imaging system is blocked by a treatment head according to an embodiment of the present disclosure
  • FIG. 7 is a flowchart of a method for adjusting the state of a target device when the imaging system is fixedly provided according to an embodiment of the present disclosure
  • FIG. 8 is a flowchart of a method for adjusting the state of a target device when the imaging system is rotated and provided by an embodiment of the present disclosure
  • FIG. 9 is a flowchart of a method for adjusting a state of a target device provided by an embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a control device of a target device in a radiation therapy system according to an embodiment of the present disclosure
  • FIG. 11 is a schematic structural diagram of a detection module provided by an embodiment of the present disclosure.
  • FIG. 12 is a schematic structural diagram of another detection module provided by an embodiment of the present disclosure.
  • FIG. 13 is a schematic structural diagram of an adjustment module provided by an embodiment of the present disclosure.
  • FIG. 14 is a schematic structural diagram of another adjustment module provided by an embodiment of the present disclosure.
  • 15 is a schematic structural diagram of yet another adjustment module provided by an embodiment of the present disclosure.
  • 16 is a schematic structural diagram of yet another adjustment module provided by an embodiment of the present disclosure.
  • FIG. 1 is a schematic structural diagram of a radiation therapy system provided by an embodiment of the present disclosure.
  • the radiation therapy system may be an image guided radiation therapy (IGRT) system.
  • the radiotherapy system may include: an imaging system 01, a host computer 02, a patient support device 03, a treatment head 04, and a gantry 05.
  • the patient support device 03 may be a device capable of supporting a patient, such as a treatment bed or a treatment chair.
  • the frame 05 can be fixedly installed on the ground, and the treatment head 04 is connected to the frame 05, and can rotate around the rotation axis 05a of the frame 05.
  • the treatment head 04 can emit a treatment beam, and the intersection point of the treatment beam emitted by the treatment head 04 and the rotation axis 05a is the beam intersection point (also referred to as a treatment point) A1.
  • the host computer 02 establishes a communication connection with the imaging system 01 and the treatment bed 03, respectively.
  • the upper computer 02 may also be a control device in a treatment control system, and the treatment control system may be a radiotherapy record verification system (record verify system, RVS).
  • RVS radiotherapy record verification system
  • the host computer 02 is used to control various components in the radiotherapy system.
  • the imaging system 01 may include at least one group of image acquisition components, and each group of image acquisition components may include a detector 011 and a bulb 012 that are relatively disposed.
  • the bulb 012 can emit radiation (for example, X-rays), and the detector 011 can be a flat panel detector.
  • the detector 011 can receive the radiation emitted by the bulb 012 and generate an image.
  • the imaging point of the imaging system 01 is A2.
  • the imaging system 01 may be fixedly installed in the radiotherapy system, or may be connected to the gantry 05, that is, the imaging system 01 may also rotate around the rotation axis 05a of the gantry 05.
  • the embodiments of the present disclosure provide a method for controlling a target device in a radiotherapy system, which can solve the problem of affecting the imaging effect of the imaging system caused by the treatment head blocking the imaging area of the imaging system.
  • the target area may be an area covering the imaging area of the imaging system 01, and the imaging area may be an area where the optical path between the bulb and the detector in the imaging system 01 passes.
  • control method of the target device may be applied to a control device, which may be the host computer 02 in the radiotherapy system shown in FIG. 1 or may be provided in the host computer 02.
  • control device is taken as an example to explain. Referring to FIG. 2, the method may include:
  • Step 101 Detect whether the target area covering the imaging area of the imaging system is blocked by the treatment head.
  • the imaging area may be an area through which the optical path between the bulb and the detector in the imaging system passes.
  • the target area may cover the imaging area.
  • the target area may be an imaging area of the imaging system.
  • the target area may be larger than the imaging area and include the imaging area.
  • the boundary line of the target area and the boundary line of the area through which the optical path passes may have a certain distance or an angle.
  • the host computer determines the area through which the optical path between the bulb and the detector included in the image acquisition component passes (that is, after determining the imaging area)
  • the target area can be determined according to the distance or the included angle.
  • the imaging system may include one group of image acquisition components or multiple groups of image acquisition components.
  • the target area may cover the area through which the optical path between the bulb and the detector included in the image acquisition component passes.
  • the target area may cover the area where the optical path between the bulb and the detector in each set of image acquisition components passes.
  • Step 102 When it is detected that the target area is blocked by the treatment head, adjust the state of the target device to avoid being blocked by the treatment head when the imaging system collects an image.
  • the target device may be a treatment head or an imaging system.
  • the state of the treatment head may include at least one of position and rotation speed.
  • the state of the imaging system may include at least one of position, rotation speed, and working state. That is, the host computer can adjust the state of at least one component in the treatment head and the imaging system so that the imaging system is not blocked by the treatment head when acquiring images, thereby ensuring the imaging effect of the imaging system.
  • the upper computer can adjust the position of the treatment head to move the treatment head away from the target area.
  • the host computer can also adjust the rotation speed of the treatment head so that the treatment head moves at a faster speed in a direction away from the target area.
  • the host computer can adjust the position of the imaging system so that the target area avoids the position of the treatment head.
  • the host computer can also adjust the rotation speed of the imaging system so that the target area moves at a faster speed along the area away from the treatment head.
  • the host computer can also adjust the working state of the imaging system to stop the imaging system from working.
  • the embodiments of the present disclosure provide a method for controlling a target device in a radiotherapy system.
  • the method includes: detecting whether the target area of the imaging area covering the imaging system is blocked by the treatment head, and when the target area is detected When the treatment head is blocked, adjust the state of the target device to avoid being blocked by the treatment head when the imaging system is collecting images.
  • the target device may be at least one of a treatment head and an imaging system, the state of the treatment head may include: at least one of position and rotation speed, and the state of the imaging system may include: position, rotation speed, and working state At least one.
  • the control method of the target device in the radiotherapy system provided by the embodiments of the present disclosure can prevent the treatment head from blocking the imaging area of the imaging system when the treatment head or the imaging system is rotating, and the imaging effect of the imaging system is better.
  • FIG. 3 is a flowchart of a method for detecting whether a target area of an imaging area of an imaging system is blocked by a treatment head according to an embodiment of the present disclosure.
  • the method Can include:
  • Step 1011a Acquire position information of the treatment head.
  • the position information may include the coordinates of the treatment head in the device coordinate system of the radiotherapy system, or may include the angle between the treatment beam emitted by the treatment head and a preset reference line.
  • the preset reference line can be coplanar with the treatment beam, and can be coplanar with the plane of the optical path between the bulb and the detector in the image acquisition component, and the preset reference line can be perpendicular to the patient support device
  • the support surface for example the bed surface of the treatment bed, or may also be parallel to the support surface of the patient support device.
  • a monitoring mechanism may also be provided in the radiotherapy system.
  • the monitoring mechanism can monitor the position information of the treatment head in real time, and send the monitored position information to the host computer. That is, the host computer can obtain the position information of the treatment head monitored by the monitoring agency.
  • the host computer can also determine the position information of the treatment head according to the initial position of the treatment head, the driving rotational speed of the motor used to drive the treatment head, and the length of time the motor drives the treatment head to rotate.
  • the initial position of the treatment head may refer to the position of the treatment head in the positioning stage.
  • the position information includes the coordinates of the treatment head in the device coordinate system of the radiotherapy system, and when the treatment head is at its initial position, its coordinates in the device coordinate system are (0mm (millimeter), 0mm, 1000mm ).
  • the driving speed of the motor is 1 degree per second, the motor drives the treatment head to rotate clockwise, and the current rotation time is 5 seconds
  • the position information of the treatment head obtained by the upper computer at this time may include: the treatment head is at the device coordinates Coordinates in the system (0mm, 87.16mm, 996.20mm).
  • the position information includes the angle between the treatment beam emitted by the treatment head and a preset reference line
  • the preset reference line is perpendicular to the bed surface of the treatment bed, and when the treatment head is at its initial position, the treatment beam and The angle of the preset reference line is 0° (degrees). If the driving speed of the motor is 1° per second, the motor drives the treatment head to rotate clockwise, and the current rotation time is 5 seconds, then the position information of the treatment head obtained by the upper computer at this time may include: treatment head and The angle of the preset baseline is 85°.
  • Step 1012a According to the position information of the treatment head, detect whether the treatment head is located in the target area.
  • the method for the host computer to detect whether the treatment head is located in the target area may include:
  • Step aa1 Obtain the location information of the target area.
  • the position information of the target area may be determined according to the imaging area of the imaging system, that is, according to the area of the optical path between the bulb and the detector in the image acquisition assembly.
  • the position information of the area where the optical path is located may be directly determined as the position information of the target area.
  • the position information of the target area may include the coordinates of the boundary line of the target area in the device coordinate system, or the position information of the target area may also include the boundary line of the target area and Preset the angle of the baseline.
  • the host computer can determine the area of the optical path between the tube and the detector according to the position information of the tube in the imaging system and the position information of the detector, and determine the position of the target area according to the area of the optical path information.
  • the target area may also change, so the host computer can determine the real-time determination of the tube and the tube according to the initial position of the tube in the imaging system, the initial position of the detector and the rotation speed of the imaging system
  • the area where the optical path between the detectors is located, and the position information of the target area is determined according to the area where the optical path is located.
  • the initial position of the bulb tube may refer to the position of the bulb tube in the positioning phase.
  • the initial position of the detector may refer to the position of the detector in the positioning phase.
  • the imaging system includes a set of image acquisition components, which may include a detector 011a and a bulb 012a.
  • the target area may cover the area where the optical path between the detector 011a and the bulb 012a is located, that is, the target area may cover the imaging area of the imaging system.
  • the target area can be divided into two sub-areas: area a and area b using the beam intersection A1 as the dividing point, and the two sub-areas can be connected.
  • the boundary line of each sub-region intersects the boundary line of the region passed by the optical path 01aa, and has a certain angle ⁇ .
  • the host computer can obtain the position information of the bulb 012a and the position information of the probe 011a, so as to determine the position information of the area a and the position information of the area b.
  • the host computer can acquire the initial position of the bulb 012a, the initial position of the detector 011a, and the rotation speed of the imaging system, so as to determine the position information of the area a and the position information of the area b in real time.
  • the imaging system includes two sets of image acquisition components, and each set of image acquisition components may include a detector 011 and a bulb 012.
  • the target area may cover the area where the optical path between the detector 011 and the bulb 012 in each group of image acquisition components is located, that is, the target area may cover the imaging area of the imaging system.
  • the target area can be divided into four sub-areas: the area a, the area b, the area c, and the area d using the beam intersection point A1 as a division point, and the four sub-areas can be connected.
  • the boundary line of each sub-region intersects the boundary line of the region through which the optical path 01aa passes, and has a certain angle ⁇ .
  • the host computer can obtain the position information of the tube 012a, the position information of the tube 012b, the position information of the detector 011a, and the position information of the detector 011b. Determine the location of area a, area b, area c, and area d.
  • the position of the target area may change.
  • the area a, area b, area c, and area d will change with the rotation of the imaging system, so the host computer can obtain the initial values of the tubes 012a and 012b.
  • the position, the initial positions of the detectors 011a and 011b, and the rotation speed of the imaging system are used to determine the positions of the areas a, b, c, and d in real time.
  • the imaging system when the imaging system is rotated, the imaging system can be driven to rotate by the motor. Therefore, when determining the position information of the target area, the position information of the imaging system can be determined by the initial position of the target area, the driving speed of the motor used to drive the imaging system, and the length of time the motor drives the imaging system to rotate.
  • the initial position of the target area may refer to the position of the target area in the positioning stage before radiotherapy.
  • the method of determining the position information of the target area reference may be made to the method of determining the position information of the treatment head in step 1011a, and details are not described herein again.
  • Step aa2 According to the position information of the treatment head and the position information of the target area, detect whether the treatment head is located in the target area.
  • the upper computer when the upper computer detects that the treatment head 04 is located in any one of the area a or the area b, the upper computer can determine that the treatment head 04 is located in the target area. When the upper computer detects that the treatment head 04 is located outside the areas a and b, it can be determined that the treatment head 04 is not located in the target area.
  • the upper computer when the upper computer detects that the treatment head 04 is located in any one of area a, area b, area c, and area d, the upper computer can determine that the treatment head 04 is located in the target area. When the upper computer detects that the treatment head 04 is located outside the area a, b, c and d, it can be determined that the treatment head 04 is not located in the target area.
  • the imaging system may further include three or more sets of image acquisition components.
  • the target area is determined, and whether the target area is treated is determined.
  • the method for the host computer to detect whether the treatment head is located in the target area may include:
  • Step ab1 Obtain the position information of the bulb in the imaging system and the position information of the detector.
  • the imaging system may be fixedly set or rotated.
  • the positions of the bulb and the detector in the imaging system will not change, and the host computer only needs to be positioned before radiotherapy At this stage, the position information of the bulb and the position information of the detector can be obtained.
  • the host computer needs to obtain the position information of the bulb and the detector in real time during the rotation of the imaging system.
  • Step ab2 According to the position information of the treatment head, the position information of the bulb, and the position information of the detector, determine the angle between the treatment beam and the optical path of the treatment head.
  • the optical path refers to the optical path between the bulb and the detector in each group of image acquisition components.
  • the host computer can determine the optical path of the group of image acquisition components based on the position information of the tube in the group of image acquisition components and the position information of the detector s position.
  • the upper computer can determine the position of the treatment beam of the treatment head according to the position information of the treatment head.
  • the host computer can determine the angle between the treatment beam and the light path according to the position of the treatment beam and the position of the light path.
  • the angle between the treatment beam and the optical path may refer to the angle between the axis of the treatment beam and the axis of the optical path.
  • the host computer can determine the position information of the tube in each set of image acquisition components, and the position information of the detector determines the position of the optical path in the set of image acquisition components.
  • the upper computer can determine the position of the treatment beam of the treatment head according to the position information of the treatment head. After that, the host computer can determine the angle between the treatment beam and each light path according to the position of the treatment beam and the position of each light path.
  • the imaging system includes a set of image acquisition components, so there is only one optical path in the imaging system, that is, the optical path between the bulb 012a and the detector 011a.
  • the position of the optical path 01aa is also fixed, so the position information of the treatment beam 04a emitted by the treatment head 04 can be determined according to the position information of the treatment head 04, and then through the treatment beam 04a
  • the position information and the position information of the light path 01aa determine the angle between the treatment beam 04a and the light path 01aa.
  • the position of the optical path 01aa may change, so the position information of the treatment beam 04a emitted by the treatment head 04 can be determined according to the position information of the treatment head 04, and the bulb can be obtained according to the real-time 012a and the position information of the detector 011a determine the position information of the optical path 01aa. Furthermore, the angle between the treatment beam 04a and the optical path 01aa is determined by the position information of the treatment beam 04a and the position information of the optical path 01aa.
  • the imaging system includes two sets of image acquisition components, so the imaging system includes two optical paths, that is, the optical path 01aa between the bulb 012a and the detector 011a, and the bulb 012b and the detector 011b The light path between 01bb.
  • the positions of the light path 01aa and the light path 01bb are also fixed, so the position information of the treatment beam 04a emitted by the treatment head 04 can be determined according to the position information of the treatment head 04, and then the treatment beam can be passed
  • the position information of 04a, the position information of the optical path 01aa, and the position information of the optical path 01bb determine the angle between the treatment beam 04a and the optical path 01aa or the optical path 01bb.
  • the positions of the optical path 01aa and the optical path 01bb may change, so the position information of the treatment beam 04a emitted by the treatment head 04 can be determined according to the position information of the treatment head 04, and can be obtained according to real-time
  • the position information of the bulb 012a and the detector 011a determines the position information of the optical path 01aa
  • the position information of the optical path 01bb is determined according to the position information of the bulb 012b and the detector 011b acquired in real time.
  • the angle between the treatment beam 04a and the optical path 01aa can be determined by the position information of the treatment beam 04a and the optical path 01aa, and the position information of the treatment beam 04a and the position information of the optical path 01bb, The angle between the treatment beam 04a and the optical path 01bb is determined.
  • Step ab3. When the included angle is less than the included angle threshold, it is determined that the treatment head is located in the target area.
  • the host computer can determine that the treatment head is located in the target area.
  • the imaging system includes a group of image acquisition components
  • the angle between the optical path between the bulb and the detector in the group of image acquisition components is less than the angle threshold, It can be determined that the treatment head is located in the target area.
  • the imaging system includes two or more sets of image acquisition components
  • the host computer detects the treatment beam of the treatment head and the angle between the optical tube of any group of image acquisition components and the optical path between the detector and the detector
  • the angle is less than the threshold, it can be determined that the treatment head is located in the target area.
  • the angle threshold may range from 5 degrees to 30 degrees.
  • the size of the angle threshold can be determined according to the size of the treatment head. Generally, the larger the size of the treatment head, the larger the angle threshold. The embodiment of the present disclosure does not limit the size of the included angle threshold.
  • the angle between the treatment beam and the optical path of the treatment head can be used to determine whether the treatment head is located in the target area, or the angle between the edge of the treatment head and the optical path Determine whether the treatment head is located in the target area.
  • the extending direction of the side line is parallel to the treatment beam and is located at the boundary of the treatment head.
  • the edge may be any edge of 04aa or 04bb.
  • the angle threshold referenced when judging the angle between the edge and the optical path may be smaller than the angle threshold referenced when judging the angle between the treatment beam and the optical path.
  • the reference angle threshold is 20 degrees
  • Step ab4 When the included angle is not less than the included angle threshold, determine that the treatment head is located in an area outside the target area.
  • the host computer can determine that the treatment head is located in an area outside the target area.
  • the host computer When the imaging system includes a set of image acquisition components, the host computer only needs to detect the therapeutic beam of the treatment head, and the angle between the optical path between the bulb and the detector in the set of image acquisition components is not less than the clamp At the angle threshold, it can be determined that the treatment head is located outside the target area.
  • the imaging system includes two or more sets of image acquisition components, the host computer can detect the treatment beam of the treatment head, and the angle between the optical path of the tube and the detector in each set of image acquisition components is equal When it is not less than the included angle threshold, it is determined that the treatment head is located outside the target area.
  • Step 1013a When it is detected that the treatment head is located in the target area, it is determined that the target area is blocked by the treatment head.
  • the host computer determines that the treatment head is located in the target area according to the above step 1012, it may be determined that the target area is blocked by the treatment head.
  • Step 1014a When it is detected that the treatment head is not located in the target area, it is determined that the target area is not blocked by the treatment head.
  • the host computer determines that the treatment head is not located in the target area according to the above step 1012a, it may be determined that the target area is not blocked by the treatment head.
  • the imaging system regardless of whether the imaging system is fixed or rotated, it can be determined whether the target area is blocked by the treatment head according to whether the treatment head is located in the target area.
  • the image acquisition component in the imaging system can normally acquire images.
  • FIG. 6 is a flowchart of another method for detecting whether a target area of an imaging area covering an imaging system is blocked by a treatment head according to an embodiment of the present disclosure. It can be seen with reference to FIG. 6 that the method may include:
  • Step 1011b Acquire the image collected by the imaging system.
  • the imaging system When the imaging system is working, it can collect real-time or periodic images of the target of the affected area, and send the collected images to the host computer. That is, the host computer can acquire the image collected by the imaging system.
  • Step 1012b According to the image collected by the imaging system, detect whether the target area is blocked by the treatment head.
  • the host computer can determine whether there is an image of the treatment head in the collected image according to the image collected by the imaging system. If the host computer detects the image of the treatment head in the image, it can be determined that the target area is blocked by the treatment head. In addition, the host computer can discard the images collected by the imaging system this time, and then control the imaging system to re-acquire images after a specified time interval. If the host computer detects that there is no image of the treatment head in the image, it can be determined that the target area is not blocked by the treatment head.
  • FIG. 7 is a flowchart of a method for adjusting the state of a target device when the imaging system is fixedly provided according to an embodiment of the present disclosure. It can be seen with reference to FIG. 7 that when the imaging system is fixedly set, adjusting the state of the target device may include:
  • Step 1021a Adjust the position of the treatment head so that the treatment head is located in an area outside the target area.
  • the imaging system since the imaging system is fixedly set, the target area is also fixed. Therefore, in the positioning stage before radiotherapy, the position of the treatment head can be adjusted so that the treatment head is located in an area outside the target area.
  • the treatment head can be driven to rotate around the axis of rotation so that it is located in an area outside the target area.
  • the treatment head can be moved in the X direction so that the plane where the treatment head is located and the plane where the optical path of the imaging system is located are not coplanar. At this time, no matter where the treatment head rotates during the radiotherapy process, it will not affect the image acquisition component of the imaging system to acquire images.
  • the treatment head can be moved in the Y direction. At this time, because the treatment head rotates in the area outside the optical path between the bulb and the detector in the imaging system, no matter where the treatment head rotates during radiotherapy, it will not affect the image acquisition in the imaging system Components capture images.
  • the treatment head can only rotate around the rotation axis, the treatment head cannot be moved in a direction perpendicular to the rotation axis or parallel to the rotation axis. In the course of radiation therapy, the treatment head may rotate to the target area. At this time, the rotation speed of the treatment head can be adjusted, so that the adjustment head can move to an area outside the target area at a faster speed, thereby avoiding being blocked by the treatment head when the imaging system acquires an image.
  • adjusting the state of the target device may include:
  • Step 1021b Adjust the position of the treatment head so that the treatment head is located outside the target area.
  • the position of the treatment head can be adjusted to an area outside the target area in the positioning stage before the radiation treatment.
  • the process of adjusting the position of the treatment head reference may be made to the related description in step 1021a, and details are not described here.
  • Step 1022b Adjust the rotation speed of the treatment head and the rotation speed of the imaging system so that the rotation speed of the treatment head is equal to the rotation speed of the imaging system.
  • the target area may change during radiotherapy.
  • the rotation speed of the treatment head and the rotation speed of the imaging system can be adjusted to make the rotation speed of the treatment head equal to the rotation speed of the imaging system. That is, the treatment head is rotated synchronously with the imaging system. Since the position of the treatment head has been adjusted to an area outside the target area in the positioning stage before radiotherapy, when the imaging system rotates synchronously with the treatment head, the treatment head will not affect the image acquisition component of the imaging system to acquire images .
  • treatment head and the imaging system can be rotated by the motor.
  • the treatment head and the imaging system may be driven by the same motor, or may be driven by two motors, which is not limited in the embodiments of the present disclosure.
  • the position of the imaging system may be adjusted according to the area where the treatment head is located during the positioning stage before radiotherapy or during radiotherapy, so that the target The area avoids the area where the treatment head is located.
  • the rotation speed of the imaging system can also be adjusted so that the target area moves at a faster speed to an area outside the area where the treatment head is located, so as to avoid being blocked by the treatment head when the imaging system acquires an image.
  • adjusting the state of the target device may include:
  • Step 1021c Adjust the working state of the imaging system to stop the imaging system from working.
  • the imaging system can be stopped. In this way, not only can the image collected by the image collection component in the imaging system be discarded all the time, but also the collection resources of the imaging system can be saved.
  • the host computer may first determine the set of image acquisition components in which the optical path between the bulb and the detector is blocked by the treatment head .
  • the host computer can only adjust the working state of the blocked set of image acquisition components, so that the set of image acquisition components stops working. For other image acquisition components that are not blocked by the treatment head, it can be made to work normally.
  • the host computer can also adjust the working status of multiple sets of image acquisition components at the same time, so that the multiple sets of image acquisition components stop working.
  • the method may further include:
  • Step 1022c When it is detected that the treatment head is located in an area outside the target area, the working state of the imaging system is adjusted to make the imaging system work normally.
  • the host computer can continue to detect whether the treatment head is located in the target area in real time. For the detection process, reference may be made to step 1012a above, and details are not described here.
  • the upper computer can adjust the working state of the imaging system, so that the imaging system starts working again, that is, the image acquisition starts again.
  • the method may further include:
  • Step 1023c After detecting that the imaging system stops working for a specified period of time, adjust the working state of the imaging system to make the imaging system work normally.
  • the specified duration may be the duration of the target area last blocked by the treatment head. For example, if the last time that a target area was blocked by the treatment head was 5 seconds, when the treatment head rotates to the target area again, the imaging system can be controlled to stop working for 5 seconds, and then continue to work.
  • the specified duration may be the duration required for the treatment head to move to an area outside the target area.
  • the time required for the treatment head to move to an area outside the target area can be calculated according to the angle of the target area and the rotation speed of the treatment head, and the time length can be equal to the quotient of the angle of the target area and the rotation speed of the treatment head value.
  • the imaging system includes two or more sets of image acquisition components.
  • one set of image acquisition components is blocked by the treatment head when acquiring images, it does not affect the image acquisition by other image acquisition components. Therefore, other image acquisition components can be controlled to work normally, so that the treating physician can still judge and treat the patient's affected area based on the images collected by the other image acquisition components.
  • the embodiments of the present disclosure provide a method for controlling a target device in a radiotherapy system.
  • the method includes: detecting whether the target area of the imaging area covering the imaging system is blocked by the treatment head, and when the target area is detected When the treatment head is blocked, adjust the state of the target device to avoid being blocked by the treatment head when the imaging system is collecting images.
  • the target device may be a treatment head or an imaging system.
  • the state of the treatment head may include: at least one of position and rotation speed, and the state of the imaging system may include: at least one of position, rotation speed, and working state.
  • the control method of the target device in the radiotherapy system provided by the embodiments of the present disclosure can prevent the treatment head from blocking the imaging area of the imaging system when the treatment head or the imaging system rotates, and the imaging system has a better imaging effect.
  • FIG. 10 is a schematic structural diagram of a control device of a target device in a radiation therapy system provided by an embodiment of the present disclosure.
  • the control device may be used to control the target device in the radiation therapy system shown in FIG. 1.
  • the radiotherapy system may include: a treatment head and an imaging system. It can be seen with reference to FIG. 10 that the control device may include:
  • the detection module 201 is used to detect whether the target area covering the imaging area of the imaging system is blocked by the treatment head, and the imaging area is the area where the optical path between the bulb and the detector in the imaging system passes.
  • the adjustment module 202 is configured to adjust the state of the target device when it is detected that the target area is blocked by the treatment head, so as to avoid being blocked by the treatment head when the imaging system collects an image.
  • the target device is a treatment head or an imaging system.
  • the state of the treatment head includes: at least one of position and rotation speed
  • the state of the imaging system includes: at least one of position, rotation speed, and working state.
  • the embodiments of the present disclosure provide a control device of a target device in a radiotherapy system.
  • the device includes a detection module and an adjustment module.
  • the detection module can be used to detect whether the target area covering the imaging area of the imaging system is blocked by the treatment head, and the adjustment module can be used to adjust the state of the target device to avoid the imaging system when it is detected that the target area is blocked by the treatment head Obtained by the treatment head when acquiring images.
  • the control device of the target device in the radiotherapy system provided by the embodiment of the present disclosure can prevent the treatment head from blocking the imaging area of the imaging system when the treatment head or the imaging system rotates, and the imaging effect of the imaging system is better.
  • the detection module 201 may include:
  • the first obtaining submodule 2011a is used to obtain the position information of the treatment head.
  • the first detection submodule 2012a is configured to detect whether the treatment head is located in the target area according to the position information of the treatment head.
  • the first determination submodule 2013a is used to determine that the target area is blocked by the treatment head when it is detected that the treatment head is located in the target area; and determine that the target area is not blocked by the treatment head when it is detected that the treatment head is not located in the target area.
  • the first detection sub-module 2012a may be used for:
  • the position information of the treatment head and the position information of the target area it is detected whether the treatment head is located in the target area.
  • the process of the first detection sub-module 2012a acquiring the location information of the target area may include:
  • the imaging system When the imaging system is fixedly set, according to the position information of the bulb in the imaging system and the position information of the detector, determine the area of the optical path between the bulb and the detector, and determine the target area according to the area of the optical path Location information.
  • the imaging system When the imaging system is rotated and set, according to the initial position of the bulb in the imaging system, the initial position of the detector and the rotational speed of the imaging system, determine the area of the optical path between the bulb and the detector, and according to the optical path The location area determines the location information of the target area.
  • the first detection sub-module 2012a may be used for:
  • the angle between the treatment beam and the optical path of the treatment head is determined.
  • the included angle is smaller than the included angle threshold, it is determined that the treatment head is located in the target area.
  • the included angle is not less than the included angle threshold, it is determined that the treatment head is located in an area outside the target area.
  • the detection module 201 may include:
  • the second acquisition sub-module 2011b is used to acquire images collected by the imaging system.
  • the second detection sub-module 2012b is used to detect whether the target area is blocked by the treatment head according to the image collected by the imaging system.
  • the adjustment module 202 may include:
  • the first adjustment submodule 2021a is used to adjust the position of the treatment head so that the treatment head is located in an area outside the target area.
  • the process of adjusting the position of the treatment head by the first adjustment submodule 2021a may include:
  • the adjustment module 202 may include:
  • the second adjustment submodule 2021b is used to adjust the position of the treatment head so that the treatment head is located in an area outside the target area.
  • the third adjustment submodule 2022b is used to adjust the rotation speed of the treatment head and the rotation speed of the imaging system so that the rotation speed of the treatment head is equal to the rotation speed of the imaging system.
  • the adjustment module 202 may include:
  • the fourth adjustment submodule 2021c is used to adjust the working state of the imaging system and stop the imaging system from working.
  • the fifth adjustment submodule 2022c is used to adjust the working state of the imaging system when the treatment head is located in an area outside the target area, so that the imaging system works normally.
  • the adjustment module 202 may include:
  • the fourth adjustment submodule 2021d is used to adjust the working state of the imaging system and stop the imaging system from working.
  • the sixth adjustment submodule 2023d is used to adjust the working state of the imaging system after detecting that the imaging system stops working for a specified period of time, so that the imaging system works normally.
  • the specified duration may be the last time the target area was blocked by the treatment head, or the specified duration may be the time required for the treatment head to move to an area outside the target area.
  • the embodiments of the present disclosure provide a control device of a target device in a radiotherapy system.
  • the device includes a detection module and an adjustment module.
  • the detection module can be used to detect whether the target area covering the imaging area of the imaging system is blocked by the treatment head, and the adjustment module can be used to adjust the state of the target device to avoid the imaging system when it is detected that the target area is blocked by the treatment head Obtained by the treatment head when acquiring images.
  • the control device of the target device in the radiotherapy system provided by the embodiment of the present disclosure can prevent the treatment head from blocking the imaging area of the imaging system when the treatment head or the imaging system rotates, and the imaging effect of the imaging system is better.
  • An embodiment of the present disclosure also provides a control device for a target device of a radiotherapy system.
  • the control device may include: a processor and a memory, where the memory is used to store instructions executed by the processor, and the processor may execute the memory by executing Instructions stored in the above to implement the control method provided by the above method embodiments. For example, the method shown in any of FIG. 2, FIG. 3, and FIG. 6 to FIG. 9 may be implemented.
  • the radiation therapy system may include: a treatment head 04, an imaging system 01, and a host computer 02.
  • the host computer 01 may be the control device of the target device provided in the above embodiment.
  • the host computer 02 may include the control device of the target device provided in the foregoing embodiment.
  • the control device shown in FIG. 10 may be included, and the control device may include the modules shown in FIGS. 11 to 16.
  • Embodiments of the present disclosure also provide a computer-readable storage medium that stores instructions, and when the computer-readable storage medium runs on a computer, causes the computer to execute the control method provided by the foregoing method embodiments. For example, the method shown in any of FIG. 2, FIG. 3, and FIG. 6 to FIG. 9 may be performed.

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Abstract

提供了一种放射治疗系统及其目标设备的控制方法、装置，涉及放射治疗技术领域。所述方法包括：检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡，当检测到目标区域被治疗头遮挡时，调整目标设备的状态，避免成像系统采集图像时被治疗头遮挡。其中，目标设备可以为治疗头和成像系统中的至少一种，治疗头的状态可以包括：位置和转动速度中的至少一种，成像系统的状态可以包括：位置、转动速度和工作状态中的至少一种。通过本公开提供的放射治疗系统中目标设备的控制方法可以使治疗头或成像系统在旋转时，避免治疗头遮挡该成像系统的成像区域，成像系统的成像效果较好。

Description

放射治疗系统及其目标设备的控制方法、装置
本公开要求于2018年12月29日提交的申请号为201811640792.3、发明名称为“放射治疗系统及其目标设备的控制方法、装置”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及放射治疗技术领域，特别涉及一种放射治疗系统及其目标设备的控制方法、装置。
背景技术
放射治疗系统一般包括机架、治疗床、成像系统和上位机。该机架呈环形或C形，机架上安装有治疗头，可以发射治疗射束。在放射治疗前的摆位阶段以及在放射治疗过程中，成像系统可以采集患者患处的图像。上位机可以根据该图像中靶点的位置，调整治疗床的位置，以便将靶点与治疗头的治疗射束焦点对准，确保放射治疗的精度。
相关技术中，成像系统包括：球管和探测器。球管发出的射线可以经过患者的患处并由探测器接收。由此，该成像系统即可实现对患处图像的采集。
发明内容
本公开提供了一种放射治疗系统及其目标设备的控制方法、装置，所述技术方案如下：
一方面，提供了一种放射治疗系统中目标设备的控制方法，所述放射治疗系统包括：治疗头和成像系统；所述方法包括：检测包覆所述成像系统的成像区域的目标区域是否被所述治疗头遮挡，所述成像区域为所述成像系统中球管与探测器之间的光路经过的区域；当检测到所述目标区域被所述治疗头遮挡时，调整目标设备的状态，避免所述成像系统采集图像时被所述治疗头遮挡；其中，所述目标设备为所述治疗头和所述成像系统中的至少一种，所述治疗头的状态包括：位置和转动速度中的至少一种，所述成像系统的状态包括：位置、转动 速度和工作状态中的至少一种。
另一方面，提供了一种放射治疗系统中目标设备的控制装置，所述放射治疗系统包括：治疗头和成像系统；所述装置包括：检测模块，用于检测包覆所述成像系统的成像区域的目标区域是否被所述治疗头遮挡，所述成像区域为所述成像系统中球管与探测器之间的光路经过的区域；调整模块，当检测到所述目标区域被所述治疗头遮挡时，用于调整目标设备的状态，避免所述成像系统采集图像时被所述治疗头遮挡；其中，所述目标设备为所述治疗头和所述成像系统中的至少一种，所述治疗头的状态包括：位置和转动速度中的至少一种，所述成像系统的状态包括：位置、转动速度和工作状态中的至少一种。
又一方面，提供了一种放射治疗系统的目标设备的控制装置，所述装置包括：处理器和存储器，所述存储器用于存储由所述处理器执行的指令，所述处理器用于执行所述存储器中存储的指令以实现如上述方面所述的控制方法。
再一方面，提供了一种放射治疗系统，所述放射治疗系统包括：治疗头、成像系统以及上位机，所述上位机包括如上述方面所述的控制装置。
再一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当所述计算机可读存储介质在计算机上运行时，使得计算机执行权利要求上述方面所述的控制方法。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本公开实施例提供的一种放射治疗系统的结构示意图；
图2是本公开实施例提供的一种放射治疗系统中目标设备的控制方法的流程图；
图3是本公开实施例提供的一种检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡的方法流程图；
图4是本公开实施例提供的一种治疗头和成像系统的结构示意图；
图5是本公开实施例提供的另一种治疗头和成像系统的结构示意图；
图6是本公开实施例提供的另一种检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡的方法流程图；
图7是本公开实施例提供的一种成像系统固定设置时调整目标设备的状态的方法流程图；
图8是本公开实施例提供的一种成像系统旋转设置时调整目标设备的状态的方法流程图；
图9是本公开实施例提供的一种调整目标设备的状态的方法流程图；
图10是本公开实施例提供的一种放射治疗系统中目标设备的控制装置的结构示意图；
图11是本公开实施例提供的一种检测模块的结构示意图；
图12是本公开实施例提供的另一种检测模块的结构示意图；
图13是本公开实施例提供的一种调整模块的结构示意图；
图14是本公开实施例提供的另一种调整模块的结构示意图；
图15是本公开实施例提供的又一种调整模块的结构示意图；
图16是本公开实施例提供的再一种调整模块的结构示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合附图对本公开实施方式作进一步地详细描述。
图1是本公开实施例提供的一种放射治疗系统的结构示意图，如图1所示，该放射治疗系统可以为图像引导放射治疗(image guide radiation therapy，IGRT)系统。该放射治疗系统可以包括：成像系统01、上位机02、患者支撑装置03、治疗头04以及机架05。
其中，患者支撑装置03可以为治疗床或者治疗座椅等能够支撑患者的装置。机架05可以固定设置在地面上，治疗头04与该机架05连接，可以绕机架05的旋转轴05a旋转。并且，该治疗头04可以发射治疗射束，治疗头04发射的治疗射束与该旋转轴05a的交点即为射束交点(也可以称为治疗点)A1。
上位机02分别与成像系统01以及治疗床03建立有通信连接。其中，该上位机02也可以为治疗控制系统中的控制设备，该治疗控制系统可以为放射治疗记录验证系统(record verify system，RVS)。该上位机02用于对该放射治疗系 统中的各个组件进行控制。
该成像系统01可以包括至少一组影像采集组件，每组影像采集组件可以包括相对设置的探测器011和球管012。该球管012可以发出射线(例如X射线)，该探测器011可以为平板探测器，该探测器011可以接收球管012发出的射线并生成图像。成像系统01的成像点为A2。该成像系统01可以固定设置在放射治疗系统中，或者也可以与该机架05连接，即该成像系统01也可以绕机架05的旋转轴05a旋转。
由于治疗头04或成像系统01旋转时，治疗头04可能会遮挡成像系统01的目标区域，影响成像系统01的成像效果。因此本公开实施例提供了一种放射治疗系统中目标设备的控制方法，可以解决治疗头遮挡成像系统的成像区域，而导致的影响成像系统的成像效果的问题。其中，该目标区域可以为包覆该成像系统01的成像区域的区域，该成像区域可以为成像系统01中球管与探测器之间的光路经过的区域。
在本公开实施例中，该目标设备的控制方法可以应用于控制装置中，该控制装置可以为图1所示的放射治疗系统中的上位机02，或者可以设置在该上位机02中。下文均以该控制装置为上位机为例进行说明。参考图2，该方法可以包括：
步骤101、检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡。
其中，该成像区域可以为成像系统中球管与探测器之间的光路经过的区域。该目标区域可以包覆该成像区域。例如，该目标区域可以为该成像系统的成像区域。或者，为了确保成像系统工作时的可靠性，该目标区域可以大于该成像区域，且包含该成像区域。
示例的，该目标区域的边界线与该光路所经过的区域的边界线之间可以具有一定间距，或者具有一定夹角。上位机在确定影像采集组件中所包括的球管和探测器之间的光路经过的区域后(即确定成像区域后)，可以根据该间距或者该夹角，确定出该目标区域。
在本公开实施例中，成像系统可以包括一组影像采集组件或多组影像采集组件。当该成像系统包括一组影像采集组件时，该目标区域可以包覆该影像采集组件中所包括的球管和探测器之间的光路经过的区域。当该成像系统包括多组影像采集组件时，该目标区域可以包覆每组影像采集组件中球管和探测器之 间的光路经过的区域。
步骤102、当检测到目标区域被治疗头遮挡时，调整目标设备的状态，避免成像系统采集图像时被治疗头遮挡。
其中，目标设备可以为治疗头或成像系统。治疗头的状态可以包括：位置和转动速度中的至少一种。成像系统的状态可以包括：位置、转动速度和工作状态中的至少一种。也即是，上位机可以通过调整治疗头和成像系统中至少一个组件的状态，使成像系统在采集图像时不会被治疗头遮挡，从而确保该成像系统的成像效果。
示例的，上位机可以调整该治疗头的位置，使治疗头向远离该目标区域的方向移动。或者，上位机也可以调整该治疗头的转动速度，使该治疗头以较快的速度沿远离该目标区域的方向移动。又或者，上位机可以调整该成像系统的位置，使该目标区域避开治疗头所在位置。又或者，上位机也可以调整该成像系统的转动速度，使该目标区域以较快的速度沿远离治疗头所在区域移动。又或者，上位机还可以调整该成像系统的工作状态，使该成像系统停止工作。
当上位机检测到目标区域未被治疗头遮挡时，无需调整治疗头或成像系统的状态。
综上所述，本公开实施例提供了一种放射治疗系统中目标设备的控制方法，该方法包括：检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡，当检测到目标区域被治疗头遮挡时，调整目标设备的状态，避免成像系统采集图像时被治疗头遮挡。其中，目标设备可以为治疗头和成像系统中的至少一种，治疗头的状态可以包括：位置和转动速度中的至少一种，成像系统的状态可以包括：位置、转动速度和工作状态中的至少一种。通过本公开实施例提供的放射治疗系统中目标设备的控制方法可以使治疗头或成像系统在旋转时，避免治疗头遮挡该成像系统的成像区域，成像系统的成像效果较好。
作为一种可选的实现方式，图3是本公开实施例提供的一种检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡的方法流程图，参考图3可以看出，该方法可以包括：
步骤1011a、获取治疗头的位置信息。
在本公开实施例中，该位置信息可以包括治疗头在该放射治疗系统的设备坐标系中的坐标，或者也可以包括该治疗头发射的治疗射束与预设基准线的夹 角。其中，预设基准线可以与该治疗射束共面，且可以与影像采集组件中球管和探测器之间的光路所在平面共面，并且，该预设基准线可以垂直于患者支撑装置的支撑面，例如治疗床的床面，或者也可以平行于患者支撑装置的支撑面。
可选的，放射治疗系统中还可以设置有监测机构。该监测机构可以实时监测该治疗头的位置信息，并将监测到的位置信息发送至上位机。即上位机可以获取监测机构监测到的治疗头的位置信息。
或者，上位机也可以根据治疗头的初始位置，用于驱动该治疗头的电机的驱动转速，以及该电机驱动治疗头转动的时长，确定该治疗头的位置信息。其中，该治疗头的初始位置可以是指该治疗头在摆位阶段所处的位置。
示例的，假设该位置信息包括治疗头在该放射治疗系统的设备坐标系中的坐标，且治疗头位于其初始位置时，其在设备坐标系中的坐标为(0mm(毫米)，0mm，1000mm)。该电机的驱动转速为每秒1度，电机驱动治疗头顺时针旋转，且当前转动的时长为5秒，则此时该上位机获取到的治疗头的位置信息可以包括：治疗头在设备坐标系中的坐标(0mm，87.16mm，996.20mm)。
或者，假设该位置信息包括该治疗头发射的治疗射束与预设基准线的夹角，该预设基准线垂直于治疗床的床面，且治疗头位于其初始位置时，治疗射束与该预设基准线的夹角为0°(度)。若该电机的驱动转速为每秒1°，电机驱动治疗头顺时针旋转，且当前转动的时长为5秒，则此时该上位机获取到的该治疗头的位置信息可以包括：治疗头与预设基准线的夹角为85°。
步骤1012a、根据治疗头的位置信息，检测治疗头是否位于目标区域。
一方面，上位机检测治疗头是否位于目标区域的方法可以包括：
步骤aa1、获取目标区域的位置信息。
在本公开实施例中，该目标区域的位置信息可以根据成像系统的成像区域确定，也即是，可以根据影像采集组件中球管与该探测器之间的光路所在区域确定。例如，可以直接将该光路所在区域的位置信息确定为该目标区域的位置信息。并且，与治疗头的位置信息相同，该目标区域的位置信息可以包括该目标区域的边界线在设备坐标系中的坐标，或者，该目标区域的位置信息也可以包括该目标区域的边界线与预设基准线的夹角。
当该成像系统固定设置时，该目标区域也是固定的。因此上位机可以根据该成像系统中球管的位置信息，以及探测器的位置信息，确定该球管与该探测 器之间的光路所在区域，并将根据该光路所在区域确定该目标区域的位置信息。
当该成像系统旋转设置时，该目标区域可能也会改变，因此上位机可以根据该成像系统中球管的初始位置，探测器的初始位置以及该成像系统的转动速度，实时确定该球管与该探测器之间的光路所在区域，并根据该光路所在区域确定该目标区域的位置信息。其中，球管的初始位置可以是指该球管在摆位阶段所处的位置。探测器的初始位置可以是指该探测器在摆位阶段所处的位置。
图4是本公开实施例提供的一种治疗头和成像系统的结构示意图。参考图4可以看出，该成像系统包括一组影像采集组件，该影像采集组件可以包括一个探测器011a和一个球管012a。则该目标区域可以包覆探测器011a与球管012a之间的光路所在区域，即该目标区域可以包覆成像系统的成像区域。并且，该目标区域可以以射束交点A1为分割点划分为两个子区域：区域a和区域b，并且该两个子区域可以连通。
示例的，如图4所示，该目标区域所包括的两个子区域中，每个子区域的边界线与该光路01aa所经过的区域的边界线相交，且具有一定夹角β。
若成像系统固定设置，目标区域的位置也是固定的。因此上位机可以获取该球管012a的位置信息以及探测器011a的位置信息，以此来确定区域a的位置信息和区域b的位置信息。
若成像系统旋转设置，目标区域的位置可能会改变。因此上位机可以获取该球管012a的初始位置、探测器011a的初始位置以及该成像系统的转动速度，以此来实时确定区域a的位置信息和区域b的位置信息。
图5是本公开实施例提供的另一种治疗头和成像系统的结构示意图。参考图5可以看出，该成像系统包括两组影像采集组件，每组影像采集组件可以包括一个探测器011和一个球管012。则该目标区域可以包覆每组影像采集组件中的探测器011与球管012之间的光路所在区域，即该目标区域可以包覆成像系统的成像区域。并且，该目标区域可以以射束交点A1为分割点划分为四个子区域：区域a、区域b、区域c以及区域d，并且该四个子区域可以连通。
示例的，如图5所示，该目标区域所包括的四个子区域中，每个子区域的边界线与该光路01aa所经过的区域的边界线相交，且具有一定夹角β。
若成像系统固定设置，目标区域的位置也是固定的，因此上位机可以获取球管012a的位置信息、球管012b的位置信息、探测器011a的位置信息以及探 测器011b的位置信息，以此来确定区域a、区域b、区域c以及区域d的位置。
若成像系统旋转设置，目标区域的位置可能会改变，该区域a、区域b、区域c以及区域d会随着该成像系统的旋转而改变，因此上位机可以获取该球管012a和012b的初始位置、探测器011a和011b的初始位置以及该成像系统的转动速度，以此来实时确定区域a、区域b、区域c以及区域d的位置。
需要说明的是，成像系统旋转设置时，可以通过电机驱动该成像系统旋转。因此在确定该目标区域的位置信息时，可以通过目标区域的初始位置，用于驱动该成像系统的电机的驱动转速，以及该电机驱动成像系统转动的时长，确定该成像系统的位置信息。其中，该目标区域的初始位置可以是指在放射治疗前的摆位阶段该目标区域所处的位置。确定该目标区域的位置信息的方法可以参考步骤1011a中确定治疗头的位置信息的方法，此处不再赘述。
步骤aa2、根据治疗头的位置信息以及目标区域的位置信息，检测治疗头是否位于目标区域。
对于图4所示的结构，当上位机检测到治疗头04位于区域a或区域b中的任一区域时，上位机可以确定该治疗头04位于该目标区域。当上位机检测到治疗头04位于区域a和区域b之外的区域时，可以确定该治疗头04没有位于该目标区域。
对于图5所示的结构，当上位机检测到治疗头04位于区域a、区域b、区域c和区域d中的任一区域时，上位机可以确定该治疗头04位于该目标区域。当上位机检测到治疗头04位于区域a、区域b、区域c和区域d之外的区域时，可以确定该治疗头04没有位于该目标区域。
在本公开实施例中，成像系统还可以包括三组或三组以上影像采集组件，当成像系统包括三组或三组以上影像采集组件时，确定该目标区域，以及判断该目标区域是否被治疗头04遮挡的方法可以参考上述实施例，此处不再赘述。
另一方面，上位机检测治疗头是否位于目标区域的方法可以包括：
步骤ab1、获取成像系统中球管的位置信息，以及探测器的位置信息。
在本公开实施例中，成像系统可以固定设置也可以旋转设置，当成像系统固定设置时，成像系统中球管和探测器的位置不会发生改变，上位机只需在放射治疗前的摆位阶段获取该球管的位置信息和探测器的位置信息即可。
当成像系统旋转设置时，由于成像系统中的球管和探测器的位置可能会改 变，因此上位机需要在成像系统旋转的过程中，实时获取该球管的位置信息和探测器的位置信息。
步骤ab2、根据治疗头的位置信息，球管的位置信息，以及探测器的位置信息，确定该治疗头的治疗射束与光路之间的夹角。
其中，光路是指每组影像采集组件中球管与探测器之间的光路。在本公开实施例中，对于成像系统中的每组影像采集组件，上位机均可以根据该组影像采集组件中球管的位置信息，以及探测器的位置信息确定该组影像采集组件中光路所在的位置。上位机可以根据治疗头的位置信息，确定该治疗头的治疗射束的位置。之后，上位机即可根据治疗射束的位置以及光路所在的位置，确定该治疗射束与光路之间的夹角。其中，治疗射束与光路之间的夹角可以是指治疗射束的轴线与光路的轴线的夹角。
当成像系统包括多组影像采集组件时，上位机可以确定每组影像采集组件中球管的位置信息，以及探测器的位置信息确定该组影像采集组件中光路所在的位置。上位机可以根据治疗头的位置信息，确定该治疗头的治疗射束的位置。之后，上位机即可根据治疗射束的位置以及每个光路所在的位置，确定该治疗射束与每个光路之间的夹角。
参考图4可以看出，成像系统包括一组影像采集组件，因此该成像系统中只有一个光路，也即是球管012a与探测器011a之间的光路。
当成像系统固定设置时，该光路01aa的位置也是固定的，因此可以根据治疗头04的位置信息确定出该治疗头04发射的治疗射束04a的位置信息，进而可以通过该治疗射束04a的位置信息与光路01aa的位置信息，确定该治疗射束04a与光路01aa之间的夹角。
当成像系统旋转设置时，该光路01aa的位置可能会改变，因此可以根据治疗头04的位置信息确定出该治疗头04发射的治疗射束04a的位置信息，并可以根据实时获取到的球管012a和探测器011a的位置信息，确定出光路01aa的位置信息。进而通过该治疗射束04a的位置信息与光路01aa的位置信息，确定该治疗射束04a与光路01aa之间的夹角。
参考图5可以看出，成像系统包括两组影像采集组件，因此该成像系统中包括两个光路，也即是球管012a与探测器011a之间的光路01aa，以及球管012b与探测器011b之间的光路01bb。
当成像系统固定设置时，光路01aa和光路01bb的位置也是固定的，因此可以根据治疗头04的位置信息确定出该治疗头04发射的治疗射束04a的位置信息，进而可以通过该治疗射束04a的位置信息、光路01aa的位置信息以及光路01bb的位置信息，确定该治疗射束04a，与光路01aa或光路01bb之间的夹角。
当成像系统旋转设置时，该光路01aa和光路01bb的位置可能会改变，因此可以根据治疗头04的位置信息确定出该治疗头04发射的治疗射束04a的位置信息，并可以根据实时获取到的球管012a和探测器011a的位置信息确定出光路01aa的位置信息，根据实时获取到的球管012b和探测器011b的位置信息确定出光路01bb的位置信息。进而即可通过该治疗射束04a的位置信息与光路01aa的位置信息，确定该治疗射束04a与光路01aa之间的夹角，通过该治疗射束04a的位置信息与光路01bb的位置信息，确定该治疗射束04a与光路01bb之间的夹角。
步骤ab3、当该夹角小于夹角阈值时，确定治疗头位于目标区域。
当该夹角小于夹角阈值时，上位机即可确定该治疗头位于目标区域。
当该成像系统包括一组影像采集组件时，当上位机检测到治疗头的治疗射束，与该一组影像采集组件中的球管和探测器之间的光路的夹角小于夹角阈值，即可确定治疗头位于目标区域。当该成像系统包括两组或更多组影像采集组件时，当上位机检测到该治疗头的治疗射束，与任一组影像采集组件中的球管和探测器之间的光路的夹角小于夹角阈值时，即可确定治疗头位于目标区域。
示例的，该夹角阈值的范围可以为5度至30度。并且，该夹角阈值的大小可以根据治疗头的尺寸的大小确定，一般治疗头的尺寸越大，该夹角阈值可以越大。本公开实施例对该夹角阈值的大小不做限定。
需要说明的是，在本公开实施例中，可以通过治疗头的治疗射束与光路之间的夹角判断该治疗头是否位于目标区域，也可以通过治疗头的边线与光路之间的夹角判断该治疗头是否位于目标区域。其中，该边线的延伸方向平行于治疗射束，且位于治疗头的边界。参考图4和图5，该边线可以为04aa或04bb中的任一边线。可选的，采用边线与光路之间的夹角进行判断时所参考的夹角阈值，可以小于采用治疗射束与光路之间的夹角进行判断时所参考的夹角阈值。
示例的，假设根据治疗射束与光路之间的夹角进行判断时，参考的夹角阈值为20度，则在根据边线与光路之间的夹角进行判断时，可以将夹角阈值设定 为15度。
步骤ab4、当该夹角不小于该夹角阈值时，确定该治疗头位于该目标区域之外的区域。
当该夹角不小于夹角阈值时，上位机可以确定该治疗头位于目标区域之外的区域。
当该成像系统包括一组影像采集组件时，上位机只需在检测到治疗头的治疗射束，与该一组影像采集组件中的球管和探测器之间的光路的夹角不小于夹角阈值时，即可确定治疗头位于目标区域之外的区域。当该成像系统包括两组或更多组影像采集组件时，上位机可以在检测到治疗头的治疗射束，与每组影像采集组件中的球管和探测器之间的光路的夹角均不小于夹角阈值时，确定治疗头位于目标区域之外的区域。
步骤1013a、当检测到治疗头位于目标区域时，确定目标区域被治疗头遮挡。
当上位机根据上述步骤1012确定出治疗头位于目标区域时，则可以确定该目标区域被治疗头遮挡。
步骤1014a、当检测到治疗头不位于目标区域时，确定目标区域未被治疗头遮挡。
当上位机根据上述步骤1012a确定出治疗头不位于目标区域时，则可以确定该目标区域未被治疗头遮挡。
在本公开实施例中，无论成像系统是固定设置还是旋转设置，都可以根据治疗头是否位于目标区域来确定目标区域是否被治疗头遮挡。当检测到治疗头与不位于目标区域时，该成像系统中的影像采集组件可以正常采集图像。
作为另一种可选的实现方式，图6是本公开实施例提供的另一种检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡的方法流程图。参考图6可以看出，该方法可以包括：
步骤1011b、获取成像系统采集的图像。
成像系统工作时可以实时采集或者周期性的采集患部靶点的图像，并将采集到的图像发送至上位机。即上位机可以获取该成像系统采集到的图像。
步骤1012b、根据成像系统采集的图像，检测目标区域是否被治疗头遮挡。
上位机可以根据成像系统采集的图像，判断该采集的图像中是否存在治疗头的影像。若上位机检测出该图像中存在治疗头的影像，则可以确定该目标区 域被治疗头遮挡。并且，上位机可以将成像系统此次采集的图像废弃，且间隔指定时间后再控制该成像系统重新采集图像。若上位机检测出该图像中不存在治疗头的影像，则可以确定该目标区域未被治疗头遮挡。
图7是本公开实施例提供的一种成像系统固定设置时调整目标设备的状态的方法流程图。参考图7可以看出，当成像系统固定设置时，调整目标设备的状态可以包括：
步骤1021a、调整治疗头的位置，使治疗头位于目标区域之外的区域。
在本公开实施例中，由于成像系统固定设置，因此该目标区域也是固定的。因此在放射治疗前的摆位阶段，可以调整治疗头的位置，使该治疗头位于该目标区域之外的区域。
例如，可以驱动治疗头绕旋转轴转动，使其位于该目标区域之外的区域。或者，还可以在放射治疗前的摆位阶段，调整治疗头的位置，使治疗头所在平面与成像系统的光路所在的平面不共面。参考图1，可以使治疗头沿X方向移动，使治疗头所在平面与成像系统的光路所在的平面不共面。此时，无论治疗头在放射治疗过程中旋转至什么位置，均不会影响成像系统中的影像采集组件采集图像。
又或者，还可以在放射治疗前的摆位阶段，调整治疗头的位置，使成像系统的光路交点与治疗头之间的间距，大于成像系统中球管与光路交点之间的间距，且大于成像系统中探测器与光路交点之间的间距。参考图1，可以使治疗头沿Y方向移动。此时，由于治疗头是在成像系统中球管和探测器之间的光路之外的区域旋转，因此无论治疗头在放射治疗过程中旋转至什么位置，均不会影响成像系统中的影像采集组件采集图像。
需要说明的是，若治疗头仅能绕旋转轴转动，而无法使治疗头沿垂直于旋转轴的方向或平行于旋转轴的方向移动。则在放射治疗过程中，治疗头可能会旋转至目标区域。此时，可以调整治疗头的转动速度，使得调整治疗头能够以较快的速度移动至该目标区域之外的区域，从而避免成像系统采集图像时被治疗头遮挡。
图8是本公开实施例提供的一种成像系统旋转设置时调整目标设备的状态的方法流程图。参考图8可以看出，当成像系统旋转设置时，调整目标设备的状态可以包括：
步骤1021b、调整治疗头的位置，使治疗头位于目标区域之外的区域。
在本公开实施例中，在放射治疗前的摆位阶段可以将治疗头的位置调整至目标区域之外的区域。调整治疗头的位置的过程可以参考上述步骤1021a的相关描述，此处不再赘述。
步骤1022b、调整治疗头的转动速度和成像系统的转动速度，使得治疗头的转动速度与成像系统的转动速度相等。
在成像系统旋转设置时，该目标区域在放射治疗过程中可能会改变，可以通过调整治疗头的转动速度和成像系统的转动速度，使该治疗头的转动速度与成像系统的转动速度相等，也即是，使该治疗头与成像系统同步旋转。由于在放射治疗前的摆位阶段已经将治疗头的位置调整至目标区域之外的区域，因此当成像系统与治疗头同步旋转时，该治疗头不会影响成像系统中的影像采集组件采集图像。
需要说明的是，可以通过电机来驱动治疗头与成像系统旋转。并且，该治疗头与成像系统可以采用同一个电机进行驱动，也可以采用两个电机进行驱动，本公开实施例对此不做限定。
还需要说明的是，在本公开实施例中，当成像系统旋转设置时，可以在放射治疗前的摆位阶段或放射治疗过程中，根据治疗头所在区域调整该成像系统的位置，使该目标区域避开该治疗头所在区域。或者，还可以调整该成像系统的转动速度，使得该目标区域以较快的速度移动至治疗头所在区域之外的区域，从而避免成像系统采集图像时被治疗头遮挡。当然，还可以同时调整治疗头的位置和成像系统的位置，使治疗头位于该目标区域之外的区域。其中，调整成像系统的位置和转动速度的方法可以参考上述实施例，此处不再赘述。
图9是本公开实施例提供的一种调整目标设备的状态的方法流程图。参考图9可以看出，调整目标设备的状态可以包括：
步骤1021c、调整成像系统的工作状态，使成像系统停止工作。
当上位机检测到目标区域被治疗头遮挡时，可以使该成像系统停止工作。由此不仅可以避免成像系统中的影像采集组件采集的图像一直被废弃，而且可以节省成像系统的采集资源。
在本公开实施例中，当成像系统包括多组影像采集组件时，上位机可以先确定该多组影像采集组件中，球管和探测器之间的光路被治疗头遮挡的一组影 像采集组件。相应的，在调整成像系统的工作状态时，上位机可以仅调整该被遮挡的一组影像采集组件的工作状态，使该组影像采集组件停止工作。而对于其他未被治疗头遮挡的影像采集组件，可以使其正常工作。
当然，上位机也可以同时调整多组影像采集组件的工作状态，使该多组影像采集组件均停止工作。
可选的，在步骤1021c之后，该方法还可以包括：
步骤1022c、当检测到治疗头位于目标区域之外的区域时，调整成像系统的工作状态，使成像系统正常工作。
在该成像系统停止工作后，上位机可以继续实时检测治疗头是否位于目标区域内，该检测过程可以参考上述步骤1012a，此处不再赘述。当检测到治疗头位于目标区域之外的区域时，上位机可以调整该成像系统的工作状态，使该成像系统重新开始工作，即重新开始采集图像。
或者，在步骤1021c之后，该方法还可以包括：
步骤1023c、在检测到成像系统停止工作指定时长后，调整成像系统的工作状态，使成像系统正常工作。
其中，指定时长可以为目标区域上一次被治疗头遮挡的时长。示例的，如果某个目标区域上一次被治疗头遮挡的时长为5秒，则当治疗头再次转动至该目标区域时，可以控制该成像系统停止工作5秒后，再继续工作。
或者，指定时长可以为治疗头移动至目标区域之外的区域所需的时长。示例的，可以根据目标区域的角度以及治疗头的转动速度，计算该治疗头移动至目标区域之外的区域所需的时长，该时长可以等于该目标区域的角度与治疗头的转动速度的商值。
在本公开实施例中，假设成像系统包括两组或更多组影像采集组件，当其中一组影像采集组件在采集图像时被治疗头遮挡，不会影响其他影像采集组件采集图像。因此，可以控制其他影像采集组件正常工作，使得治疗医师仍可以根据其他影像采集组件采集的图像对患者患处进行判断和治疗。
综上所述，本公开实施例提供了一种放射治疗系统中目标设备的控制方法，该方法包括：检测包覆成像系统的成像区域的目标区域是否被治疗头遮挡，当检测到目标区域被治疗头遮挡时，调整目标设备的状态，避免成像系统采集图像时被治疗头遮挡。其中，目标设备可以为治疗头或成像系统，治疗头的状态 可以包括：位置和转动速度中的至少一种，成像系统的状态可以包括：位置、转动速度和工作状态中的至少一种。通过本公开实施例提供的放射治疗系统中目标设备的控制方法，可以使治疗头或成像系统在旋转时，避免治疗头遮挡该成像系统的成像区域，成像系统的成像效果较好。
图10是本公开实施例提供的一种放射治疗系统中目标设备的控制装置的结构示意图，该控制装置可以用于控制如图1所示的放射治疗系统中的目标设备。参考图1，该放射治疗系统可以包括：治疗头和成像系统。参考图10可以看出，该控制装置可以包括：
检测模块201，用于检测包覆成像系统的成像区域的目标区域是否被该治疗头遮挡，该成像区域为成像系统中球管与探测器之间的光路经过的区域。
调整模块202，用于当检测到该目标区域被该治疗头遮挡时，调整目标设备的状态，避免成像系统采集图像时被治疗头遮挡。
其中，目标设备为治疗头或成像系统，治疗头的状态包括：位置和转动速度中的至少一种，成像系统的状态包括：位置、转动速度和工作状态中的至少一种。
综上所述，本公开实施例提供了一种放射治疗系统中目标设备的控制装置，该装置包括：检测模块和调整模块。检测模块可用于检测包覆该成像系统的成像区域的目标区域是否被该治疗头遮挡，调整模块可以用于当检测到该目标区域被该治疗头遮挡时，调整目标设备的状态，避免成像系统采集图像时被治疗头遮挡。通过本公开实施例提供的放射治疗系统中目标设备的控制装置，可以使治疗头或成像系统在旋转时，避免治疗头遮挡该成像系统的成像区域，成像系统的成像效果较好。
图11是本公开实施例提供的一种检测模块的结构示意图。参考图11，该检测模块201可以包括：
第一获取子模块2011a，用于获取治疗头的位置信息。
第一检测子模块2012a，用于根据治疗头的位置信息，检测治疗头是否位于目标区域。
第一确定子模块2013a，用于当检测到治疗头位于目标区域时，确定目标区域被治疗头遮挡；当检测到治疗头不位于目标区域时，确定目标区域未被治疗 头遮挡。
在一种可选的实施方式中，第一检测子模块2012a可以用于：
获取目标区域的位置信息。
根据治疗头的位置信息以及目标区域的位置信息，检测治疗头是否位于目标区域。
其中，第一检测子模块2012a获取目标区域的位置信息的过程可以包括：
当成像系统固定设置时，根据该成像系统中球管的位置信息，以及探测器的位置信息，确定该球管与该探测器之间的光路所在区域，并根据该光路所在区域确定该目标区域的位置信息。
当成像系统旋转设置时，根据该成像系统中球管的初始位置，探测器的初始位置以及该成像系统的转动速度，确定该球管与该探测器之间的光路所在区域，并根据该光路所在区域确定该目标区域的位置信息。
在另一种可选的实施方式中，第一检测子模块2012a可以用于：
获取成像系统中球管的位置信息，以及探测器的位置信息。
根据治疗头的位置信息，球管的位置信息，以及探测器的位置信息，确定该治疗头的治疗射束与光路之间的夹角。
当该夹角小于夹角阈值时，确定治疗头位于目标区域。
当该夹角不小于该夹角阈值时，确定该治疗头位于该目标区域之外的区域。
图12是本公开实施例提供的另一种检测模块的结构示意图。参考图11，该检测模块201可以包括：
第二获取子模块2011b，用于获取成像系统采集的图像。
第二检测子模块2012b，用于根据成像系统采集的图像，检测目标区域是否被治疗头遮挡。
图13是本公开实施例提供的一种调整模块的结构示意图。成像系统固定设置。参考图13，该调整模块202可以包括：
第一调整子模块2021a，用于调整治疗头的位置，使治疗头位于目标区域之外的区域。
其中，第一调整子模块2021a调整治疗头的位置的过程可以包括：
调整该治疗头的位置，使该治疗头所在平面与成像系统的光路所在的平面不共面。
或者，调整该治疗头的位置，使成像系统的光路交点与该治疗头之间的间距，大于成像系统中球管与光路交点之间的间距，且大于成像系统中探测器与光路交点之间的间距。
图14是本公开实施例提供的另一种调整模块的结构示意图。成像系统旋转设置，参考图14，该调整模块202可以包括：
第二调整子模块2021b，用于调整治疗头的位置，使治疗头位于目标区域之外的区域。
第三调整子模块2022b，用于调整治疗头的转动速度和成像系统的转动速度，使得治疗头的转动速度与成像系统的转动速度相等。
图15是本公开实施例提供的又一种调整模块的结构示意图。参考图15，该调整模块202可以包括：
第四调整子模块2021c，用于调整成像系统的工作状态，使成像系统停止工作。
第五调整子模块2022c，用于当检测到治疗头位于目标区域之外的区域时，调整成像系统的工作状态，使成像系统正常工作。
图16是本公开实施例提供的再一种调整模块的结构示意图。参考图16，调整模块202可以包括：
第四调整子模块2021d，用于调整成像系统的工作状态，使成像系统停止工作。
第六调整子模块2023d，用于在检测到成像系统停止工作指定时长后，调整成像系统的工作状态，使成像系统正常工作。
其中，该指定时长可以为目标区域上一次被治疗头遮挡的时长，或者，该指定时长可以为治疗头移动至目标区域之外的区域所需的时长。
综上所述，本公开实施例提供了一种放射治疗系统中目标设备的控制装置，该装置包括：检测模块和调整模块。检测模块可用于检测包覆该成像系统的成像区域的目标区域是否被该治疗头遮挡，调整模块可以用于当检测到该目标区域被该治疗头遮挡时，调整目标设备的状态，避免成像系统采集图像时被治疗头遮挡。通过本公开实施例提供的放射治疗系统中目标设备的控制装置，可以使治疗头或成像系统在旋转时，避免治疗头遮挡该成像系统的成像区域，成像系统的成像效果较好。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述 的装置、模块和子模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本公开实施例还提供了一种放射治疗系统的目标设备的控制装置，该控制装置可以包括：处理器和存储器，该存储器用于存储由处理器执行的指令，该处理器可以通过执行该存储器中存储的指令以实现上述方法实施例提供的控制方法。例如，可以实现图2、图3以及图6至图9任一所示的方法。
本公开实施例还提供了一种放射治疗系统，参考图1可以看出，该放射治疗系统可以包括：治疗头04、成像系统01以及上位机02。该上位机01可以为上述实施例所提供的目标设备的控制装置。或者，该上位机02可以包括上述实施例所提供的目标设备的控制装置。例如，可以包括如图10所示的控制装置，并且，该控制装置可以包括图11至图16所示的模块。
本公开实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当计算机可读存储介质在计算机上运行时，使得计算机执行上述方法实施例提供的控制方法。例如，可以执行图2、图3以及图6至图9任一所示的方法。
以上所述仅为本公开的可选实施例，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (17)

  1. 一种放射治疗系统中目标设备的控制方法，所述放射治疗系统包括：治疗头和成像系统；所述方法包括：
    检测包覆所述成像系统的成像区域的目标区域是否被所述治疗头遮挡，所述成像区域为所述成像系统中球管与探测器之间的光路经过的区域；
    当检测到所述目标区域被所述治疗头遮挡时，调整目标设备的状态，避免所述成像系统采集图像时被所述治疗头遮挡；
    其中，所述目标设备为所述治疗头和所述成像系统中的至少一种，所述治疗头的状态包括：位置和转动速度中的至少一种，所述成像系统的状态包括：位置、转动速度和工作状态中的至少一种。
  2. 根据权利要求1所述的方法，所述检测包覆所述成像系统的成像区域的目标区域是否被所述治疗头遮挡，包括：
    获取所述治疗头的位置信息；
    根据所述治疗头的位置信息，检测所述治疗头是否位于所述目标区域；
    当检测到所述治疗头位于所述目标区域时，确定所述目标区域被所述治疗头遮挡；
    当检测到所述治疗头不位于所述目标区域时，确定所述目标区域未被所述治疗头遮挡。
  3. 根据权利要求2所述的方法，所述根据所述治疗头的位置信息，检测所述治疗头是否位于所述目标区域，包括：
    获取所述目标区域的位置信息；
    根据所述治疗头的位置信息以及所述目标区域的位置信息，检测所述治疗头是否位于所述目标区域。
  4. 根据权利要求3所述的方法，所述获取所述目标区域的位置信息，包括：
    当所述成像系统固定设置时，根据所述成像系统中球管的位置信息，以及探测器的位置信息，确定所述球管与所述探测器之间的光路所在区域，并根据所述光路所在区域确定所述目标区域的位置信息；
    当所述成像系统旋转设置时，根据所述成像系统中球管的初始位置，探测器的初始位置以及所述成像系统的转动速度，确定所述球管与所述探测器之间 的光路所在区域，并根据所述光路所在区域确定所述目标区域的位置信息。
  5. 根据权利要求2所述的方法，所述根据所述治疗头的位置信息，检测所述治疗头是否位于所述目标区域，包括：
    获取所述成像系统中球管的位置信息，以及探测器的位置信息；
    根据所述治疗头的位置信息，所述球管的位置信息，以及所述探测器的位置信息，确定所述治疗头的治疗射束与所述光路之间的夹角；
    当所述夹角小于夹角阈值时，确定所述治疗头位于所述目标区域；
    当所述夹角不小于所述夹角阈值时，确定所述治疗头位于所述目标区域之外的区域。
  6. 根据权利要求1所述的方法，所述检测包覆所述成像系统的成像区域的目标区域是否被所述治疗头遮挡，包括：
    获取所述成像系统采集的图像；
    根据所述成像系统采集的图像，检测所述目标区域是否被所述治疗头遮挡。
  7. 根据权利要求1所述的方法，所述成像系统固定设置；所述调整目标设备的状态，包括：
    调整所述治疗头的位置，使所述治疗头位于所述目标区域之外的区域。
  8. 根据权利要求7所述的方法，所述调整所述治疗头的位置，包括：
    调整所述治疗头的位置，使所述治疗头所在平面与所述成像系统的光路所在的平面不共面。
  9. 根据权利要求7所述的方法，所述调整所述治疗头的位置，包括：
    调整所述治疗头的位置，使所述成像系统的光路交点与所述治疗头之间的间距，大于所述成像系统中球管与所述光路交点之间的间距，且大于所述成像系统中探测器与所述光路交点之间的间距。
  10. 根据权利要求1所述的方法，所述成像系统旋转设置，所述调整目标设备的状态，包括：
    调整所述治疗头的位置，使所述治疗头位于所述目标区域之外的区域；
    调整所述治疗头的转动速度和所述成像系统的转动速度，使得所述治疗头的转动速度与所述成像系统的转动速度相等。
  11. 根据权利要求1所述的方法，所述调整目标设备的状态，包括：
    调整所述成像系统的工作状态，使所述成像系统停止工作。
  12. 根据权利要求11所述的方法，在所述控制所述成像系统停止工作之后，所述方法还包括：
    当检测到所述治疗头位于所述目标区域之外的区域时，调整所述成像系统的工作状态，使所述成像系统正常工作。
  13. 根据权利要求11所述的方法，在所述控制所述成像系统停止工作之后，所述方法还包括：
    在检测到所述成像系统停止工作指定时长后，调整所述成像系统的工作状态，使所述成像系统正常工作；
    其中，所述指定时长为所述目标区域上一次被所述治疗头遮挡的时长，或者，所述指定时长为所述治疗头移动至所述目标区域之外的区域所需的时长。
  14. 一种放射治疗系统中目标设备的控制装置，所述放射治疗系统包括：治疗头和成像系统；所述装置包括：
    检测模块，用于检测包覆所述成像系统的成像区域的目标区域是否被所述治疗头遮挡，所述成像区域为所述成像系统中球管与探测器之间的光路经过的区域；
    调整模块，当检测到所述目标区域被所述治疗头遮挡时，用于调整目标设备的状态，避免所述成像系统采集图像时被所述治疗头遮挡；
    其中，所述目标设备为所述治疗头和所述成像系统中的至少一种，所述治疗头的状态包括：位置和转动速度中的至少一种，所述成像系统的状态包括：位置、转动速度和工作状态中的至少一种。
  15. 一种放射治疗系统中目标设备的控制装置，所述装置包括：处理器和存储器，所述存储器用于存储由处理器执行的指令，所述处理器通过执行所述存储器中存储的指令以实现权利要求1所述的控制方法。
  16. 一种放射治疗系统，所述放射治疗系统包括：治疗头、成像系统以及上位机，所述上位机包括如权利要求14所述的控制装置。
  17. 一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当所述计算机可读存储介质在计算机上运行时，使得计算机执行权利要求1所述的控制方法。
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