WO2021007849A1 - 肿瘤定位方法、装置及放射治疗系统 - Google Patents

肿瘤定位方法、装置及放射治疗系统 Download PDF

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WO2021007849A1
WO2021007849A1 PCT/CN2019/096523 CN2019096523W WO2021007849A1 WO 2021007849 A1 WO2021007849 A1 WO 2021007849A1 CN 2019096523 W CN2019096523 W CN 2019096523W WO 2021007849 A1 WO2021007849 A1 WO 2021007849A1
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image
angle
offset
amount
rotation amount
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PCT/CN2019/096523
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English (en)
French (fr)
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李久良
王中亚
闫浩
罗春
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西安大医集团股份有限公司
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Priority to US17/628,187 priority Critical patent/US12073583B2/en
Priority to PCT/CN2019/096523 priority patent/WO2021007849A1/zh
Priority to CN201980056202.9A priority patent/CN112770810B/zh
Publication of WO2021007849A1 publication Critical patent/WO2021007849A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1077—Beam delivery systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10116—X-ray image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30096—Tumor; Lesion

Definitions

  • This application relates to the technical field of radiotherapy, in particular to a tumor positioning method, device and radiotherapy system.
  • Radiotherapy is an effective means of using radiotherapy equipment to treat tumors. However, if the location of the tumor is not accurately positioned, the tumor may not be effectively treated, and other normal organs may even be damaged by the radiation emitted by the radiotherapy equipment. Therefore, it is very important to accurately locate the tumor location in radiotherapy.
  • the X-ray projection image of the tumor can be collected, and the collected X-ray projection image and the Digitally Reconstructed Radiograph (DRR) of the tumor can be image registered to obtain the offset.
  • the treatment bed can be moved according to the offset obtained by the registration, and the X-ray projection image can be re-collected after the treatment bed is moved, and the image registration can be performed again operating.
  • the position of the tumor can be directly determined as the position of the tumor after the patient is initially placed before the X-ray projection image is collected.
  • the tumor localization method in the related technology has poor flexibility and low efficiency.
  • the embodiments of the application provide a tumor positioning method, device, and radiotherapy system, and the technical solutions are as follows:
  • a tumor positioning method includes: performing image registration of a projection image of a tumor with a first reference image to obtain a first offset; and generating a second reference according to the first offset Image; image registration of the projected image and the second reference image to obtain a second offset; if the second offset meets the virtual retake condition, update according to the second offset The second reference image, and the image registration operation of the projected image and the second reference image is performed again; if the second offset does not meet the virtual retake condition, the cumulative offset is output The cumulative offset is the sum of the first offset and the second offset obtained by performing an image registration operation.
  • a tumor positioning device in another aspect, includes: a registration module for image registration of a projection image of a tumor with a first reference image to obtain a first offset; a generating module for Generate a second reference image according to the first offset; the registration module is further configured to perform image registration between the projected image and the second reference image to obtain a second offset; an update module, If the second offset satisfies the virtual re-acquisition condition, update the second reference image according to the second offset, and perform image processing between the projected image and the second reference image again Registration operation; an output module, configured to output a cumulative offset if the second offset does not meet the virtual retake condition, and the cumulative offset is the first offset and the execution image The sum of the second offsets obtained by the registration operation.
  • a tumor positioning device in yet another aspect, includes a processor and a memory; the memory is used to store computer execution instructions.
  • the processor is used to execute the The computer executes instructions stored in the memory, so that the tumor locating device executes the tumor locating method as described in the above aspect.
  • a storage medium stores instructions, and when the storage medium runs on a processing component, the processing component executes the tumor localization method as described in the above aspect.
  • a radiotherapy system includes: radiotherapy equipment, a host computer, a patient support device, and an image guidance system; the image guidance system includes the tumor positioning device as described in the above aspect.
  • Figure 1 is a schematic structural diagram of a radiotherapy system provided by an embodiment of the present application.
  • FIG. 2 is a flowchart of a tumor location method provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of another tumor location method provided by an embodiment of the present application.
  • FIG. 4 is a flowchart of a method for obtaining a first offset provided by an embodiment of the present application
  • FIG. 5 is a flowchart of a method for determining a first rotation amount in a second direction according to an embodiment of the present application
  • FIG. 6 is a flowchart of a method for obtaining a second offset provided by an embodiment of the present application.
  • FIG. 7 is a flowchart of a method for determining a second rotation amount in a second direction according to an embodiment of the present application
  • FIG. 8 is a schematic structural diagram of a tumor positioning device provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a registration module provided by an embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of another tumor positioning device provided by an embodiment of the present application.
  • Fig. 1 is a schematic structural diagram of a radiotherapy system provided by an embodiment of the present application.
  • the radiotherapy system may include a radiotherapy equipment 01, a host computer 02 (also called a control system), a patient support device 03, and an image guidance system 04.
  • the radiotherapy equipment 01 may include a radiotherapy gantry
  • the patient support device 03 may be a treatment bed.
  • the patient support device 03 may also be other devices for supporting the patient, such as a treatment chair.
  • the upper computer 02 can establish a communication connection with the radiotherapy gantry, the patient support device 03 and the image guidance system 04.
  • the upper computer 02 can control the movement of the patient support device 03 and the radiotherapy gantry, and can receive data sent by the image guidance system 04.
  • the communication connection mode may be a wired connection.
  • the communication connection can also be a wireless connection.
  • the patient support device 03 can send the supported patient into the treatment space formed by the rotation of the radiotherapy gantry.
  • the image guidance system 04 may include at least one set of image acquisition components, and the at least one set of image acquisition components may be set on the radiotherapy gantry.
  • FIG. 1 only shows a set of image acquisition components set on the radiotherapy gantry.
  • Each group of image acquisition components can include a detector 041 and a tube 042 arranged oppositely.
  • the tube 042 can emit rays
  • the detector 041 can receive the rays emitted by the tube 042
  • the image guidance system 04 can receive the rays according to the detector 041.
  • the received rays generate a projection image of the tumor.
  • the bulb 042 may be a bulb capable of emitting kilovolt (KV) X-rays
  • the detector 041 may be a flat panel detector.
  • the projection image generated by the image guidance system 04 can be a KV-level X projection image.
  • the upper computer 02 can control the rotation of the radiotherapy gantry so that the tube 042 set on the radiotherapy gantry emits rays at different angles.
  • the image guidance system 04 can collect projection images of the tumor at different angles. Then, the image guidance system 04 can perform image registration between the collected projection image and the reference image of the tumor to obtain the tumor offset, and output the offset to the host computer 02 so that the host computer 02 receives The resulting offset can reliably adjust the position of the patient support device 03.
  • the reference image of the tumor may refer to the DRR image reconstructed by the image guidance system 04 according to the computed tomography (Computed Tomography, CT) image of the tumor acquired in advance.
  • Image registration may refer to designating an image as a reference image and another image as an image to be registered. The purpose of registration is to make the coordinates of all points on the image to be registered and the reference image consistent.
  • the reference image of the tumor may also be a Magnetic Resonance Imaging (MRI) image, or may also be a Positron Emission Tomography (PET) image, which is not limited in this embodiment of the application.
  • MRI Magnetic Resonance Imaging
  • PET Positron Emission Tomography
  • the embodiment of the present application provides a tumor positioning method, which can solve the problems of poor flexibility, low efficiency, and short service life of the patient support device and the image acquisition component in the related art.
  • FIG. 2 is a flowchart of a tumor positioning method provided by an embodiment of the present application, which can be applied to a tumor positioning device, and the tumor positioning device may be an image guidance system in the radiotherapy system shown in FIG. 1.
  • the method may include:
  • Step 201 Perform image registration between the projection image of the tumor and the first reference image to obtain a first offset.
  • the projection image of the tumor may be an image (such as a KV-level X-ray projection image) collected by the image guidance system through the image collection component.
  • the first reference image may be a DRR image generated for the first time by the image guidance system based on the CT image of the tumor acquired in advance. And for the projection image at each angle, it corresponds to a first reference image at the same angle, that is, for the projection image at each angle, the image guidance system can generate the DRR image at that angle according to the CT image of the tumor.
  • the projection image of the tumor may include two images acquired at two angles orthogonal to each other (that is, the angular interval is 90 degrees) or approximately orthogonal (that is, the angular interval is about 90 degrees).
  • Projection image; correspondingly, the first reference image may include: two DRR images reconstructed and generated under the two mutually orthogonal or approximately orthogonal angles. Therefore, during radiotherapy, the image guidance system can first collect two projection images of the tumor at the two mutually orthogonal or approximately orthogonal angles, and generate two DRR images of the tumor at the two angles. Then, for the projected image at each angle, the image guidance system can use the projected image at that angle as the reference image, and use the first reference image at that angle as the image to be registered. The first reference image performs image registration. After the image registration of the projected image and the first reference image at the two angles is completed, the first offset can be obtained.
  • Step 202 Generate a second reference image according to the first offset.
  • the operation of the image guidance system to generate the second reference image according to the offset obtained by image registration may also be referred to as a virtual retake operation. Since the offset is generally large after the initial positioning of the patient, in order to save processing resources and ensure the accuracy of tumor positioning, after the first offset is obtained by image registration, the image guidance system You can directly perform virtual retake operations. That is, at this time, the image guidance system can directly generate the second reference image according to the first offset, and continue to perform the operation of step 203 below.
  • Step 203 Perform image registration between the projected image and the second reference image to obtain a second offset.
  • the projected image at each angle can be used as the reference image, and the second reference image at each angle can be used as the new image to be registered, and the projected image at the same angle can be combined with Image registration is performed on the second reference images one by one to obtain the second offset.
  • Step 204 If the second offset satisfies the virtual retake condition, update the second reference image according to the second offset, and perform the image registration operation of the projected image and the second reference image again.
  • the virtual retake condition may include: the second offset is greater than the offset threshold.
  • the offset threshold may be a fixed value pre-configured in the image guidance system.
  • the image guidance system can continue to perform the virtual retake operation. That is, at this time, the image guidance system can update the last generated second reference image according to the second offset, that is, continue to generate a new second reference image, and perform the operation of step 203 above again until the second offset is obtained. The amount does not satisfy the virtual retake condition, that is, until the second offset is less than or equal to the offset threshold.
  • step 205 If the second offset is less than or equal to the offset threshold, that is, when the second offset is already small, it can be determined that the second offset does not meet the virtual retake condition. At this time, the image guidance system can directly execute the next The operation of step 205 is described without performing a virtual retake operation.
  • Step 205 If the offset does not meet the virtual retake condition, output the accumulated offset.
  • the image guidance system After the image guidance system has performed the above step 203, and it is determined that the second offset does not meet the virtual retake condition, that is, it is determined that the second offset is less than or equal to the offset threshold, the image guidance system can output to the host computer Accumulate the offset, so that the host computer can accurately locate the tumor according to the accumulated offset.
  • the accumulated offset may be the sum of the first offset and the second offset obtained each time the image registration operation in step 203 is executed.
  • the embodiments of the present application provide a tumor location method.
  • the second reference image can be generated according to the first offset.
  • the second reference image can be updated according to the second offset, and the image registration operation can be performed again, until the second offset does not meet the virtual retake condition, Then output the cumulative offset to achieve precise positioning of the tumor.
  • the tumor positioning method provided in the embodiments of the present application can be used without the need to repeatedly move the patient support device and repeatedly collect projection images. , To achieve precise positioning of the tumor.
  • the tumor positioning method has high flexibility and efficiency, and the tumor positioning method can also extend the service life of expensive components such as patient support devices and image acquisition components.
  • the projection image is a KV-level X projection image
  • the reference image is a DRR image
  • the patient support device is a treatment bed as an example.
  • FIG. 3 is a flowchart of another tumor positioning method provided by an embodiment of the present application, which can be applied to a tumor positioning device, and the tumor positioning device may be an image guidance system in the radiotherapy system shown in FIG. 1. As shown in Figure 3, the method may include:
  • Step 301 Collect a projection image of the tumor.
  • the projection image of the tumor may be the image collected by the image guidance system through the image acquisition component.
  • the image guidance system may first collect two different tumors that are orthogonal or approximately orthogonal to each other. Projected image at angle.
  • the projection image of the tumor may include: a first projection image of the tumor at a first angle, and a second projection image of the tumor at a second angle, and the first angle and the second angle may be mutually positive. Two gantry angles that intersect or are approximately orthogonal.
  • the host computer can control the rotation of the treatment frame to control the tube in the image acquisition component to emit rays at the first angle.
  • the image guidance system can collect the first projection image of the tumor at the first angle.
  • the upper computer can control the tube to emit radiation at the second angle by controlling the rotation of the treatment gantry. Accordingly, the image guidance system can collect the second projection image of the tumor at the second angle.
  • the upper computer can first control the rotation of the treatment gantry to make the center axis of the beam emitted by the tube parallel to the width of the treatment bed.
  • the image guidance system can collect the first projection of the tumor at 0 degrees. image.
  • the upper computer can control the treatment gantry to continue to rotate so that the central axis of the beam emitted by the tube is perpendicular to the width of the treatment bed.
  • the image guidance system can collect the second tumor at 90 degrees. Project the image.
  • the image guidance system includes two sets of image acquisition components. Then the host computer can control the tube in one group of image acquisition components to emit rays at a first angle, and control the tube in another group of image acquisition components to emit rays at a second angle. Correspondingly, the image guidance system can respectively collect the first projection image of the tumor at the first angle and the second projection image of the tumor at the second angle.
  • Step 302 Perform image registration between the projection image of the tumor and the first reference image to obtain a first offset.
  • the first reference image may be a DRR image generated by the image guidance system based on the CT image of the tumor acquired in advance for the first time. And for the projection image at each angle, it corresponds to a first reference image at the same angle, that is, for the projection image at each angle, the image guidance system can generate the DRR image at that angle according to the CT image of the tumor. For example, suppose that the projection image of the tumor collected by the image guidance system includes: a first projection image of the tumor at a first angle, and a second projection image of the tumor at a second angle. Then the image guidance system can generate a DRR image at the first angle according to the CT image, and generate a DRR image at the second angle.
  • the image guidance system can use the projection image as the reference image, and use the first reference image at that angle as the image to be registered, and the projection image at that angle The image is registered with the first reference image.
  • the first offset can be obtained.
  • the first offset may include: a first translation amount and a first rotation amount.
  • FIG. 4 is a flowchart of a method for image registration to obtain a first offset provided by an embodiment of the present application. As shown in Figure 4, the method may include:
  • Step 3021 image registration is performed between the first projection image and the first reference image at the first angle to obtain the first translation amount in the first direction, the first translation amount in the second direction, and the first rotation amount in the third direction.
  • the image guidance system can reconstruct and generate the first reference image of the first angle at the first angle according to the CT image of the tumor. Then, the image guidance system can perform image registration on the first reference image at the first angle and the first projection image to obtain the first translation amount in the first direction, the first translation amount in the second direction, and the third direction in the third direction.
  • a rotation amount. 1 the first direction may be the height direction Z of the treatment bed 03, the second direction may be the length direction Y of the treatment bed 03, the third direction may be the width direction X of the treatment bed 03, and the first direction
  • the direction, the second direction and the third direction can be perpendicular to each other.
  • Step 3022 image registration is performed between the second projection image and the first reference image at the second angle to obtain the first translation amount in the second direction, the first translation amount in the third direction, and the first rotation amount in the first direction.
  • the image guidance system can reconstruct and generate the first reference image of the second angle at the second angle according to the CT image of the tumor. Then, the image guidance system can perform image registration of the two-angle first reference image and the second projection image to obtain the first translation amount in the second direction, the first translation amount in the third direction, and the first translation amount in the first direction. The amount of rotation.
  • Step 3023 based on the first translation amount in the first direction, the first translation amount in the second direction, the first translation amount in the third direction, the first rotation amount in the first direction, the first rotation amount in the third direction, and more A first reference angle and a plurality of second reference angles determine the first rotation amount in the second direction.
  • the first reference angle may be an angle determined based on the first angle
  • the second reference angle may be an angle determined based on the second angle.
  • the angular interval between every two adjacent first reference angles and the angular interval between every two adjacent second reference angles may both be the first angular interval.
  • the first angular interval may be an angular interval pre-configured in the image guidance system.
  • the first reference angle may be an angle determined based on the first angle, the first angle interval, and the first preset angle adjustment range continuously accumulated and continuously accumulated.
  • the second reference angle may be an angle determined based on the second angle, the first angle interval, and the first preset angle adjustment range continuously accumulated and continuously accumulated.
  • the first preset angle adjustment range may be a fixed range pre-configured in the image guidance system, for example, may be configured by the image guidance system before leaving the factory, or may be input into the image guidance system by the treating physician.
  • first angular interval is 1 degree
  • first preset angle adjustment range is -3 degrees to 3 degrees.
  • 7 first reference angles can be determined: -3 degrees, -2 degrees, -1 degrees , 0 degree, 1 degree, 2 degree and 3 degree.
  • second reference angles can be determined: -87 degrees, -88 degrees,- 89 degrees, 90 degrees, 91 degrees, 92 degrees and 93 degrees.
  • Fig. 5 is a flowchart of a method for determining a first rotation amount in a second direction according to an embodiment of the present application. As shown in Figure 5, the method may include:
  • Step 30231 For each first reference angle, use the reference image generation algorithm to perform the first translation in the first direction, the first translation in the second direction, the first translation in the third direction, and the first translation in the first direction.
  • the rotation amount, the first rotation amount in the third direction, and the first reference angle are processed to obtain a first reference reference image corresponding to the first reference angle.
  • the reference image generation algorithm ie, the DRR generation algorithm
  • the DRR generation algorithm may be an algorithm preset in the image guidance system, for example, it may be configured by the developer before the image guidance system leaves the factory.
  • the image guidance system may obtain the first translation amount in the first direction, the first translation amount in the second direction, the first translation amount in the third direction, and the The first rotation amount in one direction, the first rotation amount in the third direction, and each first reference angle are respectively substituted into the DRR generation algorithm to generate a first reference reference image corresponding to the first reference angle.
  • the image guidance system can then use the 7 first reference angles.
  • Each of the first reference angles in the angle, and the remaining 5 parameters (that is, the first translation amount and the first rotation amount in the first direction, the first translation amount in the second direction, and the first translation amount and the first translation amount in the third direction A rotation amount) is respectively substituted into the DRR generation algorithm to obtain a first reference reference image group including 7 first reference reference images.
  • Step 30232 For each second reference angle, use the reference image generation algorithm to perform the first translation in the first direction, the first translation in the second direction, the first translation in the third direction, and the first translation in the first direction.
  • the rotation amount, the first rotation amount in the third direction, and the second reference angle are processed to obtain a second reference reference image corresponding to the second reference angle.
  • the image guidance system can obtain the first translation in the first direction, the first translation in the second direction, the first translation in the third direction, and the first translation in the first direction.
  • a rotation amount, a first rotation amount in a third direction, and each second reference angle are respectively substituted into the DRR generation algorithm to generate a first reference reference image corresponding to the second reference angle.
  • the image guidance system can then use the seven second reference angles.
  • Each of the second reference angles in the reference angles and the remaining 5 parameters are respectively substituted into the DRR generation algorithm to obtain a second reference reference image group including 7 second reference reference images.
  • Step 30233 Perform image registration of each first reference reference image with the first projection image, and determine the first target reference angle corresponding to the first reference reference image with the highest similarity to the first projection image.
  • each first reference reference image in the first reference reference image group can be image-registered with the first projection image to determine the similarity to the first projection image The highest first reference reference image, and the first target reference angle corresponding to the first reference reference image with the highest similarity is determined.
  • the first reference reference image corresponding to the first reference reference image with the highest similarity to the first projection image among the 7 first reference reference images If it is 2 degrees, it can be determined that the first target reference angle is 2 degrees.
  • Step 30234 Perform image registration of each second reference reference image with the second projection image, and determine the second target reference angle corresponding to the second reference reference image with the highest similarity to the second projection image.
  • each second reference reference image in the second reference reference image group can be image-registered with the second projection image to determine the A second reference reference image with the highest image similarity is determined, and a second target reference angle corresponding to the second reference reference image with the highest similarity is determined.
  • the second reference angle corresponding to the second reference reference image with the highest similarity to the second projection image among the 7 second reference reference images If it is 93 degrees, it can be determined that the second target reference angle is 93 degrees.
  • Step 30235 Determine the first rotation amount in the second direction according to the first target reference angle and the second target reference angle.
  • the image guidance system may determine the difference between the first target reference angle and the first angle, and the average value of the difference between the second target reference angle and the second angle as the first direction in the second direction.
  • the amount of rotation may be a weighted average value or an arithmetic average value, which is not limited in the embodiment of the present application.
  • the first rotation amount in the second direction is determined by the difference between the first target reference angle and the first angle and the average value of the difference between the second target reference angle and the second angle, compared to directly comparing the first rotation in the second direction
  • a rotation amount is determined as the difference between the first target reference angle and the first angle or the difference between the second target reference angle and the second angle, which can reduce the error of the method.
  • Step 303 Generate a second reference image according to the first offset.
  • the operation of the image guidance system to generate the second reference image according to the offset obtained by the image registration may also be referred to as a virtual retake operation. Since the offset is generally large after the initial positioning of the patient, in order to ensure the accuracy of tumor positioning on the premise of saving processing resources, after the first offset is obtained by image registration, image guidance The system can directly perform virtual retake operations. That is, at this time, the image guidance system can directly generate the second reference image according to the first offset, and continue to perform the operation of step 304 below.
  • the image guidance system may use the reference image generation algorithm to perform the first translation amount in the first direction, the first translation amount in the second direction, the first translation amount in the third direction, the first rotation amount in the first direction,
  • the first rotation amount in the second direction and the first rotation amount in the third direction are processed to obtain a second reference image.
  • the image guidance system can change the first translation amount in the first direction, the first translation amount in the second direction, the first translation amount in the third direction, the first rotation amount in the first direction, and the first rotation in the second direction.
  • the amount and the first rotation amount in the third direction are substituted into the reference image generation algorithm to generate the second reference image.
  • Step 304 Perform image registration between the projected image and the second reference image to obtain a second offset.
  • the image guidance system after the image guidance system generates the second reference image, it can continue to perform image registration between the projection image of the tumor and the corresponding second reference image to obtain the second offset.
  • the second offset may also include: a second translation amount and a second rotation amount.
  • FIG. 6 is a flowchart of a method for image registration to obtain a second offset provided by an embodiment of the present application. As shown in Figure 6, the method may include:
  • Step 3041 image registration is performed between the first projection image and the second reference image at the first angle to obtain a second translation amount in the first direction, a second translation amount in the second direction, and a second rotation amount in the third direction.
  • Step 3042 image registration is performed between the second projection image and the second reference image at the second angle to obtain the second translation amount in the second direction, the second translation amount in the third direction, and the second rotation amount in the first direction.
  • step 3022 For the specific implementation of this step, refer to step 3022 above.
  • Step 3043 based on the second translation amount in the first direction, the second translation amount in the second direction, the second translation amount in the third direction, the second rotation amount in the first direction, the second rotation amount in the third direction, and more A third reference angle and a plurality of fourth reference angles determine the second rotation amount in the second direction.
  • the third reference angle may be an angle determined based on the first angle and the first rotation amount in the second direction
  • the fourth reference angle may be an angle determined based on the second angle and the first rotation amount in the second direction.
  • the angular interval between every two adjacent third reference angles and the angular interval between every two adjacent fourth reference angles may both be the second angular interval.
  • the second angular interval may be a pre-configured angular interval in the image guidance system, and the second angular interval may be smaller than the first angular interval.
  • the third reference angle may be an angle determined based on the first angle, the first rotation amount in the second direction, the second angle interval, and the second preset angle adjustment range.
  • the second reference angle may be an angle determined based on the second angle, the first rotation amount in the second direction, the second angle interval, and the second preset angle adjustment range.
  • the second preset angle adjustment range may also be a fixed range pre-configured in the image guidance system. And the second preset angle adjustment range may be smaller than the first preset angle adjustment range. By making the second preset angle adjustment range smaller than the first preset angle adjustment range, the accuracy of tumor positioning can be further improved.
  • the second angular interval is 0.2 degrees
  • the second preset angle adjustment range is -0.8 degrees to 0.8 degrees.
  • nine third reference angles can be determined: 1.7 degrees, 1.9 degrees, 2.1 degrees, 2.3 degrees, 2.5 degrees, 2.7 degrees, 2.9 degrees, 3.1 degrees and 3.3 degrees.
  • nine fourth references can be determined Angle: 91.7 degrees, 91.9 degrees, 92.1 degrees, 92.3 degrees, 92.5 degrees, 92.7 degrees, 92.9 degrees, 93.1 degrees and 93.3 degrees.
  • Fig. 7 is a flowchart of a method for determining a second rotation amount in a second direction according to an embodiment of the present application. As shown in Figure 7, the method may include:
  • Step 30431 For each third reference angle, the reference image generation algorithm is used for the second translation amount in the first direction, the second translation amount in the second direction, the second translation amount in the third direction, and the second translation amount in the first direction.
  • the rotation amount, the second rotation amount in the third direction, and the third reference angle are processed to obtain a third reference reference image corresponding to the third reference angle.
  • the image guidance system can then Each of the third reference angles in the third reference angle, and the remaining 5 parameters (ie, the second translation amount and the second rotation amount in the first direction, the second translation amount in the second direction, and the second translation amount in the third direction And the second rotation amount) are respectively substituted into the reference image generation algorithm to obtain a third reference reference image group including 9 third reference reference images.
  • Step 30432 For each fourth reference angle, use the reference image generation algorithm to perform the second translation in the first direction, the second translation in the second direction, the second translation in the third direction, and the second translation in the first direction.
  • the rotation amount, the second rotation amount in the third direction, and the fourth reference angle are processed to obtain a fourth reference reference image corresponding to the fourth reference angle.
  • step 30232 For the specific implementation of this step, refer to step 30232 above.
  • the image guidance system can then Each of the fourth reference angles and the remaining five parameters are respectively substituted into the reference image generation algorithm to obtain a fourth reference reference image group including 9 fourth reference reference images.
  • Step 30433 Perform image registration of each third reference reference image with the first projection image, and determine a third target reference angle corresponding to the third reference reference image with the highest similarity to the first projection image.
  • step 30233 For the specific implementation of this step, refer to step 30233 above.
  • the third target reference angle can be determined to be 2.7 degrees.
  • Step 30434 Perform image registration of each fourth reference reference image with the second projection image, and determine a fourth target reference angle corresponding to the fourth reference reference image with the highest similarity to the second projection image.
  • the fourth reference reference image corresponding to the fourth reference reference image with the highest similarity to the second projection image among the 9 fourth reference reference images at the second angle is obtained.
  • the four reference angle is 92.9 degrees, then the fourth target reference angle can be determined to be 92.9 degrees.
  • Step 30435 Determine a second rotation amount in the second direction according to the third target reference angle and the fourth target reference angle.
  • the image guidance system may determine the difference between the third target reference angle and the first angle, and the average value of the difference between the fourth target reference angle and the second angle as the second direction in the second direction.
  • the amount of rotation may also be a weighted average value or an arithmetic average value.
  • the determined third target reference angle is 2.7 degrees
  • the fourth target reference angle is 92.9 degrees.
  • the second rotation amount in the second direction is determined by the difference between the third target reference angle and the first angle and the average value of the difference between the fourth target reference angle and the second angle.
  • the second rotation amount is determined as the difference between the third target reference angle and the first angle or the difference between the fourth target reference angle and the second angle, which can reduce the error of the method.
  • a detection device that can measure the amount of rotation in the second direction can also be added in the second direction, and the image guidance system can directly detect the first rotation in the second direction through the detection device. Amount and the second rotation amount in the second direction.
  • the detection device may be an infrared monitoring head marker, or may also be an image acquisition component.
  • Step 305 Determine whether the second offset satisfies the virtual retake condition.
  • the virtual retake condition may include: the second translation is greater than the translation threshold, or the second rotation is greater than Threshold of rotation amount.
  • the translation threshold value and the rotation threshold value may both be fixed values pre-configured in the image guidance system, for example, may be pre-configured when the image guidance system leaves the factory, or may be input to the image by the treating physician during subsequent treatment. Boot the system.
  • both the translation amount threshold and the rotation threshold may be small, for example, the translation threshold may be 0.1 mm, and the rotation threshold may be 0.1 degrees.
  • the image guidance system may first determine whether the second shift in the second shift is greater than the shift threshold, and determine the second shift Whether the second rotation amount in the amount is greater than the rotation amount threshold. If it is determined that the second translation amount is greater than the translation threshold value, or the second rotation amount is determined to be greater than the rotation threshold value, the image guidance system can automatically determine that the second offset meets the virtual retake condition. At this time, the image guidance system can Proceed to step 306 below. If it is determined that the second translation amount is not greater than the translation threshold value, and the second rotation amount is not greater than the rotation threshold value, the image guidance system can automatically determine that the second offset does not meet the virtual retake condition. At this time, the image The boot system can continue to perform step 307 below.
  • the image guidance system may also be provided with an indication switch corresponding to the "virtual retake operation".
  • the image guidance system may directly determine that the second offset satisfies the virtual retake condition when receiving the opening operation for the indicating switch. For example, the therapist can trigger the "virtual retake operation" to be turned on or off according to the image registration result and their own experience.
  • Step 306 Update the second reference image according to the second offset, and perform image registration operation of the projected image with the second reference image again.
  • the image guidance system may perform a virtual retake operation when it determines that the second offset satisfies the virtual retake condition. That is, at this time, the image guidance system can adjust the second translation amount in the first direction, the second translation amount in the second direction, the second translation amount in the third direction, the second rotation amount in the first direction, and the second translation amount in the second direction.
  • the second rotation amount in the direction and the second rotation amount in the third direction are substituted into the reference image generation algorithm to regenerate the second reference image, and continue to compare the projected image with the updated (that is, the most recently generated) second reference image
  • the image registration operation is performed until it is determined that the second offset does not satisfy the virtual retake condition after the above step 305 is performed.
  • Step 307 Output the accumulated offset.
  • the accumulated offset may be the first offset and the sum of each second offset obtained by performing the image registration operation in step 305 each time.
  • the image guidance system determines that the second offset does not meet the virtual retake condition, it can directly output the accumulated offset to the upper computer, so that the upper computer can reliably move the treatment bed according to the accumulated offset. position.
  • the first offset obtained after performing the above step 302 may also be less than or equal to the offset threshold
  • the first offset includes: the first translation amount and the first rotation amount
  • the virtual retake condition may also include: the first translation amount is greater than the translation amount threshold, or the first rotation amount is greater than the rotation threshold .
  • the coordinate system of the first offset obtained by the image guidance system or the coordinate system of the accumulated offset obtained may be different from the equipment coordinate system referred to when the upper computer adjusts the position of the treatment bed, therefore
  • the parameters in the first offset or the cumulative offset can be converted to the device coordinate system. Then output the converted offset to the host computer.
  • the obtained first offset or accumulated offset may also be output to the upper computer, and the upper computer can realize the coordinate conversion.
  • the treatment bed coordinate system is composed of an axis X extending along the width direction of the treatment bed and an axis Y extending along the length direction of the treatment bed.
  • a three-dimensional coordinate system composed of the axis Z extending in the height direction.
  • the device coordinate system referred to when the host computer adjusts the position of the treatment bed is the digital imaging and communication (digital imaging and communication in medicine, DICOM) coordinate system.
  • DICOM digital imaging and communication in medicine
  • the image guidance system may also display the obtained first offset or cumulative offset to the treating physician for recording by the treating physician.
  • the embodiments of the present application provide a tumor location method.
  • the second reference image can be generated according to the first offset.
  • the second reference image can be updated according to the second offset, and the image registration operation can be performed again, until the second offset does not meet the virtual retake condition, Then output the cumulative offset to achieve precise positioning of the tumor.
  • the tumor positioning method provided in the embodiments of the present application can be used without the need to repeatedly move the patient support device and repeatedly collect projection images. , To achieve precise positioning of the tumor.
  • the tumor positioning method has high flexibility and efficiency, and the tumor positioning method can also extend the service life of expensive components such as patient support devices and image acquisition components.
  • Fig. 8 is a schematic structural diagram of a tumor positioning device provided by an embodiment of the present application. As shown in Figure 8, the device may include:
  • the registration module 801 is used for image registration of the projection image of the tumor with the first reference image to obtain the first offset.
  • the generating module 802 is configured to generate a second reference image according to the first offset.
  • the registration module 801 can also be used to perform image registration between the projected image and the second reference image to obtain the second offset.
  • the update module 803 is configured to update the second reference image according to the second offset if the second offset satisfies the virtual re-acquisition condition, and perform the image registration operation of the projected image and the second reference image again.
  • the output module 804 is configured to output a cumulative offset if the second offset does not meet the virtual retake condition, and the cumulative offset is the first offset and the second offset obtained by performing the image registration operation The sum of the amounts.
  • the first offset amount may include: a first translation amount and a first rotation amount
  • the second offset amount may both include: a second translation amount and a second translation amount
  • the virtual retake condition may include: the second translation amount is greater than the translation amount threshold, or the second rotation amount is greater than the rotation threshold.
  • the projection image may include: a first projection image of the tumor at a first angle, and a second projection image of the tumor at a second angle.
  • FIG. 9 is a schematic structural diagram of a registration module provided by an embodiment of the present application. As shown in FIG. 9, the registration module 801 may include:
  • the registration sub-module 8011 can be used to perform image registration between the first projection image and the first reference image at the first angle to obtain the first translation amount in the first direction, the first translation amount in the second direction, and the third direction The first rotation amount.
  • the registration sub-module 8011 can also be used to perform image registration between the second projection image and the first reference image at the second angle to obtain the first translation amount in the second direction, the first translation amount in the third direction, and the first reference image.
  • the determining sub-module 8012 is configured to be based on the first translation amount in the first direction, the first translation amount in the second direction, the first translation amount in the third direction, the first rotation amount in the first direction, and the first translation amount in the third direction.
  • the amount of rotation, multiple first reference angles, and multiple second reference angles determine the first amount of rotation in the second direction.
  • the first reference angle is an angle determined based on the first angle
  • the second reference angle is an angle determined based on the second angle.
  • the first direction, the second direction, and the third direction are perpendicular to each other.
  • the determining submodule 8012 can be used for:
  • the first translation amount in the first direction, the first translation amount in the second direction, the first translation amount in the third direction, the first rotation amount in the first direction, The first rotation amount in the third direction and the first reference angle are processed to obtain a first reference reference image corresponding to the first reference angle.
  • the first translation amount in the first direction, the first translation amount in the second direction, the first translation amount in the third direction, the first rotation amount in the first direction, The first rotation amount in the third direction and the second reference angle are processed to obtain a second reference reference image corresponding to the second reference angle.
  • Image registration is performed on each first reference reference image with the first projection image, and the first target reference angle corresponding to the first reference reference image with the highest similarity to the first projection image is determined.
  • Image registration is performed on each second reference reference image with the second projection image, and the second target reference angle corresponding to the second reference reference image with the highest similarity to the second projection image is determined.
  • the first rotation amount in the second direction is determined according to the first target reference angle and the second target reference angle.
  • the determining sub-module 8012 may be used to determine the difference between the first target reference angle and the first angle as the first rotation amount in the second direction; or, determine the difference between the second target reference angle and the second angle Is the first rotation amount in the second direction; or, the average value of the difference between the first target reference angle and the first angle and the difference between the second target reference angle and the second angle is determined as the first rotation amount in the second direction .
  • the generation module 802 can be used to: use a reference image generation algorithm to perform a first translation in a first direction, a first translation in a second direction, a first translation in a third direction, and a first translation in a first direction.
  • a rotation amount, a first rotation amount in the second direction, and a first rotation amount in the third direction are processed to obtain a second reference image.
  • the registration module 801 includes:
  • the registration sub-module 8011 can also be used to perform image registration between the first projection image and the second reference image at the first angle to obtain the second translation amount in the first direction, the second translation amount in the second direction, and the third The second rotation of the direction.
  • the registration sub-module 8011 can also be used to perform image registration between the second projection image and the second reference image at the second angle to obtain the second translation amount in the second direction, the second translation amount in the third direction, and the first The second rotation of the direction.
  • the determining sub-module 8012 can also be used for the second translation amount based on the first direction, the second translation amount in the second direction, the second translation amount in the third direction, the second rotation amount in the first direction, and the second translation amount in the third direction.
  • the second rotation amount, multiple third reference angles, and multiple fourth reference angles determine the second rotation amount in the second direction.
  • the third reference angle is an angle determined based on the first angle and the first rotation amount in the second direction
  • the fourth reference angle is an angle determined based on the second angle and the first rotation amount in the second direction.
  • the determining submodule 8012 may also be used for:
  • the reference image generation algorithm For each third reference angle, use the reference image generation algorithm for the second translation amount in the first direction, the second translation amount in the second direction, the second translation amount in the third direction, the second rotation amount in the first direction, The second rotation amount in the third direction and the third reference angle are processed to obtain a third reference reference image corresponding to the third reference angle.
  • For each fourth reference angle use the reference image generation algorithm for the second translation amount in the first direction, the second translation amount in the second direction, the second translation amount in the third direction, the second rotation amount in the first direction, The second rotation amount in the third direction and the fourth reference angle are processed to obtain a fourth reference reference image corresponding to the fourth reference angle.
  • Image registration is performed on each third reference reference image with the first projection image, and a third target reference angle corresponding to the third reference reference image with the highest similarity to the first projection image is determined.
  • Image registration is performed on each fourth reference reference image with the second projection image, and a fourth target reference angle corresponding to the fourth reference reference image with the highest similarity to the second projection image is determined.
  • the second rotation amount in the second direction is determined according to the third target reference angle and the fourth target reference angle.
  • the determining submodule 8012 may be configured to determine the difference between the third target reference angle and the first angle as the second rotation amount in the second direction; or, determine the difference between the fourth target reference angle and the second angle as The second rotation amount in the second direction; or, the average value of the difference between the third target reference angle and the first angle and the difference between the fourth target reference angle and the second angle is determined as the second rotation amount in the second direction.
  • the angular interval between every two adjacent first reference angles and the angular interval between every two adjacent second reference angles are both the first angular interval.
  • the angular interval between every two adjacent third reference angles and the angular interval between every two adjacent fourth reference angles are the second angular intervals.
  • the second angular interval is smaller than the first angular interval.
  • the first angular interval may be 1 degree
  • the second angular interval may be 0.2 degree.
  • the embodiment of the present application provides a tumor positioning device.
  • the device can generate the second reference image according to the first offset after performing image registration of the projection image of the tumor and the first reference image to obtain the first offset. And when the second offset satisfies the virtual retake condition, the second reference image can be updated according to the second offset, and the image registration operation can be performed again, until the second offset does not meet the virtual retake condition, Then output the cumulative offset to achieve precise positioning of the tumor.
  • the tumor positioning device provided by the embodiment of the present application can be used without the need to repeatedly move the patient support device and repeatedly collect projection images. , To achieve precise positioning of the tumor.
  • the tumor positioning device has high flexibility and efficiency for tumor positioning, and the method for positioning the tumor by the tumor positioning device can also extend the service life of expensive components such as patient support devices and image acquisition components.
  • Fig. 10 is a schematic structural diagram of another tumor positioning device provided by an embodiment of the present application.
  • the tumor positioning device may include a processor 11 and a memory 12.
  • the memory 12 can be used to store computer execution instructions.
  • the processor 11 can be used to execute the computer execution instructions stored in the memory 12, so that the tumor localization device executes any one of the instructions shown in FIGS. 2 to 7 Method of tumor localization.
  • the tumor positioning device may further include a communication interface 13 and a communication bus 14.
  • the processor 11 may be a single processor, or may be a collective name for multiple processing elements.
  • the processor 11 may include at least one central processing unit (Central Processing Unit, CPU); or may include a specific integrated circuit (Application Specific Integrated Circuit, ASIC); or may include one or the other that is configured to implement the embodiments of the present application. Multiple integrated circuits. For example: Digital Signal Processor (DSP), or Field Programmable Gate Array (FPGA).
  • DSP Digital Signal Processor
  • FPGA Field Programmable Gate Array
  • Each processor 11 may be a single-core processor (Single-CPU) or may be a multi-core processor (Multi-CPU).
  • the processor 11 may refer to at least one of one or more devices, circuits, and processing cores for processing data (for example, computer program instructions).
  • the tumor locating device shown therein includes two processors 11, and each processor 11 includes two CPUs, CPU0 and CPU1.
  • the memory 12 can be a read-only memory (Read-Only Memory, ROM), a static storage device that can store static information and instructions, a random access memory (Random Access Memory, RAM), and other types of dynamic storage that can store information and instructions Equipment, electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM), other optical disc storage, optical disc storage (including compact disc, laser Optical discs, optical discs, digital universal discs and Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other media that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer , But not limited to this.
  • the memory 12 may exist independently or the memory 12 may also be integrated with the processor 11. For example, referring to FIG. 10, it shows that the memory 12 exists independently, and the memory 12 may be connected to the processor 11 through the
  • the communication interface 13 may be a device using a transceiver.
  • the communication interface 13 may be used to communicate with other devices or communication networks, such as a control system, a radio access network (RA N) or a wireless local area network (Wireless Local Area Networks, WLAN).
  • the communication interface 13 may include a receiving unit 131 and realize a receiving function, and may include a sending unit 132 and realize a sending function.
  • the communication bus 14 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus.
  • the communication bus 14 may be an address bus, a data bus or a control bus. For example, FIG. 10 only uses a thick line to represent the communication bus 14, but it does not mean that the communication bus 14 only includes one bus or one type of bus.
  • an embodiment of the present application also provides a storage medium that stores instructions in the storage medium.
  • the processing component can execute the tumor localization shown in any one of FIGS. 2 to 7 method.
  • the embodiment of the present application also provides a radiotherapy system.
  • the radiotherapy system may include: radiotherapy equipment 01, host computer 02, patient support device 03, and image guidance system 04.
  • the image guidance system 04 may include a tumor positioning device as shown in FIG. 10.

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Abstract

一种肿瘤定位方法、装置及放射治疗系统。该方法可以在将肿瘤的投影图像与第一基准图像进行图像配准得到第一偏移量后，根据该第一偏移量生成第二基准图像。且可以在第二偏移量满足虚拟重采条件时，根据第二偏移量更新第二基准图像，并再次执行图像配准，直至第二偏移量不满足虚拟重采条件，再输出累积偏移量。由于更新第二基准图像和执行图像配准的执行主体均为图像引导系统，因此该方法可以在无需反复移动患者支撑装置，且无需反复采集投影图像的前提下，实现对肿瘤的精确定位。该肿瘤定位方法的灵活性和效率均较高，且该肿瘤定位方法也可以延长患者支撑装置和影像采集组件等昂贵器件的使用寿命。

Description

肿瘤定位方法、装置及放射治疗系统 技术领域
本申请涉及放疗技术领域，特别涉及一种肿瘤定位方法、装置及放射治疗系统。
背景技术
放射治疗是采用放疗设备治疗肿瘤的一种有效手段。但是，若肿瘤位置定位不精确，可能会造成肿瘤无法得到有效治疗，甚至可能造成其他正常器官被放疗设备发出的放射线误照射而出现损伤。因此放射治疗中，对肿瘤位置进行精确定位至关重要。
相关技术中，可以采集肿瘤的X光投影图像，并将采集到的X光投影图像和该肿瘤的数字重建投影图像(Digitally Reconstructed Radiograph，DRR)进行图像配准，得到偏移量。若该偏移量未在放疗设备的偏移量精度范围内，可以根据配准得到的偏移量移动治疗床，并在移动治疗床后重新采集X光投影图像，并再次执行图像配准的操作。若偏移量在偏移量精度范围内，则可以直接将采集X光投影图像前对患者初次摆位后肿瘤所处位置确定为肿瘤的位置。
但是，相关技术中的肿瘤定位方法的灵活性较差，效率较低。
发明内容
本申请实施例提供了一种肿瘤定位方法、装置及放射治疗系统，技术方案如下：
一方面，提供了一种肿瘤定位方法，所述方法包括：将肿瘤的投影图像与第一基准图像进行图像配准，得到第一偏移量；根据所述第一偏移量生成第二基准图像；将所述投影图像与所述第二基准图像进行图像配准，得到第二偏移量；若所述第二偏移量满足虚拟重采条件，则根据所述第二偏移量更新所述第二基准图像，并再次执行将所述投影图像与所述第二基准图像进行图像配准的操作；若所述第二偏移量不满足虚拟重采条件，则输出累积偏移量，所述累积偏移量为所述第一偏移量与通过执行图像配准的操作得到的第二偏移量之和。
另一方面，提供了一种肿瘤定位装置，所述装置包括：配准模块，用于将肿瘤的投影图像与第一基准图像进行图像配准，得到第一偏移量；生成模块，用于根据所述第一偏移量生成第二基准图像；所述配准模块，还用于将所述投影图像与所述第二基准图像进行图像配准，得到第二偏移量；更新模块，用于若所述第二偏移量满足虚拟重采条件，则根据所述第二偏移量更新所述第二基准图像，并再次执行将所述投影图像与所述第二基准图像进行图像配准的操作；输出模块，用于若所述第二偏移量不满足虚拟重采条件，则输出累积偏移量，所述累积偏移量为所述第一偏移量与通过执行图像配准的操作得到的第二偏移量之和。
又一方面，提供了一种肿瘤定位装置，所述肿瘤定位装置包括：处理器和存储器；所述存储器用于存储计算机执行指令，当所述肿瘤定位装置运行时，所述处理器用于执行所述存储器存储的计算机执行指令，以使所述肿瘤定位装置执行如上述方面所述的肿瘤定位方法。
再一方面，提供了一种存储介质，所述存储介质中存储有指令，当所述存储介质在处理组件上运行时，使得处理组件执行如上述方面所述的肿瘤定位方法。
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：放射治疗设备、上位机、患者支撑装置以及图像引导系统；所述图像引导系统包括如上述方面所述的肿瘤定位装置。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请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申请的一些实施例，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是本申请实施例提供的一种放射治疗系统的结构示意图；
图2是本申请实施例提供的一种肿瘤定位方法的流程图；
图3是本申请实施例提供的另一种肿瘤定位方法的流程图；
图4是本申请实施例提供的一种得到第一偏移量的方法流程图；
图5是本申请实施例提供的一种确定第二方向的第一旋转量的方法流程图；
图6是本申请实施例提供的一种得到第二偏移量的方法流程图；
图7是本申请实施例提供的一种确定第二方向的第二旋转量的方法流程图；
图8是本申请实施例提供的一种肿瘤定位装置的结构示意图；
图9是本申请实施例提供的一种配准模块的结构示意图；
图10是本申请实施例提供的另一种肿瘤定位装置的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
图1是本申请实施例提供的一种放射治疗系统的结构示意图。如图1所示，该放射治疗系统可以包括放射治疗设备01、上位机02(也可以称为控制系统)、患者支撑装置03以及图像引导系统04。例如，参考图1，该放射治疗设备01可以包括放疗机架，该患者支撑装置03可以为治疗床。可选的，该患者支撑装置03也可以为其他用于支撑患者的装置，如治疗座椅。
该上位机02可以与放疗机架、患者支撑装置03以及图像引导系统04建立通信连接，该上位机02可以控制患者支撑装置03和放疗机架移动，可以接收图像引导系统04发送的数据。例如，参考图1，该通信连接的方式可以为有线连接。当然，该通信连接的方式也可以为无线连接。
患者支撑装置03可将支撑的患者送入该放疗机架旋转形成的治疗空间内。该图像引导系统04可以包括至少一组影像采集组件，该至少一组影像采集组件可以设置在放疗机架上，图1仅示出了设置在放疗机架上的一组影像采集组件。每组影像采集组件可以包括相对设置的探测器041和球管042，该球管042可以发出射线，该探测器041可以接收球管042发出的射线，该图像引导系统04可以根据探测器041接收到的射线生成肿瘤的投影图像。
可选的，该球管042可以为能够发出千伏(KV)级X射线的球管，该探测器041可以为平板探测器。相应的，该图像引导系统04生成的投影图像即可以为KV级X投影图像。
在进行放射治疗时，为了对肿瘤位置进行精确定位，保证肿瘤治疗的可靠 性，上位机02可以通过控制放疗机架旋转，使得设置在放疗机架上的球管042在不同角度下发出射线，进而使得图像引导系统04可以采集到肿瘤在不同角度下的投影图像。然后，图像引导系统04可以将采集到的投影图像与肿瘤的基准图像进行图像配准，得出肿瘤的偏移量，并将该偏移量输出至上位机02中，以便上位机02根据接收到的偏移量可靠调整患者支撑装置03的位置。
其中，肿瘤的基准图像可以是指图像引导系统04根据预先获取到的肿瘤的电子计算机断层扫描(Computed Tomography，CT)图像重建生成的DRR图像。图像配准可以是指以指定一幅图像为参考图像，另一幅图像为待配准图像，配准的目的是使待配准图像与参考图像上的所有点的坐标均达到一致。
可选的，肿瘤的基准图像也可以是磁共振(Magnetic Resonance Imaging，MRI)图像，或者也可以是正电子发射断层(Positron Emission Tomography，PET)图像，本申请实施例对此不做限定。
但是，若肿瘤的实际位置(即初次摆位的位置)与理论位置(即治疗射线的射束焦点)存在较大偏差时，如平移量偏差约10至15毫米，旋转量偏差约3度，则需要执行多次图像配准，才能得出较为准确的偏移量。
相关技术中，可以通过反复移动患者支撑装置，不断采集肿瘤的投影图像，并将重新采集的投影图像与基准图像进行图像配准来得出较为准确的偏移量。但是，反复移动患者支撑装置和不断采集投影图像均较为耗时，放射治疗的效率较低。并且，由于患者支撑装置和影像采集组件的价格均较为昂贵，因此反复移动患者支撑装置和不断使用影像采集组件采集投影图像，对患者支撑装置和影像采集组件的消耗也会较大，患者支撑装置和影像采集组件的使用寿命较短。除此之外，由于目前患者支撑装置均为三维结构，因此无法可靠得出各个方向的偏移量，放射治疗的灵活性较差。
本申请实施例提供了一种肿瘤定位方法，可以解决相关技术中肿瘤定位方法灵活性较差，效率较低，患者支撑装置和影像采集组件使用寿命较短的问题。
图2是本申请实施例提供的一种肿瘤定位方法的流程图，可以应用于肿瘤定位装置中，该肿瘤定位装置可以为图1所示放射治疗系统中的图像引导系统。如图2所示，该方法可以包括：
步骤201、将肿瘤的投影图像与第一基准图像进行图像配准，得到第一偏移量。
可选的，肿瘤的投影图像可以为图像引导系统通过影像采集组件采集到的图像(如KV级X光投影图像)。第一基准图像可以为图像引导系统根据预先获取到的肿瘤的CT图像首次重建生成的DRR图像。且对于每个角度下的投影图像，均对应一个相同角度下的第一基准图像，即对于每个角度下的投影图像，图像引导系统均可以根据肿瘤的CT图像生成该角度下的DRR图像。
在本申请实施例中，该肿瘤的投影图像可以包括：在相互正交(即角度间隔为90度)或近似正交(即角度间隔约为90度)的两个角度下采集到的两张投影图像；相应的，该第一基准图像即可以包括：在该相互正交或近似正交的两个角度下重建生成的两张DRR图像。因此在进行放射治疗时，图像引导系统可以先在该相互正交或近似正交的两个角度下分别采集两张肿瘤的投影图像，并生成肿瘤在该两个角度下的两张DRR图像。然后，对于每个角度下的投影图像，图像引导系统均可以以该角度下的投影图像作为基准图像，并以该角度的第一基准图像为待配准图像，对该角度下的投影图像和第一基准图像进行图像配准。在对该两个角度下的投影图像和第一基准图像完成图像配准后，即可以得到第一偏移量。
步骤202、根据第一偏移量生成第二基准图像。
在本申请实施例中，图像引导系统根据图像配准得到的偏移量生成第二基准图像的操作也可以称为虚拟重采操作。由于在对患者进行初次摆位后，偏移量一般均较大，因此为了在节约处理资源的前提下，确保肿瘤定位精确度，在进行图像配准得到第一偏移量后，图像引导系统可以直接执行虚拟重采操作。也即是，此时，图像引导系统可以直接根据第一偏移量生成第二基准图像，并继续执行下述步骤203的操作。
步骤203、将投影图像与第二基准图像进行图像配准，得到第二偏移量。
当图像引导系统生成第二基准图像后，可以以各个角度下的投影图像继续作为参考图像，并以各个角度下的第二基准图像作为新的待配准图像，将相同角度下的投影图像和第二基准图像一一进行图像配准，从而得到第二偏移量。
步骤204、若第二偏移量满足虚拟重采条件，则根据第二偏移量更新第二基准图像，并再次执行将投影图像与第二基准图像进行图像配准的操作。
在本申请实施例中，该虚拟重采条件可以包括：第二偏移量大于偏移量阈值。该偏移量阈值可以是图像引导系统中预先配置的固定值。
由于偏移量与肿瘤的定位偏差成正比，因此若第二偏移量大于偏移量阈 值，即第二偏移量还是较大时，可以确定第二偏移量满足虚拟重采条件，此时，图像引导系统可以继续执行虚拟重采操作。即此时图像引导系统可以根据第二偏移量更新最近一次生成的第二基准图像，即继续生成新的第二基准图像，并再次执行上述步骤203的操作，直至得出的第二偏移量不满足虚拟重采条件为止，即直至第二偏移量小于或等于偏移量阈值为止。若第二偏移量已经小于或等于偏移量阈值，即第二偏移量已经较小时，可以确定第二偏移量不满足虚拟重采条件，此时，图像引导系统即可以直接执行下述步骤205的操作，而无需执行虚拟重采操作。
步骤205、若偏移量不满足虚拟重采条件，则输出累积偏移量。
当图像引导系统执行完上述步骤203之后，且确定第二偏移量不满足虚拟重采条件，即确定第二偏移量已经小于或等于偏移量阈值时，图像引导系统可以向上位机输出累积偏移量，从而使得上位机根据该累积偏移量实现对肿瘤的精确定位。其中，该累积偏移量可以为第一偏移量，以及每次执行上述步骤203的图像配准操作得到的第二偏移量之和。
综上所述，本申请实施例提供了一种肿瘤定位方法。该方法可以在将肿瘤的投影图像与第一基准图像进行图像配准得到第一偏移量后，根据该第一偏移量生成第二基准图像。且可以在第二偏移量满足虚拟重采条件时，根据第二偏移量更新第二基准图像，并再次执行图像配准的操作，直至第二偏移量不满足虚拟重采条件时，再输出累积偏移量，实现对肿瘤的精确定位。由于更新第二基准图像和执行图像配准操作的执行主体均为图像引导系统，因此本申请实施例提供的肿瘤定位方法，可以在无需反复移动患者支撑装置，且无需反复采集投影图像的前提下，实现对肿瘤的精确定位。该肿瘤定位方法的灵活性和效率均较高，且该肿瘤定位方法也可以延长患者支撑装置和影像采集组件等昂贵器件的使用寿命。
下述实施例均以投影图像为KV级X投影图像，基准图像为DRR图像，患者支撑装置为治疗床为例进行说明。图3是本申请实施例提供的另一种肿瘤定位方法的流程图，可以应用于肿瘤定位装置中，该肿瘤定位装置可以为图1所示放射治疗系统中的图像引导系统。如图3所示，该方法可以包括：
步骤301、采集肿瘤的投影图像。
在本申请实施例中，肿瘤的投影图像可以为图像引导系统通过影像采集组 件采集到的图像，为了实现图像配准，图像引导系统可以先采集肿瘤在相互正交或近似正交的两个不同角度下的投影图像。可选的，该肿瘤的投影图像可以包括：肿瘤在第一角度下的第一投影图像，以及肿瘤在第二角度下的第二投影图像，且该第一角度和第二角度可以为相互正交或近似正交的两个机架角。
作为一种可选的实现方式，若图像引导系统仅包括一组影像采集组件，则上位机可以通过控制治疗机架旋转，控制该影像采集组件中的球管先在第一角度下发出射线，相应的，图像引导系统即可采集到肿瘤在第一角度下的第一投影图像。然后上位机可以通过控制治疗机架旋转，控制该球管在第二角度下发出射线，相应的，图像引导系统即可采集到肿瘤在第二角度下的第二投影图像。
示例的，假设第一角度为0度，第二角度为90度。由于球管发出的射线的射束中心轴方向与治疗床的宽度方向平行时，第一角度为0度；球管发出的射线的射束中心轴方向与治疗床的宽度方向垂直时，第二角度为90度。因此，可以通过上位机先控制治疗机架旋转使得球管发出射线的射束中心轴方向与治疗床的宽度方向平行，此时，图像引导系统即可以采集到肿瘤在0度下的第一投影图像。然后，可以通过上位机控制治疗机架继续旋转，使得球管发出射线的射束中心轴方向与治疗床的宽度方向垂直，此时，图像引导系统即可以采集到肿瘤在90度下的第二投影图像。
作为另一种可选的实现方式，若图像引导系统包括两组影像采集组件。则上位机即可以控制一组影像采集组件中的球管在第一角度下发出射线，并控制另一组影像采集组件中的球管在第二角度下发出射线。相应的，图像引导系统即可以分别采集到肿瘤在肿瘤在第一角度下的第一投影图像，以及肿瘤在第二角度下的第二投影图像。
步骤302、将肿瘤的投影图像与第一基准图像进行图像配准，得到第一偏移量。
可选的，第一基准图像可以为图像引导系统根据预先获取到的肿瘤的CT图像首次重建生成的DRR图像。且对于每个角度下的投影图像，均对应一个相同角度下的第一基准图像，即对于每个角度下的投影图像，图像引导系统均可以根据肿瘤的CT图像生成该角度下的DRR图像。例如，假设图像引导系统采集到的肿瘤的投影图像包括：肿瘤在第一角度下的第一投影图像，以及肿瘤在第二角度下的第二投影图像。则图像引导系统即可以根据CT图像，在第一角度下生成一张DRR图像，并在第二角度下生成一张DRR图像。
在进行放射治疗时，对于每个角度下的投影图像，图像引导系统均可以以该投影图像作为基准图像，并以该角度下的第一基准图像作为待配准图像，对该角度下的投影图像和第一基准图像进行图像配准。在对两个角度下的投影图像和第一基准图像完成图像配准后，即可以得到第一偏移量。可选的，该第一偏移量可以包括：第一平移量和第一旋转量。
下述以肿瘤的投影图像包括：肿瘤在第一角度下的第一投影图像，以及肿瘤在第二角度下的第二投影图像，且第一角度为0度，第二角度为90度为例，介绍图像配准得到第一偏移量的过程。图4是本申请实施例提供的一种进行图像配准，得到第一偏移量的方法流程图。如图4所示，该方法可以包括：
步骤3021、将第一投影图像与第一角度的第一基准图像进行图像配准，得到第一方向的第一平移量、第二方向的第一平移量和第三方向的第一旋转量。
在本申请实施例中，图像引导系统可以根据肿瘤的CT图像，在第一角度下重建生成该第一角度的第一基准图像。然后，图像引导系统可以将该第一角度的第一基准图像与第一投影图像进行图像配准，得到第一方向的第一平移量、第二方向的第一平移量和第三方向的第一旋转量。参考图1，该第一方向可以为治疗床03的高度方向Z，该第二方向可以为治疗床03的长度方向Y，该第三方向可以为治疗床03的宽度方向X，且该第一方向、第二方向和第三方向两两可以相互垂直。
步骤3022、将第二投影图像与第二角度的第一基准图像进行图像配准，得到第二方向的第一平移量、第三方向的第一平移量和第一方向的第一旋转量。
同理，图像引导系统可以根据肿瘤的CT图像，在第二角度下重建生成该第二角度的第一基准图像。然后，图像引导系统可以将该二角度的第一基准图像与第二投影图像进行图像配准，得到第二方向的第一平移量、第三方向的第一平移量和第一方向的第一旋转量。
步骤3023、基于第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第三方向的第一旋转量、多个第一参考角度和多个第二参考角度，确定第二方向的第一旋转量。
其中，该第一参考角度可以为基于第一角度确定的角度，第二参考角度可以为基于第二角度确定的角度。可选的，每相邻两个第一参考角度之间的角度间隔，以及每相邻两个第二参考角度之间的角度间隔可以均为第一角度间隔。且该第一角度间隔可以为图像引导系统中预先配置的角度间隔。
可选的，该第一参考角度可以为基于第一角度，第一角度间隔以及第一预设角度调整范围不断累积和不断累差确定的角度。该第二参考角度可以为基于第二角度，第一角度间隔以及该第一预设角度调整范围不断累积和不断累差确定的角度。该第一预设角度调整范围可以是图像引导系统中预先配置好的固定范围，例如可以是图像引导系统出厂前配置的，或者也可以是治疗医师输入至图像引导系统中的。
示例的，假设该第一角度间隔为1度，第一预设角度调整范围为-3度至3度。则基于第一角度0度，第一角度间隔1度和该第一预设角度调整范围-3度至3度，可以确定7个第一参考角度：-3度、-2度、-1度、0度、1度、2度和3度。同理，基于第二角度90度，第一角度间隔1度和该第一预设角度调整范围-3度至3度，可以确定7个第二参考角度：-87度、-88度、-89度、90度、91度、92度和93度。
图5是本申请实施例提供的一种确定第二方向的第一旋转量的方法流程图。如图5所示，该方法可以包括：
步骤30231、对于每个第一参考角度，采用基准图像生成算法对第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第三方向的第一旋转量和第一参考角度进行处理，得到第一参考角度对应的第一参考基准图像。
其中，该基准图像生成算法(即DRR生成算法)可以为图像引导系统中预设配置的算法，例如可以是图像引导系统出厂前由开发人员配置好的。
在本申请实施例中，对于每个第一参考角度，图像引导系统可以将得到的第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第三方向的第一旋转量和每个第一参考角度分别代入该DRR生成算法中，从而生成该第一参考角度对应的第一参考基准图像。
示例的，假设共得到7个第一参考角度：-3度、-2度、-1度、0度、1度、2度和3度，则图像引导系统即可以将该7个第一参考角度中的各个第一参考角度，以及其余5个参数(即第一方向的第一平移量和第一旋转量，第二方向的第一平移量，以及第三方向的第一平移量和第一旋转量)分别代入DRR生成算法中，得到包括7张第一参考基准图像的第一参考基准图像群组。
步骤30232、对于每个第二参考角度，采用基准图像生成算法对第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的 第一旋转量、第三方向的第一旋转量和第二参考角度进行处理，得到第二参考角度对应的第二参考基准图像。
同理，对于每个第二参考角度，图像引导系统可以将得到的第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第三方向的第一旋转量和每个第二参考角度分别代入该DRR生成算法中，从而生成该第二参考角度对应的第一参考基准图像。
示例的，假设得到7个第二参考角度：-87度、-88度、-89度、90度、91度、92度和93度，则图像引导系统即可以即可以将该7个第二参考角度中的各个第二参考角度，以及其余5个参数分别代入DRR生成算法中，得到包括7张第二参考基准图像的第二参考基准图像群组。
步骤30233、将各个第一参考基准图像分别与第一投影图像进行图像配准，并确定与第一投影图像相似度最高的第一参考基准图像所对应的第一目标参考角度。
当图像引导系统得到多个第一参考基准图像后，可以将第一参考基准图像群组中的各个第一参考基准图像分别与第一投影图像进行图像配准，确定与第一投影图像相似度最高的一张第一参考基准图像，并确定该相似度最高的第一参考基准图像所对应的第一目标参考角度。
示例的，假设共得到7张第一参考角度的第一参考基准图像，且该7张第一参考基准图像中与第一投影图像相似度最高的第一参考基准图像所对应的第一参考角度为2度，则即可以确定第一目标参考角度为2度。
步骤30234、将各个第二参考基准图像分别与第二投影图像进行图像配准，并确定与第二投影图像相似度最高的第二参考基准图像所对应的第二目标参考角度。
同理，当图像引导系统得到多个第二参考基准图像后，可以将第二参考基准图像群组中的各个第二参考基准图像分别与第二投影图像进行图像配准，确定与第二投影图像相似度最高的一张第二参考基准图像，并确定该相似度最高的第二参考基准图像所对应的第二目标参考角度。
示例的，假设共得到7张第二参考角度的第二参考基准图像，且该7张第二参考基准图像中与第二投影图像相似度最高的第二参考基准图像所对应的第二参考角度为93度，则即可以确定第二目标参考角度为93度。
步骤30235、根据第一目标参考角度和第二目标参考角度确定第二方向的 第一旋转量。
作为一种可选的实现方式，图像引导系统可以将第一目标参考角度和第一角度之差确定为第二方向的第一旋转量。例如，假设第一目标参考角度为2度，则该第二方向的第一旋转量即可以为：2-0＝2度。
作为另一种可选的实现方式，图像引导系统可以将第二目标参考角度和第二角度之差确定为第二方向的第一旋转量。例如，假设第二目标参考角度为93度，则该第二方向的第一旋转量即可以为：93-90＝3度。
作为再一种可选的实现方式，图像引导系统可以将第一目标参考角度与第一角度之差，以及第二目标参考角度与第二角度之差的平均值确定为第二方向的第一旋转量。可选的，该平均值可以为加权平均值，或者也可以为算术平均值，本申请实施例对此不做限定。
示例的，假设该平均值为算术平均值，第一目标参考角度为2度，第二目标参考角度为93度，则该第二方向的第一旋转量即可以为：[(2-0)+(93-90)]/2＝＝2.5度。
上述通过将该第一目标参考角度与第一角度之差以及第二目标参考角度与第二角度之差的平均值来确定第二方向的第一旋转量，相比直接将第二方向的第一旋转量确定为第一目标参考角度与第一角度的差值或第二目标参考角度与第二角度的差值，可以减少该方法的误差。
步骤303、根据第一偏移量生成第二基准图像。
在本申请实施例中，图像引导系统根据图像配准得到的偏移量生成第二基准图像的操作也可以称为虚拟重采操作。由于在对患者进行初次摆位后，偏移量一般均较大，因此为了在节约处理资源的前提下，确保肿瘤定位的精确度，在进行图像配准得到第一偏移量后，图像引导系统可以直接执行虚拟重采操作。也即是，此时，图像引导系统可以直接根据第一偏移量生成第二基准图像，并继续执行下述步骤304的操作。
可选的，图像引导系统可以采用基准图像生成算法对第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第二方向的第一旋转量和第三方向的第一旋转量进行处理，得到第二基准图像。例如，图像引导系统可以将第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第二方向的第一旋转量和第三方向的第一旋转量代入基准图像生成算法中，生成第二基准图像。
步骤304、将投影图像与第二基准图像进行图像配准，得到第二偏移量。
在本申请实施例中，当图像引导系统生成第二基准图像后，可以继续将肿瘤的投影图像与对应的第二基准图像进行图像配准，得到第二偏移量。可选的，该第二偏移量也可以包括：第二平移量和第二旋转量。
下述以肿瘤的投影图像包括：肿瘤在第一角度下的第一投影图像，以及肿瘤在第二角度下的第二投影图像，且第一角度为0度，第二角度为90度为例，介绍图像配准得到第二偏移量的过程。图6是本申请实施例提供的一种进行图像配准，得到第二偏移量的方法流程图。如图6所示，该方法可以包括：
步骤3041、将第一投影图像与第一角度的第二基准图像进行图像配准，得到第一方向的第二平移量、第二方向的第二平移量和第三方向的第二旋转量。
该步骤的具体实现方式可以参考上述步骤3021。
步骤3042、将第二投影图像与第二角度的第二基准图像进行图像配准，得到第二方向的第二平移量、第三方向的第二平移量和第一方向的第二旋转量。
该步骤的具体实现方式可以参考上述步骤3022。
步骤3043、基于第一方向的第二平移量、第二方向的第二平移量、第三方向的第二平移量、第一方向的第二旋转量、第三方向的第二旋转量、多个第三参考角度和多个第四参考角度，确定第二方向的第二旋转量。
其中，该第三参考角度可以为基于第一角度和第二方向的第一旋转量确定的角度，该第四参考角度可以为基于第二角度和第二方向的第一旋转量确定的角度。可选的，每相邻两个第三参考角度之间的角度间隔，以及每相邻两个第四参考角度之间的角度间隔可以均为第二角度间隔。该第二角度间隔可以为图像引导系统中预先配置的角度间隔，且该第二角度间隔可以小于第一角度间隔。通过使得第二角度间隔小于第一角度间隔，可以提高定位的效率和精确度。
可选的，该第三参考角度可以为基于第一角度，第二方向的第一旋转量，第二角度间隔以及第二预设角度调整范围不断累积和不断累差确定的角度。该第二参考角度可以为基于第二角度，第二方向的第一旋转量，第二角度间隔以及该第二预设角度调整范围不断累积和不断累差确定的角度。该第二预设角度调整范围也可以是图像引导系统中预先配置好的固定范围。且该第二预设角度调整调整范围可以小于第一预设角度调整范围。通过使得第二预设角度调整调整范围小于第一预设角度调整范围，可以进一步提高肿瘤定位的精确度。
示例的，假设确定的第二方向的第一旋转量为2.5度，第二角度间隔为0.2 度，第二预设角度调整范围为-0.8度至0.8度。则基于第一角度0度，第二方向的第一旋转量2.5度、第二角度间隔0.2度和该第二预设角度调整范围-0.8度至0.8度，可以确定9个第三参考角度：1.7度，1.9度，2.1度，2.3度，2.5度，2.7度，2.9度，3.1度和3.3度。同理，基于第一角度90度，第二方向的第一旋转量2.5度、第二角度间隔0.2度和该第二预设角度调整范围-0.8度至0.8度，可以确定9个第四参考角度：91.7度，91.9度，92.1度，92.3度，92.5度，92.7度，92.9度，93.1度和93.3度。
图7是本申请实施例提供的一种确定第二方向的第二旋转量的方法流程图。如图7所示，该方法可以包括：
步骤30431、对于每个第三参考角度，采用基准图像生成算法对第一方向的第二平移量、第二方向的第二平移量、第三方向的第二平移量、第一方向的第二旋转量、第三方向的第二旋转量和第三参考角度进行处理，得到第三参考角度对应的第三参考基准图像。
该步骤的具体实现方式可以参考上述步骤30231。
示例的，假设共得到9个第三参考角度：1.7度，1.9度，2.1度，2.3度，2.5度，2.7度，2.9度，3.1度和3.3度，则图像引导系统即可以将该9个第三参考角度中的各个第三参考角度，以及其余5个参数(即第一方向的第二平移量和第二旋转量、第二方向的第二平移量以及第三方向的第二平移量和第二旋转量)分别代入基准图像生成算法中，得到包括9张第三参考基准图像的第三参考基准图像群组。
步骤30432、对于每个第四参考角度，采用基准图像生成算法对第一方向的第二平移量、第二方向的第二平移量、第三方向的第二平移量、第一方向的第二旋转量、第三方向的第二旋转量和第四参考角度进行处理，得到第四参考角度对应的第四参考基准图像。
该步骤的具体实现方式可以参考上述步骤30232。
示例的，假设共得到9个第四参考角度：91.7度，91.9度，92.1度，92.3度，92.5度，92.7度，92.9度，93.1度和93.3度，则图像引导系统即可以将该9个第四参考角度中的各个第四参考角度，以及其余5个参数分别代入基准图像生成算法中，得到包括9张第四参考基准图像的第四参考基准图像群组。
步骤30433、将各个第三参考基准图像分别与第一投影图像进行图像配准，并确定与第一投影图像相似度最高的第三参考基准图像对应的第三目标参考 角度。
该步骤的具体实现方式可以参考上述步骤30233。
示例的，假设共得到9张第一角度的第三参考基准图像，且该9张第一角度的第三参考基准图像中与第一投影图像相似度最高的第三参考基准图像所对应的第三参考角度为2.7度，则即可以确定第三目标参考角度为2.7度。
步骤30434、将各个第四参考基准图像分别与第二投影图像进行图像配准，并确定与第二投影图像相似度最高的第四参考基准图像对应的第四目标参考角度。
该步骤的具体实现方式可以参考上述步骤30234。
示例的，假设共得到9张第二角度的第四参考基准图像，且该9张第二角度的第四参考基准图像中与第二投影图像相似度最高的第四参考基准图像所对应的第四参考角度为92.9度，则即可以确定第四目标参考角度为92.9度。
步骤30435、根据第三目标参考角度和第四目标参考角度确定第二方向的第二旋转量。
作为一种可选的实现方式，图像引导系统可以将第三目标参考角度和第一角度之差确定为第二方向的第二旋转量。例如，假设第三目标参考角度为2.7度，则该第二方向的第二旋转量即可以为：2.7-0＝2.7度。
作为另一种可选的实现方式，图像引导系统可以将第四目标参考角度和第二角度之差确定为第二方向的第二旋转量。例如，假设第四目标参考角度为92.9度，则该第二方向的第二旋转量即可以为：92.9-90＝2.9度。
作为再一种可选的实现方式，图像引导系统可以将第三目标参考角度与第一角度之差，以及第四目标参考角度与第二角度之差的平均值确定为第二方向的第二旋转量。可选的，该平均值也可以为加权平均值，或者为算术平均值。
示例的，假设该平均值为算术平均值，确定的第三目标参考角度为2.7度，第四目标参考角度为92.9度。则该第二方向的第二旋转量即为：[(2.7-0)+(92.9-90)]/2＝2.8度。
上述通过将该第三目标参考角度与第一角度之差以及第四目标参考角度与第二角度之差的平均值来确定第二方向的第二旋转量，相比直接将第二方向的第二旋转量确定为第三目标参考角度与第一角度的差值或第四目标参考角度与第二角度的差值，可以减少该方法的误差。
需要说明的是，在本申请实施例中，还可以在第二方向上增加可以测量第 二方向的旋转量的检测装置，图像引导系统可以通过该检测装置直接检测得到第二方向的第一旋转量和第二方向的第二旋转量。可选的，该检测装置可以为红外监测头部标记物，或者也可以为影像采集组件。
步骤305、判断第二偏移量是否满足虚拟重采条件。
在本申请实施例中，由于第二偏移量包括：第二平移量和第二旋转量，因此该虚拟重采条件即可以包括：第二平移量大于平移量阈值，或第二旋转量大于旋转量阈值。其中，该平移量阈值和旋转量阈值均可以是图像引导系统中预先配置的固定值，例如，可以是图像引导系统出厂时预先配置的，或者也可以是治疗医师在后续治疗过程中输入至图像引导系统中的。并且，为了保证肿瘤定位精确性，该平移量阈值和旋转量阈值均可以较小，例如，该平移量阈值可以为0.1mm，该旋转量阈值可以为0.1度。
作为一种可选的实现方式，当图像引导系统得出第二偏移量后，可以先判断该第二偏移量中的第二平移量是否大于平移量阈值，以及判断该第二偏移量中的第二旋转量是否大于旋转量阈值。若判断出第二平移量大于平移量阈值，或者判断出第二旋转量大于旋转量阈值，则图像引导系统即可以自动确定第二偏移量满足虚拟重采条件，此时，图像引导系统可以继续执行下述步骤306。若判断出第二平移量不大于平移量阈值，且第二旋转量不大于旋转量阈值，此时，图像引导系统即可以自动确定第二偏移量不满足虚拟重采条件，此时，图像引导系统可以继续执行下述步骤307。
作为另一种可选的实现方式，该图像引导系统上还可以设置有“虚拟重采操作”对应的指示开关。相应的，图像引导系统可以在接收到针对该指示开关的开启操作时，直接确定第二偏移量满足虚拟重采条件。例如，治疗医师可以根据图像配准结果以及自身经验触发该“虚拟重采操作”开启或关闭。
步骤306、根据第二偏移量更新第二基准图像，并再次执行将投影图像与第二基准图像进行图像配准的操作。
在本申请实施例中，图像引导系统在判断第二偏移量满足虚拟重采条件时，可以执行虚拟重采操作。也即是，此时，图像引导系统可以将第一方向的第二平移量、第二方向的第二平移量、第三方向的第二平移量、第一方向的第二旋转量、第二方向的第二旋转量和第三方向的第二旋转量代入基准图像生成算法中，重新生成第二基准图像，并继续将投影图像与更新后的(即最近一次生成的)第二基准图像进行图像配准的操作，直至在执行完上述步骤305后， 确定第二偏移量不满足虚拟重采条件时为止。
步骤307、输出累积偏移量。
其中，该累积偏移量可以为第一偏移量，以及每次执行上述步骤305的图像配准操作得到的各个第二偏移量之和。在本申请实施例中，当图像引导系统确定第二偏移量不满足虚拟重采条件时，可以直接向上位机输出累积偏移量，以便上位机根据该累积偏移量可靠移动治疗床的位置。
需要说明的是，由于在执行完上述步骤302后得到的第一偏移量也有可能已经小于或等于偏移量阈值，因此在本申请实施例中，当图像引导系统得到第一偏移量后，可以先判断该第一偏移量是否满足虚拟重采条件。若判断出第一偏移量满足虚拟重采条件，则再继续执行步骤303的操作；若判断出第一偏移量不满足虚拟重采条件后，则直接向上位机输出该第一偏移量，以便上位机根据该第一偏移量实现对肿瘤的精确定位。其中，由于该第一偏移量包括：第一平移量和第一旋转量，因此，该虚拟重采条件也可以包括：第一平移量大于平移量阈值，或第一旋转量大于旋转量阈值。判断第一偏移量是否满足虚拟重采条件的两种可选方式可以参考上述步骤306的两种方式，在此不再赘述。
可选的，由于图像引导系统得到的第一偏移量所在的坐标系，或者得到的累积偏移量所在的坐标系，均与上位机调整治疗床位置时参考的设备坐标系可能不同，因此为了确保肿瘤定位可靠性，当图像引导系统得出第一偏移量或累积偏移量后，可以先将该第一偏移量或累积偏移量中的各个参数转换至设备坐标系中，然后再将转换后的偏移量输出至上位机。或者，也可以将得到的第一偏移量或累积偏移量输出至上位机，并由上位机实现坐标转换。
例如，假设第一偏移量或累积偏移量位于治疗床坐标系，治疗床坐标系为由沿治疗床的宽度方向延伸的轴线X、沿治疗床的长度方向延伸的轴线Y，沿治疗床的高度方向延伸的轴线Z组成的三维坐标系。而上位机调整治疗床位置时参考的设备坐标系为医学数字成像和通信(digital imaging and communicat ions in medicine，DICOM)坐标系。此时，图像引导系统可以在得到第一偏移量或累积偏移量之后，先将第一偏移量或累积偏移量中的各个参数均转换到DICOM坐标系，然后再将转换后的偏移量输出至上位机。
可选的，在得到第一偏移量或累积偏移量后，图像引导系统还可以将得到的第一偏移量或累积偏移量显示给治疗医师，以便治疗医师记录。
还需要说明的是，本申请实施例提供的肿瘤定位方法步骤的先后顺序可以 进行适当调整，例如，上述步骤301和步骤302可以同步执行，步骤307可以根据情况删除。任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化的方法，都应涵盖在本公开的保护范围之内，因此不再赘述。
综上所述，本申请实施例提供了一种肿瘤定位方法。该方法可以在将肿瘤的投影图像与第一基准图像进行图像配准得到第一偏移量后，根据该第一偏移量生成第二基准图像。且可以在第二偏移量满足虚拟重采条件时，根据第二偏移量更新第二基准图像，并再次执行图像配准的操作，直至第二偏移量不满足虚拟重采条件时，再输出累积偏移量，实现对肿瘤的精确定位。由于更新第二基准图像和执行图像配准操作的执行主体均为图像引导系统，因此本申请实施例提供的肿瘤定位方法，可以在无需反复移动患者支撑装置，且无需反复采集投影图像的前提下，实现对肿瘤的精确定位。该肿瘤定位方法的灵活性和效率均较高，且该肿瘤定位方法也可以延长患者支撑装置和影像采集组件等昂贵器件的使用寿命。
图8是本申请实施例提供的一种肿瘤定位装置的结构示意图。如图8所示，该装置可以包括：
配准模块801，用于将肿瘤的投影图像与第一基准图像进行图像配准，得到第一偏移量。
生成模块802，用于根据第一偏移量生成第二基准图像。
可选的，配准模块801，还可以用于将投影图像与第二基准图像进行图像配准，得到第二偏移量。
更新模块803，用于若第二偏移量满足虚拟重采条件，则根据第二偏移量更新第二基准图像，并再次执行将投影图像与第二基准图像进行图像配准的操作。
输出模块804，用于若第二偏移量不满足虚拟重采条件，则输出累积偏移量，累积偏移量为第一偏移量与通过执行图像配准的操作得到的第二偏移量之和。
可选的，该第一偏移量可以包括：第一平移量和第一旋转量，第二偏移量可以均包括：第二平移量和第二平旋转量。相应的，该虚拟重采条件可以包括：第二平移量大于平移量阈值，或第二旋转量大于旋转量阈值。
可选的，该投影图像可以包括：肿瘤在第一角度下的第一投影图像，以及 肿瘤在第二角度下的第二投影图像。图9是本申请实施例提供的一种配准模块的结构示意图。如图9所示，该配准模块801可以包括：
配准子模块8011，可以用于将第一投影图像与第一角度的第一基准图像进行图像配准，得到第一方向的第一平移量、第二方向的第一平移量和第三方向的第一旋转量。
该配准子模块8011，还可以用于将第二投影图像与第二角度的第一基准图像进行图像配准，得到第二方向的第一平移量、第三方向的第一平移量和第一方向的第一旋转量。
确定子模块8012，用于基于第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第三方向的第一旋转量、多个第一参考角度和多个第二参考角度，确定第二方向的第一旋转量。
其中，第一参考角度为基于第一角度确定的角度，第二参考角度为基于第二角度确定的角度，第一方向、第二方向以及第三方向两两垂直。
可选的，该确定子模块8012，可以用于：
对于每个第一参考角度，采用基准图像生成算法对第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第三方向的第一旋转量和第一参考角度进行处理，得到第一参考角度对应的第一参考基准图像。
对于每个第二参考角度，采用基准图像生成算法对第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第三方向的第一旋转量和第二参考角度进行处理，得到第二参考角度对应的第二参考基准图像。
将各个第一参考基准图像分别与第一投影图像进行图像配准，并确定与第一投影图像相似度最高的第一参考基准图像所对应的第一目标参考角度。
将各个第二参考基准图像分别与第二投影图像进行图像配准，并确定与第二投影图像相似度最高的第二参考基准图像所对应的第二目标参考角度。
根据第一目标参考角度和第二目标参考角度确定第二方向的第一旋转量。
可选的，确定子模块8012，可以用于将第一目标参考角度与第一角度之差确定为第二方向的第一旋转量；或者，将第二目标参考角度与第二角度之差确定为第二方向的第一旋转量；或者，将第一目标参考角度与第一角度之差，以及第二目标参考角度与第二角度之差的平均值确定为第二方向的第一旋转量。
可选的，该生成模块802可以用于：采用基准图像生成算法对第一方向的第一平移量、第二方向的第一平移量、第三方向的第一平移量、第一方向的第一旋转量、第二方向的第一旋转量和第三方向的第一旋转量进行处理，得到第二基准图像。相应的，参考图9，该配准模块801，包括：
配准子模块8011，还可以用于将第一投影图像与第一角度的第二基准图像进行图像配准，得到第一方向的第二平移量、第二方向的第二平移量和第三方向的第二旋转量。
配准子模块8011，还可以用于将第二投影图像与第二角度的第二基准图像进行图像配准，得到第二方向的第二平移量、第三方向的第二平移量和第一方向的第二旋转量。
确定子模块8012，还可以用于基于第一方向的第二平移量、第二方向的第二平移量、第三方向的第二平移量、第一方向的第二旋转量、第三方向的第二旋转量、多个第三参考角度和多个第四参考角度，确定第二方向的第二旋转量。
其中，第三参考角度为基于第一角度和第二方向的第一旋转量确定的角度，第四参考角度为基于第二角度和第二方向的第一旋转量确定的角度。
可选的，该确定子模块8012还可以用于：
对于每个第三参考角度，采用基准图像生成算法对第一方向的第二平移量、第二方向的第二平移量、第三方向的第二平移量、第一方向的第二旋转量、第三方向的第二旋转量和第三参考角度进行处理，得到第三参考角度对应的第三参考基准图像。
对于每个第四参考角度，采用基准图像生成算法对第一方向的第二平移量、第二方向的第二平移量、第三方向的第二平移量、第一方向的第二旋转量、第三方向的第二旋转量和第四参考角度进行处理，得到第四参考角度对应的第四参考基准图像。
将各个第三参考基准图像分别与第一投影图像进行图像配准，并确定与第一投影图像相似度最高的第三参考基准图像对应的第三目标参考角度。
将各个第四参考基准图像分别与第二投影图像进行图像配准，并确定与第二投影图像相似度最高的第四参考基准图像对应的第四目标参考角度。
根据第三目标参考角度和第四目标参考角度确定第二方向的第二旋转量。
可选的，确定子模块8012可以用于将第三目标参考角度与第一角度之差确定为第二方向的第二旋转量；或者，将第四目标参考角度与第二角度之差确 定为第二方向的第二旋转量；或者，将第三目标参考角度和第一角度之差，以及第四目标参考角度和第二角度之差的平均值确定为第二方向的第二旋转量。
可选的，每相邻两个第一参考角度之间的角度间隔，以及每相邻两个第二参考角度之间的角度间隔均为第一角度间隔。
每相邻两个第三参考角度之间的角度间隔，以及每相邻两个第四参考角度之间的角度间隔均为第二角度间隔。
其中，第二角度间隔小于第一角度间隔。
可选的，该第一角度间隔可以为1度，第二角度间隔可以为0.2度。
综上所述，本申请实施例提供了一种肿瘤定位装置。该装置可以在将肿瘤的投影图像与第一基准图像进行图像配准得到第一偏移量后，根据该第一偏移量生成第二基准图像。且可以在第二偏移量满足虚拟重采条件时，根据第二偏移量更新第二基准图像，并再次执行图像配准的操作，直至第二偏移量不满足虚拟重采条件时，再输出累积偏移量，实现对肿瘤的精确定位。由于更新第二基准图像和执行图像配准操作的执行主体均为图像引导系统，因此本申请实施例提供的肿瘤定位装置，可以在无需反复移动患者支撑装置，且无需反复采集投影图像的前提下，实现对肿瘤的精确定位。该肿瘤定位装置定位肿瘤的灵活性和效率均较高，且该肿瘤定位装置定位肿瘤的方法也可以延长患者支撑装置和影像采集组件等昂贵器件的使用寿命。
关于上述实施例中的摆位装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图10是本申请实施例提供的另一种肿瘤定位装置的结构示意图。如图10所示，该肿瘤定位装置可以包括：处理器11和存储器12。其中，存储器12可以用于存储计算机执行指令，当肿瘤定位装置运行时，处理器11可以用于执行存储器12存储的计算机执行指令，以使肿瘤定位装置执行如图2至图7任一所示的肿瘤定位方法。
可选的，参考图10，该肿瘤定位装置还可以包括通信接口13和通信总线14。其中，处理器11可以是一个单独的处理器，也可以是多个处理元件的统称。例如，该处理器11可以包括至少一个中央处理器(Central Processing Unit，CPU)；或者可以包括特定集成电路(Application Specific Integrated Circuit，ASIC)；或者可以包括被配置成实施本申请实施例的一个或多个集成电路。例如：数字信号处理器(Digital Signal Processor，DSP)，或，现场可编程门阵 列(Field Programmable Gate Array，FPGA)。每个处理器11可以是单核处理器(Single-CPU)，或者可以是多核处理器(Multi-CPU)。该处理器11可以指一个或多个设备、电路和用于处理数据(例如计算机程序指令)的处理核中的至少一种。例如，参考图10，其示出的肿瘤定位装置共包括两个处理器11，且每个处理器11包括CPU0和CPU1两个CPU。
存储器12可以为只读存储器(Read-Only Memory，ROM)，可存储静态信息和指令的静态存储设备，随机存取存储器(Random Access Memory，RAM)，可存储信息和指令的其他类型的动态存储设备，电可擦可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)，只读光盘(Compact Disc Read-Only Memory，CD-ROM)，其他光盘存储，光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟和蓝光光碟等)，磁盘存储介质，其他磁存储设备，或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。可选的，存储器12可以是独立存在的或者存储器12也可以和处理器11集成在一起。例如，参考图10，其示出的存储器12是独立存在的，且该存储器12可以通过通信总线14与处理器11相连接。
通信接口13可以为使用收发器一类的装置。通信接口13可以用于与其他设备或通信网络通信，如控制系统，无线接入网(Radio Access Network，RA N)或无线局域网(Wireless Local Area Networks，WLAN)。通信接口13可以包括接收单元131并实现接收功能，且可以包括发送单元132并实现发送功能。通信总线14，可以是工业标准体系结构(Industry Standard Architectue，ISA)总线、外部设备互连(Peripheral Component Interconnect，PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，EISA)总线。通信总线14可以为地址总线、数据总线或控制总线。示例的，图10仅用一条粗线表示通信总线14，但并不表示通信总线14仅包括一根总线或一种类型的总线。
另外，本申请实施例还提供了一种存储介质，该存储介质中存储有指令，当存储介质在处理组件上运行时，可以使得处理组件执行如图2至图7任一所示的肿瘤定位方法。
本申请实施例还提供了一种放射治疗系统。如图1所示，该放射治疗系统可以包括：放射治疗设备01、上位机02、患者支撑装置03以及图像引导系统 04。该图像引导系统04可以包括如图10所示的肿瘤定位装置。
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，上述描述的装置和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。
以上所述仅为本申请的可选实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (14)

  1. 一种肿瘤定位方法，其特征在于，所述方法包括：
    将肿瘤的投影图像与第一基准图像进行图像配准，得到第一偏移量；
    根据所述第一偏移量生成第二基准图像；
    将所述投影图像与所述第二基准图像进行图像配准，得到第二偏移量；
    若所述第二偏移量满足虚拟重采条件，则根据所述第二偏移量更新所述第二基准图像，并再次执行将所述投影图像与所述第二基准图像进行图像配准的操作；
    若所述第二偏移量不满足虚拟重采条件，则输出累积偏移量，所述累积偏移量为所述第一偏移量与通过执行图像配准的操作得到的第二偏移量之和。
  2. 根据权利要求1所述的方法，其特征在于，所述第一偏移量包括：第一平移量和第一旋转量，所述第二偏移量包括：第二平移量和第二旋转量；
    所述虚拟重采条件包括：所述第二平移量大于平移量阈值，或所述第二旋转量大于旋转量阈值。
  3. 根据权利要求2所述的方法，其特征在于，所述投影图像包括：所述肿瘤在第一角度下的第一投影图像，以及所述肿瘤在第二角度下的第二投影图像，所述将肿瘤的投影图像与第一基准图像进行图像配准，得到第一偏移量，包括：
    将所述第一投影图像与所述第一角度的第一基准图像进行图像配准，得到第一方向的第一平移量、第二方向的第一平移量和第三方向的第一旋转量；
    将所述第二投影图像与所述第二角度的第一基准图像进行图像配准，得到所述第二方向的第一平移量、所述第三方向的第一平移量和所述第一方向的第一旋转量；
    基于所述第一方向的第一平移量、所述第二方向的第一平移量、所述第三方向的第一平移量、所述第一方向的第一旋转量、所述第三方向的第一旋转量、多个第一参考角度和多个第二参考角度，确定所述第二方向的第一旋转量；
    其中，所述第一参考角度为基于所述第一角度确定的角度，所述第二参考角度为基于所述第二角度确定的角度，所述第一方向、所述第二方向以及所述第三方向两两垂直。
  4. 根据权利要求3所述的方法，其特征在于，所述基于所述第一方向的第一平移量、所述第二方向的第一平移量、所述第三方向的第一平移量、所述第一方向的第一旋转量、所述第三方向的第一旋转量、多个第一参考角度和多个第二参考角度，确定所述第二方向的第一旋转量，包括：
    对于每个所述第一参考角度，采用基准图像生成算法对所述第一方向的第一平移量、所述第二方向的第一平移量、所述第三方向的第一平移量、所述第一方向的第一旋转量、所述第三方向的第一旋转量和所述第一参考角度进行处理，得到所述第一参考角度对应的第一参考基准图像；
    对于每个所述第二参考角度，采用所述基准图像生成算法对所述第一方向的第一平移量、所述第二方向的第一平移量、所述第三方向的第一平移量、所述第一方向的第一旋转量、所述第三方向的第一旋转量和所述第二参考角度进行处理，得到所述第二参考角度对应的第二参考基准图像；
    将各个所述第一参考基准图像分别与所述第一投影图像进行图像配准，并确定与所述第一投影图像相似度最高的第一参考基准图像所对应的第一目标参考角度；
    将各个所述第二参考基准图像分别与所述第二投影图像进行图像配准，并确定与所述第二投影图像相似度最高的第二参考基准图像所对应的第二目标参考角度；
    根据所述第一目标参考角度和所述第二目标参考角度确定所述第二方向的第一旋转量。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述第一目标参考角度和所述第二目标参考角度确定所述第二方向的第一旋转量，包括:
    将所述第一目标参考角度与所述第一角度之差确定为所述第二方向的第一旋转量；或者，
    将所述第二目标参考角度与所述第二角度之差确定为所述第二方向的第一旋转量；或者，
    将所述第一目标参考角度与所述第一角度之差，以及所述第二目标参考角度与所述第二角度之差的平均值确定为所述第二方向的第一旋转量。
  6. 根据权利要求3所述的方法，其特征在于，所述根据所述第一偏移量生成第二基准图像，包括：
    采用基准图像生成算法对所述第一方向的第一平移量、所述第二方向的第一平移量、所述第三方向的第一平移量、所述第一方向的第一旋转量、所述第二方向的第一旋转量和所述第三方向的第一旋转量进行处理，得到第二基准图像；
    所述将所述投影图像与所述第二基准图像进行图像配准，得到第二偏移量，包括：
    将所述第一投影图像与所述第一角度的第二基准图像进行图像配准，得到第一方向的第二平移量、第二方向的第二平移量和第三方向的第二旋转量；
    将所述第二投影图像与所述第二角度的第二基准图像进行图像配准，得到所述第二方向的第二平移量、所述第三方向的第二平移量和所述第一方向的第二旋转量；
    基于所述第一方向的第二平移量、所述第二方向的第二平移量、所述第三方向的第二平移量、所述第一方向的第二旋转量、所述第三方向的第二旋转量、多个第三参考角度和多个第四参考角度，确定所述第二方向的第二旋转量；
    其中，所述第三参考角度为基于所述第一角度和所述第二方向的第一旋转量确定的角度，所述第四参考角度为基于所述第二角度和所述第二方向的第一旋转量确定的角度。
  7. 根据权利要求6所述的方法，其特征在于，所述基于所述第一方向的第二平移量、所述第二方向的第二平移量、所述第三方向的第二平移量、所述第一方向的第二旋转量、所述第三方向的第二旋转量、多个第三参考角度和多个第四参考角度，确定所述第二方向的第二旋转量，包括：
    对于每个所述第三参考角度，采用基准图像生成算法对所述第一方向的第二平移量、所述第二方向的第二平移量、所述第三方向的第二平移量、所述第一方向的第二旋转量、所述第三方向的第二旋转量和所述第三参考角度进行处理，得到所述第三参考角度对应的第三参考基准图像；
    对于每个所述第四参考角度，采用所述基准图像生成算法对所述第一方向的第二平移量、所述第二方向的第二平移量、所述第三方向的第二平移量、所述第一方向的第二旋转量、所述第三方向的第二旋转量和所述第四参考角度进 行处理，得到所述第四参考角度对应的第四参考基准图像；
    将各个所述第三参考基准图像分别与所述第一投影图像进行图像配准，并确定与所述第一投影图像相似度最高的第三参考基准图像对应的第三目标参考角度；
    将各个所述第四参考基准图像分别与所述第二投影图像进行图像配准，并确定与所述第二投影图像相似度最高的第四参考基准图像对应的第四目标参考角度；
    根据所述第三目标参考角度和所述第四目标参考角度确定所述第二方向的第二旋转量。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述第三目标参考角度和所述第四目标参考角度确定所述第二方向的第二旋转量，包括：
    将所述第三目标参考角度与所述第一角度之差确定为所述第二方向的第二旋转量；或者，
    将所述第四目标参考角度与所述第二角度之差确定为所述第二方向的第二旋转量；或者，
    将所述第三目标参考角度和所述第一角度之差，以及所述第四目标参考角度和所述第二角度之差的平均值确定为所述第二方向的第二旋转量。
  9. 根据权利要求6所述的方法，其特征在于，
    每相邻两个所述第一参考角度之间的角度间隔，以及每相邻两个所述第二参考角度之间的角度间隔均为第一角度间隔；
    每相邻两个所述第三参考角度之间的角度间隔，以及每相邻两个所述第四参考角度之间的角度间隔均为第二角度间隔；
    其中，所述第二角度间隔小于所述第一角度间隔。
  10. 根据权利要求9所述的方法，其特征在于，所述第一角度间隔为1度，所述第二角度间隔为0.2度。
  11. 一种肿瘤定位装置，其特征在于，所述装置包括：
    配准模块，用于将肿瘤的投影图像与第一基准图像进行图像配准，得到第 一偏移量；
    生成模块，用于根据所述第一偏移量生成第二基准图像；
    所述配准模块，还用于将所述投影图像与所述第二基准图像进行图像配准，得到第二偏移量；
    更新模块，用于若所述第二偏移量满足虚拟重采条件，则根据所述第二偏移量更新所述第二基准图像，并再次执行将所述投影图像与所述第二基准图像进行图像配准的操作；
    输出模块，用于若所述第二偏移量不满足虚拟重采条件，则输出累积偏移量，所述累积偏移量为所述第一偏移量与通过执行图像配准的操作得到的第二偏移量之和。
  12. 一种肿瘤定位装置，所述肿瘤定位装置包括：处理器和存储器；
    所述存储器用于存储计算机执行指令，当所述肿瘤定位装置运行时，所述处理器用于执行所述存储器存储的计算机执行指令，以使所述肿瘤定位装置执行如权利要求1至10任一所述的肿瘤定位方法。
  13. 一种存储介质，其特征在于，所述存储介质中存储有指令，当所述存储介质在处理组件上运行时，使得处理组件执行如权利要求1至10任一所述的肿瘤定位方法。
  14. 一种放射治疗系统，其特征在于，所述放射治疗系统包括：放射治疗设备、上位机、患者支撑装置以及图像引导系统；
    所述图像引导系统包括如权利要求12所述的肿瘤定位装置。
PCT/CN2019/096523 2019-07-18 2019-07-18 肿瘤定位方法、装置及放射治疗系统 WO2021007849A1 (zh)

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