WO2021056446A1 - Procédé, dispositif et système permettant de détecter l'état de mouvement d'un patient - Google Patents

Procédé, dispositif et système permettant de détecter l'état de mouvement d'un patient Download PDF

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Publication number
WO2021056446A1
WO2021056446A1 PCT/CN2019/108650 CN2019108650W WO2021056446A1 WO 2021056446 A1 WO2021056446 A1 WO 2021056446A1 CN 2019108650 W CN2019108650 W CN 2019108650W WO 2021056446 A1 WO2021056446 A1 WO 2021056446A1
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WIPO (PCT)
Prior art keywords
patient
coordinate information
coordinate
information
movement
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PCT/CN2019/108650
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English (en)
Chinese (zh)
Inventor
苟天昌
闫浩
李金升
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西安大医集团股份有限公司
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Application filed by 西安大医集团股份有限公司 filed Critical 西安大医集团股份有限公司
Priority to CN201980062161.4A priority Critical patent/CN112867537B/zh
Priority to PCT/CN2019/108650 priority patent/WO2021056446A1/fr
Publication of WO2021056446A1 publication Critical patent/WO2021056446A1/fr

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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

Definitions

  • the present invention relates to the technical field of radiotherapy, in particular to a method, device and system for detecting the movement state of a patient.
  • Radiotherapy is an important means of treating tumors through radiation.
  • Stereotactic radiosurgery is a type of radiotherapy.
  • the radiotherapy equipment used in stereotactic radiosurgery treatment may include a source device, and the source device may include a source body provided with a plurality of radiation sources, and a collimator body provided with a plurality of collimating holes, and
  • the arrangement of the multiple radiation sources is consistent with the multiple collimation holes, that is, each radiation source and each collimation hole can be arranged oppositely.
  • the multiple radiation rays emitted by the radiation source can be focused on a focal point (also called beam focal point) through the collimating hole, and when the beam focal point coincides with the target point preset in the patient's affected part, reliable treatment of the patient can be realized.
  • a focal point also called beam focal point
  • the patient moves during radiotherapy, it may cause a large deviation between the beam focus and the target point.
  • the radiation may irradiate other normal organs, causing other normal organs to be irradiated by mistake.
  • the accuracy of radiotherapy is low.
  • the embodiments of the present invention provide a method, device, and system for detecting a patient's movement state, which can solve the problem of low radiotherapy accuracy in related technologies.
  • the technical solution is as follows:
  • a method for detecting the movement state of a patient includes:
  • first reference coordinate information and first coordinate information of the patient where the first reference coordinate information is the initial position information of the patient when the patient is placed, and the first coordinate information is the patient in the process of radiotherapy to the patient
  • the current position information of, and the coordinate system in which the first coordinate information and the first reference coordinate information are located are both infrared system coordinate systems;
  • the coordinate system is the coordinate system of the treatment bed
  • the performing coordinate conversion on the first reference coordinate information and the first coordinate information respectively to obtain the second reference coordinate information and the second coordinate information includes:
  • the target rotation matrix is respectively multiplied by the first reference coordinate information and the first coordinate information to obtain the second reference coordinate information and the second coordinate information.
  • the obtaining the target rotation matrix includes:
  • the performing treatment management on the patient according to the second coordinate information and the second reference coordinate information includes:
  • the patient is treated and managed.
  • the treatment and management of the patient according to the movement of the patient includes:
  • the preset condition includes: the duration of the patient's movement is located in the middle threshold area or the high threshold area; or the deviation is located in the middle threshold area or the high threshold area.
  • performing treatment management on the patient includes:
  • a warning message is issued, and the warning message is used to warn the treating physician to guide the patient to move;
  • an instruction stop message is sent, and the instruction stop message is used to control the stop of radiotherapy.
  • the acquiring first reference coordinate information of the patient includes:
  • the method further includes: displaying the deviation.
  • the displaying the deviation includes: displaying the deviation within a preset time period.
  • the method further includes:
  • At least one of the deviations of the patient in the X-axis, Y-axis and Z-axis directions is displayed, and the X-axis, Y-axis and Z-axis are orthogonal to each other.
  • the method further includes: displaying the deviation using at least one of a deviation value, a discrete point, and a connection manner.
  • a device for detecting a patient's movement state includes:
  • the acquiring module is used to acquire the first reference coordinate information and first coordinate information of the patient.
  • the first reference coordinate information is the initial position information of the patient when the patient is placed, and the first coordinate information is the patient's initial position information.
  • the current position information of the patient, and the coordinate systems in which the first coordinate information and the first reference coordinate information are located are both infrared system coordinate systems;
  • the coordinate conversion module is configured to perform coordinate conversion on the first reference coordinate information and the first parameter coordinate information to obtain second reference coordinate information and second coordinate information.
  • the coordinate system where the two-coordinate information is located is the treatment couch coordinate system;
  • the management module is configured to perform treatment management on the patient according to the second coordinate information and the second reference coordinate information.
  • the coordinate conversion module includes:
  • the obtaining sub-module is used to obtain the target rotation matrix
  • the multiplication sub-module is configured to multiply the target rotation matrix by the first reference coordinate information and the first coordinate information to obtain the second reference coordinate information and the second coordinate information.
  • the acquiring sub-module is configured to: acquire a first coordinate matrix of at least one marker reference object preset on the treatment bed in the treatment bed coordinate system;
  • a system for detecting the movement state of a patient includes:
  • An infrared positioning device, and the patient's moving state detection device as described in the above aspect that is communicatively connected with the infrared positioning device;
  • the infrared positioning device is used to detect the first reference coordinate information and the first coordinate information of the patient under the control of the detection device of the patient's movement state, and is used to combine the first reference coordinate information and the first coordinate information.
  • the coordinate information is sent to the detection device of the patient's movement state.
  • the infrared positioning device includes: at least one infrared position sensor, and the system further includes: a marking reference object pre-arranged on the patient's body surface or a fixing device for fixing the patient, and the marking reference object is coated with Infrared reflective material;
  • the infrared position sensor is used for emitting infrared light to the marking reference object, for receiving infrared light reflected by the marking reference object, and for detecting the first reference coordinate information and the The first coordinate information.
  • each of the infrared position sensors includes: two cameras and two infrared signal generators;
  • the infrared signal generator is used to emit infrared light to the mark reference object
  • the camera is used to receive the infrared light reflected by the marked reference object.
  • the shape of the marking reference object is spherical.
  • a device for detecting patient movement status includes a processor and a memory, and instructions are stored in the memory, and the instructions are loaded and executed by the processor to achieve The detection method of the patient's movement state 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 method for detecting the patient's movement state as described in the above aspect.
  • FIG. 1 is a schematic structural diagram of a system for detecting a patient's movement state provided by an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for detecting the movement state of a patient provided by an embodiment of the present invention
  • FIG. 3 is a flowchart of another method for detecting the movement state of a patient provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of a method for obtaining a target rotation matrix provided by an embodiment of the present invention
  • FIG. 5 is a block diagram of a device for detecting the movement state of a patient according to an embodiment of the present invention.
  • Fig. 6 is a block diagram of a coordinate conversion module provided by an embodiment of the present invention.
  • FIG. 7 is a block diagram of a management module provided by an embodiment of the present invention.
  • Fig. 8 is a block diagram of another device for detecting the movement state of a patient provided by an embodiment of the present invention.
  • Fig. 1 is a schematic structural diagram of a system for detecting a patient's movement state provided by an embodiment of the present invention.
  • the system may include: an infrared positioning device 01, and a patient movement state detection device 02 that is communicatively connected with the infrared positioning device 01.
  • the infrared positioning device 01 is generally set at the end of the treatment bed 00 included in the radiotherapy system, that is, on the side of the treatment bed 00 away from the radiotherapy equipment.
  • the communication connection may be a wired connection or a wireless connection.
  • Fig. 1 takes a wired connection as an example for illustration.
  • the device 02 for detecting the patient's movement state may be a processor integrated in a terminal device.
  • the terminal device may be an upper computer.
  • the infrared positioning device 01 can obtain the patient's position information (such as coordinate information) under the control of the patient's movement state detection device 02, and can send the collected position information to the patient's movement state The detection device 02. That is, the patient's movement state detection device 02 can obtain the patient's position information through the infrared positioning device 01, and the patient's movement state detection device 02 can determine the patient's movement state according to the acquired patient's position information, and The patient's movement status determines the real-time position information of the target point in the affected part, and according to the real-time position information of the target point in the affected part, more precise radiotherapy is performed on the patient.
  • the patient's position information such as coordinate information
  • the device for detecting the movement state of the patient can perform treatment management on the patient based on the detected real-time position information of the patient and the acquired initial position information of the patient when the positioning is completed. For example, by comparing the patient's real-time position information with the patient's initial position information, the deviation between the two can be obtained, and the deviation can be displayed to the treating physician, so that the treating physician can control the radiotherapy equipment to stop radiation when the patient moves significantly. treatment. In this way, it is possible to prevent the patient from moving during radiotherapy, causing radiation to irradiate other normal organs, causing other normal organs to be mistakenly irradiated and causing damage.
  • FIG. 2 is a flowchart of a method for detecting a patient's movement state provided by an embodiment of the present invention. The method can be applied to the apparatus for detecting a patient's movement state shown in FIG. 1. As shown in Figure 2, the method may include:
  • Step 201 Acquire first reference coordinate information and first coordinate information of the patient.
  • the first reference coordinate information may be the initial position information of the patient when the positioning of the patient is completed, and the first coordinate information may be the current position information of the patient during radiotherapy of the patient.
  • the device for detecting the movement state of the patient may firstly control the infrared positioning device to obtain the initial position information of the patient after the patient is placed in the initial position. Then, when radiotherapy is performed on the patient, the infrared positioning device is controlled to obtain the current position information of the patient. Since the device for detecting the movement state of the patient obtains the position information of the patient through the infrared positioning device, the coordinate system in which the first coordinate information and the first reference coordinate information are located may both be an infrared system coordinate system.
  • Step 202 Perform coordinate conversion on the first reference information and the first parameter coordinate information, respectively, to obtain second reference coordinate information and second coordinate information.
  • the device for detecting the movement state of the patient may first perform the coordinate conversion between the first coordinate information and the first reference coordinate information, that is, the first The reference coordinate information and the first coordinate information are transferred to the treatment couch coordinate system, that is, the coordinate system where the second coordinate information and the second reference coordinate information obtained after the coordinate conversion are located are both the treatment couch coordinate system.
  • Step 203 Perform treatment management on the patient according to the second coordinate information and the second reference coordinate information.
  • the device for detecting the movement state of the patient can perform treatment management on the patient according to the second coordinate information after the coordinate conversion and the second reference coordinate information. For example, according to the deviation between the second coordinate information and the second reference coordinate information, a warning message is issued to the treating physician to warn the treating physician to guide the patient to move, thereby realizing reliable radiotherapy for the patient and avoiding movement in the patient At that time, radiotherapy was performed on the patient, causing the beam to irradiate normal organs.
  • the device for detecting the movement state of the patient can also perform coordinate conversion on the deviation between the first coordinate information and the first reference coordinate information to obtain the third coordinate information in the treatment couch coordinate system, and according to the third coordinate Information, treatment and management of patients.
  • the embodiment of the present invention provides a method for detecting the movement state of a patient.
  • This method can obtain the initial current position information of the patient (that is, the first reference coordinate information) after the positioning is completed, and can obtain the current position information (that is, the first coordinate information) of the patient during the radiotherapy process, and the first reference coordinate can be obtained
  • the information and the first coordinate information are coordinate converted to obtain the second reference coordinate information and the second coordinate information in the coordinate system of the treatment bed, and the patient is performed according to the deviation between the second coordinate information and the second reference coordinate information Treatment management. Therefore, in the process of radiotherapy, it can be judged whether the patient is moving in time, and the patient can be treated according to the deviation of the patient's movement.
  • the treating physician can accurately know According to the patient's movement, and directly implement reliable treatment management for the patient based on the deviation, effectively avoid the problem of radiation irradiating other normal organs due to the patient's movement, causing other normal organs to be mistakenly irradiated and causing damage.
  • the accuracy of radiation therapy Higher.
  • FIG. 3 is a flowchart of another method for detecting a patient's movement state provided by an embodiment of the present invention.
  • the method can be applied to the apparatus for detecting the patient's movement state shown in FIG. 1.
  • the method may include:
  • Step 301 Acquire first reference coordinate information and first coordinate information of the patient.
  • the first reference coordinate information may be the initial position information of the patient when the positioning of the patient is completed, and the first coordinate information may be the current position information of the patient during radiotherapy of the patient.
  • the device for detecting the movement state of the patient can obtain the coordinate information of the patient through the infrared positioning device.
  • the coordinate system in which the first coordinate information and the first reference coordinate information are located may both be an infrared system coordinate system.
  • the patient’s body surface and/or the patient’s fixing device (such as a mask, headrest, treatment bed) can be preset to reflect infrared light before radiotherapy. Light or marking reference that can emit infrared light.
  • medical double-sided tape can be used to paste the marking reference material on the patient's nose, forehead, or chin; if the position to be treated is the patient's body, medical double-sided tape can be used The glue sticks the marker reference material on the patient's chest cavity.
  • the embodiment of the present invention takes the marked reference object as a marked reference object that reflects infrared light as an example.
  • the detection device of the patient's movement state can control the infrared positioning device to advance to the front when the patient is placed in the initial position and during the radiotherapy process.
  • the set mark reference object emits infrared light.
  • the infrared positioning device can collect the coordinate information of the marked reference object according to the infrared light reflected by the marked reference object, and send the collected coordinate information to the detection device of the patient's movement state .
  • the device for detecting the movement state of the patient can acquire the first reference coordinate information and the first coordinate information of the patient.
  • the method for obtaining the first reference coordinate information is described in the following manner as an example:
  • the first optional implementation method When the positioning is completed, the detection device of the patient's movement state can obtain the coordinates of the marked reference object preset on the patient's body surface by controlling the infrared positioning device, and the marked reference object of the patient's body surface The coordinates of is determined as the first reference coordinate information.
  • the second optional implementation method when the positioning is completed, the detection device of the patient's movement state can obtain the coordinates of the marked reference object preset on the fixing device for fixing the patient by controlling the infrared positioning device, and the The coordinates of the marked reference object are determined as the first reference coordinate information.
  • the third optional implementation method When the positioning is completed, the detection device of the patient's movement state can obtain the first sub-reference coordinate information of the marker reference object preset on the patient's body surface by controlling the infrared positioning device, and by controlling the infrared The positioning device obtains the second sub-reference coordinate information of the marked reference object preset on the fixing device for fixing the patient. And, relative coordinate information or absolute coordinate information between the first sub-reference coordinate information and the second sub-reference coordinate information is determined as the first reference coordinate information.
  • the number of labeled reference objects provided on the patient's body surface may be one or more, and the embodiment of the present invention takes one as an example for description.
  • the method of obtaining the first coordinate information of the patient can also refer to the above three methods.
  • Step 302 Obtain the target rotation matrix.
  • the detection device for the patient's movement state may first perform corresponding coordinate conversions on the first reference coordinate information and the first coordinate information in the infrared coordinate system.
  • the detection device of the patient's movement state needs to first obtain the target rotation matrix in the coordinate system of the radiotherapy equipment, and realize the conversion of the first coordinate according to the target rotation matrix.
  • the coordinate conversion between the information and the first reference coordinate information may also obtain the target rotation matrix before step 201, and the target rotation matrix may be obtained in advance before radiotherapy is performed.
  • the treatment bed coordinate system may be: a first axis X extending along the width direction of the treatment bed 00, and a second axis X extending along the length direction of the treatment bed 00.
  • the axis Y and the third axis Z extending along the height direction of the treatment bed 00 form a three-dimensional coordinate system.
  • Fig. 4 is a method for obtaining a target rotation matrix provided by an embodiment of the present invention. As shown in Figure 4, the method may include:
  • Step 3021 obtain a first coordinate matrix of at least one marker reference object preset on the treatment bed in the treatment bed coordinate system.
  • the treating physician may first use a fixing device (also referred to as a tool) to fix at least one marked reference object on the treatment bed, and then move the treatment bed to obtain at least one marked reference object in the treatment bed coordinate system. And determine the matrix composed of the coordinate information as the first coordinate matrix.
  • a fixing device also referred to as a tool
  • the therapist can fix a marker reference object on the treatment bed.
  • the marker reference object can be moved to a known position by controlling the movement of the treatment bed.
  • the coordinates of the known position are the coordinates of the marker on the treatment bed.
  • the coordinates under the coordinate system of the treatment bed, and the matrix composed of the coordinates is determined as the first coordinate matrix.
  • Step 3022 Obtain a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system.
  • the detection device of the patient's movement state obtains the second coordinate matrix of the at least one marker reference object in the infrared system coordinate system through the infrared positioning device.
  • the detection device of the patient's movement state tracks the marked reference object reaching a known position, and obtains the coordinates of the marked reference object in the infrared system coordinate system through the infrared positioning device, and The matrix composed of the coordinates is determined as the second coordinate matrix.
  • Step 3033 Multiply the first coordinate matrix and the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.
  • Step 303 Multiply the target rotation matrix by the first reference coordinate information and the first coordinate information, respectively, to obtain the second reference coordinate information and the second coordinate information.
  • the device for detecting the movement state of the patient after acquiring the target rotation matrix, can multiply the target rotation matrix with the first reference coordinate information to obtain the second reference coordinate information after coordinate conversion.
  • the target rotation matrix can be multiplied by the first reference coordinate information, so as to obtain the second coordinate information after coordinate conversion.
  • the coordinate system where the second coordinate information and the second reference coordinate information are located is the treatment couch coordinate system.
  • Step 304 Determine whether the patient moves according to the deviation between the second coordinate information and the second reference coordinate information.
  • the second coordinate information and the second coordinate information can be obtained by comparing the second coordinate information and the second reference coordinate information.
  • the deviation between the two reference coordinate information can be obtained.
  • the patient moving device can determine whether the patient moves according to the calculated deviation. For example, when the deviation is 0, it can be determined that the patient has not moved; when the deviation is not 0, it can be determined that the patient has moved.
  • the deviation calculated by the detection device of the patient's movement state That is, it can be (x2-x1, y2-y1, z2-z1).
  • the detection device for the patient's movement state detects that at least one of the values (x2-x1, y2-y1, z2-z1) is not 0, it can be directly determined that the patient has moved.
  • the device for detecting the movement state of the patient can also directly determine whether the patient has moved based on the deviation between the first coordinate information before the coordinate conversion and the first reference coordinate information. The determination method will not be repeated here.
  • Step 305 Perform treatment management on the patient according to the movement of the patient.
  • the device for detecting the movement state of the patient can directly perform treatment management on the patient when it is determined that the patient is moving, so as to realize reliable treatment of the patient.
  • the detection device for the patient's movement state can issue a warning message for warning the treating physician to guide the patient to move when it is determined that the patient is moving.
  • the detection device for the patient's movement state can detect the patient's movement.
  • the above step 305 can be: when the patient's movement satisfies the preset condition, the Patients are treated and managed.
  • the preset condition may include: the duration of the patient's movement is located in the middle threshold area or the high threshold area; or the deviation is located in the middle threshold area or the high threshold area.
  • the middle threshold zone and the high threshold zone corresponding to the duration and the movement deviation may be fixed values pre-configured in the detection device of the patient's movement state; or, it may be the treatment physician before radiotherapy based on treatment experience or treatment plan. The value input to the detection device of the patient's movement state.
  • the treatment management of the patient may include:
  • a warning message is issued, and the warning message is used to warn the treating physician to guide the patient to move.
  • the warning information may be a voice warning
  • the movement guidance may include: the treating physician adjusts the position of the patient according to the warning information to continue radiotherapy; or, the treating physician directly controls the radiotherapy equipment to stop the radiotherapy according to the warning information.
  • the middle threshold zone corresponding to the movement deviation is 2 millimeters (mm)-3mm
  • the middle threshold zone corresponding to the movement duration is 1 second (s)-2s.
  • the detection device of the patient's movement state detects that the deviation is 2.2mm
  • the detection device of the patient's movement state can issue a warning message for warning the treating physician to guide the patient's movement.
  • the detection device of the patient's movement state detects that the duration of the patient's movement is 1.5s, the detection device of the patient's movement state can issue a warning message for alerting the treating physician to guide the patient's movement.
  • the detection device of the patient's movement state can issue a warning to warn the treating physician to guide the patient's movement information.
  • an instruction stop message is sent, and the instruction stop message is used to control the stop of radiotherapy.
  • the movement deviation When the movement deviation is large, by reminding the treating physician, and then the treating physician will perform treatment management, which may cause unavoidable damage to other normal organs due to a long time problem. Therefore, when it is detected that the deviation is located in the high threshold area, and/or the duration of the patient's movement is located in the high threshold area, and the instruction to stop information is sent directly, the reliability of radiotherapy can be further ensured.
  • the detection device of the patient's movement state can directly send the instruction stop information for controlling the stop of radiotherapy. If the detection device of the patient's movement state detects that the duration of the patient's movement is 2.5s, the detection device of the patient's movement state can directly send the instruction stop information for controlling the stop of radiotherapy. If the detection device of the patient's movement state detects that the deviation is 4mm, and the duration of the patient's movement is 2.5s, at this time, the detection device of the patient's movement state can directly send the instruction stop information for controlling the stop of radiotherapy.
  • the device for detecting the movement state of the patient can also perform coordinate conversion on the deviation between the first coordinate information and the first reference coordinate information to obtain the third coordinate information in the coordinate system, and perform the coordinate conversion according to the third coordinate information. Patients are treated and managed.
  • the device for detecting the movement state of the patient can also directly perform treatment management on the patient based on the deviation between the first coordinate information and the first reference coordinate information. The treatment management method will not be repeated here.
  • Step 306 Display the deviation.
  • the detection device of the patient's movement state may display the calculated deviation.
  • the detection device of the patient's movement state includes a display component
  • the detection device of the patient's movement state can directly display the deviation through its display component; or the detection device of the patient's movement state can also send the calculated deviation to its communication link Display device, and the deviation is displayed by the display device.
  • step 306 may include: displaying the deviation within a preset time period. That is, the detection device of the patient's movement state can display the current deviation of the patient and the deviation of the patient in the previous period of time.
  • the coordinate system where the deviation is located is a three-dimensional treatment couch coordinate system
  • the detection device for the patient's movement state can display at least one of the deviations in the X-axis, Y-axis and Z-axis directions, the X-axis, Y-axis and Z-axis Pairwise orthogonality, for example, can show the deviation of the patient in a three-dimensional direction.
  • the X-axis direction may extend along the width direction of the treatment bed 00
  • the Y-axis direction may extend along the length direction of the treatment bed-00
  • the Z-axis direction may extend along the height direction of the treatment bed 00. In this way, the treating physician can directly know the actual movement of the patient.
  • the display interface can display X-axis display options, Y-axis display options, and Z-axis display options
  • the patient movement state detection device can display the patient in the X-axis, Y-axis, and Z-axis directions according to the selection operation of the display options. At least one deviation.
  • the detection device for the patient's movement state when receiving the selection operation for the X-axis display option, can display the deviation of the patient in the X-axis direction; when receiving the selection operation for the Y-axis display option, the patient's movement state The detection device can display the deviation of the patient in the Y-axis direction; upon receiving the selection operation for the Z-axis display option, the detection device of the patient's movement state can display the deviation of the patient in the Z-axis direction.
  • the device for detecting the patient's movement state may use at least one of a deviation value, a discrete point, and a connection mode to display the deviation.
  • the display interface can also display deviation values, as well as discrete point display options and connection display options.
  • the detection device for patient movement status can display deviations in a corresponding manner according to the selection operation of the display options. For example, when receiving the selection operation for the discrete point display mode option, the patient's movement state detection device can use the discrete point mode to display the obtained deviation; when receiving the selection operation for the connection mode display mode option, the patient The detection device of the movement state can display the obtained deviation by means of a connection.
  • an early warning line can also be set in advance, and the shift deviation within the time period beyond the warning line can be highlighted. For example, it can be bold or displayed in brighter colors.
  • the embodiment of the present invention provides a method for detecting the movement state of a patient.
  • This method can obtain the initial current position information of the patient (that is, the first reference coordinate information) after the positioning is completed, and can obtain the current position information (that is, the first coordinate information) of the patient during the radiotherapy process, and the first reference coordinate can be obtained
  • the information and the first coordinate information are coordinate converted to obtain the second reference coordinate information and the second coordinate information in the treatment couch coordinate system, and the patient is treated according to the second coordinate information and the second reference coordinate information. . Therefore, in the process of radiotherapy, it can be judged whether the patient is moving in time, that is, real-time tracking of the patient's movement can be realized.
  • the patient can be reliably treated and managed according to the movement situation, and the problem of radiation irradiating other normal organs due to the patient's movement can be effectively avoided, causing other normal organs to be irradiated incorrectly and causing damage.
  • the accuracy of radiotherapy is high.
  • the labeled reference object described in the embodiment of the present invention can be one or more, only one labeled reference object can be used to detect the patient's coordinate information.
  • the use of a marker reference improves the efficiency of obtaining the coordinate information of the patient, thereby improving the efficiency of judging the patient's movement state, that is, improving the monitoring efficiency and monitoring frequency of the patient's movement. Moreover, it also effectively simplifies the process and method of monitoring patient movement.
  • Fig. 5 is a block diagram of a device for detecting the movement state of a patient provided by an embodiment of the present invention. As shown in Figure 5, the device may include:
  • the obtaining module 501 is used to obtain the first reference coordinate information and first coordinate information of the patient.
  • the first reference coordinate information is the initial position information of the patient when the patient is placed in position
  • the first coordinate information is the information of the patient undergoing radiotherapy.
  • the current position information of the patient, and the coordinate system in which the first coordinate information and the first reference coordinate information are located are both the infrared system coordinate system.
  • the coordinate conversion module 502 is configured to perform coordinate conversion on the first reference coordinate information and the first parameter coordinate information to obtain the second reference coordinate information and the second coordinate information, and the coordinates where the second reference coordinate information and the second coordinate information are located
  • the system is the coordinate system of the treatment bed.
  • the management module 503 is configured to perform treatment management on the patient according to the second coordinate information and the second reference coordinate information.
  • Fig. 6 is a block diagram of a coordinate conversion module provided by an embodiment of the present invention.
  • the coordinate conversion module 502 may include:
  • the obtaining submodule 5021 is used to obtain the target rotation matrix
  • the multiplication sub-module 5022 is used to multiply the target rotation matrix by the first reference coordinate information and the first coordinate information respectively to obtain the second reference coordinate information and the second coordinate information.
  • the acquisition submodule 5021 can be used for:
  • FIG. 7 is a block diagram of a management module 503 provided by an embodiment of the present invention. As shown in Figure 7, the management module 503 may include:
  • the determining sub-module 5031 is used to determine whether the patient moves according to the deviation between the second coordinate information and the second reference coordinate information;
  • the management sub-module 5032 is used to perform treatment management on the patient according to the movement of the patient.
  • the management sub-module 5032 may be used to perform treatment management on the patient when the patient's movement situation meets a preset condition.
  • the preset condition may include: the duration of the patient's movement is located in the middle threshold area or the high threshold area; or the deviation is located in the middle threshold area or the high threshold area.
  • the management sub-module 5032 may be used to perform treatment management on the patient when the patient's movement situation meets preset conditions, including:
  • a warning message is issued, and the warning message is used to alert the treating physician to guide the patient to move.
  • the instruction stop message is sent, and the instruction stop message is used to control the stop of radiotherapy.
  • the obtaining module 501 can be used to:
  • the coordinates of the marked reference object preset on the patient's body surface are acquired, and the coordinates of the marked reference object on the patient's body surface are determined as the first reference coordinate information.
  • the coordinates of the marked reference object preset on the fixing device for fixing the patient are obtained, and the coordinates of the marked reference object on the fixing device are determined as the first reference coordinate information.
  • the relative coordinate information or absolute coordinate information between the first sub-reference coordinate information and the second sub-reference coordinate information is determined as the first reference coordinate information.
  • FIG. 8 is a block diagram of another device for detecting a patient's movement state provided by an embodiment of the present invention. As shown in Fig. 8, the device may further include: a display module 504 for displaying deviations.
  • the display module 504 may be used to display the deviation within a preset time period.
  • the device further includes: the display module 504, which can be used to display at least one of the deviations of the patient in the X-axis, Y-axis, and Z-axis directions. Two orthogonal.
  • the device further includes: the display module 504, which can be used to display the movement deviation of the patient by using at least one of a deviation value, a discrete point, and a connection mode.
  • the display module 504 can be used to display the movement deviation of the patient by using at least one of a deviation value, a discrete point, and a connection mode.
  • the embodiment of the present invention provides a device for detecting the movement state of a patient.
  • the device can obtain the initial current position information of the patient (ie, the first reference coordinate information) after the positioning is completed, and can obtain the patient’s current location information (ie, the first coordinate information) during the radiotherapy process, and can use the first reference coordinate
  • the information and the first coordinate information are coordinate converted to obtain the second reference coordinate information and the second coordinate information in the treatment couch coordinate system, and the patient is treated according to the second coordinate information and the second reference coordinate information. . Therefore, in the process of radiotherapy, it can be judged whether the patient is moving in time, that is, real-time tracking of the patient's movement can be realized.
  • the patient can be reliably treated and managed according to the movement situation, and the problem of radiation irradiating other normal organs due to the patient's movement can be effectively avoided, causing other normal organs to be irradiated incorrectly and causing damage.
  • the accuracy of radiotherapy is high.
  • the detection device for the patient's movement state in the foregoing embodiment the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and no detailed description is provided here.
  • the embodiment of the present invention also provides a system for detecting the patient's movement state.
  • the system may include: an infrared positioning device 01, and a patient moving state detection device 02 as shown in Fig. 5 or Fig. 8 which is communicatively connected with the infrared positioning device 01.
  • the infrared positioning device 02 is generally arranged at the end of the treatment bed 00, that is, on the side of the treatment bed 00 away from the radiotherapy equipment.
  • the infrared positioning device 01 can be used to detect the first reference coordinate information and the first coordinate information of the patient under the control of the detection device 02 of the patient's movement state, and to combine the first reference coordinate information and the first coordinate information The information is sent to the detection device 02 of the patient's movement state.
  • the infrared positioning device 01 may include: at least one infrared position sensor.
  • the system may further include: a marking reference object pre-arranged on the patient's body surface or a fixing device for fixing the patient, and the marking reference object may also be coated with an infrared light reflecting material.
  • each infrared position sensor can be used to emit infrared light to the mark reference object, to receive the infrared light reflected by the mark reference object, and to detect the first reference coordinate information and the first coordinate information according to the received infrared light.
  • each infrared position sensor may include: two cameras and two infrared signal generators.
  • the infrared signal generator can be used to emit infrared light to the marking reference object.
  • the camera can be used to receive the infrared light reflected by the marked reference object.
  • the two infrared signal generators may both be composed of an array of infrared light-emitting diodes, and the array of infrared light-emitting diodes may emit infrared light.
  • Each camera can include: a lens and an image sensor. The lens can focus the infrared light from the marked reference object on the image sensor, so that the image sensor can reliably collect the infrared light, and then reliably obtain the patient's coordinate information based on the collected infrared light .
  • the shape of the mark reference object may be a regular shape, for example, it may be a spherical shape.
  • the diameter of the sphere can be 11 millimeters (mm), and the weight can be less than 1 kilogram (kg).
  • the embodiment of the present invention provides a device for detecting the movement state of a patient.
  • the device for detecting the patient's movement state may include a processor and a memory, and instructions are stored in the memory, and the instructions may be loaded and executed by the processor to implement the method for detecting the patient's movement state as shown in FIG. 2 or FIG. 3.
  • an embodiment of the present invention provides a storage medium that stores instructions in the storage medium.
  • the processing component can execute the patient movement state shown in FIG. 2 or FIG. 3 Detection method.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)

Abstract

L'invention concerne un procédé, un dispositif et un système permettant de détecter l'état de mouvement d'un patient, consistant : à acquérir des informations de position actuelle initiale (c'est-à-dire des premières informations de coordonnées de référence) une fois qu'un patient est installé, à acquérir des informations de position actuelle (c'est-à-dire des premières informations de coordonnées) du patient au cours d'une radiothérapie (201) ; à produire des secondes informations de coordonnées de référence et des secondes informations de coordonnées dans un système de coordonnées de lit de traitement lorsque les premières informations de coordonnées de référence et le premier système de coordonnées subissent une conversion de coordonnées (202) ; et à réaliser une gestion de traitement par rapport au patient sur la base des secondes informations de coordonnées et du second système de coordonnées de référence (203). Pendant la radiothérapie, il est possible de déterminer en temps réel si le patient a bougé, mettant ainsi en œuvre le suivi en temps réel des mouvements du patient. En conséquence, une gestion de traitement fiable est effectuée par rapport au patient sur la base d'un état de mouvement, il est possible d'empêcher efficacement l'exposition au rayonnement d'autres organes normaux en raison d'un mouvement effectué par le patient qui provoquerait le problème consistant à blesser les autres organes normaux en raison de l'exposition accidentelle au rayonnement, et la précision de la radiothérapie est accrue.
PCT/CN2019/108650 2019-09-27 2019-09-27 Procédé, dispositif et système permettant de détecter l'état de mouvement d'un patient WO2021056446A1 (fr)

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PCT/CN2019/108650 WO2021056446A1 (fr) 2019-09-27 2019-09-27 Procédé, dispositif et système permettant de détecter l'état de mouvement d'un patient

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