WO2022104492A1

WO2022104492A1 - Optical monitoring system and radiotherapy equipment

Info

Publication number: WO2022104492A1
Application number: PCT/CN2020/129236
Authority: WO
Inventors: 闫浩; 苟天昌
Original assignee: 西安大医集团股份有限公司
Priority date: 2020-11-17
Filing date: 2020-11-17
Publication date: 2022-05-27
Also published as: CN221786313U

Abstract

An optical monitoring system provided by the present application comprises an optical pattern projection apparatus, an optical component, and an image sensor; the optical pattern projection apparatus projects an optical pattern to a projection area on a body surface of a patient; the optical component is used for expanding an optical visual field and receiving optical pattern information obtained by reflecting the optical pattern by means of the projection area, and imaging of the optical pattern information is formed on a reflection surface of the optical component; a photographing area of the image sensor covers the reflection surface of the optical component and obtains the imaging of the optical pattern information on the optical component. According to the optical monitoring system, by using reflection of the optical pattern information by the optical component expanding the optical visual field, the image sensor can still completely photograph the optical pattern information under a limited field of view; the photographing area of the image sensor covers the reflection surface of the optical component to obtain complete optical pattern information, thereby accurately monitoring a motion state of the body surface of the patient. The present application also provides radiotherapy equipment comprising the optical monitoring system.

Description

Optical monitoring system and radiotherapy equipment

technical field

The present application relates to the technical field of medical equipment, and in particular, to an optical monitoring system and radiotherapy equipment.

Background technique

Radiation therapy is a method of treating malignant tumors by using radiation and x-rays, electron beams, proton beams and other particle beams generated by various x-ray treatment machines or accelerators. Rays. Usually, changes in breathing movement, organ movement and body position of patients during radiotherapy will cause the treatment to "off-target". Technologies such as body/head positioning technology, respiratory gating, and active breathing control solve this problem to a certain extent. , but requires patients to train for a longer time, and its comfort and compliance are poor. For this reason, radiotherapy research experts and scholars from various countries have carried out a lot of research on the real-time position tracking of radiotherapy target areas, and infrared-based optical body surface real-time tracking technology has been widely used in recent years.

At present, the commonly used optical body surface monitoring system mainly includes an optical pattern projection device, an image sensor and a processor. Its working principle is as follows: the optical pattern projection device projects an optical pattern to the patient's body surface, and the patient's body surface or body surface markers reflect the optical pattern. , the image sensor receives the reflected optical pattern, so as to continuously obtain and track the motion information of the patient's body surface, and through the system image reconstruction, define the corresponding region of interest and the independent position error threshold range, when the patient's position error exceeds the threshold, The system will output the aborted treatment message.

Owing to the advantages of zero dose, non-invasiveness, fast imaging speed, and no ionizing radiation, optical body surface monitoring technology is widely used in the monitoring of patient position during modern radiation therapy. The two most commonly used optical body surface monitoring systems are binocular vision systems and structured light imaging systems. For both systems, the wider projection area of the optical pattern projection device and the limited field of view of the image sensor are focused on the patient body. surface. When there are obstacles on the reflection path of the optical pattern, the reflected optical pattern information obtained by the image sensor will be missing or the image sensor cannot obtain the reflected optical pattern information, which will affect the accurate monitoring of the patient's body surface information, and even lead to monitoring failure; more common When the limited field of view of the image sensor cannot completely cover the optical pattern information corresponding to the area of interest to be monitored, which affects the accurate monitoring of the patient's body surface information, multiple sets of image sensors need to be installed, and the cost increases exponentially.

technical problem

It can be seen from the above that the optical body surface monitoring system in the related art affects the accurate monitoring of the patient's body surface information due to the existence of obstacles in the optical pattern reflection path or the limited field of view of the image sensor, resulting in monitoring failure.

technical solutions

The present application provides an optical monitoring system, which can realize the shooting of complete optical pattern information and accurately monitor the motion state of a patient's body surface.

In one aspect, the present application provides an optical monitoring system including an optical pattern projection device, an optical component and an image sensor; wherein:

The optical pattern projection device emits an optical pattern and projects the optical pattern to a projection area of the patient's body surface;

The optical component is used for increasing the optical field of view, and receives the optical pattern information reflected by the optical pattern through the projection area, and an image of the optical pattern information is formed on the reflective surface of the optical component;

The photographing area of the image sensor covers the reflective surface of the optical component and acquires an image of the optical pattern information on the optical component.

In some embodiments of the present application, the reflective surface of the optical component is located on an optical path between the optical pattern projection device and the image sensor, and the projection area and the shooting area are two different areas.

In some embodiments of the present application, the image sensor is integrated on the optical pattern projection device; or, the image sensor is provided independently of the optical pattern projection device.

In some embodiments of the present application, the optical pattern emitted by the optical pattern projection device is infrared or structured light speckle.

In some embodiments of the present application, the optical component is a convex mirror.

In some embodiments of the present application, the image sensor is a monocular camera or a binocular camera.

On the other hand, a radiation therapy device provided by the present application includes:

a treatment couch, having a treatment area, the radiotherapy equipment is formed with a treatment area, and the part to be treated of the patient is located in the treatment area;

an optical monitoring system for monitoring the body surface information of the part to be treated of the patient, the optical monitoring system being the above-mentioned optical monitoring system;

A processing device is connected with the optical monitoring system.

In some embodiments of the present application, the optical pattern projection device is disposed outside the treatment area, and the reflected light of the optical pattern projected by the optical pattern projection device on the body surface of the patient in the treatment area is incident on the optical component, The photographing area of the image sensor covers the reflective surface of the optical component.

In some embodiments of the present application, the treatment area is an open treatment space.

In some embodiments of the present application, the radiotherapy apparatus has a C-arm or a robotic arm gantry structure.

In some embodiments of the present application, the treatment area is a confined treatment space open on at least one side.

In some embodiments of the present application, the treatment area is a restricted treatment space with an opening on one side in the longitudinal movement direction of the treatment couch, the optical monitoring system is disposed outside the opening, and the optical pattern After being reflected by the projection area, it is incident on the reflective surface of the optical component through the opening of the treatment area.

In some embodiments of the present application, the radiation therapy apparatus has a hemispherical gantry structure.

In some embodiments of the present application, the treatment area is a restricted treatment space with openings on both sides in the longitudinal movement direction of the treatment couch; the optical monitoring system is installed in the treatment area of the treatment area. outside the opening.

In some embodiments of the present application, the radiation therapy apparatus has a drum-shaped gantry structure.

beneficial effect

In the present application, an optical component that expands the optical field of view is arranged in the optical monitoring system, and the optical component is used to reflect the optical pattern information, so that the image sensor can still completely capture the optical pattern information in the case of a limited field of view; at the same time, it can eliminate the The influence of obstacles on the reflected light path on the reflected optical pattern information makes the shooting area of the image sensor cover the reflective surface of the optical component, thereby obtaining complete and wide optical pattern information and accurately monitoring the motion state of the patient's body surface.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic structural diagram of an optical monitoring system provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a radiotherapy apparatus provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a radiotherapy apparatus provided by another embodiment of the present application.

Description of reference numbers:

Optical Monitoring System 10 Radiation Therapy Equipment 100

Optical pattern projection device 12 20

Projection Area 13 Healing Area 22

Optics 14 Openings 220

Shooting area 15 Entrance 221

Image Sensors 16 Exports 222

Embodiments of the present application

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation shown in the drawings Or the positional relationship is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the present application. In the following description, details are set forth for the purpose of explanation. It is to be understood that one of ordinary skill in the art can realize that the present application may be practiced without the use of these specific details. In other instances, well-known structures and procedures have not been described in detail so as not to obscure the description of the present application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The embodiments of the present application provide an optical monitoring system 10 and a radiation therapy apparatus 100, which will be described in detail below.

As shown in FIG. 1, an embodiment of the present application provides an optical monitoring system 10 including an optical pattern projection device 12, an optical component 14, and an image sensor 16; wherein:

The optical pattern projection device 12 emits an optical pattern and projects the optical pattern to the projection area 13 of the patient's body surface;

The optical component 14 is used for increasing the optical field of view, and receives the optical pattern information reflected by the optical pattern through the projection area 13, and the reflective surface of the optical component 14 forms the imaging of the optical pattern information;

The shooting area 15 of the image sensor 16 covers the reflective surface of the optical component 14 and captures the image of the optical pattern information on the optical component 14 .

The optical monitoring system 10 is provided with an optical component 14 that expands the optical field of view, and utilizes the reflection of the optical pattern information by the optical component 14, so that the image sensor 16 can still completely obtain the motion information of the patient's body surface in the case of a limited field of view; , can eliminate the influence of obstacles on the reflected light path on the reflected optical pattern information, so that the shooting area 15 of the image sensor 16 covers the reflective surface of the optical component 14, so as to obtain complete optical pattern information, and then obtain complete patient body surface motion information to accurately monitor the movement state of the patient's body surface. In addition, the optical monitoring system 10 obtains a wider projection area 13 in the shooting area 15 of the optical component 14 that expands the optical field of view, thereby completely covering the optical pattern information corresponding to the area of interest to be monitored, ensuring accurate monitoring of the patient's body surface information, There is no need to add an additional image sensor 16, which greatly reduces the cost.

It can be understood that the projection area 13 of the optical pattern projection device 12 is located on the body surface of the patient, and the shooting area 15 of the image sensor 16 is located on the reflective surface of the optical component 14 . The area 15 is two different areas, and the optical component 14 is used to expand the optical field of view, which can completely eliminate the influence of obstacles on the reflected light path on the reflected optical pattern information, so as to obtain complete optical pattern information and accurately monitor the patient's body surface. state of motion.

It should be noted that the body surface state of the patient includes the body surface state of the location where the patient's disease is located, the body surface state of the part to be treated of the patient, and the like.

In this embodiment, the treating physician can monitor the movement of the patient's body surface according to the optical monitoring system 10, and then determine whether it is necessary to suspend the treatment.

In this embodiment, the optical pattern projected by the optical pattern projection device 12 is completely reflected to the reflective surface of the optical component 14 through the projection area 13 , so that the optical component 14 is used to expand the optical field of view, even if all The image sensor 16 has a limited field of view, and can still completely capture the optical pattern information on the patient's body surface, and can also eliminate the influence of obstacles on the reflected light path on the reflected light pattern information, so that the shooting area 15 of the image sensor 16 covers the The reflective surface of the optical component 14 to obtain complete optical pattern information.

In this embodiment, the projection area 13 is an area on the patient's body surface with marked points or a body surface area corresponding to the location of the patient's lesion.

In this embodiment, the optical monitoring system 10 further includes a processing device (not shown) that is communicatively or network-connected to the optical pattern projection device 12 , the optical component 14 and the image sensor 16 for receiving The optical information and image signals output by the optical pattern projection device 12 , the optical components 14 and the image sensor 16 are processed, stored and reused.

In this embodiment, the image sensor 16 can send the captured optical pattern information to the processing device, and the processing device calculates and monitors the state information and position information of the patient's body surface according to the acquired optical pattern information. For example, a marker is set on the patient's body surface. During the monitoring process, the optical monitoring system 10 tracks and monitors the patient's condition during radiotherapy through the state information of the marker. The actual position of the marked point is monitored, and then the processing device can determine the deviation between the preset position of the marked point and the actual position, and then can judge whether it is necessary to stop the treatment. For another example, the structured light speckle is projected onto the body surface of the area to be monitored by the optical pattern projection device 12 , the initial speckle image information and the current speckle image information are acquired by the image sensor 16 , and the processing device processes the two speckle images to determine the current speckle image. The deviation of the position from the initial position, and then determine whether it is necessary to stop the treatment.

In this embodiment, the processing device may be a single server or a group of servers. The server farm may be centralized or distributed, for example, the processing device may be a distributed system.

In some embodiments, the processing device may be local or remote. In some embodiments, the processing device may obtain information and/or data from the optical pattern projection device 12, the optics 14, and the image sensor 16 over a network. The processing device may interface directly with the optical pattern projection device 12, the optics 14, and the image sensor 16 to access information and/or data.

In some embodiments, the processing means may be implemented on a cloud platform. By way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, multiple clouds, etc., or any combination of the foregoing examples.

Further, the reflective surface of the optical component 14 is located on the optical path between the optical pattern projection device 12 and the image sensor 16 , and the projection area 13 and the shooting area 15 are two different areas. It can be appreciated that the use and arrangement of the optical component 14, the optical pattern projection device 12 and the image sensor 16 are more flexible. The reflective surface of the optical component 14 is located on the optical path of the optical pattern projection device 12 and the image sensor 16 so that the optical component 14 can receive the reflective optical pattern of the optical pattern information projected by the optical pattern projection device 12 to the projection area 13 information, and can reproduce the integrity and full field of view of the received optical pattern information, to ensure that the optical pattern information captured by the image sensor 16 is complete and comprehensive, to avoid obstacles from blocking the reflected optical pattern information, to ensure The accuracy of monitoring the patient's body surface motion state.

In this embodiment, the installation positions and angles of the optical pattern projection device 12 , the optical component 14 and the image sensor 16 must satisfy the following requirements: the reflection of the optical pattern projected by the optical pattern projection device 12 onto the body surface of the patient Light is incident on the optical member 14 , and the imaging area 15 of the image sensor 16 covers the reflective surface of the optical member 14 .

Further, the image sensor 16 is integrated on the optical pattern projection device 12 . By integrating the image sensor 16 and the optical pattern projection device 12, the structure of the entire optical monitoring system is simple and the installation is convenient. During use, the relative angle between the shooting direction of the image sensor 16 and the projection direction of the optical pattern projection device 12 is set to ensure that the reflected light of the optical pattern projected by the optical pattern projection device 12 to the patient's body surface is incident to On the optical component 14 , the photographing area 15 of the image sensor 16 covers the reflective surface of the optical component 14 .

In another embodiment, the image sensor 16 is provided independently of the optical pattern projection device 12 . Implementing that the image sensor 16 and the optical pattern projection device 12 are arranged separately can make the installation position of the optical monitoring system 10 more flexible and diverse, and is not easily affected by the site and the structure of the treatment equipment used. The reflected light of the optical pattern projected by the optical pattern projection device 12 on the body surface of the patient is incident on the optical component 14 , and the photographing area 15 of the image sensor 16 covers the reflective surface of the optical component 14 .

Further, the optical pattern emitted by the optical pattern projection device 12 is infrared or structured light speckle. The optical pattern projection device 12 may be an infrared emitter, and the emitted optical pattern is infrared, and the wavelength of the infrared is 780 nm˜1000 nm. The optical pattern emitted by the optical pattern projection device 12 adopts structured light speckle, which can more effectively obtain three-dimensional optical pattern information and improve the monitoring accuracy.

In this embodiment, speckle, also known as speckle, refers to a pattern with a special structure. For example, speckle includes discrete light spots, striped light, coded structured light, and the like. According to the propagation mode of the light field, the speckle can be divided into three types: far-field speckle (corresponding to Fraunhofer diffraction), near-field speckle (corresponding to Fresnel diffraction) and image surface speckle. Speckle patterns can be used to encode and decode image information, image subtraction, contrast inversion, and the like.

Further, the optical component 14 is a convex mirror. The convex surface of the convex mirror is a reflective surface. On the one hand, it is used to receive the reflected optical pattern information of the optical pattern projected by the optical pattern projection device 12 onto the body surface of the patient. On the other hand, the shooting area 15 of the image sensor 16 is completely Cover the convex surface of the convex mirror to ensure the integrity and accuracy of the monitoring information.

In other embodiments, the optical component 14 may also be other optical elements or components with an enlarged field of view.

Further, the image sensor 16 is a monocular camera or a binocular camera. The imaging of the optical pattern information on the optical component 14 is captured by a camera of a monocular camera or a binocular camera.

In this embodiment, the number of the image sensors 16 may be one, or two or more. For two or more image sensors 16, they may be installed at different angles relative to the optical component 14. The image information captured by each image sensor 16 is used in combination when monitoring the motion state of the patient's body surface.

As shown in FIG. 2 and FIG. 3 , an embodiment of the present application provides a radiotherapy apparatus 100 including:

a treatment bed 20 for carrying patients;

The radiotherapy apparatus 100 is formed with a treatment area 22, and the part to be treated of the patient is located in the treatment area 22;

The optical monitoring system 10 is used for monitoring the body surface information of the part to be treated of the patient, and the optical monitoring system 10 is the above-mentioned optical monitoring system 10;

The processing device is connected to the optical monitoring system 10 .

In this embodiment, the treatment couch 20 is a device for moving/delivering the part to be treated of the patient into the treatment area 22 of the radiotherapy apparatus, and the treatment couch 20 may be a three-dimensional couch or a six-dimensional couch.

In this embodiment, the structural composition, installation and function of the optical monitoring system 10 are exactly the same as those of the optical monitoring system 10 in the foregoing embodiments, which will not be repeated here.

The radiation therapy apparatus 100 provided by the embodiment of the present application is used for performing radiation therapy on malignant tumors, and the optical monitoring system 10 is used to accurately monitor the body surface information during the treatment of the patient.

During radiotherapy, marker points are set on the patient's body surface, and the optical monitoring system 10 can monitor the movement information of the marker points of the part to be treated of the patient during the radiotherapy process, and transmit the monitored movement information to the processing device, so that The processing device controls the radiotherapy equipment to continue the treatment or to stop the treatment according to the detected movement information of the marked point.

For example, the optical pattern projection device 12 projects the structured light speckle information on the body surface of the patient to be treated, acquires the initial speckle image information and the current speckle image information through the image sensor 16, and the processing device obtains the initial speckle image information and the current speckle image information according to the acquired initial speckle image information and the current speckle image information. The speckle image information is processed by image information, and the deviation between the current position and the initial position is determined, and then it is judged whether it is necessary to stop the treatment.

For another example, in the process of radiotherapy, the patient's body surface is provided with marker points, the optical monitoring system 10 is calculated by the processing device by monitoring the position of the marker point preset on the part to be treated and the monitored position of the marker point. The deviation between the preset position and the actual position of the marker point determines whether the treatment needs to be discontinued. In addition, the treating physician can determine the deviation between the preset position of the marker point and the actual position according to the position monitored by the optical monitoring system 10, and then judge whether the patient's lesion position has moved and whether the treatment needs to be stopped.

In this embodiment, the radiotherapy apparatus 100 may be a radiotherapy apparatus using radiation such as alpha, beta, gamma rays and various types of x-rays generated by radioisotopes, but is not limited thereto.

In this embodiment, the radiotherapy apparatus 100 includes a treatment couch 20 for carrying a patient, and a gantry for carrying a radiation source, and the radiotherapy apparatus 100 is formed with a treatment area 22 , During the process of radiotherapy, the part to be treated of the patient is set in the treatment area 22 through the treatment couch 20 .

Further, the optical pattern projection device 12 is disposed outside the treatment area 22 , and the reflected light of the optical pattern projected by the optical pattern projection device 12 on the body surface of the patient in the treatment area 22 is incident on the optical component 14 , The imaging area 15 of the image sensor 16 covers the reflective surface of the optical member 14 . During installation, the installation position of the optical monitoring system satisfies: the reflected light of the optical pattern projected by the optical pattern projection device 12 to the patient's body surface in the treatment area 22 is incident on the optical component 14, and the image sensor The photographing area 15 of 16 covers the reflective surface of the optical component 14 . That is to say, the optical pattern projection device 12, the optical component 14 and the image sensor 16 of the optical monitoring system can be installed in any position that meets the above-mentioned optical path conditions, so as to clearly and completely obtain the motion state information of the patient's body surface appropriate.

In one embodiment, the treatment area 22 is an open treatment space, that is, the radiotherapy apparatus itself does not rely on any hardware structure to constrain the treatment area 22, and the treatment area 22 is open in the entire space. For the radiotherapy apparatus 100 with an open treatment space, when installing the optical monitoring system 10, the optical pattern projection device 12, the optical component 14 and the image sensor 16 can be installed very flexibly, and the installation positions can be diversification.

Preferably, the radiotherapy apparatus 100 has a C-arm or a robotic arm frame structure.

As shown in FIGS. 2 and 3 , in another embodiment, the treatment area 22 is a restricted treatment space with at least one side opening, that is, the treatment area 22 is enclosed by a hardware structure. For a radiation therapy apparatus 100 with a restricted treatment space, when installing the optical monitoring system 10, it is necessary to consider the effects of the restricted treatment area 22 on the optical pattern projection device 12, the optical components 14 and the image sensor in the optical monitoring system. The influence of the optical paths of The installation position satisfies: the reflected light of the optical pattern projected by the optical pattern projection device 12 to the patient's body surface in the treatment area 22 is incident on the optical component 14, and the image sensor 16 is arranged in the shooting area 15 to cover the The reflective surface of the optical component 14 .

The following is a detailed description and description of the radiotherapy equipment for the restricted treatment area with different opening modes.

As shown in FIG. 2 , on the one hand, the treatment area 22 formed by the radiotherapy equipment is a restricted treatment space with an opening 220 on one side in the longitudinal movement direction of the treatment couch 20 , and the optical monitoring system 10 is arranged in the Outside the opening 220, it can be understood that the opening 200 is the entrance of the treatment area 22, and the optical pattern is reflected from the projection area 13 through the opening 220 of the treatment area 22 to the reflection surface of the optical component 14 . The optical pattern projection device 12 projects the optical pattern along the opening 220 onto the body surface of the patient in the treatment area 22, and is reflected on the optical component 14 through the projection area 13 on the body surface of the patient. The image sensor 16 captures the optical pattern information on the reflective surface of the optical component 14 , and the optical monitoring system 10 can accurately monitor the motion state of the patient's body surface on the treatment couch 20 .

Understandably, in this embodiment, the reflective surface of the optical component 14 should be located within the range of the opening 220 of the treatment area 22 to receive the optical pattern information reflected by the projection area 13 and avoid reflected optical patterns Information on the optical path cannot be fully reflected onto the reflective surface. It can be understood that the optical pattern in the treatment area 22 is reflected to the reflective surface of the optical component 14 along the opening 220 of the treatment area 22, and the optical pattern is not blocked by the peripheral wall of the opening 220 of the treatment area 22, and also That is, the optical component 14, the opening 220 of the treatment area 22 and the projection area are located on the same straight line, and the reflective surface of the optical component 14 can completely receive the optical pattern reflected from the projection area without being affected by Occlusion effect of treatment area 22. Preferably, the radiotherapy apparatus 100 has a hemispherical gantry structure, but is not limited to this, and may also be other types of gantry structures with a single-sided inlet 220 .

As shown in FIG. 2 , in one embodiment, the optical pattern projection device 12 is installed on the ceiling of the radiotherapy room, and the optical component 14 is installed on the ceiling or the optical component 14 is installed on the ceiling. At the end face of the opening 220 of the treatment area 22, the image sensor 16 is disposed on the floor of the radiotherapy room. During the installation process, in order to ensure that the positions of the devices can be relatively fixed and the space of the radiotherapy room is kept clean, the optical pattern projection device 12 and the optical component 14 are installed on the ceiling, or the optical pattern projection device is installed on the ceiling. 12 is installed on the ceiling and the optical component 14 is installed at the end face of the opening 220 of the treatment area 22, and the above two different installation positions of the optical component 14 can ensure that the image sensor 16 can be completely and completely The optical image information on the reflective surface is photographed, so as to accurately monitor the movement state of the patient's body surface.

On the other hand, the treatment area 22 is a restricted treatment space with openings on both sides in the longitudinal movement direction of the treatment couch 20 ; the optical monitoring system 10 is installed in the opening of the treatment area 22 outside. The opening 220 includes an inlet 221 and an outlet 222, as shown in FIG. 3 . When the optical pattern projection device 12 , the optical component 14 and the image sensor 16 of the optical monitoring system 10 are installed on the same side of the treatment area 22 , eg, the side of the entrance 221 or the side of the exit 222 , it is installed The installation method is the same as the installation method of the optical monitoring system 10 in the treatment area 22 with a single side opening, please refer to FIG. 2 , and details are not described here.

Preferably, the radiotherapy apparatus 100 has a drum shape, but is not limited thereto, and may also be other types of frame structures with openings 220 on both sides.

As shown in FIG. 3 , on the other hand, the optical pattern projection device 12 is disposed on the ceiling of the radiation treatment room and is located on the side of the entrance 221 of the treatment area 22 , and the optical component 14 is installed on the ceiling and located on the side of the exit 222 of the treatment area 22, or the optical component 14 is installed at the end face of the exit 222 of the treatment area 22; or, the optical pattern projection device 12 is disposed on the ceiling of the radiotherapy room and located on the side of the exit 221 of the treatment area 22, the optical component 14 is installed on the ceiling and located on the side of the entrance 221 of the treatment area 22, or the optical component 14 is installed at the entrance 221 of the treatment area 22 at the end face. The optical pattern projection device 12 , the optical component 14 and the image sensor 16 of the optical monitoring system 10 are respectively disposed at both ends of the entrance 221 and the exit 222 of the treatment area 22 , and the overall installation is simple.

It can be understood that, for the above-mentioned radiotherapy equipment with a restricted treatment area, the installation positions of the components in the optical monitoring system 10 may also have other modified installation methods in addition to the above-mentioned embodiments, such as:

In other embodiments, the optical component 14 may be provided with a telescopic component. When body surface monitoring is required, the optical component 14 can be extended into the treatment area 22 through the telescopic component for body surface monitoring. The parts are moved out of the treatment area 22, avoiding collisions.

In other embodiments, the optical pattern projection device 12 may also be disposed at the tail of the treatment couch 20 to satisfy the above-mentioned optical path. This application does not limit the installation positions of the components in the optical monitoring system 10 relative to the radiotherapy equipment, as long as the positional relationship between the components in the optical monitoring system 10 meets the optical path requirements, that is, as long as the optical pattern projection device is guaranteed The reflected light of the optical pattern projected on the body surface of the patient 12 is incident on the optical member 14 , and the imaging area 15 of the image sensor 16 only needs to cover the reflective surface of the optical member 14 .

The optical monitoring system 10 provided by each embodiment of the present application is provided with an optical component 14 having an enlarged optical field of view, such as a convex mirror, which utilizes the reflection of the optical pattern information by the optical component 14, so that the image sensor 16 still has a limited field of view. It is possible to capture complete pattern information.

The optical monitoring system 10 provided by the embodiments of the present application adopts the optical components 14 with an enlarged optical field of view, such as a convex mirror, which can eliminate the influence of obstacles on the reflected optical path on the reflected optical pattern information, so that the shooting area of the image sensor 16 can be reduced. 15 Covers the reflective surface of the convex mirror, so as to obtain complete optical pattern information and accurately monitor the movement state of the patient's body surface.

The projection area 13 of the optical pattern projection device 12 and the shooting area 15 of the image sensor 16 in the optical monitoring system 10 provided by the embodiments of the present application are two different areas. Therefore, this structure makes the optical monitoring system 10 in use. Settings are more flexible.

In the above embodiments, considering that the optical pattern will be distorted when projected on the patient's body surface, and introducing a convex mirror into the optical monitoring system will also distort the optical pattern. Considering the above cumulative distortion will affect the final monitoring result. Therefore, before using the optical monitoring system to monitor the patient's body surface, the optical monitoring system needs to be calibrated to eliminate the distortion error and ensure the monitoring accuracy.

For the calibration of the optical monitoring system, for example, Zhang's calibration method can be used to complete, the details are as follows:

printing a checkerboard template and pasting it on the treatment couch 20 of the radiotherapy equipment 100;

By moving the treatment couch 20, the checkerboard template is moved multiple times in the three-dimensional direction, and the optical monitoring system 10 is used to capture images of the template at different three-dimensional positions;

Detect feature points in the image;

Solve the intrinsic and extrinsic parameters of the optical monitoring system under ideal distortion-free conditions, and use maximum likelihood estimation to improve the accuracy;

Apply the least squares method to find the actual radial distortion coefficient of the image;

Integrate internal parameters, external parameters and distortion coefficients, use the maximum likelihood method to optimize the estimation, and improve the estimation accuracy;

The internal parameters, external parameters and distortion coefficients of the optical monitoring system 10 are calibrated.

Of course, the above is only an example to illustrate the calibration method of the optical monitoring system, which is not limited in the present application, and any method that can realize the calibration of the optical monitoring system belongs to the protection scope of the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the above detailed description of other embodiments, and details are not repeated here.

During specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of the above units or structures, reference may be made to the foregoing method embodiments. No longer.

For the specific implementation of the above operations, reference may be made to the foregoing embodiments, and details are not described herein again.

The optical monitoring system and the radiation therapy equipment provided by the embodiments of the present application have been introduced in detail above. The principles and implementations of the present application are described with specific examples. The descriptions of the above embodiments are only used to help understand the present application. At the same time, for those skilled in the art, according to the idea of the application, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as a Application restrictions.

Claims

An optical monitoring system, characterized in that the optical monitoring system comprises an optical pattern projection device, an optical component and an image sensor; wherein:

The optical pattern projection device emits an optical pattern and projects the optical pattern to a projection area of the patient's body surface;

The optical component is used for increasing the optical field of view, and receives the optical pattern information reflected by the optical pattern through the projection area, and an image of the optical pattern information is formed on the reflective surface of the optical component;

The photographing area of the image sensor covers the reflective surface of the optical component and acquires an image of the optical pattern information on the optical component.
The optical monitoring system according to claim 1, wherein the image sensor is integrated on the optical pattern projection device; or, the image sensor is provided independently of the optical pattern projection device.
The optical monitoring system according to any one of claims 1 to 2, wherein the optical pattern emitted by the optical pattern projection device is infrared light or structured light speckle.
The optical monitoring system according to any one of claims 1 to 2, wherein the optical component is a convex mirror.
The optical monitoring system according to any one of claims 1 to 2, wherein the image sensor is a monocular camera or a binocular camera.
A radiotherapy device, characterized in that the radiotherapy device comprises:

treatment couch for carrying patients;

The radiotherapy equipment is formed with a treatment area, and the part to be treated of the patient is located in the treatment area;

An optical monitoring system for monitoring body surface information of a patient's site to be treated, the optical monitoring system being the optical monitoring system according to any one of claims 1 to 5;

A processing device is connected with the optical monitoring system.
6. The radiotherapy apparatus according to claim 6, wherein the optical pattern projection device is disposed outside the treatment area, and the optical pattern projection device projects the reflection of the optical pattern on the body surface of the patient in the treatment area Light is incident on the optical component, and the photographing area of the image sensor covers the reflective surface of the optical component.
The radiotherapy apparatus of claim 6 or 7, wherein the treatment area is an open treatment space.
The radiotherapy apparatus according to claim 8, wherein the radiotherapy apparatus has a C-arm or a robotic arm frame structure.
7. The radiotherapy apparatus according to claim 6 or 7, wherein the treatment area is a restricted treatment space opened on at least one side.
The radiotherapy apparatus according to claim 10, wherein the treatment area is a restricted treatment space with an opening on one side in the longitudinal movement direction of the treatment couch, and the optical monitoring system is arranged in the opening outside, and the optical pattern is reflected by the projection area and is incident on the reflective surface of the optical component through the opening of the treatment area.
12. The radiotherapy apparatus of claim 11, wherein the radiotherapy apparatus has a hemispherical gantry structure.
The radiotherapy apparatus according to claim 10, wherein the treatment area is a restricted treatment space with openings on both sides in the longitudinal movement direction of the treatment couch; and the optical monitoring system is installed in the treatment couch. outside of the opening of the treatment area.
14. The radiotherapy apparatus of claim 13, wherein the radiotherapy apparatus has a drum-shaped gantry structure.