WO2022116196A1 - 实时位置监测方法、电子设备、系统及存储介质 - Google Patents

实时位置监测方法、电子设备、系统及存储介质 Download PDF

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Publication number
WO2022116196A1
WO2022116196A1 PCT/CN2020/134051 CN2020134051W WO2022116196A1 WO 2022116196 A1 WO2022116196 A1 WO 2022116196A1 CN 2020134051 W CN2020134051 W CN 2020134051W WO 2022116196 A1 WO2022116196 A1 WO 2022116196A1
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target object
image
target
planned area
real
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PCT/CN2020/134051
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English (en)
French (fr)
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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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Priority to PCT/CN2020/134051 priority Critical patent/WO2022116196A1/zh
Priority to CN202080107421.8A priority patent/CN116635754A/zh
Publication of WO2022116196A1 publication Critical patent/WO2022116196A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means

Definitions

  • the present application relates to the technical field of human medical position monitoring, and in particular, to a real-time position monitoring method, electronic device, system and storage medium.
  • Radiotherapy Radiation therapy is an important means of treating tumors, using high-energy rays to kill tumors in human tissues.
  • the human body is not a rigid body, and errors caused by physiological movements and changes in tissue structure of human organs may lead to tumor "off-target" phenomena during radiotherapy, such as respiratory movement, small bowel peristalsis, bladder filling, and organ deformation. Therefore, it is necessary to monitor the movement of human organs to reduce the damage of high-energy radiation to normal tissues around tumors.
  • one of the technical problems solved by the embodiments of the present invention is to provide a real-time location monitoring method, electronic device, system, and storage medium, so as to overcome the above-mentioned defects.
  • an embodiment of the present application provides a real-time location monitoring method, including:
  • the radiological image including the target object
  • the target reference image being used to indicate the planned area of the target object
  • the positional change of the target object relative to the planned area is monitored in real time.
  • an embodiment of the present application provides an electronic device, including: a processor; and a memory configured to store computer-executable instructions, the computer-executable instructions, when executed, cause the processor to implement any of the embodiments of the present application the described method.
  • an embodiment of the present application provides a real-time position monitoring system, including: a radiotherapy device and a processor, where the radiotherapy device includes: a radiation source, a support device, and a detection corresponding to the radiation source;
  • the radiation source is used for emitting radiation
  • the supporting device is used to support the object to be measured
  • the detector is configured to receive the radiation emitted by the radiation source and pass through the object, and form a radiological image including the target object;
  • the processor is configured to monitor a positional change of the target object relative to a planned area according to the radiological image and a corresponding target reference image, the target reference image being used to indicate the planned area of the target object.
  • an embodiment of the present application provides a storage medium, where the storage medium stores computer-executable instructions, and the computer-executable instructions implement the method described in any embodiment of the present application when the computer-executable instructions are executed.
  • a real-time location monitoring method, electronic device, system, and storage medium acquire a radiological image in real time, where the radiological image includes a target object; acquire a target reference image, where the target reference image is used to indicate the target the planned area of the object; according to the radiological image and the target reference image, the positional change of the target object relative to the planned area is monitored in real time. Since the target reference image of the present application can be used to indicate the planned area of the target object, by matching the radiological image acquired in real time with the target reference image, the positional relationship between the target object and the planned area in the current radiological image can be accurately determined, and then Corresponding operations are performed according to the positional relationship.
  • radiotherapy can be performed accurately; or, if the target object exceeds the planned area, relevant operations can be taken, such as turning off the irradiation beam, or suspending the treatment, etc. , to avoid unnecessary radiation to the patient.
  • FIG. 1A is a schematic diagram of a real-time location monitoring system provided by an embodiment of the present application.
  • FIG. 1B is a flowchart of a real-time location monitoring method provided by an embodiment of the present application.
  • FIG. 2 is a schematic display diagram of a gold label exceeding a planned area provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a diaphragm motion range provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
  • the main methods of treating tumors include surgery, chemotherapy, and radiotherapy.
  • radiotherapy has many advantages, such as preservation of organ function, and can improve the quality of life of patients.
  • fractional irradiation is often required due to the recovery of normal tissues after exposure and the sensitivity of cancerous and normal tissues to radiation. Structural changes of the irradiated tissues or organs during radiotherapy and between radiotherapy fractions may cause errors in positioning.
  • the shape and location of the target volume varied at different times of fractionated radiotherapy. If the real-time position of the tumor cannot be accurately monitored, and the radiotherapy cannot be carried out accurately, it will cause damage to the normal tissue around the tumor.
  • the present application provides a real-time location monitoring method to overcome the above problems.
  • the system to which the real-time location monitoring method of the present application is applied is introduced:
  • An embodiment of the present application provides a real-time position monitoring system, as shown in FIG. 1A , including radiotherapy equipment and a processor, wherein the radiotherapy equipment includes: a radiation source 10 , a support device 11 , and a detector 12 corresponding to the radiation source 10 . .
  • the radiation source 10 is used for emitting radiation;
  • the supporting device 11 is used for supporting the object to be measured;
  • the detector 12 is used for receiving the radiation emitted by the radiation source 10 and passing through the object to be measured, and forms a radiation image including the target object;
  • the processor is used for monitoring the position change of the target object relative to the planned area according to the radiological image and the corresponding target reference image, and the target reference image is used to indicate the planned area of the target object.
  • the radiation emitted by the radiation source 10 may be alpha rays, beta rays, or gamma rays, etc.
  • the support device 11 may support the object to be measured, such as a patient, so that the patient is located between the radiation source 10 and the detector 12 corresponding to the radiation source 10,
  • the radiation source 10 may emit radiation through the diseased tissue of the patient's body, and after the detector receives the radiation, a radiation image containing the image of the patient's diseased tissue is formed.
  • the radiation source 10 is a bulb
  • the detector 12 is a flat panel detector.
  • the tube can emit KV-level radiation, and when the KV-level flat panel detector is used to receive the radiation, a KV-level radiological image will be formed.
  • the cone beam that can be emitted by the tube and the flat panel detector constitute cone beam CT (Cone Beam CT, CBCT).
  • the radiation source 10 is a tube
  • X-rays are emitted through the tube to irradiate the stomach tumor of the patient A. After the X-rays pass through the patient's A, they enter the flat panel detector. Different body tissues absorb X-ray energy according to different principles, forming a radiological image of the stomach tumor of the patient A.
  • the radiation source 10 is a treatment head
  • the detector is an electronic portal imaging device (Electronic Portal Imaging Device, EPID).
  • EPID Electronic Portal Imaging Device
  • the treatment head can emit MV-level radiation, and when the EPID is used to receive the radiation, an MV-level radiological image will be formed.
  • the treatment head may be one or more of a gamma knife treatment head, an accelerator treatment head, a proton treatment head, and the like.
  • the radiation source 10 is a treatment head
  • the treatment head emits radiation
  • the radiation enters the electronic portal imaging device EPID, and the energy absorption of the radiation is different based on the different body tissues of the patient.
  • EPID electronic portal imaging device
  • an embodiment of the present application provides a real-time location monitoring method, as shown in FIG. 1B , which is a flowchart of a real-time location monitoring method provided by an embodiment of the present application.
  • the real-time location monitoring method includes the following steps:
  • Step 101 acquiring a radiological image in real time.
  • the radiological images may be images obtained in real time from different angles by using the radiation source and detector of the radiotherapy equipment.
  • the above-mentioned radiological image includes a target object, and the target object includes at least one of a tumor, a body tissue, and a metal marker in the radiological image.
  • the entity corresponding to the target object is an object to be monitored in real time, for example, it may be at least one of a tumor, a body tissue and a metal marker in the target object.
  • the radiation source in FIG. 1A can be used to emit radiation, the radiation passes through the stomach tumor of patient A, and enters the detector corresponding to the radiation source to form the patient.
  • the radiological image can also be acquired in real time in a three-dimensional imaging mode or a two-dimensional imaging mode.
  • the three-dimensional imaging mode can be performed by imaging equipment such as cone beam CT, helical CT, nuclear magnetic resonance, etc. to obtain a three-dimensional radiological image;
  • the two-dimensional imaging mode can be performed by imaging equipment such as X-ray machine, fluoroscopy machine, cone beam CT, etc.
  • Perform imaging to obtain a two-dimensional radiological image or perform imaging through imaging equipment such as cone beam CT, spiral CT, nuclear magnetic resonance, etc., and process the three-dimensional radiological image to obtain a two-dimensional radiological image.
  • cone beam CT uses three-dimensional cone beam X-ray scanning and two-dimensional flat-panel detectors to make a circular projection around the object to be measured, which can be rotated 180 degrees or 360 degrees, and then reconstruct the two-dimensional projection data to form a three-dimensional image.
  • cone beam CT has the advantages of fast scanning speed, high spatial resolution, high radiation utilization rate, and low radiation dose.
  • radiological images can also be acquired in real time using an electronic portal imaging device EPID that receives the treatment beam.
  • EPID electronic portal imaging device
  • a radiological image can be acquired in real time using a fluorescence type EPID, a solid detector type EPID, or a liquid ionization chamber type EPID. Radiographic images acquired in real time by EPID are of high resolution.
  • Step 102 Acquire a target reference image.
  • the target reference image can be used to indicate the planned area of the target object, and the target reference image and the radiological image correspond to the same patient, that is, if the gastric tumor radiological image of patient A is acquired in step 101, the target reference image is also pre-shot A radiographic image of a tumor in the stomach of patient A, which is used to make a treatment plan.
  • the planning area is a safe area for the movement of the target object, which can be ITV (Internal Target Volume) or PTV (Planning Target Volume, planning target area). When the target object moves in the planning area, it indicates that the movement of the target object is normal. When the movement of the target object exceeds the planned area, it indicates that the movement of the target object is abnormal.
  • the radiographic image acquired in real time corresponds to the angle of the radiographic image acquired in real time in step 101 when the radiographic image acquired in real time is a two-dimensional image, such as a CBCT image
  • the target reference image may be a three-dimensional projection.
  • Digitally Reconstructed Radiograph (DRR) images are a 3D image, and when it needs to be registered with the acquired radiological image, it is necessary to reduce the dimensionality of the 3D image to two dimensions, and then perform the registration.
  • the target reference image obtained by 3D projection of the DRR image can be an image obtained by projecting at any angle of 360 degrees.
  • the DRR image can be projected at an angle of 360 degrees, and 360 images are obtained by projecting every 1 degree. image. It can be understood that if the current radiological image acquired in step 101 is acquired at an angle of 75 degrees, an image projected at an angle of 75 degrees can be selected from the 360 images as the target reference image of the current radiological image.
  • Step 103 monitor the position change of the target object relative to the planned area in real time according to the radiological image and the target reference image.
  • the position of the target object may be determined in the radiological image; then, according to the position of the target object, the change in the position of the target object relative to the planned area is monitored in real-time by comparing with the planned area indicated by the corresponding target reference image. Monitor whether the target object exceeds the planned area.
  • the target object is a tumor
  • an existing image processing method can be used to calculate the position of the tumor in the radiological image, so as to obtain the position information of the tumor in the radiological image; By comparing with the planned area indicated by the corresponding target reference image, the position change of the tumor relative to the planned area can be obtained, and then whether the tumor exceeds the planned area can be monitored in real time.
  • the target object is not a tumor, and there is a positional correspondence between the target object and the tumor.
  • the position transformation model can be used to determine the planned area of the target object according to the range of motion of the tumor. When using the target object to monitor the tumor , to monitor whether the target object is within the planned area, and accordingly, it can be determined whether the tumor is within its motion range.
  • a body tissue near the tumor can also be determined as a reference object; according to the actual positional relationship between the tumor and the reference object, and then based on the position of the reference object in the radiological image, the location of the tumor is determined.
  • the position of the tumor can be indirectly determined through other organs or body tissues during planning, and if so, the actual positional relationship between the tumor and the reference object is pre-calculated, for example, if the diaphragm It can be used as a reference object, but the actual positional relationship between the diaphragm and the tumor needs to be determined during planning.
  • the location of the tumor is then calculated based on the position of the diaphragm in the radiographic image and the positional relationship between the diaphragm and the tumor.
  • the position of the tumor can be indirectly determined by means of a reference object when the position of the tumor is not obvious in the radiation image, so that the tumor can be tracked or monitored in real time during the treatment process, and additional radiation damage can be avoided.
  • the tumor is a circular area with a diameter of 2 cm
  • the planned area of the tumor is a circular area with the tumor center as the center and a radius of 1.6 cm; correspondingly, according to the relationship between the tumor area and its corresponding planned area, Identify the planned movement area of an organ or body tissue. It will be appreciated that it is possible to determine whether a tumor exceeds the planned area by judging whether the movement of an organ or body tissue, such as the diaphragm, exceeds the planned movement area.
  • the radiological image may be registered with the target reference image, so as to monitor the position change of the target object relative to the planned area in real time, and obtain the monitoring result.
  • it can be mask registration.
  • manual or automatic methods are used to detect invariant features (control points) in the target reference image and radiological images, such as closed areas, edges, contours, corners, etc.
  • Algorithms and similarity metrics are used to establish the correspondence between the extracted features, and then according to the geometric distortion between the radiological image and the target reference image, the geometric transformation model that can best fit the changes between the two images is selected.
  • the radiographic image is transformed with corresponding parameters to make it in the same coordinate system as the target reference image, so as to realize the registration of the radiological image and the target reference image.
  • the gastric tumor radiological image A of the patient A can be compared with the projection angle selected from step 102 and the projection angle is:
  • the control points in the radiological image A and the target reference image B can be obtained respectively, and then the control points of the radiological image A can be established through the feature description algorithm and similarity measure.
  • the corresponding relationship between the point and the control point of the target reference image B then according to the geometric distortion between the radiological image A and the target reference image B, the geometric transformation model is determined, and the radiological image A is transformed with the corresponding parameters, so that The radiological image A and the target reference image B are in the same coordinate system, thereby realizing the registration of the radiological image A and the target reference image B. Then, according to the registration situation, the positional change of the stomach tumor relative to the planned area in the radiological image is monitored in real time, so that it can be monitored in real time whether the gastric tumor of patient A exceeds the planned area.
  • the target object is a metal marker, and there are at least one metal marker. Whether the tumor exceeds the planned area can be monitored in real time by detecting the movement of metal markers.
  • the doctor can implant multiple metal markers into the patient's tumor before treatment, for example, three non-collinear metal markers can be implanted, as shown in Figure 2, preferably, the metal markers can be implanted at the edge of the tumor At this point, the metal marker moves with the movement of the tumor, so that the location of the tumor can be more accurately determined based on the location of the metal marker.
  • the metal marker can be pure gold and can be easily distinguished from radiographic images due to its very small size, only 0.6 to 0.8 mm in diameter and 3 to 4 mm in length and high density;
  • the material is very stable, it will not move after implantation in body tissue, and can be normally wrapped by tissue for fibrosis without any impact on the patient's body.
  • the position of one or more metal markers can be determined in the radiological image first, and the metal markers move with the tumor movement; then according to the positions of the metal markers, the corresponding Compare the planned area indicated by the target reference image, monitor the positional changes of multiple metal markers (ie, target objects) relative to the planned area, so as to determine the positional change of the tumor relative to the planned area, and then monitor whether the tumor exceeds the planned area in real time .
  • the target object when the target object is a body tissue, such as the diaphragm of patient B, whether the target object passes through the motion reference line within a period of time can be monitored in real time.
  • the diaphragmatic radiographic image of patient B can be acquired in real time, and then the diaphragm radiographic image of patient B can be compared with the acquired target reference image of the diaphragm of patient B to monitor the breathing state of patient B in real time.
  • the monitoring results may be output for the doctor to view and perform corresponding operations.
  • the method further includes: outputting real-time monitoring results, where the real-time monitoring results are used to indicate real-time position changes of the target object relative to the planned area.
  • the real-time monitoring results can be output by voice or display, for example: if the target object moves in the planned area, a voice such as "moves normally” or "in the planned area" can be broadcast; Information such as "normal movement” is displayed on the doctor's computer; alternatively, the real-time monitoring results can be displayed on the doctor's computer, and the target object can be highlighted, for example, the outline of the stomach tumor of patient A is displayed as bright In yellow, the planned area is displayed in green, making it easier for the physician to observe the real-time position of the bright yellow tumor relative to the green planned area.
  • Figure 2 is a schematic diagram of a target object (metal marker) exceeding the planned area. If it is determined that the target object exceeds the planned area, the doctor's computer can actively send an interruption instruction to instruct the radiotherapy equipment to interrupt the treatment. It is understood that, Interruption represents a pause, and after the target subject has returned to the planned area, treatment can continue.
  • there are multiple metal markers three examples are shown in FIG. 2 ), that is, there are multiple target objects.
  • the metal markers are at the edge of the tumor, when at least one metal marker exceeds the planned area, it indicates that the tumor also exceeds the planned area, so an interruption instruction needs to be sent to instruct the radiotherapy equipment to interrupt the treatment.
  • the real-time monitoring results can also be output by means of display, and the target objects beyond the planned area and the target objects within the planned area can be displayed differently.
  • the metal markers that exceed the planned area may be displayed in dark color, and the metal markers that do not exceed the planned area may be displayed in light color. Distinctive display of metal markers allows doctors to see the extent of the target object beyond the planned area.
  • the unit length can be 1cm, 1mm, etc., which can be set according to the actual situation. This is not limited.
  • the metal marker can be placed at the center of the tumor. Assuming that the direction of the tumor movement is positive when it faces the head and negative when it faces the feet, the center point of the tumor is set as the coordinate (0,0), and the direction of the head and feet is the vertical axis.
  • the predetermined movement range of the tumor on the vertical axis is -5 to 5, the planned area of the metal marker cannot exceed -1 to 1 at any angle, here, of course, this is just an exemplary illustration, and does not mean that the application is limited to this.
  • FIG. 3 it is a schematic diagram of the movement range of a target object (diaphragm is used as an example in the figure).
  • an interrupt instruction is sent to Indicates that the radiation therapy device is interrupted.
  • the time length of one cycle can be defined by yourself.
  • the time length of one cycle can be the time length of one breath, and the motion reference line is used to indicate the movement of the diaphragm through the minimum amplitude. Location. If the diaphragm does not cross the motion reference line within a period of time, it means that the movement of the diaphragm is too small, and if the target object exceeds the planned area, it means that the movement of the target object is too large.
  • the target reference image includes the planning area, which covers the maximum movement range of the diaphragm, as shown in Figure 3, the bottom curve Represents the diaphragm, the middle curve represents the position where the diaphragm should pass through the smallest amplitude during exhalation under normal conditions, that is, the motion reference line, and the top dashed line represents the maximum range of motion of the diaphragm during exhalation under normal conditions , which is the boundary of the planning area.
  • the planning area in this embodiment is the area enclosed by the uppermost dotted line and the lowermost diaphragm
  • the middle curve is the above-mentioned motion reference line.
  • the diaphragm is at the uppermost during exhalation.
  • the area between a dashed line and the motion reference line, and when the diaphragm is below the motion reference line during inspiration, is normal.
  • the diaphragm of patient B does not cross the motion reference line within the length of one cycle, it means that the amplitude of the diaphragm movement is too small, or the diaphragm of patient B exceeds the planned area within the length of one cycle , it means that the movement range of the target object is too large; then an interrupt instruction can be sent to instruct the radiotherapy equipment to interrupt.
  • the monitoring may continue for a preset period of time, and when it is determined that the target object still exceeds the planned area or the number of times that the target object exceeds the planned area is greater than the preset number of times , the interrupt command is sent.
  • the interruption instruction is sent again to indicate radiotherapy.
  • the device interrupts treatment and can protect the patient by turning off the beam, then moving the couch to move the tumor into the irradiation range. If the stomach tumor of patient A in the radiological image acquired after 5 s returns to the planned area, the treatment can be continued without interruption of the treatment.
  • the treatment is stopped.
  • Scenario 2 The target object exceeds the planned area for a long time.
  • the above-mentioned number of times of exceeding, the length of exceeding time, and the exceeding distance may be set according to the doctor's experience, which is not limited in this embodiment.
  • the treatment is stopped, thereby avoiding unnecessary irradiation damage to the patient.
  • the radiological image can also be acquired in real time using a double-layer detector.
  • a 360-degree image acquisition of the stomach tumor of patient A can be performed with a double-layer detection plate to obtain radiological images from multiple angles.
  • the upper plate of the double-layer detector can be a low-energy detector
  • the lower plate can be a high-energy detector.
  • One X-ray at a certain angle can obtain two radiological images at the same time, one focusing on obtaining bone images, and the other focusing on obtaining bone images.
  • Soft tissue images For example, images can be acquired from four angles of 45 degrees, 90 degrees, 180 degrees, and 360 degrees, and 8 radiological images at 4 angles can be obtained, each angle corresponds to an image group, including 2 radiological images .
  • one of the radiological images can be selected, and the image of the body tissue in the radiological image that affects the tumor image can be determined, for example, if the bone image in the radiological image shows an Influence, adjust the gray value of the radiological image so that the gray value of the bone image in the two radiographic images is the same; then the gray value of the corresponding pixels of the two radiological images can be subtracted to eliminate the bone image.
  • the bone image that affects the tumor display is eliminated, and the above four image groups (four angles) corresponding to the image are obtained.
  • the 4 tumor images of the 4 tumor images; the positional changes of the tumor relative to the planned area can be monitored through the 4 tumor images and the target reference image at the corresponding angle.
  • the grayscale value of one of the radiological images may be adjusted by multiplying the weight, so that the grayscale value of the body tissue image affecting the tumor image in the two radiological images is the same. For example, if the gray value of the bone image in one of the above two radiographic images is 2 and the gray value of the other bone image is 20, the gray value of the radiographic image with the gray value of 2 can be multiplied by With a weight of 10, the gray value of the bone image in the radiological image with the gray value of 2 also becomes 20.
  • a clear target image containing the tumor image is finally obtained, and then the position of the tumor can be determined based on the target image, so that radiotherapy can be performed accurately and additional irradiation damage is avoided.
  • an embodiment of the present application provides an electronic device for executing the image recognition method described in any of the foregoing embodiments.
  • the electronic device includes: this
  • the embodiments of the application provide an electronic device, including: a processor (processor) 402; and a memory (memory) (memory) 404 configured to store computer-executable instructions, when the computer-executable instructions are executed, the processor 402 can implement any function of the present application.
  • a processor processor
  • memory memory
  • the electronic device may further include a bus 406 and a communication interface (Communications Interface) 408, and the processor 402, the communication interface 408, and the memory 404 communicate with each other through the communication bus 406.
  • Communication Interface Communication Interface
  • a communication interface 408 for communicating with other devices.
  • the processor 402 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.
  • the one or more processors included in the electronic device may be the same type of processors, such as one or more CPUs; or may be different types of processors, such as one or more CPUs and one or more ASICs.
  • the memory 404 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.
  • the embodiments of the present application provide a storage medium, where the storage medium stores computer-executable instructions, and the computer-executable instructions, when executed, implement the methods described in any of the embodiments of the present application. method.
  • a typical implementation device is a computer.
  • the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or A combination of any of these devices.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flows of the flowcharts and/or the block or blocks of the block diagrams.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include forms of non-persistent storage in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.
  • the embodiments of the present application may be provided as a method, a system or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • the application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer.
  • program modules include routines, programs, objects, components, data structures, etc. that perform particular transactions or implement particular abstract data types.
  • the application may also be practiced in distributed computing environments where transactions are performed by remote processing devices that are linked through a communications network.
  • program modules may be located in both local and remote computer storage media including storage devices.

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Abstract

一种实时位置监测方法，所述方法包括：实时获取放射图像（101）；获取目标参考图像（102）；根据所述放射图像和所述目标参考图像，实时监测所述目标对象相对于所述计划区域的位置变化（103）。

Description

实时位置监测方法、电子设备、系统及存储介质 技术领域
本申请涉及人医学位置监测技术领域，尤其是涉及一种实时位置监测方法、电子设备、系统及存储介质。
背景技术
放射治疗(简称放疗)是治疗肿瘤的一种重要手段，利用高能射线杀死人体组织中的肿瘤。
但是，人体非刚体，人体器官由于生理运动、组织结构变化造成的误差可能导致放疗过程中的肿瘤“脱靶”现象，如呼吸运动、小肠蠕动、膀胱充盈、器官形变等。因此，需要对人体器官的运动进行监测，以减小高能射线对肿瘤周围正常组织的损害。
发明内容
有鉴于此，本发明实施例所解决的技术问题之一在于提供一种实时位置监测方法、电子设备、系统及存储介质，用以克服上述缺陷。
第一方面，本申请实施例提供一种实时位置监测方法，包括：
实时获取放射图像，所述放射图像包括目标对象；
获取目标参考图像，所述目标参考图像用于指示所述目标对象的计划区域；
根据所述放射图像和所述目标参考图像，实时监测所述目标对象相对于所述计划区域的位置变化。
第二方面，本申请实施例提供一种电子设备，包括：处理器；以及被配置成存储计算机可执行指令的存储器，计算机可执行指令在被执行时使处理器实现本申请任一实施例中所描述的方法。
第三方面，本申请实施例提供一种实时位置监测系统，包括：放疗设备以及处理器，所述放疗设备包括：射线源，支撑装置，与所述射线源对应的探测；
所述射线源用于发射射线；
所述支撑装置用于支撑待测对象；
所述探测器用于接收所述射线源发射的穿过所述对象的射线，并形成包含所述目标对象的放射图像；
所述处理器，用于根据所述放射图像和对应的目标参考图像，监测所述目标对象相对于计划区域的位置变化，所述目标参考图像用于指示所述目标对象的所述计划区域。
第四方面，本申请实施例提供一种存储介质，存储介质存储有计算机可执行指令，计算机可执行指令在被执行时实现本申请任一实施例中所描述的方法。
本申请实施例提供的一种实时位置监测方法、电子设备、系统及存储介质，实时获取放射图像，所述放射图像包括目标对象；获取目标参考图像，所述目标参考图像用于指示所述目标对象的计划区域；根据所述放射图像和所述目标参考图像，实时监测所述目标对象相对于所述计划区域的位置变化。由于本申请的目标参考图像可以用于指示目标对象的计划区域，因此通过将实时获取的放射图像与目标参考图像进行匹配，能够准确确定当前放射图像中目标对象与计划区域的位置关系，然后可以根据该位置关系进行相对应的操作，例如：若目标对象在计划区域内时，可以精确地实施放疗；或者，若目标对象超出计划区域后，可以采取相关操作如关闭照射光束，或者暂停治疗等，避免多余的照射对患者造成伤害。
附图说明
后文将参照附图以示例性而非限制性的方式详细描述本申请实施例的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解，这些附图未必是按比值绘制的。附图中：
图1A为本申请实施例提供的一种实时位置监测系统示意图；
图1B为本申请实施例提供的一种实时位置监测方法的流程图；
图2为本申请实施例提供的一种金标超出计划区域的显示示意图；
图3为本申请实施例提供的横膈膜运动范围示意图；
图4为本申请实施例提供的一种电子设备的结构图示意图。
具体实施方式
为了便于理解本申请实施例提供的实时位置监测方法，此处，列举一个具体场景进行描述，例如，临床中，治疗肿瘤的主要方式包括手术治疗、化疗及放疗。放疗相比于其他两种治疗方式具有放疗器官功能得到保留等多种优势，并可提高患者的生活质量。放疗过程中，由于正常组织受照后的恢复以及癌变 组织和正常组织对辐射的敏感度等因素，往往需要进行分次照射。受照组织或器官在放疗过程中和放疗分次间会出现结构变化并造成摆位误差。在分次放疗的不同时间，靶区形状和位置有所不同。若不能准确的监测肿瘤的实时位置，进而导致不能精确地实施放疗，会对肿瘤周围正常组织造成损害。
鉴于此，本申请提供了一种实时位置监测方法用以克服上述问题。首先对本申请的实时位置监测方法所应用的系统进行介绍：
本申请实施例提供一种实时位置监测系统，如图1A所示，包括放疗设备以及处理器，其中，放疗设备包括：射线源10，支撑装置11，与所述射线源10对应的探测器12。
其中，射线源10用于发射射线；支撑装置11用于支撑待测对象；探测器12用于接收射线源10发射的穿过上述待测对象的射线，并形成包含目标对象的放射图像；上述处理器用于根据放射图像和对应的目标参考图像，监测目标对象相对于计划区域的位置变化，目标参考图像用于指示目标对象的计划区域。
上述射线源10发射的射线可以是α射线、β射线、或者γ射线等，支撑装置11可以支撑待测对象例如患者，使得患者处于射线源10以及与射线源10对应的探测器12之间，在获取患者患病组织的图像时，可以通过射线源10发射穿过患者身体的患病组织的射线，探测器接收到射线后，形成包含患者患病组织图像的放射图像。
在一种可选的实施方式中，射线源10为球管，探测器12为平板探测器。其中，球管可以发射KV级射线，当使用KV级平板探测器接收射线时，将形成KV级放射图像。这里，球管可以发出的锥形射束与平板探测器构成锥形束CT(Cone Beam CT，CBCT)。
在本实施例中，示例性地，当射线源10为球管时，则通过球管发射X射线，照射患者甲的胃部肿瘤，X射线穿过患者甲后，进入平板探测器，基于患者的不同身体组织对X射线的能量吸收不同的原理，形成患者甲的胃部肿瘤的放射图像。
在另一种可选的实施方式中，射线源10为治疗头，探测器为电子摄野影像装置(Electronic Portal Imaging Device，EPID)。在对待测对象进行治疗的过程中，获取包含目标对象的放射图像。其中，治疗头可以发射MV级射线，当使用EPID接收射线时，将形成MV级放射图像。这里，治疗头可以为伽玛刀治疗头、加速器治疗头、质子治疗头等等中的一种或多种。
在本实施例中，类似地，当射线源10为治疗头时，则通过治疗头发射射线，射线穿过患者后进入电子射野影像装置EPID，基于患者的不同身体组织对射线的能量吸收不同的原理，形成患者的放射图像。
基于上述实时位置监测系统，本申请实施例提供一种实时位置监测方法，如图1B所示，图1B为本申请实施例提供的一种实时位置监测方法的流程图。该实时位置监测方法包括以下步骤：
步骤101、实时获取放射图像。
其中，放射图像可以是利用放疗设备的射线源和探测器，从不同角度实时获取的图像。
上述放射图像中包括目标对象，该目标对象包括放射图像中的肿瘤、身体组织和金属标记物中的至少一项。可以理解，目标对象对应的实体为实时监测的对象，例如可以是目标对象体内的肿瘤、身体组织和金属标记物中的至少一项。
示例性地，若需要对患者甲的胃部肿瘤进行成像，那么，可以利用图1A中的射线源发射射线，射线穿过患者甲的胃部肿瘤，进入与射线源对应的探测器中形成患者甲的胃部肿瘤放射图像。需要说明的是，图1A中的射线源以及其对应的探测器可以围绕患者甲进行旋转，使得能够从不同角度实时获取患者甲的胃部肿瘤放射图像。
可选地，还可以通过三维成像模式或者二维成像模式，实时获取放射图像。三维成像模式可以是通过成像设备例如锥形束CT、螺旋CT、核磁等进行成像，以得到三维放射图像；二维成像模式可以是通过成像设备例如X光机、透视机、锥形束CT等进行成像，得到二维放射图像，也可以是通过通过成像设备例如锥形束CT、螺旋CT、核磁等进行成像，并对得到三维放射图像进行处理，得到二维放射图像。采用三维的锥形束X线扫描和二维的平板探测器，X线球管围绕待测对象做环形投照，可以环形旋转180度或者360度，然后将二维的投照数据重建形成三维图像。相比于传统CT，锥形束CT具有扫描速度快、空间分辨率高、射线利用率高、辐射剂量小等优点。
可选地，还可以利用接收治疗束的电子射野影像装置EPID实时获取放射图像。例如，可以利用荧光类型的EPID、固体探测器类型的EPID、或者液体电离室类型的EPID实时获取放射图像。通过EPID实时获取的放射图像分辨率较高。
步骤102、获取目标参考图像。
其中，目标参考图像可以用于指示上述目标对象的计划区域，目标参考图像与放射图像对应同一患者，即，若步骤101获取的是患者甲的胃部肿瘤放射图像，那么目标参考图像也是预先拍摄的患者甲的胃部肿瘤放射图像，用于制作治疗计划。计划区域为目标对象运动的安全区域，可以是ITV(Internal Target Volume，内靶区)或者PTV(Planning Target Volume，计划靶区)，目标对象在计划区域内运动时，表明目标对象的运动正常，目标对象的运动超出计划区域时，表明目标对象的运动出现异常。
可选地，为了确保监测的实时性，实时获取的放射图像与当获取的放射图像为二维图像，例如CBCT图像时，目标参考图像可以是三维投影的与步骤101实时获取的放射图像角度对应的数字重建放射影像(Digitally Reconstructured Radiograph，DRR)图像。DRR图像是3D图像，当需要与获取的放射图像进行配准时，需要降低3D图像的维数到二维，然后再进行配准。通过对DRR图像进行三维投影获得的目标参考图像，可以是360度任意一个角度投影得到的图像，例如，可以是将DRR图像进行360度角度的投影，每间隔1度进行一次投影，得到360张图像。可以理解，若步骤101中获取的当前放射图像是在75度角度获取的，那么可以从360张图像中选择出75度角度投影的图像，作为当前放射图像的目标参考图像。
步骤103、根据所述放射图像和所述目标参考图像，实时监测所述目标对象相对于所述计划区域的位置变化。
在一种实施方式中，可以在放射图像中确定目标对象的位置；然后根据目标对象的位置，与对应的目标参考图像指示的计划区域比较，监测目标对象相对于计划区域的位置变化，以实时监测目标对象是否超出计划区域。
在本实施例中，示例性地，目标对象为肿瘤，可以利用现有的图像处理方法对放射图像中的肿瘤的位置进行计算，从而获得肿瘤在放射图像中的位置信息；通过将该位置信息与对应的目标参考图像指示的计划区域比较进行比较，可以得到肿瘤相对于计划区域的位置变化，进而可以实时监测肿瘤是否超出计划区域。在另一种示例中，目标对象不是肿瘤，目标对象和肿瘤在空间上有位置对应关系，可以利用位置变换模型，根据肿瘤的运动范围确定目标对象的计划区域，利用目标对象对肿瘤进行监测时，监测目标对象是否在计划区域内，就可以相应确定肿瘤是否在其运动范围之内。
可选地，还可以确定肿瘤附近的身体组织作为参考对象；根据肿瘤与参考对象的实际位置关系，然后基于参考对象在放射图像中的位置，确定肿瘤的位置。
在本实施例中，可以在做计划时预先判断是否能够通过其他器官或身体组织来间接确定肿瘤的位置，若可以，则预先计算出肿瘤与参考对象的实际位置关系，例如：若横膈膜可以作为参考对象，则需要在做计划时确定横膈膜与肿瘤的实际位置关系。然后基于放射图像中横膈膜的位置，以及横膈膜与肿瘤的位置关系，计算得到肿瘤的位置。本实施例能够在放射图像中肿瘤的位置不明显的情况下，借助参考对象来间接确定肿瘤的位置，使得在治疗过程中可以实时对肿瘤进行跟踪或监测，避免了额外的放射伤害。示例性的，若肿瘤是直径为2cm的圆形区域，肿瘤的计划区域为以肿瘤圆心为圆心，半径为1.6cm的圆形区域；对应的，可以根据肿瘤区域与其对应的计划区域的关系，确定器官或身体组织的计划运动区域。可以理解，能够通过判断器官或身体组织——例如横膈膜的运动是否超出计划运动区域，来判断肿瘤是否超出计划区域。
作为另一种可选地实施方式，可以将放射图像与目标参考图像进行配准，以实时监测目标对象相对于计划区域的位置变化，得到监测结果。例如，可以是掩膜配准，首先采用人工或者自动的方法检测目标参考图像以及放射图像中的不变特征(控制点)，如：闭合区域、边缘、轮廓、角点等，然后通过特征描述算法及相似性度量来建立所提取的特征之间的对应关系，接着根据放射图像与目标参考图像之间的几何畸变的情况，选择能最佳拟合两张图像之间变化的几何变换模型，将放射图像做对应的参数变换，使其与目标参考图像处于同一个坐标系下，进而实现放射图像与目标参考图像的配准。示例性地，若当前获取的放射图像为患者甲的胃部肿瘤放射图像A，成像角度为90度，则可以将患者甲的胃部肿瘤放射图像A与从步骤102中选取的、投影角度为90度的患者甲的胃部肿瘤目标参考图像B进行配准，可以首先分别获取放射图像A以及目标参考图像B中的控制点，然后通过特征描述算法及相似性度量来建立放射图像A的控制点与目标参考图像B的控制点之间的对应关系，接着根据放射图像A与目标参考图像B之间的几何畸变的情况，确定几何变换模型，并将放射图像A做对应的参数变换，使放射图像A与目标参考图像B处于同一个坐标系，进而实现放射图像A与目标参考图像B的配准。然后根据配准情况实时监测放射图像中胃部肿瘤相对于计划区域的位置变化，进而可以实时监测患者甲 的胃部肿瘤是否超出计划区域。
在一实施例中，目标对象为金属标记物，且金属标记物为至少1个。可以通过检测金属标记物的运动情况，实时监测肿瘤是否超出计划区域。医生可以在治疗前对患者的肿瘤内植入多个金属标记物，例如可以植入3个非共线的金属标记物，如图2所示，优选地，可以将金属标记物植入肿瘤边缘处，金属标记物随肿瘤的运动而运动，使得能够基于金属标记物的位置更加准确地确定肿瘤的位置。金属标记物可以是纯金的，由于其体积非常小，直径可以只有0.6～0.8毫米，长度可以为3～4毫米，密度很大，因此很容易能够从放射图像中区别出来；并且，金属标记物非常稳定，植入身体组织后不会运动，能够被组织正常包裹纤维化，对患者的身体不产生任何影响。
在基于金属标记物的位置确定肿瘤的位置时，可以首先在放射图像中确定一个或多个金属标记物的位置，金属标记物随肿瘤运动一同运动；然后根据金属标记物的位置，与对应的目标参考图像指示的计划区域比较，监测多个金属标记物(即目标对象)相对于所述计划区域的位置变化，从而确定肿瘤相对于计划区域的位置变化，进而可以实时监测肿瘤是否超出计划区域。
在一实施例中，目标对象为身体组织，例如为患者乙的横膈膜时，可以实时监测目标对象是否在一个周期的时间长度内穿过运动参考线。
由于横膈膜会随着呼吸运动而上下运动，因此可以实时监测横膈膜的运动情况以确认患者乙呼吸是否正常。可以实时获取患者乙的横膈膜放射图像，然后将患者乙的横膈膜放射图像与获取的患者乙的横膈膜目标参考图像进行比较，来实时监测患者乙的呼吸状态。
可选地，可以将监测的结果输出以供医生查看并做相应操作，在步骤103之后，还包括：输出实时监测结果，该实时监测结果用于指示目标对象相对于计划区域的实时位置变化。
示例性地，可以通过语音或者显示的方式输出实时监测结果，例如：若目标对象在计划区域内运动，则可以语音播报例如“运动正常”或者“在计划区域内”这样的语音；或者，在医生的电脑上显示例如“运动正常”这样的信息；或者，还可以将实时监测结果显示在医生的电脑上，并且可以高亮显示目标对象，例如，将患者甲的胃部肿瘤轮廓显示为亮黄色，计划区域显示为绿色，使得便于医生观察亮黄色的肿瘤相对于绿色计划区域的实时位置。
参考图2，图2为一种目标对象(金属标记物)超出计划区域的示意图， 若确定目标对象超出计划区域时，医生的电脑可以主动发送中断指令，以指示放疗设备中断治疗，可以理解，中断表示暂停，在目标对象恢复到计划区域后，可以继续治疗。本实施例中金属标记物为多个(图2中以3个示例)，即目标对象有多个，当确定多个目标对象中的至少一个超出计划区域时，则发送中断指令。可以理解，由于金属标记物在肿瘤边缘，因此当至少一个金属标记物超出计划区域时，则表明肿瘤也超出了计划区域，故需要发送中断指令，以指示放疗设备中断治疗。在本实施例中，同样可以通过显示的方式输出实时监测结果，并可以将超出计划区域的目标对象与在计划区域内的目标对象区别显示。参见图2，超出计划区域的金属标记物可以显示为深色，未超出计划区域的金属标记物可以显示为浅色。将金属标记物区别显示可以便于医生查看目标对象超出计划区域的范围大小。
可选地，在一个实施例中，金属标记物为1个，示例性的，若肿瘤的半径是4个单位长度，单位长度可以是1cm，1mm等，可以根据实际情况设定，本申请对此不作限制。可以将该金属标记物设置在肿瘤的中心点。假设肿瘤运动的方向朝向头部时为正，朝向脚部时为负，肿瘤的中心点为坐标设为(0,0)，头脚方向为纵轴，预先规定肿瘤在纵轴的运动范围为-5到5，则金属标记物的计划区域在任何一个角度的位置不能超出-1到1，此处，当然，此处只是示例性说明，并不代表本申请局限于此。参考图3，为一种目标对象(图中以横膈膜示例)运动范围示意图，可选地，在确定目标对象在一个周期的时间长度内没有穿过运动参考线时，发送中断指令，以指示放疗设备中断。其中，一个周期的时间长度可以自行定义，在监测患者的呼吸状态时，一个周期的时间长度可以为一次呼吸的时间长度，运动参考线用于指示横膈膜在运动最小幅度时所要穿过的位置。如果横膈膜在一个周期的时间长度内，没有穿过运动参考线，则说明横膈膜运动幅度过小，如果目标对象超出计划区域，则说明目标对象运动幅度过大。
以患者乙的放射图像中的横膈膜作为目标对象为例进行说明，目标参考图像中包括计划区域，该计划区域覆盖了横膈膜的最大运动范围，如图3所示，最下面一条曲线表示横膈膜，中间的曲线表示横膈膜正常情况下呼气时最小的幅度应该穿过的位置，即运动参考线，最上面的虚线表示横膈膜正常情况下呼气时最大的运动范围，即计划区域的边界。可以理解，本实施例中的计划区域为最上面一条虚线与最下面的横膈膜围成的区域，中间的曲线即为上述运动参 考线，应当明了，在呼气时横膈膜处于最上面一条虚线和运动参考线中间的区域，并且在吸气时横膈膜处于运动参考线下方时，属于正常情况。当患者乙的横膈膜在一个周期的时间长度内，没有穿过运动参考线，则说明横膈膜运动幅度过小，或者，患者乙的横膈膜在一个周期的时间长度内超出计划区域，则说明目标对象运动幅度过大；则可以发送中断指令，以指示放疗设备中断。
在另一种可选的实施方式中，若确定目标对象超出计划区域时，可以继续监测预设时长，当确定目标对象仍超出计划区域或者确定所述目标对象超出计划区域的次数大于预设次数，则发送中断指令。示例性地，若当前获取的放射图像中已经确认患者甲的胃部肿瘤超出计划区域，可以继续监测患者甲的胃部肿瘤的运动情况，若在预设时长后，例如8s后，获取的放射图像中患者甲的胃部肿瘤仍然超出计划区域，或者，8s内患者甲的胃部肿瘤超出计划区域的次数大于预设次数(例如2次)时，则再进行中断指令的发送，以指示放疗设备中断治疗，并可以通过关闭射线来实现对患者的保护，然后通过移动治疗床将肿瘤移动至照射范围内。若5s后获取的放射图像中患者甲的胃部肿瘤返回计划区域，则继续治疗，无需中断治疗。
可选地，若确定目标对象不能返回计划区域，则停止治疗。
在本实施例中，若出现以下情形至少之一，则确定目标对象不能返回计划区域，并停止治疗：
情形一、目标对象超出计划区域的次数较多。
情形二、目标对象超出计划区域的时长较长。
情形三、目标对象超出计划区域的距离较大。
其中，上述超出次数以及超出时长、超出距离均可以根据医生的经验进行设置，本实施例不做限制。
在上述实施例中，当确定目标对象不能返回计划区域时停止治疗，避免了对病人造成的多余照射伤害。
在一种实施方式中，具体还可以利用双层探测器实时获取放射图像。可以利用双层探测板对患者甲的胃部肿瘤进行360度图像采集，以获取多个角度的放射图像。其中，双层探测器的上层板可以为低能探测器，下层板可以为高能探测器，某个角度打一次X光能够同时获得两张放射图像，一张侧重获取骨头图像，另一张侧重获取软组织图像。例如：可以分别从45度，90度，180度，360度这四个角度下采集图像，则可以得到4个角度下的8张放射图像，每个 角度对应一个图像组，包括2张放射图像。然后针对每个图像组中的两张放射图像，可以选择其中一张放射图像，确定该放射图像中对肿瘤图像有影响的身体组织图像，例如，若该放射图像中的骨头图像对肿瘤显示有影响，则调整该放射图像的灰度值，使得两张放射图像中的骨头图像的灰度值相同；然后可以将两张放射图像对应像素的灰度值相减，即可消除骨头图像对肿图像的影像，得到较为清晰的肿瘤图像，可以理解，将两张放射图像对应像素的灰度值相减后消除了影响肿瘤显示的骨头图像，得到了上述4个图像组(4个角度)对应的4张肿瘤图像；可以通过这4张肿瘤图像和对应角度下的目标参考图像，监测肿瘤相对于计划区域的位置变化。
具体地，可以通过乘以权重来调整其中一张放射图像的灰度值，使得两张放射图像中对肿瘤图像有影响的身体组织图像的灰度值相同。例如，若上述2张放射图像中，其中一张的骨头图像的灰度值为2，另一张的骨头灰度值为20，则可以将灰度值为2的放射图像的灰度值乘以权重10，使得灰度值为2的放射图像中的骨头图像的灰度值也变为20。
上述实施例通过排除干扰肿瘤图像的信息，最终得到清晰的包含肿瘤图像的目标图像，进而可以基于目标图像确定肿瘤的位置，使得放疗能够精确的实施，避免了额外的照射伤害。
基于上述实施例所描述的实时位置监测方法，本申请实施例提供了一种电子设备，用于执行上述任一实施例所描述的图像识别方法，如图4所示，该电子设备包括：本申请实施例提供一种电子设备，包括：处理器(processor)402；以及被配置成存储计算机可执行指令的存储器(memory)404，计算机可执行指令在被执行时使处理器402实现本申请任一实施例中所描述的方法。
可选地，该电子设备还可以包括总线406及通信接口(Communications Interface)408，处理器402、通信接口408、以及存储器404通过通信总线406完成相互间的通信。
通信接口408，用于与其它设备进行通信。
处理器402可以是中央处理器CPU，或者是特定集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本发明实施例的一个或多个集成电路。电子设备包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个ASIC。
存储器404，可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
基于上述实施例所描述的实时位置监测方法，本申请实施例提供一种存储介质，存储介质存储有计算机可执行指令，计算机可执行指令在被执行时实现本申请任一实施例中所描述的方法。
至此，已经对本主题的特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作可以按照不同的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序，以实现期望的结果。在某些实施方式中，多任务处理和并行处理可以是有利的。
上述实施例阐明的方法，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机。具体的，计算机例如可以为个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任何设备的组合。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器 (RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定事务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本申请，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行事务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。 尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (20)

  1. 一种实时位置监测方法，其特征在于，所述方法包括：
    实时获取放射图像，所述放射图像包括目标对象；
    获取目标参考图像，所述目标参考图像用于指示所述目标对象的计划区域；
    根据所述放射图像和所述目标参考图像，实时监测所述目标对象相对于所述计划区域的位置变化。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    输出实时监测结果，所述实时监测结果用于指示所述目标对象相对于所述计划区域的实时位置变化。
  3. 根据权利要求2所述的方法，其特征在于，所述输出实时监测结果包括：
    通过语音或者显示的方式输出所述实时监测结果。
  4. 根据权利要求3所述的方法，其特征在于，在通过显示的方式输出所述实时监测结果的情况下，高亮显示所述目标对象。
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述放射图像和所述目标参考图像，实时监测所述目标对象相对于所述计划区域的位置变化，包括：
    实时监测所述目标对象是否超出所述计划区域；和/或，实时监测所述目标对象是否在一个周期的时间长度内穿过运动参考线。
  6. 根据权利要求5所述的方法，其特征在于，
    在实时监测所述目标对象是否超出所述计划区域的情况下，或者，在实时监测所述目标对象是否超出所述计划区域和所述目标对象是否在一个周期的时间长度内穿过运动参考线的情况下，所述方法还包括：
    确定所述目标对象超出所述计划区域时，发送中断指令，以指示放疗设备中断；
    在实时监测所述目标对象是否在一个周期的时间长度内穿过运动参考线的情况下，所述方法还包括：
    确定所述目标对象在一个周期的时间长度内没有穿过运动参考线时，发送中断指令，以指示放疗设备中断。
  7. 根据权利要求6所述的方法，其特征在于，所述确定所述目标对象超出所述计划区域时，发送中断指令包括：
    确定所述目标对象超出所述计划区域时，继续监测预设时长，确定所述目标对象仍超出所述计划区域或者确定所述目标对象超出计划区域的次数大于预 设次数，则发送中断指令。
  8. 根据权利要求5所述的方法，其特征在于，所述目标对象为多个的情况下，所述确定所述目标对象超出所述计划区域时，发送中断指令；包括：
    确定多个目标对象中的至少一个超出所述计划区域时，发送中断指令。
  9. 根据权利要求8所述的方法，其特征在于，确定所述目标对象超出所述计划区域时，还包括：
    将超出所述计划区域的目标对象与在计划区域内的目标对象区别显示。
  10. 根据权利要求1所述的方法，其特征在于，所述根据所述放射图像和所述目标参考图像，实时监测所述目标对象相对于所述计划区域的位置变化，包括：
    将所述放射图像与所述目标参考图像进行配准，实时监测所述目标对象相对于所述计划区域的位置变化。
  11. 根据权利要求1所述的方法，其特征在于，所述目标对象包括所述放射图像中的肿瘤、身体组织和金属标记物中的至少一项。
  12. 根据权利要求11所述的方法，其特征在于，所述金属标记物为至少1个。
  13. 根据权利要求1所述的方法，其特征在于，所述根据所述放射图像和所述目标参考图像，监测所述目标对象相对于所述计划区域的位置变化，包括：
    在所述放射图像中确定所述目标对象的位置；
    根据所述目标对象的位置，与对应的所述目标参考图像指示的计划区域比较，监测所述目标对象相对于所述计划区域的位置变化。
  14. 根据权利要求13所述的方法，其特征在于，所述目标对象包括1个或多个金属标记物的情况下，所述在所述放射图像中确定所述目标对象的位置，包括：
    在所述放射图像中确定1个或多个金属标记物的位置；
    根据所述金属标记物的位置，与对应的所述目标参考图像指示的计划区域比较，监测所述目标对象相对于所述计划区域的位置变化。
  15. 根据权利要求1所述的方法，其特征在于，所述实时获取放射图像，包括：
    通过三维成像模式或者二维成像模式，实时获取放射图像。
  16. 根据权利要求1所述的方法，其特征在于，所述实时获取放射图像， 包括：
    利用接收治疗束的电子射野影像装置EPID实时获取放射图像。
  17. 根据权利要求1所述的方法，其特征在于，所述放射图像为KV级或者MV级图像。
  18. 一种电子设备，其特征在于，包括：处理器；以及被配置成存储计算机可执行指令的存储器，所述计算机可执行指令在被执行时使所述处理器实现上述权利要求1-17中任一项所述的方法。
  19. 一种实时位置监测系统，其特征在于，包括：放疗设备以及处理器，所述放疗设备包括：射线源，支撑装置，与所述射线源对应的探测器；其中，
    所述射线源用于发射射线；
    所述支撑装置用于支撑待测对象；
    所述探测器用于接收所述射线源发射的穿过所述待测对象的射线，并形成包含目标对象的放射图像；
    所述处理器，用于根据所述放射图像和对应的目标参考图像，监测所述目标对象相对于计划区域的位置变化，所述目标参考图像用于指示所述目标对象的所述计划区域。
  20. 一种非易失性存储介质，其特征在于，所述存储介质存储有计算机可执行指令，所述计算机可执行指令在被执行时实现上述权利要求1-17中任一项所述的方法。
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