WO2022141150A1 - 位置调整方法、头显设备及放疗系统 - Google Patents

位置调整方法、头显设备及放疗系统 Download PDF

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Publication number
WO2022141150A1
WO2022141150A1 PCT/CN2020/141225 CN2020141225W WO2022141150A1 WO 2022141150 A1 WO2022141150 A1 WO 2022141150A1 CN 2020141225 W CN2020141225 W CN 2020141225W WO 2022141150 A1 WO2022141150 A1 WO 2022141150A1
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Prior art keywords
image
patient
body surface
head
display device
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PCT/CN2020/141225
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English (en)
French (fr)
Inventor
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 CN202080108273.1A priority Critical patent/CN116710018A/zh
Priority to PCT/CN2020/141225 priority patent/WO2022141150A1/zh
Publication of WO2022141150A1 publication Critical patent/WO2022141150A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations

Definitions

  • the present application relates to the field of medical technology, and in particular, to a position adjustment method, a head-mounted display device, and a radiotherapy system.
  • Radiotherapy is an important means of treating cancer, and radiotherapy equipment is the key medical equipment for radiotherapy.
  • a patient on a patient support device (also called a treatment couch) of the radiotherapy device needs to be positioned so that the center of the patient's tumor coincides with the treatment center of the radiotherapy device .
  • a laser light in a radiotherapy device is usually used to position a patient.
  • the laser light can emit three intersecting laser beams in different directions, and the distance between the intersection of the central axes of the three laser beams in different directions and the treatment center of the radiotherapy equipment is a preset distance.
  • the treatment couch can be moved so that the cross-hair markers on the patient's body surface are respectively coincident with the cross laser lines of the three laser beams.
  • the center of the tumor coincides with the treatment center of the radiotherapy equipment.
  • Embodiments of the present application provide a position adjustment method, a head-mounted display device, and a radiotherapy system. It can solve the problem of low accuracy of positioning a patient by using a laser light in the prior art, and the technical solution is as follows:
  • a position adjustment method applied to a head-mounted display device, and the method includes:
  • the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device, so that the wearer observes the actual position of the target part of the patient with the three-dimensional body surface reference image.
  • body surface reference images to adjust the position of the patient;
  • the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment.
  • the method further includes:
  • the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that in the coordinate system of the head display device, the three-dimensional body surface The reference image coincides with the preset position of the radiotherapy equipment.
  • the method further includes:
  • Adjusting the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device, so that in the coordinate system of the head-mounted display device, the three-dimensional body surface reference image and the preset position of the radiotherapy device Coincidence including:
  • the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that in the coordinate system of the head display device, the three-dimensional body surface reference image corresponds to the height direction of the patient
  • the direction of the radiotherapy apparatus is parallel to the support surface of the patient support device in the radiotherapy apparatus, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy apparatus.
  • the acquiring the first image of the target part of the patient includes:
  • a first image of the patient's target site is obtained from a predetermined treatment plan for the patient.
  • the target part of the patient has a marker
  • the three-dimensional body surface reference image has a marker image corresponding to the marker
  • the three-dimensional body surface reference image is displayed at the preset position of the radiotherapy equipment, so that the wearer can determine the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image. Make adjustments, including:
  • the three-dimensional body surface reference image with the marker image is displayed at a preset position of the radiotherapy apparatus, so that the wearer can tell the patient according to the observed marker and the marker image. position to adjust.
  • the head display device is an augmented reality AR device or a mixed reality MR device
  • the display of the three-dimensional body surface reference image at a preset position of the radiotherapy device includes:
  • the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy device.
  • the head-mounted display device is a virtual reality VR device
  • the display of the three-dimensional body surface reference image at a preset position of the radiotherapy device includes:
  • the three-dimensional body surface reference image is displayed at a preset position of the radiotherapy equipment.
  • the method further includes:
  • the three-dimensional body surface reference image and the three-dimensional body surface real-time image are displayed simultaneously.
  • simultaneously displaying the three-dimensional body surface reference image and the three-dimensional body surface real-time image including:
  • the three-dimensional body surface reference image and the color of the outline of the three-dimensional body surface real-time image are processed into two different colors, the three-dimensional body surface reference image and the three-dimensional body surface are displayed simultaneously Live image.
  • the method further includes: after it is determined that the contour of the three-dimensional body surface real-time image exceeds the contour of the three-dimensional body surface reference image, sending a prompt message.
  • the method further includes: acquiring in real time a fourth image of the patient during the treatment of the patient by the radiotherapy device; and generating a second three-dimensional image of the patient based on the fourth image ; After receiving the switching operation of the display content, simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or display only the second human body three-dimensional image.
  • a head-mounted display device including: a processor and a display;
  • the processor is configured to acquire a first image of the target part of the patient, and based on the first image, generate a three-dimensional body surface reference image of the target part of the patient;
  • the display is used to display the three-dimensional body surface reference image at a preset position of the radiotherapy device through the control of the processor after the wearer wears the head-mounted display device, so that the wearer can display the three-dimensional body surface reference image according to the observed
  • the actual position of the target part of the patient and the three-dimensional body surface reference image are used to adjust the position of the patient;
  • the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment.
  • the processor is also used for:
  • the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that in the coordinate system of the head display device, the three-dimensional body surface The reference image coincides with the preset position of the radiotherapy equipment.
  • the processor is also used for:
  • the position of the three-dimensional body surface reference image is adjusted in the coordinate system of the head display device, so that in the coordinate system of the head display device, the three-dimensional body surface reference image corresponds to the height direction of the patient
  • the direction is parallel to the support surface of the patient support device, and the target point of the three-dimensional volume image is coincident with the isocenter of the radiotherapy equipment.
  • a radiotherapy system including: radiotherapy equipment and head-mounted display equipment;
  • the radiotherapy equipment includes a patient support device for carrying a patient;
  • the head display device is the above head display device.
  • the head display device is an AR device or an MR device, and the head display device has a camera;
  • the processor in the head-mounted display device is configured to determine the positional relationship between the head-mounted display device and the radiotherapy device based on the image of the radiation therapy device obtained by the camera, and based on the relationship between the head-mounted display device and the radiation therapy device.
  • the positional relationship between the radiotherapy equipment control the display in the head-mounted display equipment to display the three-dimensional body surface reference image, so that the three-dimensional body surface reference image displayed on the display coincides with the preset position of the radiotherapy equipment .
  • the head-mounted display device is a VR device
  • the radiotherapy system further includes:
  • a plurality of first optical cameras configured to collect a second image of the patient located on the patient support device in real time, and send the second image to the processor of the head display device in real time;
  • the processor is configured to generate a first three-dimensional human body image of the patient based on the second image, and control the display of the head display device to simultaneously display the three-dimensional body surface reference image and the first three-dimensional human body image image.
  • the radiotherapy system further includes:
  • An image acquisition device used for real-time acquisition of a third image of the target site of the patient during the treatment of the patient by the radiotherapy device, and real-time sending of the third image to the head-mounted display device for processing device;
  • the processor is configured to generate a real-time three-dimensional body surface image of the target part of the patient based on the third image, and control the display of the head-mounted display device to display the three-dimensional body surface reference image and the three-dimensional body surface at the same time Live image of body surface.
  • the radiotherapy system further includes:
  • a plurality of second optical cameras used for real-time acquisition of a fourth image of the patient during the treatment of the patient by the radiotherapy device, and real-time sending of the fourth image to the head-mounted display device for processing device;
  • the processor is configured to generate the second human body 3D image of the patient based on the fourth image, and after receiving the switching operation of the display content, control the display to display the 3D body surface reference image and the 3D body surface reference image at the same time.
  • the three-dimensional body surface real-time image, or, only the second human body three-dimensional image is displayed.
  • the radiotherapy system further comprises: a medical corset for the patient to wear.
  • the three-dimensional body surface reference image of the target part of the patient is generated by the head display device, and after the wearer wears the head display device, the head display device can display the three-dimensional body surface reference image at a preset position of the radiotherapy device. Since the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment, the wearer observes the actual position of the target part of the patient according to the actual position of the patient's target part and the three-dimensional body surface.
  • the position of the patient is adjusted so that when the target part of the patient coincides with the three-dimensional body surface reference image of the target part of the patient, the target point of the patient coincides with the isocenter of the radiotherapy equipment, and the treatment can be completed. Positioning of the patient. In this way, the positioning of the patient can be achieved without using a laser light, which effectively improves the accuracy of positioning the patient, thereby improving the effect of subsequent treatment of the patient with the radiotherapy device.
  • FIG. 1 is a schematic structural diagram of a radiotherapy system involved in a position adjustment method provided in an embodiment of the present application
  • FIG. 2 is a flowchart of a position adjustment method provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of another method for position adjustment provided by an embodiment of the present application.
  • FIG. 4 is an effect diagram of a screen viewed by a wearer after a wearer wears a head-mounted display device provided by an embodiment of the present application;
  • FIG. 5 is a structural block diagram of a head display device provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of another radiotherapy system provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of another radiotherapy system provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of still another radiotherapy system provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a radiotherapy system involved in a position adjustment method provided by an embodiment of the present application.
  • the radiotherapy system 100 may include: a head-mounted display device 101 and a radiotherapy device 102 .
  • the head display device 101 may be an augmented reality (English: Augmented Reality; abbreviated: AR) device, a mixed reality (English: Mixed Reality; abbreviated: MR) device, or a virtual reality (English: Virtual Reality; abbreviated: VR) device, and the like.
  • AR Augmented Reality
  • MR Mixed Reality
  • VR Virtual Reality
  • the radiotherapy equipment 102 may be a gamma knife or a medical electron linear accelerator or the like.
  • the radiotherapy apparatus 102 may include: a patient support device 102a, the patient support device 102a is used to support the patient.
  • the patient support device 102a may be a treatment couch.
  • the radiotherapy apparatus 102 is required to treat a patient, the patient needs to lie down on the patient support device 102 .
  • FIG. 2 is a flowchart of a position adjustment method provided by an embodiment of the present application, and the method is applied to the head-mounted display device 101 in the radiotherapy system 100 shown in FIG. 1 .
  • the position adjustment method may include:
  • Step 201 Acquire a first image of the target part of the patient, and generate a three-dimensional body surface reference image of the target part of the patient based on the first image.
  • the target site of the patient needs to include the site where the patient is treated, for example, the tumor of the patient needs to be located in the target site of the patient, and the target site of the patient may be the head, head and neck, chest, abdomen, legs One or more of the parts and feet, etc.
  • Step 202 After the wearer wears the head-mounted display device, display the three-dimensional body surface reference image at a preset position of the radiotherapy device, so that the wearer observes the actual position of the target part of the patient and the three-dimensional body surface reference image, Adjust the patient's position.
  • the preset position of the radiotherapy equipment is the position where the target part of the patient is located when the target point of the patient coincides with the isocenter of the radiotherapy equipment.
  • the patient's target point is the patient's target point
  • the radiotherapy equipment is a medical linear accelerator
  • the patient's target point is the center point of the patient's tumor.
  • the head-mounted display device can display the generated three-dimensional body surface reference image of the target site at a preset position of the radiotherapy device. Since the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment, the wearer observes the actual position of the target part of the patient according to the actual position of the patient's target part and the three-dimensional body surface. With reference to the image, the position of the patient is adjusted so that when the target part of the patient coincides with the three-dimensional body surface reference image of the target part of the patient, the target point of the patient coincides with the isocenter of the radiotherapy equipment, and the treatment can be completed. Positioning of the patient.
  • a three-dimensional body surface reference image of a target part of a patient is generated by a head-mounted display device, and after the wearer wears the head-mounted display device, the head-mounted display device can be used in a radiotherapy device.
  • the preset position of the 3D body surface reference image is displayed. Since the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment, the wearer observes the actual position of the target part of the patient according to the actual position of the patient's target part and the three-dimensional body surface.
  • the position of the patient is adjusted so that when the target part of the patient coincides with the three-dimensional body surface reference image of the target part of the patient, the target point of the patient coincides with the isocenter of the radiotherapy equipment, and the treatment can be completed. Positioning of the patient. In this way, the positioning of the patient can be achieved without using a laser light, which effectively improves the accuracy of positioning the patient, thereby improving the effect of subsequent treatment of the patient with the radiotherapy device.
  • FIG. 3 is a flowchart of another position adjustment method provided by an embodiment of the present application, and the method is applied to the head-mounted display device 101 in the radiotherapy system 100 shown in FIG. 1 .
  • the position adjustment method may include:
  • Step 301 acquiring a first image of a target part of a patient.
  • the head-mounted display device may acquire the first image of the target part of the patient.
  • acquiring the first image of the target part of the patient by the head-mounted display device may include: acquiring the first image of the target part of the patient by the head-mounted display device from a predetermined treatment plan of the patient.
  • the head-mounted display device can communicate with the treatment server to obtain the first image in the treatment plan of the patient stored in the treatment server.
  • the first image is usually obtained by photographing the target part of the patient by a Computed Tomography (English: Computed Tomography; Abbreviation: CT) equipment or a Magnetic Resonance Imaging (English: Magnetic Resonance Imaging; Abbreviation: MRI) equipment image.
  • the target site of the patient includes the site where the patient is to be treated, for example, the tumor of the patient needs to be located in the target site of the patient, therefore, the first image may include not only the body surface image of the patient, but also the internal image of the patient.
  • Body tissue images the body tissue images within the patient having images of the patient's treatment area (eg, the patient's target volume or the patient's tumor area).
  • the target site of the patient may be part of the patient's body or the entire body of the patient.
  • the target part of the patient is the part of the patient's body, it needs to be ensured that the tumor of the patient needs to be located in the target part of the patient.
  • the patient's target site may be located in the patient's head.
  • Step 302 based on the first image, generate a three-dimensional body surface reference image of the target part of the patient.
  • the head-mounted display device may generate a three-dimensional body surface reference image of the target part of the patient based on the first image.
  • the head-mounted display device can be based on this A plurality of first images are used to reconstruct the body surface image of the patient to generate a three-dimensional body surface reference image of the target part of the patient.
  • Step 303 Adjust the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device, so that in the coordinate system of the head-mounted display device, the three-dimensional body surface reference image coincides with the preset position of the radiotherapy device.
  • the head-mounted display device after the head-mounted display device generates the three-dimensional body surface reference image, the head-mounted display device needs to adjust the position of the three-dimensional body surface reference image in the coordinate system of the head-mounted display device, so that the In the coordinate system, the three-dimensional body surface reference image coincides with the target position of the radiotherapy equipment.
  • the head-mounted display device adjusts the position of the three-dimensional body surface reference image in its coordinate system, so that in the coordinate system of the head-mounted display device, the three-dimensional body surface reference image coincides with the target position of the radiotherapy device
  • the head-mounted display device displays the three-dimensional body surface reference image
  • the three-dimensional body surface reference image displayed by the head-mounted display device coincides with the preset position of the radiotherapy equipment, which is convenient for subsequent operators to observe the actual position of the patient's target part and the three-dimensional body surface.
  • Table reference images set up the patient.
  • the preset position of the radiotherapy equipment is the position where the target part of the patient is located when the target point of the patient coincides with the isocenter of the radiotherapy equipment.
  • the head-mounted display device while generating a three-dimensional body surface reference image, the head-mounted display device also needs to generate a three-dimensional volume image located in the three-dimensional body surface reference image based on the first image. Since the pre-made patient treatment plan includes multiple first images of the patient taken from different perspectives, and each first image also includes images of body tissue inside the patient, the head-mounted display device can also be based on The multiple first images are subjected to reconstruction processing on the image of the patient's body tissue, so as to generate a three-dimensional volume image of the target part of the patient.
  • the head display device adjusts the position of the three-dimensional body surface reference image in the coordinate system of the head display device, so that in the coordinate system of the head display device, the three-dimensional body surface reference image and the target position of the radiotherapy device Coincidence, which can include:
  • the head-mounted display device adjusts the position of the three-dimensional body surface reference image in its coordinate system, so that in the coordinate system of the head-mounted display device, the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is the same as that in the radiotherapy device.
  • the support surface of the patient support device is parallel, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy equipment.
  • the radiotherapy equipment treats the patient
  • the patient needs to lie flat on the patient support device of the radiotherapy equipment. Therefore, during the treatment process, the height direction of the patient is related to the height of the patient support device.
  • the support surfaces are parallel.
  • the preset condition is: the direction corresponding to the height direction of the patient in the three-dimensional body surface reference image is parallel to the support surface of the patient support device, and the target point of the three-dimensional volume image coincides with the isocenter of the radiotherapy equipment .
  • the 3D volume image located in the 3D body surface reference image generated by the head-mounted display device has the 3D image corresponding to the treatment area.
  • the target point of the 3D volume image is located in the 3D image corresponding to the treatment area, and usually the target point is the center point of the 3D image corresponding to the treatment area.
  • the treatment area of the body tissue image in each first image is the target area of the patient, and the target point of the three-dimensional volume image is the target point located in the target area.
  • the treatment area of the body tissue image in each first image is the area where the tumor of the patient is located, and the target point of the three-dimensional volume image is the center point of the area where the tumor is located.
  • Step 304 after the wearer wears the head-mounted display device, display the three-dimensional body surface reference image at the preset position of the radiotherapy device, so that the wearer can make an accurate comparison of the three-dimensional body surface reference image according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image. Adjust the patient's position.
  • the head-mounted display device can display a three-dimensional body surface reference image at a preset position of the radiotherapy device, so that the wearer can observe the actual target part of the patient according to the actual situation of the patient. Position and 3D body surface reference images to adjust the patient's position.
  • the wearer can wear the head-mounted display device when the patient is positioned on the patient support device of the radiotherapy apparatus and the patient needs to be positioned.
  • the head-mounted display device displays the three-dimensional body surface reference image at the preset position of the radiotherapy device, as shown in FIG. 4
  • FIG. 4 is a view of what the wearer sees after the wearer wears the head-mounted display device provided by the embodiment of the present application.
  • the rendering of the screen the wearer can simultaneously view the three-dimensional body surface reference image and the position of the patient in the radiotherapy equipment.
  • the wearer can adjust the patient's position according to the observed actual position of the patient's target part and the 3D body surface reference image, so that the patient's target part coincides with the 3D body surface reference image, and the patient's target point can be guaranteed. It coincides with the treatment center of the radiotherapy equipment to realize the positioning of the patient.
  • the target part of the patient has a marker
  • the three-dimensional body surface reference image generated by the head-mounted display device has a marker image corresponding to the marker.
  • the head-mounted display device displays the three-dimensional body surface reference image at the preset position of the radiotherapy device, so that the wearer can adjust the patient's position according to the observed actual position of the patient's target part and the three-dimensional body surface reference image, so that the patient can be adjusted.
  • the head-mounted display device displays a three-dimensional body surface reference image with a marker image at a preset position of the radiotherapy device, so that the wearer can adjust the position of the patient according to the observed marker and the marker image.
  • the wearer when the wearer adjusts the patient's position, it is ensured that the marker on the target part of the patient coincides with the image of the marker in the 3D body surface reference image, so that the target part of the patient can be guaranteed to be in line with the 3D body surface reference image.
  • the body surface reference images are superimposed. Since the marker and the marker image can be used as a reference in the process of adjusting the patient's position, the wearer can quickly adjust the patient's position to a position that coincides with the three-dimensional body surface reference image, and further The efficiency of positioning the patient is improved.
  • the head-mounted display device in the radiotherapy system may be an AR device, an MR device, or a VR device, and the principles of different types of head-mounted display devices are different. Therefore, the embodiments of the present application take the following two possible implementation manners as examples to schematically illustrate the manner in which a patient is placed:
  • the head-mounted display device when the head-mounted display device is an AR device or an MR device, the above-mentioned head-mounted display device displays a three-dimensional body surface reference image at a preset position of the radiotherapy device, which may include the following steps:
  • Step A1 Obtain the positional relationship between the head-mounted display device and the radiotherapy device.
  • the head-mounted display device before the head-mounted display device displays the three-dimensional body surface reference image, the head-mounted display device needs to acquire the positional relationship between the head-mounted display device and the radiotherapy device.
  • the head-mounted display device has a camera, and the camera is used to acquire images of the radiotherapy equipment in the real world.
  • the head-mounted display device can determine the positional relationship between the head-mounted display device and the radiation therapy device based on the image of the radiation therapy device.
  • the camera of the head display device may be a depth camera, and the image of the radiotherapy device acquired by the depth camera includes depth information, and the depth information is used to represent the distance between the depth camera and the radiotherapy device.
  • the head-mounted display device has high accuracy in determining the positional relationship between the head-mounted display device and the radiation therapy device based on the image of the radiation therapy device obtained by the depth camera.
  • Step B1 Based on the positional relationship between the head-mounted display device and the radiotherapy device, display a three-dimensional body surface reference image at a preset position of the radiotherapy device.
  • the head-mounted display device may display a three-dimensional body surface reference image at a preset position of the radiation therapy device based on the positional relationship between the head-mounted display device and the radiation therapy device.
  • the head-mounted display device after the head-mounted display device obtains the positional relationship between the head-mounted display device and the radiotherapy device, the head-mounted display device can display the three-dimensional body surface reference image based on the positional relationship. Since in the coordinate system of the head-mounted display device, the three-dimensional body surface reference image is coincident with the preset position of the radiotherapy equipment, therefore, after the wearer wears the head-mounted display device, the wearer can watch at the preset position of the radiotherapy equipment to the 3D body surface reference image.
  • the wearer can see not only the 3D body surface reference image, but also the actual position of the patient in the radiotherapy device. In this way, the wearer can adjust the position of the patient according to the observed actual position of the target part of the patient and the three-dimensional body surface reference image, so that the patient's target part and the three-dimensional body surface reference image are coincident, so as to realize the accurate detection of the patient. position.
  • the head-mounted display device when the head-mounted display device is a VR device, the above-mentioned head-mounted display device displays a three-dimensional body surface reference image at a preset position of the radiotherapy device, which may include the following steps:
  • Step A2 Obtain a second image of the patient located on the patient support device of the radiotherapy apparatus in real time.
  • the head-mounted display device may acquire the second image of the patient located on the patient support device in real time during the process of positioning the patient.
  • the radiotherapy system may further include: a plurality of first optical cameras connected in communication with the head-mounted display device.
  • the plurality of first optical cameras are used to collect the second image of the patient located on the patient support device in real time, and send the second image to the processor of the head display device in real time, so that the head display device can acquire the second image in real time to a second image of the patient on the patient support.
  • each first optical camera can be distributed at different positions of the patient support device, and the shooting angles of each first optical camera can be different, so that different first optical cameras can capture different viewing angles The second image below.
  • each first optical camera can collect a second image of the patient on the patient support device in real time, and send the second image to the head display device in real time.
  • Step B2 based on the second image, generate a first three-dimensional image of the patient's body.
  • the head display device may generate the first three-dimensional image of the patient's body based on the second image.
  • the head-mounted display device can receive second images collected by multiple first optical cameras in real time. Since different first optical cameras can collect second images under different viewing angles, the head-mounted display device can real-time display different viewing angles. After reconstruction processing is performed on the second image below, the first three-dimensional image of the patient's body during the positioning process can be generated.
  • Step C2 While displaying the first three-dimensional image of the human body, display a three-dimensional body surface reference image at a preset position of the radiotherapy equipment.
  • the head-mounted display device after the head-mounted display device generates the first three-dimensional human body image in real time, the head-mounted display device can display the first three-dimensional human body image, and while displaying the first human body three-dimensional image, it can be displayed on the radiotherapy device at the same time.
  • the preset position displays the 3D body surface reference image.
  • the plurality of first cameras can not only collect the second image of the patient, but also collect images of the surrounding environment of the patient, for example, images of radiotherapy equipment located around the patient.
  • the head-mounted display device can not only generate the first three-dimensional image of the patient's body, but also generate the three-dimensional image of the radiotherapy device. While the head-mounted display device displays the three-dimensional image of the first human body, it can also display the three-dimensional image of the radiotherapy device, so that the wearer can watch the three-dimensional image of the first human body, the three-dimensional image of the radiotherapy device, and the three-dimensional body at the same time after wearing the head-mounted display device. Table reference images.
  • the three-dimensional body surface reference image coincides with the preset position of the radiotherapy equipment, after the wearer wears the head-mounted display device, the three-dimensional body surface reference image viewed by the wearer, at a preset position in the 3D image of the radiation therapy device.
  • the position of the first three-dimensional image of the human body viewed by the wearer in the three-dimensional image of the radiotherapy apparatus is the actual position of the patient in the radiotherapy apparatus.
  • the wearer can adjust the position of the patient according to the observed gap between the first three-dimensional image of the human body and the three-dimensional body surface reference image, so that the target part of the patient is coincident with the three-dimensional body surface reference image, so as to realize the adjustment of the position of the patient. Positioning of the patient.
  • the wearer adjusts the patient's position according to the observed actual position of the patient's target part and the three-dimensional body surface reference image
  • the patient's position is usually adjusted in the following two ways.
  • the wearer after wearing the head-mounted display device, the wearer observes the gap between the actual position of the patient's target part and the three-dimensional body surface reference image, and controls the control device used to control the patient's support device, so that the control device drives the The patient support device is moved to effect adjustment of the position of the patient on the patient support device.
  • the wearer when the wearer finds that the patient's target part cannot be overlapped with the three-dimensional body surface reference image by moving the patient support device, the wearer needs to move the patient on the patient support device so that the patient's target part can be moved. Coincidence with the 3D body surface reference image.
  • the radiotherapy equipment is usually located in the treatment room.
  • the wearer needs to wear a head-mounted display device in the treatment room to adjust the position of the patient.
  • the radiotherapy device needs to treat the patient, and the wearer needs to come out of the treatment room.
  • the wearer can still wear the head-mounted display device, so that the wearer can observe the treatment process of the patient in real time.
  • the position adjustment method may further include the following steps 305 to 307 .
  • Step 305 acquire in real time a third image of the patient's target site and a fourth image of the patient during the process of the radiotherapy apparatus treating the patient.
  • the head-mounted display device can acquire the third image of the target part of the patient and the fourth image of the patient in real time.
  • the radiotherapy system may further include: an image acquisition device and a plurality of second optical cameras connected in communication with the head-mounted display device.
  • the image acquisition device is used for real-time acquisition of a third image of the target part of the patient during the treatment of the patient by the radiotherapy device, and to send the third image to the head-mounted display device in real time, so that the head-mounted display device can real-time to acquire the third image of the target site of the patient.
  • the image acquisition device can acquire multiple third images of the target part of the patient shot from different perspectives in real time.
  • the image acquisition device can send multiple third images of the target part of the patient captured from different viewing angles to the head display device in real time.
  • a plurality of second optical cameras are used to collect the fourth image of the patient in real time during the treatment of the patient by the radiotherapy device, and send the fourth image to the head-mounted display device in real time, so that the head-mounted display device can obtain the real-time image of the patient. Fourth image of this patient.
  • the plurality of second optical cameras can be distributed on different positions of the patient support device, and the shooting angles of each second optical camera can be different. In this way, different second optical cameras can collect fourth images from different viewing angles. .
  • each second optical camera can collect a fourth image of the patient on the patient support device in real time, and send the fourth image to the head display device in real time.
  • the multiple second optical cameras in the foregoing embodiment may be multiple first optical cameras that are the same optical camera.
  • the image acquisition device may be an image acquisition device used for image guidance during the treatment of the patient by the radiotherapy device.
  • the image acquisition device can usually be integrated on the radiotherapy device.
  • the image acquisition device may include a cone beam CT (English: Cone Beam CT; CBCT for short) device.
  • the image content of the third image of the patient acquired by the image acquisition device may be the same as the image content of the first image.
  • the third image may also include not only the body surface image of the patient, but also the body tissue image inside the patient.
  • Step 306 based on the third image, generate a three-dimensional body surface real-time image of the target part of the patient, and based on the fourth image, generate a second three-dimensional human body image of the patient.
  • the head-mounted display device may generate a real-time three-dimensional body surface image of the target part of the patient based on the third image, and generate a second three-dimensional image of the patient's body based on the fourth image.
  • the head-mounted display device can acquire multiple third images of the target part of the patient taken from different viewing angles in real time through the image acquisition device, and each third image includes the body surface image of the patient. Therefore, the head-mounted display device can be based on For the plurality of third images, the body surface images of the patient are constructed and processed to generate a three-dimensional body surface real-time image of the target part of the patient during the treatment of the patient.
  • the avatar device can acquire the second image in real time through multiple second optical cameras. Since different second optical cameras can capture the fourth image from different viewing angles, the head display device can real-time display the fourth image from different viewing angles in real time. After the image is reconstructed, a second three-dimensional image of the patient's body during the treatment of the patient can be generated.
  • Step 307 after receiving the switching operation of the displayed content, simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or display only the second human body three-dimensional image.
  • the head-mounted display device after the head-mounted display device generates the 3D body surface real-time image of the target part of the patient and the second body 3D image of the patient, the head-mounted display device can simultaneously display the 3D body surface reference image and the 3D body surface real-time image , or, display only the 3D image of the second human body.
  • a switching command can be sent to the head-mounted display device (for example, the wearer presses a button for switching the display content), so that the head-mounted display device can receive
  • the switching operation to the display content can further enable the head display device to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or only display the second human body three-dimensional image.
  • the head-mounted display device can simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image during the treatment of the patient by the radiotherapy equipment, or only display the second human body three-dimensional image, the content displayed by the head-mounted display device is different. Its functions are also different, and the following two aspects are taken as examples to illustrate schematically in the embodiments of the present application:
  • the head-mounted display device simultaneously displays the 3D body surface reference image and the 3D body surface real-time image
  • the head-mounted display device simultaneously displays the 3D body surface reference image and the 3D body surface real-time image.
  • the body surface reference image and the 3D body surface real-time image may include: after the head-mounted display device processes the color of the outline of the 3D body surface reference image and the outline color of the 3D body surface real-time image into two different colors, display them at the same time.
  • the three-dimensional body surface reference image and the three-dimensional body surface real-time image may include: after the head-mounted display device processes the color of the outline of the 3D body surface reference image and the outline color of the 3D body surface real-time image into two different colors, display them at the same time.
  • the head-mounted display device may process the color of the outline of the 3D body surface reference image as red, and the outline of the 3D body surface real-time image as blue.
  • the position adjustment method may further include: the head-display device may determine in real time whether the contour of the three-dimensional body surface real-time image exceeds the three-dimensional body surface. After determining the contour of the three-dimensional body surface real-time image exceeds the contour of the three-dimensional body surface reference image, a prompt message is issued.
  • the prompt information may be text information or voice information, and the prompt information is used to prompt the wearer that the target part of the current patient does not overlap with the three-dimensional body surface reference image.
  • both the first image and the third image include images of body tissue inside the patient, the body tissue includes: the patient's bones. Therefore, the head-mounted display device can also generate a three-dimensional bone reference image of the patient's bone based on the first image, and can also generate a three-dimensional bone real-time image of the patient's bone based on the third image.
  • the head-mounted display device can also generate a three-dimensional bone reference image of the patient's bone based on the first image, and can also generate a three-dimensional bone real-time image of the patient's bone based on the third image.
  • the head-mounted display device sends a prompt message, the wearer needs to check whether the 3D bone reference image and the 3D bone real-time image overlap. Failure, in order to ensure the safety of the patient, it is necessary to stop the treatment of the patient.
  • the wearer when the head-mounted display device only displays the second three-dimensional image of the human body, the wearer can observe the reaction of the patient in the treatment process in real time through the head-mounted display device, thereby making the response of the patient observed by the wearer more accurate. precise.
  • a three-dimensional body surface reference image of a target part of a patient is generated by a head-mounted display device, and after the wearer wears the head-mounted display device, the head-mounted display device can be used in a radiotherapy device.
  • the preset position of the 3D body surface reference image is displayed. Since the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment, the wearer observes the actual position of the target part of the patient according to the actual position of the patient's target part and the three-dimensional body surface.
  • the position of the patient is adjusted so that when the target part of the patient coincides with the three-dimensional body surface reference image of the target part of the patient, the target point of the patient coincides with the isocenter of the radiotherapy equipment, and the treatment can be completed. Positioning of the patient. In this way, the positioning of the patient can be achieved without using a laser light, which effectively improves the accuracy of positioning the patient, thereby improving the effect of subsequent treatment of the patient with the radiotherapy device.
  • FIG. 5 is a structural block diagram of a head display device provided by an embodiment of the present application.
  • the head display device 101 may include: a processor 101a and a display 101b.
  • the processor 101a may be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a modem, and other devices.
  • the processor 101a is configured to acquire a first image of the target part of the patient, and based on the first image, generate a three-dimensional body surface reference image of the target part of the patient.
  • the display 101b is used to display the three-dimensional body surface reference image at the preset position of the radiotherapy equipment under the control of the processor 101a after the wearer wears the head-mounted display device, so that the wearer can observe the actual position of the target part of the patient according to the observation With the 3D body surface reference image, the patient's position is adjusted.
  • the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment.
  • the processor 101a is further configured to: after generating the three-dimensional body surface reference image, adjust the position of the three-dimensional body surface reference image in the coordinate system of the head display device, so that in the coordinate system of the head display device, the three-dimensional body surface reference image is adjusted.
  • the body surface reference image coincides with the preset position of the radiotherapy equipment.
  • the processor 101a is further configured to: based on the first image, also generate a three-dimensional volume image located in the three-dimensional body surface reference image; and adjust the position of the three-dimensional body surface reference image in the coordinate system of the head display device, so that the In the coordinate system of the head-mounted display device, the direction corresponding to the height direction of the patient in the 3D body surface reference image is parallel to the support surface of the patient support device, and the target point of the 3D volume image coincides with the isocenter of the radiotherapy equipment.
  • the processor 101a is configured to: acquire the first image of the target part of the patient from a pre-established treatment plan of the patient.
  • the target part of the patient has a marker
  • the three-dimensional body surface reference image has a marker image corresponding to the marker
  • the display 101b is used to: display the marker at a preset position of the radiotherapy equipment under the control of the processor 101a.
  • the three-dimensional body surface reference image of the object image allows the wearer to adjust the patient's position based on the observed markers and marker images.
  • the head display device is an augmented reality AR device or a mixed reality MR device.
  • the processor 101a is configured to: acquire the positional relationship between the head-mounted display device and the radiotherapy device; control the display 101b to display a three-dimensional body surface at a preset position of the radiotherapy device based on the positional relationship between the head-mounted display device and the radiotherapy device Reference image.
  • the head-mounted display device is a virtual reality VR device
  • the processor 101a is configured to: acquire a second image of the patient located on the patient support device of the radiotherapy device in real time; generate a first three-dimensional body image of the patient based on the second image Image; while controlling the display 101b to display the first three-dimensional image of the human body, the display 101b is controlled to display the three-dimensional body surface reference image at the preset position of the radiotherapy equipment.
  • the processor 101a is further configured to: acquire, in real time, a third image of the target site of the patient during the treatment of the patient by the radiotherapy equipment; based on the third image, generate a three-dimensional body surface real-time image of the target site of the patient;
  • the control display 101b simultaneously displays the three-dimensional body surface reference image and the three-dimensional body surface real-time image.
  • the processor 101a is configured to: control the display 101b to simultaneously display the three-dimensional body surface after processing the color of the contour of the three-dimensional body surface reference image and the color of the contour of the three-dimensional body surface real-time image into two different colors.
  • Table reference images and 3D body surface live images are configured to: control the display 101b to simultaneously display the three-dimensional body surface after processing the color of the contour of the three-dimensional body surface reference image and the color of the contour of the three-dimensional body surface real-time image into two different colors.
  • Table reference images and 3D body surface live images are examples of the processor 101a
  • the processor 101a is further configured to send a prompt message after it is determined that the contour of the three-dimensional body surface real-time image exceeds the contour of the three-dimensional body surface reference image.
  • the processor 101a is further configured to: acquire in real time a fourth image of the patient during the treatment of the patient by the radiotherapy equipment; generate a second three-dimensional image of the patient based on the fourth image; After the switching operation, the display 101b is controlled to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image, or only display the second human body three-dimensional image.
  • the head-mounted display device provided by the embodiment of the present application generates a three-dimensional body surface reference image of the target part of the patient through the head-mounted display device, and after the wearer wears the head-mounted display device, the head-mounted display device can be used in the radiotherapy equipment.
  • the preset position of the 3D body surface reference image is displayed. Since the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment, the wearer observes the actual position of the target part of the patient according to the actual position of the patient's target part and the three-dimensional body surface.
  • the position of the patient is adjusted so that when the target part of the patient coincides with the three-dimensional body surface reference image of the target part of the patient, the target point of the patient coincides with the isocenter of the radiotherapy equipment, and the treatment can be completed. Positioning of the patient. In this way, the positioning of the patient can be achieved without using a laser light, which effectively improves the accuracy of positioning the patient, thereby improving the effect of subsequent treatment of the patient with the radiotherapy device.
  • the radiotherapy device 100 may include: a head-mounted display device 101 and a radiotherapy device 102 .
  • the radiotherapy apparatus 102 may include: a patient support device 102a, the patient support device 102a is used to support the patient.
  • the head display device 101 may be the head display device 101 shown in FIG. 5 .
  • FIG. 6 is a schematic structural diagram of another radiotherapy system provided by an embodiment of the present application, and the head display device in the radiotherapy system 100 is an AR device or an MR device.
  • the head display device 101 has a camera 1011 .
  • the camera 1011 is used to acquire images of the radiotherapy equipment 102 .
  • the processor in the HMD 101 is configured to determine the positional relationship between the HMD 101 and the radiotherapy device 102 based on the image of the radiotherapy device 102 obtained by the camera 1011 , and based on the HMD 102
  • the positional relationship between the device 101 and the radiotherapy device 102 controls the display in the head-mounted display device 101 to display the three-dimensional body surface reference image, so that the three-dimensional body surface reference image displayed on the display coincides with the preset position of the radiotherapy device 102 .
  • FIG. 7 is a schematic structural diagram of another radiotherapy system provided by an embodiment of the present application, and the head display device in the radiotherapy system 100 is a VR device.
  • the radiotherapy system 100 may further include: a plurality of first optical cameras 103 .
  • the plurality of first optical cameras 103 are used to collect a second image of the patient located on the patient support device 102a in real time, and send the second image to the processor of the head display device 101 in real time.
  • the processor in the head display device 101 is configured to generate a first three-dimensional image of the patient's body based on the second image, and control the display of the head display device 101 to simultaneously display the three-dimensional body surface reference image and the first three-dimensional image of the human body.
  • FIG. 8 is a schematic structural diagram of another radiotherapy system provided by an embodiment of the present application.
  • the radiotherapy system 100 may further include: an image acquisition device 104 .
  • the image acquisition device 104 is configured to acquire a third image of the target site of the patient during the treatment of the patient by the radiotherapy device 102 in real time, and to transmit the third image to the processor of the head display device 101 in real time.
  • the processor in the head-mounted display device 101 is configured to generate a three-dimensional body surface real-time image of the target part of the patient based on the third image, and control the display of the head-mounted display device 101 to simultaneously display the three-dimensional body surface reference image and the three-dimensional body surface real-time image .
  • the radiotherapy system further includes: a plurality of second optical cameras 105 .
  • the plurality of second optical cameras 105 are used to collect the fourth image of the patient in real time during the treatment of the patient by the radiotherapy device 102 , and send the fourth image to the processor of the head-mounted display device 101 in real time.
  • the processor in the head display device 101 is configured to generate a second three-dimensional image of the patient's human body based on the fourth image, and after receiving the switching operation of the display content, control the display to display the three-dimensional body surface reference image and the three-dimensional body surface at the same time Live images, or, display only a 3D image of the second human body.
  • the radiotherapy system further includes: a medical corset for the patient to wear.
  • a medical corset for the patient to wear.
  • the patient can be made to wear medical tights. In this way, when positioning the patient, the target part of the patient can be more accurately overlapped with the three-dimensional body surface reference image.
  • the radiotherapy system includes: a head-mounted display device and a radiotherapy device, and a three-dimensional body surface reference image of the target part of the patient is generated by the head-mounted display device, and after the wearer wears the head-mounted display device,
  • the head-mounted display device can display the three-dimensional body surface reference image at a preset position of the radiotherapy device. Since the preset position is the position of the target part of the patient when the target point of the patient coincides with the isocenter of the radiotherapy equipment, the wearer observes the actual position of the target part of the patient according to the actual position of the patient's target part and the three-dimensional body surface.
  • the position of the patient is adjusted so that when the target part of the patient coincides with the three-dimensional body surface reference image of the target part of the patient, the target point of the patient coincides with the isocenter of the radiotherapy equipment, and the treatment can be completed. Positioning of the patient. In this way, the positioning of the patient can be achieved without using a laser light, which effectively improves the accuracy of positioning the patient, thereby improving the effect of subsequent treatment of the patient with the radiotherapy device.
  • Embodiments of the present application also provide a computer-readable storage medium.
  • the computer-readable storage medium stores instructions that, when the computer-readable storage medium runs on the processing component, cause the processing component to execute the position adjustment method shown in FIG. 2 or FIG. 3 .

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Abstract

本申请公开了一种位置调整方法、头显设备及放疗系统，属于医疗技术领域。该方法包括：获取患者的目标部位的第一影像，并基于所述第一影像，生成所述患者的目标部位的三维体表参考影像；在佩戴者佩戴所述头显设备后，在放疗设备的预设位置显示所述三维体表参考影像，以使所述佩戴者根据观察到的所述患者的目标部位的实际位置与所述三维体表参考影像，对所述患者的位置进行调整。如此，无需采用激光灯便能够实现对患者摆位，有效的提高对患者进行摆位的精准度，进而提高了后续采用该放疗设备对患者进行治疗的效果。

Description

位置调整方法、头显设备及放疗系统 技术领域
本申请涉及医疗技术领域，特别涉及一种位置调整方法、头显设备及放疗系统。
背景技术
放射治疗是治疗癌症的一项重要手段，放疗设备是开展放射治疗的关键医疗设备。目前，在采用放疗设备对患者进行治疗之前，需要将位于放疗设备的患者支撑装置(也称为治疗床)上的患者进行摆位，以使该患者的肿瘤的中心与放疗设备的治疗中心重合。
在相关技术中，通常利用放疗设备中的激光灯对患者进行摆位。例如，该激光灯能够朝向不同的方向发出三束相交的激光束，且不同朝向的三束激光束的中心轴的交点与放疗设备的治疗中心之间的距离为预设距离。在对患者进行摆位时，可以移动治疗床，使得患者体表呈十字线标记物分别与三束激光束的十字激光线重合，之后，再将治疗床移动预设距离后，便可以使患者的肿瘤的中心与放疗设备的治疗中心重合。
但是，由于激光灯是采用机械安装的方式安装在放疗设备所在的治疗室内，在长时间使用后，不可避免的会发生位移的现象，因此，利用激光灯对患者进行摆位的精准度较低，导致放疗设备对患者进行治疗的效果较差。
发明内容
本申请实施例提供了一种位置调整方法、头显设备及放疗系统。可以解决现有技术的利用激光灯对患者进行摆位的精准度较低的问题，所述技术方案如下：
一方面，提供了一种位置调整方法，应用于头显设备，所述方法包括：
获取患者的目标部位的第一影像，并基于所述第一影像，生成所述患者的目标部位的三维体表参考影像；
在佩戴者佩戴所述头显设备后，在放疗设备的预设位置显示所述三维体表参考影像，以使所述佩戴者根据观察到的所述患者的目标部位的实际位置与所述三维体表参考影像，对所述患者的位置进行调整；
其中，所述预设位置为所述患者的目标点与所述放疗设备的等中心重合时，所述患者的目标部位所在位置。
可选的，所述方法还包括：
在生成所述三维体表参考影像后，在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像与所述放疗设备的预设位置重合。
可选的，所述方法还包括：
基于所述第一影像，还生成位于所述三维体表参考影像内的三维体积影像；
在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像与所述放疗设备的预设位置重合，包括：
在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像中与所述患者的身高方向对应的方向，和所述放疗设备中患者支撑装置的支撑面平行，且所述三维体积影像的目标点与所述放疗设备的等中心重合。
可选的，所述获取患者的目标部位的第一影像，包括：
从预先制定的所述患者的治疗计划中获取患者的目标部位的第一影像。
可选的，所述患者的目标部位具有标记物，所述三维体表参考影像具有与所述标记物对应的标记物影像；
在放疗设备的预设位置显示所述三维体表参考影像，以使所述佩戴者根据观察到的所述患者的目标部位的实际位置与所述三维体表参考影像，对所述患者的位置进行调整，包括：
在所述放疗设备的预设位置显示具有所述标记物影像的所述三维体表参考影像，以使所述佩戴者根据观察到的所述标记物与所述标记物影像，对所述患者的位置进行调整。
可选的，所述头显设备为增强现实AR设备或混合现实MR设备，所述在放疗设备的预设位置显示所述三维体表参考影像，包括：
获取所述头显设备与所放疗设备之间的位置关系；
基于所述头显设备与所放疗设备之间的位置关系，在所述放疗设备的预设位置显示所述三维体表参考影像。
可选的，所述头显设备为虚拟现实VR设备，所述在放疗设备的预设位置显示所述三维体表参考影像，包括：
实时获取位于所述放疗设备的患者支撑装置上的患者的第二影像；
基于所述第二影像，生成所述患者的第一人体三维影像；
在显示所述第一人体三维影像的同时，在所述放疗设备的预设位置显示所述三维体表参考影像。
可选的，所述方法还包括：
实时获取在所述放疗设备对所述患者进行治疗过程中所述患者的目标部位的第三影像；
基于所述第三影像，生成所述患者的目标部位的三维体表实时影像；
同时显示所述三维体表参考影像和所述三维体表实时影像。
可选的，同时显示所述三维体表参考影像和所述三维体表实时影像，包括：
在将所述三维体表参考影像的轮廓的颜色，和所述三维体表实时影像的轮廓的颜色处理为两种不同的颜色后，同时显示所述三维体表参考影像和所述三维体表实时影像。
可选的，所述方法还包括：在确定出所述三维体表实时影像的轮廓超出三维体表参考影像的轮廓后，发出提示信息。
可选的，所述方法还包括：实时获取在所述放疗设备对所述患者进行治疗过程中所述患者的第四影像；基于所述第四影像，生成所述患者的第二人体三维影像；在接收到显示内容的切换操作后，同时显示所述三维体表参考影像和所述三维体表实时影像，或者，仅显示所述第二人体三维影像。
另一方面，提供了一种头显设备，包括：处理器和显示器；
所述处理器，用于获取患者的目标部位的第一影像，并基于所述第一影像，生成所述患者的目标部位的三维体表参考影像；
所述显示器，用于在佩戴者佩戴所述头显设备后，通过所述处理器的控制在放疗设备的预设位置显示所述三维体表参考影像，以使所述佩戴者根据观察到的所述患者的目标部位的实际位置与所述三维体表参考影像，对所述患者的 位置进行调整；
其中，所述预设位置为所述患者的目标点与所述放疗设备的等中心重合时，所述患者的目标部位所在位置。
可选的，所述处理器还用于：
在生成所述三维体表参考影像后，在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像与所述放疗设备的预设位置重合。
可选的，所述处理器还用于：
基于所述第一影像，还生成位于所述三维体表参考影像内的三维体积影像；
在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像中与所述患者的身高方向对应的方向，和所述患者支撑装置的支撑面平行，且所述三维体积影像的目标点与所述放疗设备的等中心重合。
再一方面，提供了一种放疗系统，，包括：放疗设备和头显设备；
所述放疗设备，包括患者支撑装置，用于承载患者；
所述头显设备为上述的头显设备。
可选的，所述头显设备为AR设备或MR设备，所述头显设备具有摄像头；
所述头显设备中的处理器，用于基于所述摄像头获取到的放疗设备的图像，确定所述头显设备与所述放疗设备的之间的位置关系，并基于所述头显设备与所述放疗设备之间的位置关系，控制所述头显设备中的显示器显示所述三维体表参考影像，以使所述显示器显示的三维体表参考影像与所述放疗设备的预设位置重合。
可选的，所述头显设备为VR设备，所述放疗系统还包括：
多个第一光学摄像头，用于实时采集位于所述患者支撑装置上的患者的第二影像，并实时的将所述第二影像发送给所述头显设备的处理器；
所述处理器，用于基于所述第二影像，生成所述患者的第一人体三维影像，并控制所述头显设备的显示器同时显示所述三维体表参考影像和所述第一人体三维影像。
可选的，所述放疗系统还包括：
影像采集设备，用于实时采集在所述放疗设备对所述患者进行治疗过程中 所述患者的目标部位的第三影像，并实时的将所述第三影像发送给所述头显设备的处理器；
所述处理器，用于基于所述第三影像，生成所述患者的目标部位的三维体表实时影像，并控制所述头显设备的显示器同时显示所述三维体表参考影像和所述三维体表实时影像。
可选的，所述放疗系统还包括：
多个第二光学摄像头，用于实时采集在所述放疗设备对所述患者进行治疗过程中所述患者的第四影像，并实时的将所述第四影像发送给所述头显设备的处理器；
所述处理器，用于基于所述第四影像，生成所述患者的第二人体三维影像，并在接收到显示内容的切换操作后，控制所述显示器同时显示所述三维体表参考影像和所述三维体表实时影像，或者，仅显示所述第二人体三维影像。
可选的，其特征在于，所述放疗系统还包括：用于供所述患者穿戴的医用紧身衣。
本申请实施例提供的技术方案带来的有益效果至少包括：
通过头显设备生成患者的目标部位的三维体表参考影像，并在佩戴者佩戴该头显设备后，该头显设备能够在放疗设备的预设位置显示该三维体表参考影像。由于该预设位置为患者的目标点与放疗设备的等中心点重合时，该患者的目标部位的所在位置，因此，在该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与该患者的目标部位的三维体表参考影像重合时，该患者的目标点与放疗设备的等中心点重合，即可完成对该患者的摆位。如此，无需采用激光灯便能够实现对患者摆位，有效的提高对患者进行摆位的精准度，进而提高了后续采用该放疗设备对患者进行治疗的效果。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种位置调整方法所涉及的放疗系统的结构示意图；
图2是本申请实施例提供的一种位置调整方法的流程图；
图3是本申请实施例提供的另一种位置调整方法的流程图；
图4是本申请实施例提供的一种佩戴者佩戴头显设备后，佩戴者所观看到的画面的效果图；
图5是本申请实施例提供的一种头显设备的结构框图；
图6是本申请实施例提供的另一种放疗系统的结构示意图；
图7是本申请实施例提供的又一种放疗系统的结构示意图；
图8是本申请实施例提供的再一种放疗系统的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
请参考图1，图1是本申请实施例提供的一种位置调整方法所涉及的放疗系统的结构示意图。该放疗系统100可以包括：头显设备101和放疗设备102。
该头显设备101可以为增强现实(英文：Augmented Reality；简称：AR)设备、混合现实(英文：Mixed Reality；简称：MR)设备或虚拟现实(英文：Virtual Reality；简称：VR)设备等。
该放疗设备102可以为伽玛刀或医用电子直线加速器等。该放疗设备102可以包括：患者支撑装置102a，该患者支撑装置102a用于对患者进行支撑。示例的，该患者支撑装置102a可以为治疗床。当需要该放疗设备102对患者进行治疗时，患者需要躺卧在该患者支撑装置102上。
请参考图2，图2是本申请实施例提供的一种位置调整方法的流程图，该方法应用于图1示出的放疗系统100中的头显设备101。该位置调整方法可以包括：
步骤201、获取患者的目标部位的第一影像，并基于该第一影像，生成该患者的目标部位的三维体表参考影像。
示例的，该患者的目标部位需要包括对患者进行治疗的部位，例如，患者的肿瘤需要位于该患者的目标部位内，该患者的目标部位可以是头部、头颈部、 胸部、腹部、腿部和足部等中的一个或多个。
步骤202、在佩戴者佩戴头显设备后，在放疗设备的预设位置显示该三维体表参考影像，以使该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整。
其中，该放疗设备的预设位置为患者的目标点与放疗设备的等中心重合时，该患者的目标部位所在的位置。
示例的，当放疗设备为伽玛刀时，该患者的目标点为患者的靶点；当放疗设备为医用直线加速器时，该患者的目标点为患者的肿瘤的中心点。
在本申请实施例中，在佩戴者佩戴头显设备后，该头显设备能够在放疗设备的预设位置显示其生成的目标部位的三维体表参考影像。由于该预设位置为患者的目标点与放疗设备的等中心点重合时，该患者的目标部位的所在位置，因此，在该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与该患者的目标部位的三维体表参考影像重合时，该患者的目标点与放疗设备的等中心点重合，即可完成对该患者的摆位。
综上所述，本申请实施例提供的位置调整方法，通过头显设备生成患者的目标部位的三维体表参考影像，并在佩戴者佩戴该头显设备后，该头显设备能够在放疗设备的预设位置显示该三维体表参考影像。由于该预设位置为患者的目标点与放疗设备的等中心点重合时，该患者的目标部位的所在位置，因此，在该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与该患者的目标部位的三维体表参考影像重合时，该患者的目标点与放疗设备的等中心点重合，即可完成对该患者的摆位。如此，无需采用激光灯便能够实现对患者摆位，有效的提高对患者进行摆位的精准度，进而提高了后续采用该放疗设备对患者进行治疗的效果。
请参考图3，图3是本申请实施例提供的另一种位置调整方法的流程图，该方法应用于图1示出的放疗系统100中的头显设备101。该位置调整方法可以包括：
步骤301、获取患者的目标部位的第一影像。
在本申请实施例中，头显设备可以获取患者的目标部位的第一影像。
示例的，由于在对患者进行治疗之前，医生需要制定对该患者进行治疗的治疗计划，该治疗计划中包含有患者的目标部位的第一影像。为此，头显设备获取患者的目标部位的第一影像可以包括：头显设备从预先制定的患者的治疗计划中获取患者的目标部位的第一影像。
又由于预先制定的患者的治疗计划通常存储在治疗服务器中，因此，头显设备可以与该治疗服务器通信连接，以获取该治疗服务器存储的患者的治疗计划中的第一影像。
需要说明的是，该第一影像通常是由计算机断层扫描(英文：Computed Tomography；简称：CT)设备或核磁共振成像(英文：Magnetic Resonance Imaging；简称：MRI)设备对患者的目标部位进行拍摄获取的影像。又由于患者的目标部位包括对患者进行治疗的部位，例如，患者的肿瘤需要位于该患者的目标部位内，因此，该第一影像不仅可以包括患者的体表影像，也可以包括位于患者内部的身体组织影像，该患者内部的身体组织影像具有患者的治疗区域(例如，患者的靶区或患者的肿瘤所在区域)的影像。
还需要说明的是，该患者的目标部位可以为患者的部分身体或患者的全部身体。示例的，当该患者的目标部位为患者的部位身体时，需要保证该患者的肿瘤需要位于患者的目标部位内。例如，当患者的肿瘤位于患者的头部内时，该患者的目标部位可以位于患者的头部。
步骤302、基于该第一影像，生成患者的目标部位的三维体表参考影像。
在本申请实施例中，在头显设备获取到第一影像后，该头显设备可以基于第一影像，生成患者的目标部位的三维体表参考影像。
示例的，由于预先制定的患者的治疗计划中包含有多张从不同视角下拍摄的患者的第一影像，且每张第一影像均包括患者的体表影像，因此，头显设备可以基于该多张第一影像，对患者的体表影像进行重建处理，以生成患者的目标部位的三维体表参考影像。
步骤303、在头显设备的坐标系中调整该三维体表参考影像的位置，以使在该头显设备的坐标系中，三维体表参考影像与放疗设备的预设位置重合。
在本申请实施例中，在头显设备生成三维体表参考影像后，该头显设备需要在该头显设备的坐标系中调整三维体表参考影像的位置，以使在该头显设备的坐标系中，三维体表参考影像与放疗设备的目标位置重合。
在本申请中，当头显设备在其坐标系中对三维体表参考影像的位置进行调整，使得在该头显设备的坐标系中，三维体表参考影像与放疗设备的目标位置重合时，在该头显设备显示该三维体表参考影像后，该头显设备所显示的三维体表参考影像与放疗设备的预设位置重合，便于后续操作人员通过观察患者的目标部位的实际位置与三维体表参考影像，对该患者进行摆位。
其中，该放疗设备的预设位置为患者的目标点与放疗设备的等中心重合时，该患者的目标部位所在的位置。
示例的，该头显设备在生成三维体表参考影像的同时，还需要基于第一影像生成位于该三维体表参考影像内的三维体积影像。由于预先制定的患者的治疗计划中包含有多张从不同视角下拍摄的患者的第一影像，且每张第一影像均还包括位于患者内部的身体组织影像，因此，头显设备还可以基于该多张第一影像，对患者的身体组织影像进行重建处理，以生成患者的目标部位的三维体积影像。
在这种情况下，头显设备在该头显设备的坐标系中调整三维体表参考影像的位置，以使在该头显设备的坐标系中，三维体表参考影像与放疗设备的目标位置重合，可以包括：
头显设备在其坐标系中调整三维体表参考影像的位置，以使在该头显设备的坐标系中，该三维体表参考影像中与患者的身高方向对应的方向，和该放疗设备中的患者支撑装置的支撑面平行，且该三维体积影像的目标点与放疗设备的等中心点重合。
在本申请实施例中，由于在放疗设备对患者进行治疗的时，需要患者平躺在该放疗设备的患者支撑装置上，因此，在治疗过程中，该患者的身高方向与该患者支撑装置的支撑面平行。为了保证后续患者的目标部位能够与三维体表参考影像重合，需要保证在头显设备的坐标系中，该三维体表参考影像中与患者的身高方向对应的方向，和该患者支撑装置的支撑面平行。
在本申请中，在头显设备的坐标系中，头显设备对三维体表参考影像的在该坐标系的位置进行调整的过程中，若三维体表参考影像以及位于其内部的三维体积影像满足预设条件，则该三维体表参考影像与放疗设备的预设位置重合。其中，该预设条件为：该三维体表参考影像中与患者的身高方向对应的方向，和该患者支撑装置的支撑面平行，且该三维体积影像的目标点与放疗设备的等 中心点重合。
需要说明的是，由于每张第一影像内的身体组织影像具有患者的治疗区域，因此，头显设备所生成的位于三维体表参考影像内的三维体积影像具有与治疗区域对应的三维影像，该三维体积影像的目标点位于与治疗区域对应的三维影像内，通常该目标点为与治疗区域对应的三维影像的中心点。
还需要说明的是，当放疗设备为伽玛刀时，每张第一影像内的身体组织影像的治疗区域为患者的靶区，该三维体积影像的目标点为位于该靶区内的靶点；当放疗设备为医用直线加速器时，每张第一影像内的身体组织影像的治疗区域为患者的肿瘤所在区域，该三维体积影像的目标点为该肿瘤所在区域的中心点。
步骤304、在佩戴者佩戴头显设备后，在放疗设备的预设位置显示三维体表参考影像，以使该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整。
在本申请实施例中，在佩戴者佩戴头显设备后，该头显设备可以在放疗设备的预设位置显示三维体表参考影像，以使该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整。
在本申请中，当患者位于放疗设备的患者支撑装置上，且需要对该患者进行摆位时，佩戴者可以佩戴该头显设备。在该头显设备在放疗设备的预设位置显示三维体表参考影像后，如图4所示，图4是本申请实施例提供的一种佩戴者佩戴头显设备后，佩戴者所观看到的画面的效果图，该佩戴者可以同时观看到三维体表参考影像和患者在放疗设备中的位置。佩戴者可以根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与三维体表参考影像重合，即可保证该患者的目标点与放疗设备的治疗中心重合，以实现对患者的摆位。
示例的，患者的目标部位具有标记物，头显设备生成的三维体表参考影像具有与该标记物对应的标记物影像。
如此，该头显设备在放疗设备的预设位置显示三维体表参考影像，以使佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，可以包括：该头显设备在放疗设备的预设位置显示具有标记物影像的三维体表参考影像，以使佩戴者根据观察到的标记物与标记物影像，对患者的位置进行调整。
在这种情况下，佩戴者对患者的位置进行调整的过程中，保证患者的目标部位上的标记物与三维体表参考影像中的标记物影像重合，即可保证患者的目标部位与该三维体表参考影像重合。由于在对患者的位置进行调整的过程中，可以将标记物与标记物影像作为参考，因此，佩戴者可以更快的将患者的位置调整至与三维体表参考影像重合的位置处，进一步的提高了对患者进行摆位的效率。
在本申请实施例中，由于放疗系统中的头显设备可以为：AR设备、MR设备或VR设备，且不同类型的头显设备的原理有所不同。因此，本申请实施例以以下两种可能的实现方式为例，对患者进行摆位的方式进行示意性的说明：
在第一种可能的实现方式中，当该头显设备为AR设备或MR设备时，上述头显设备在放疗设备的预设位置显示三维体表参考影像，可以包括以下步骤：
步骤A1、获取头显设备与放疗设备之间的位置关系。
在本申请实施例中，在头显设备显示三维体表参考影像之前，该头显设备需要获取其与放疗设备之间的位置关系。
示例的，该头显设备具有摄像头，该摄像头用于获取现实世界中的放疗设备的图像。如此，该头显设备能够基于放疗设备的图像，确定该头显设备与放疗设备之间的位置关系。
需要说明的是，该头显设备的摄像头可以为深度摄像头，该深度摄像头所获取到的放疗设备的图像包含有深度信息，该深度信息用于表征该深度摄像头与放疗设备之间的距离。如此，该头显设备在基于深度摄像头获取到的放疗设备的图像，确定该头显设备与放疗设备之间的位置关系时的准确性较高。
步骤B1、基于该头显设备与放疗设备之间的位置关系，在放疗设备的预设位置显示三维体表参考影像。
在本申请实施例中，头显设备可以基于该头显设备与放疗设备之间的位置关系，在放疗设备的预设位置显示三维体表参考影像。
在本申请中，在头显设备获取到其与放疗设备之间的位置关系后，该头显设备能够基于该位置关系显示三维体表参考影像。由于在头显设备的坐标系中，该三维体表参考影像与放疗设备的预设位置重合，因此，在佩戴者佩戴该头显设备后，该佩戴者能够在放疗设备的预设位置处观看到该三维体表参考影像。
在这种情况下，该佩戴者不仅能够观看到三维体表参考影像，还能观看到 患者在放疗设备中的实际位置。如此，该佩戴者可以根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与三维体表参考影像重合，以实现对患者的摆位。
在第二种可能的实现方式中，当该头显设备为VR设备时，上述头显设备在放疗设备的预设位置显示三维体表参考影像，可以包括以下步骤：
步骤A2、实时获取位于放疗设备的患者支撑装置上的患者的第二影像。
在本申请实施例中，头显设备可以在对患者的摆位过程中，实时的获取位于患者支撑装置上的患者的第二影像。
示例的，放疗系统还可以包括：与头显设备通信连接的多个第一光学摄像头。该多个第一光学摄像头，用于实时采集位于患者支撑装置上的患者的第二影像，并实时的将该第二影像发送给头显设备的处理器，使得该头显设备能够实时的获取到位于患者支撑装置上的患者的第二影像。
需要说明的是，该多个第一光学摄像头可以分布在该患者支撑装置的不同位置上，且每个第一光学摄像头的拍摄角度可以不同，如此，不同的第一光学摄像头可以采集到不同视角下的第二影像。在对患者的摆位过程中，每个第一光学摄像头可以实时的采集患者支撑装置上的患者的第二影像，并将该第二影像实时的发送给头显设备。
步骤B2、基于第二影像，生成患者的第一人体三维影像。
在本申请实施例中，头显设备可以基于第二影像，生成该患者的第一人体三维影像。
示例的，该头显设备可以实时接收多个第一光学摄像头采集的第二影像，由于不同的第一光学摄像头可以采集到不同视角下的第二影像，因此，头显设备可以实时将不同视角下的第二影像进行重建处理后，便能够生成在摆位过程中的患者的第一人体三维影像。
步骤C2、在显示第一人体三维影像的同时，在放疗设备的预设位置显示三维体表参考影像。
在本申请实施例中，在头显设备实时的生成第一人体三维影像后，该头显设备可以显示该第一人体三维影像，并在显示该第一人体三维影像的同时，在放疗设备的预设位置显示三维体表参考影像。
需要说明的是，多个第一摄像头不仅可以采集患者的第二影像，还可以采 集患者周边环境的影像，例如，位于患者周边的放疗设备的影像。如此，该头显设备不仅可以生成患者的第一人体三维影像，还可以生成放疗设备的三维影像。在头显设备显示第一人体三维影像的同时，还可以显示放疗设备的三维影像，使得佩戴者在佩戴头显设备后，能够同时观看到第一人体三维影像、放疗设备的三维影像和三维体表参考影像。由于在头显设备的坐标系中，该三维体表参考影像与放疗设备的预设位置重合，因此，在佩戴者佩戴该头显设备后，该佩戴者所观看到的三维体表参考影像，位于放疗设备的三维影像中的预设位置处。
在这种情况下，该佩戴者所观看到的第一人体三维影像在放疗设备的三维影像中的位置，即为患者在放疗设备中的实际位置。如此，该佩戴者可以根据观察到的第一人体三维影像与三维体表参考影像之间的差距，对患者的位置进行调整，使得该患者的目标部位与三维体表参考影像重合，以实现对患者的摆位。
需要说明的是，当佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整时，通常是通过以下两种方式对患者的位置进行调整的。
第一种方式，佩戴者在佩戴头显设备后，观察患者的目标部位的实际位置与三维体表参考影像之间存在的差距，操控用于控制患者支撑装置的控制设备，使得该控制设备带动患者支撑装置移动，以实现对该患者支撑装置上的患者的位置进行调整。
第二种方式，当佩戴者发现无法通过移动患者支撑装置的方式让患者的目标部位与三维体表参考影像重合时，佩戴者需要让患者在患者支撑装置上挪动，以使该患者的目标部位与三维体表参考影像重合。
需要说明的是，放疗设备通常位于治疗室内，在对患者进行摆位时，佩戴者需要佩戴头显设备位于治疗室内对患者的位置进行调整。在完成对患者的摆位时，放疗设备需要对患者进行治疗，这时佩戴者需要从治疗室内出来。在这种情况下，佩戴者仍然可以佩戴头显设备，以便佩戴者能够实时的观察到对患者的治疗过程。为了能够让佩戴者实时的观察到对患者的治疗过程，该位置调整方法还可以包括以下步骤305至步骤307。
步骤305、实时的获取在放疗设备对患者进行治疗过程中患者的目标部位的 第三影像，以及患者的第四影像。
在本申请实施例中，在放疗设备对患者进行治疗的过程中，头显设备可以实时的获取患者的目标部位的第三影像，以及患者的第四影像。
示例的，放疗系统还可以包括：与头显设备通信连接的影像采集设备和多个第二光学摄像头。
其中，该影像采集设备，用于实时采集在放疗设备对患者进行治疗过程中该患者的目标部位的第三影像，并实时的将该第三影像发送给头显设备，使得头显设备能够实时的获取到该患者的目标部位的第三影像。在本申请中，该影像采集设备可以实时的采集多张从不同视角下拍摄的患者的目标部位的第三影像。在对患者的摆位过程中，影像采集设备可以实时的将多张不同视角下拍摄的患者的目标部位的第三影像发送给头显设备。
多个第二光学摄像头，用于实时采集在放疗设备对患者进行治疗过程中该患者的第四影像，并实时的将该第四影像发送给头显设备，使得头显设备能够实时的获取到该患者的第四影像。且该多个第二光学摄像头可以分布在该患者支撑装置的不同位置上，每个第二光学摄像头的拍摄角度可以不同，如此，不同的第二光学摄像头可以采集到不同视角下的第四影像。在对患者的摆位过程中，每个第二光学摄像头可以实时的采集患者支撑装置上的患者的第四影像，并将该第四影像实时的发送给头显设备。
需要说明的是，当头显设备为VR设备时，上述实施例中的多个第二光学摄像头可以为多个第一光学摄像头是相同的光学摄像头。
可选的，该影像采集设备可以为在放疗设备对患者进行治疗过程中，进行图像引导时所用到的影像采集设备，在这种情况下，该影像采集设备通常可以集成在放疗设备上。例如，该影像采集设备可以包括锥形束CT(英文：Cone Beam CT；简称：CBCT)设备。
需要说明的是，通过该影像采集设备所获取到患者的第三影像的影像内容，可以与第一影像的影像内容相同。该第三影像也可以不仅包括患者的体表影像，也包括位于患者内部的身体组织影像。
步骤306、基于该第三影像，生成患者的目标部位的三维体表实时影像，并基于该第四影像，生成患者的第二人体三维影像。
在本申请实施例中，头显设备可以基于第三影像，生成患者的目标部位的 三维体表实时影像，并基于第四影像，生成患者的第二人体三维影像。
示例的，头显设备可以通过影像采集设备实时获取多张不同视角下拍摄的患者的目标部位的第三影像，且每张第三影像均包括患者的体表影像，因此，头显设备可以基于该多张第三影像，对患者的体表影像进行建处理，以生成对患者进行治疗过程中的患者的目标部位的三维体表实时影像。
同时，该头像设备可以通过多个第二光学摄像头实时获取第二影像，由于不同的第二光学摄像头可以采集不同视角下的第四影像，因此，头显设备可以实时将不同视角下的第四影像进行重建处理后，便能够生成在对患者进行治疗过程中的患者的第二人体三维影像。
步骤307、在接收到显示内容的切换操作后，同时显示三维体表参考影像和三维体表实时影像，或者，仅显示第二人体三维影像。
在本申请实施例中，在头显设备生成患者的目标部位的三维体表实时影像和患者的第二人体三维影像后，该头显设备可以同时显示三维体表参考影像和三维体表实时影像，或者，仅显示第二人体三维影像。
在本申请中，当佩戴者需要对头显设备的显示内容进行切换时，可以向头显设备发送切换命令(例如，佩戴者按动用于对显示内容进行切换的按钮)，使得头显设备可以接收到显示内容的切换操作，进而可以使得头显设备同时显示三维体表参考影像和三维体表实时影像，或者，仅显示第二人体三维影像。
由于在放疗设备对患者进行治疗的过程中，头显设备可以同时显示三维体表参考影像和三维体表实时影像，或者，仅显示第二人体三维影像，该头显设备所显示的内容不同，其作用也不同，本申请实施例分别以以下两个方面为例进行示意性说明：
第一方面，当头显设备同时显示三维体表参考影像和三维体表实时影像时，为了能够让佩戴者更好的区分三维体表参考影像和三维体表实时影像，该头显设备同时显示三维体表参考影像和三维体表实时影像，可以包括：头显设备在将三维体表参考影像的轮廓的颜色，和三维体表实时影像的轮廓的颜色处理为两种不同的颜色后，同时显示该三维体表参考影像和三维体表实时影像。
例如，头显设备可以将三维体表参考影像的轮廓的颜色处理为红色，并将三维体表实时影像的轮廓处理为蓝色。
在本申请中，在头显设备同时显示三维体表参考影像和三维体表实时影像 后，该位置调整方法还可以包括：头显设备可以实时的确定三维体表实时影像的轮廓是否超出三维体表参考影像轮廓，并在确定出三维体表实时影像的轮廓超出三维体表参考影像轮廓后，发出提示信息。示例的，该提示信息可以为文字信息或语音信息，该提示信息用于向佩戴者提示当前患者的目标部位与三维体表参考影像未重合。
需要说明的是，由于第一影像和第三影像均包括患者内部的身体组织影像，该身体组织包括：患者的骨头。因此，头显设备基于第一影像还可以生成患者骨头的三维骨头参考影像，且基于第三影像还可以生成患者骨头的三维骨头实时影像。在放疗设备对患者进行治疗的过程中，需要实时对患者进行图像引导，以进一步的让患者的目标点与放疗设备的等中心点重合。在放疗设备对患者进行图像引导之后，该三维骨头参考影像与三维骨头实时影像是重合的。因此，在头显设备发出提示信息后，佩戴者需要观看三维骨头参考影像与三维骨头实时影像是否重合，若二者是重合，则无需进行处理；若二者未重合，则可能是放疗设备出现故障，为了保证患者的安全，需要停止对患者进行治疗。
第二方面，当头显设备仅显示第二人体三维影像时，佩戴者可以通过头显设备实时的观察到处于治疗过程中的患者产生的反应，进而使得佩戴者所观察到的患者的反应更为准确。
需要说明的是，本申请实施例提供的头显设备的显示方法步骤的先后顺序可以进行适当调整，步骤也可以根据情况进行相应增减，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化的方法，都应涵盖在本申请的保护范围之内，因此不再赘述。
综上所述，本申请实施例提供的位置调整方法，通过头显设备生成患者的目标部位的三维体表参考影像，并在佩戴者佩戴该头显设备后，该头显设备能够在放疗设备的预设位置显示该三维体表参考影像。由于该预设位置为患者的目标点与放疗设备的等中心点重合时，该患者的目标部位的所在位置，因此，在该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与该患者的目标部位的三维体表参考影像重合时，该患者的目标点与放疗设备的等中心点重合，即可完成对该患者的摆位。如此，无需采用激光灯便能够实现对患者摆位，有效的提高对患者进行摆位的精准度，进而提高了后续采用该放疗设备对患者进行治疗的效果。
本申请实施例还提供了一种头显设备，如图5所示，图5是本申请实施例提供的一种头显设备的结构框图。该头显设备101可以包括：处理器101a和显示器101b。该处理器101a可以为：中央处理器(CPU)、微处理器(MPU)、数字信号处理器(DSP)或现场可编程门阵列(FPGA)和调制解调器等器件。
该处理器101a，用于获取患者的目标部位的第一影像，并基于第一影像，生成患者的目标部位的三维体表参考影像。
该显示器101b，用于在佩戴者佩戴头显设备后，通过处理器101a的控制在放疗设备的预设位置显示三维体表参考影像，以使佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整。
其中，预设位置为患者的目标点与放疗设备的等中心重合时，患者的目标部位所在位置。
可选的，该处理器101a还用于：在生成三维体表参考影像后，在头显设备的坐标系中调整三维体表参考影像的位置，以使在头显设备的坐标系中，三维体表参考影像与放疗设备的预设位置重合。
可选的，该处理器101a还用于：基于第一影像，还生成位于三维体表参考影像内的三维体积影像；在头显设备的坐标系中调整三维体表参考影像的位置，以使在头显设备的坐标系中，三维体表参考影像中与患者的身高方向对应的方向，和患者支撑装置的支撑面平行，且三维体积影像的目标点与放疗设备的等中心重合。
可选的，该处理器101a，用于：从预先制定的患者的治疗计划中获取患者的目标部位的第一影像。
可选的，患者的目标部位具有标记物，三维体表参考影像具有与标记物对应的标记物影像；该显示器101b，用于：通过处理器101a的控制在放疗设备的预设位置显示具有标记物影像的三维体表参考影像，以使佩戴者根据观察到的标记物与标记物影像，对患者的位置进行调整。
可选的，头显设备为增强现实AR设备或混合现实MR设备。该处理器101a，用于：获取头显设备与所放疗设备之间的位置关系；基于头显设备与所放疗设备之间的位置关系，控制显示器101b在放疗设备的预设位置显示三维体表参考影像。
可选的，头显设备为虚拟现实VR设备，该处理器101a，用于：实时获取位于放疗设备的患者支撑装置上的患者的第二影像；基于第二影像，生成患者的第一人体三维影像；在控制显示器101b显示第一人体三维影像的同时，控制显示器101b在放疗设备的预设位置显示三维体表参考影像。
可选的，该处理器101a，还用于：实时获取在放疗设备对患者进行治疗过程中患者的目标部位的第三影像；基于第三影像，生成患者的目标部位的三维体表实时影像；控制显示器101b同时显示三维体表参考影像和三维体表实时影像。
可选的，该处理器101a，用于：在将三维体表参考影像的轮廓的颜色，和三维体表实时影像的轮廓的颜色处理为两种不同的颜色后，控制显示器101b同时显示三维体表参考影像和三维体表实时影像。
可选的，该处理器101a，还用于：在确定出三维体表实时影像的轮廓超出三维体表参考影像的轮廓后，发出提示信息。
可选的，该处理器101a，还用于：实时获取在放疗设备对患者进行治疗过程中患者的第四影像；基于第四影像，生成患者的第二人体三维影像；在接收到显示内容的切换操作后，控制显示器101b同时显示三维体表参考影像和三维体表实时影像，或者，仅显示第二人体三维影像。
综上所述，本申请实施例提供的头显设备，通过头显设备生成患者的目标部位的三维体表参考影像，并在佩戴者佩戴该头显设备后，该头显设备能够在放疗设备的预设位置显示该三维体表参考影像。由于该预设位置为患者的目标点与放疗设备的等中心点重合时，该患者的目标部位的所在位置，因此，在该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与该患者的目标部位的三维体表参考影像重合时，该患者的目标点与放疗设备的等中心点重合，即可完成对该患者的摆位。如此，无需采用激光灯便能够实现对患者摆位，有效的提高对患者进行摆位的精准度，进而提高了后续采用该放疗设备对患者进行治疗的效果。
本申请实施例还提供了一种放疗系统，如图1所示，该放疗设备100可以包括：头显设备101和放疗设备102。该放疗设备102可以包括：患者支撑装置102a，该患者支撑装置102a用于对患者进行支撑。该头显设备101可以为图5 示出的头显设备101。
可选的，如图6所示，图6是本申请实施例提供的另一种放疗系统的结构示意图，该放疗系统100中的头显设备为AR设备或MR设备。该头显设备101具有摄像头1011。该摄像头1011，用于获取放疗设备102的图像。
在这种情况下，该头显设备101中的处理器，用于基于摄像头1011获取到的放疗设备102的图像，确定头显设备101与放疗设备102的之间的位置关系，并基于头显设备101与放疗设备102之间的位置关系，控制头显设备101中的显示器显示三维体表参考影像，以使显示器显示的三维体表参考影像与放疗设备102的预设位置重合。
可选的，如图7所示，图7是本申请实施例提供的又一种放疗系统的结构示意图，该放疗系统100中的头显设备为VR设备。该放疗系统100还可以包括：多个第一光学摄像头103。该多个第一光学摄像头103，用于实时采集位于患者支撑装置102a上的患者的第二影像，并实时的将该第二影像发送给头显设备101的处理器。
该头显设备101中的处理器，用于基于第二影像，生成患者的第一人体三维影像，并控制头显设备101的显示器同时显示三维体表参考影像和第一人体三维影像。
可选的，如图8所示，图8是本申请实施例提供的再一种放疗系统的结构示意图，该放疗系统100还可以包括：影像采集设备104。该影像采集设备104，用于实时采集在放疗设备102对患者进行治疗过程中患者的目标部位的第三影像，并实时的将第三影像发送给头显设备101的处理器。
该头显设备101中的处理器，用于基于第三影像，生成患者的目标部位的三维体表实时影像，并控制头显设备101的显示器同时显示三维体表参考影像和三维体表实时影像。
可选的，如图8所示，放疗系统还包括：多个第二光学摄像头105。该多个第二光学摄像头105，用于实时采集在放疗设备102对患者进行治疗过程中患者的第四影像，并实时的将第四影像发送给头显设备101的处理器。
该头显设备101中的处理器，用于基于第四影像，生成患者的第二人体三维影像，并在接收到显示内容的切换操作后，控制显示器同时显示三维体表参考影像和三维体表实时影像，或者，仅显示第二人体三维影像。
可选的，该放疗系统还包括：用于供患者穿戴的医用紧身衣。在采用该放疗系统对患者进行治疗时，可以让该患者穿戴医用紧身衣。如此，在对患者进行摆位时，能够更加精准的让患者的目标部位与三维体表参考影像重合。
综上所述，本申请实施例提供的放疗系统，包括：头显设备和放疗设备，通过头显设备生成患者的目标部位的三维体表参考影像，并在佩戴者佩戴该头显设备后，该头显设备能够在放疗设备的预设位置显示该三维体表参考影像。由于该预设位置为患者的目标点与放疗设备的等中心点重合时，该患者的目标部位的所在位置，因此，在该佩戴者根据观察到的患者的目标部位的实际位置与三维体表参考影像，对患者的位置进行调整，使得该患者的目标部位与该患者的目标部位的三维体表参考影像重合时，该患者的目标点与放疗设备的等中心点重合，即可完成对该患者的摆位。如此，无需采用激光灯便能够实现对患者摆位，有效的提高对患者进行摆位的精准度，进而提高了后续采用该放疗设备对患者进行治疗的效果。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的放疗系统和头显设备具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
本申请实施例还提供了一种计算机可读存储介质。该计算机可读存储介质中存储有指令，当该计算机可读存储介质在处理组件上运行时，使得该处理组件执行图2或图3示出的位置调整方法。
在本申请中，术语“第一”和“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。术语“多个”指两个或两个以上，除非另有明确的限定。
以上所述仅为本申请的可选的实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (20)

  1. 一种位置调整方法，其特征在于，应用于头显设备，所述方法包括：
    获取患者的目标部位的第一影像，并基于所述第一影像，生成所述患者的目标部位的三维体表参考影像；
    在佩戴者佩戴所述头显设备后，在放疗设备的预设位置显示所述三维体表参考影像，以使所述佩戴者根据观察到的所述患者的目标部位的实际位置与所述三维体表参考影像，对所述患者的位置进行调整；
    其中，所述预设位置为所述患者的目标点与所述放疗设备的等中心重合时，所述患者的目标部位所在位置。
  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：
    在生成所述三维体表参考影像后，在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像与所述放疗设备的预设位置重合。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    基于所述第一影像，还生成位于所述三维体表参考影像内的三维体积影像；
    在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像与所述放疗设备的预设位置重合，包括：
    在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像中与所述患者的身高方向对应的方向，和所述放疗设备中患者支撑装置的支撑面平行，且所述三维体积影像的目标点与所述放疗设备的等中心重合。
  4. 根据权利要求1所述的方法，其特征在于，所述获取患者的目标部位的第一影像，包括：
    从预先制定的所述患者的治疗计划中获取患者的目标部位的第一影像。
  5. 根据权利要求1所述的方法，其特征在于，所述患者的目标部位具有标记物，所述三维体表参考影像具有与所述标记物对应的标记物影像；
    在放疗设备的预设位置显示所述三维体表参考影像，以使所述佩戴者根据观察到的所述患者的目标部位的实际位置与所述三维体表参考影像，对所述患者的位置进行调整，包括：
    在所述放疗设备的预设位置显示具有所述标记物影像的所述三维体表参考影像，以使所述佩戴者根据观察到的所述标记物与所述标记物影像，对所述患者的位置进行调整。
  6. 根据权利要求1至5任一所述的方法，其特征在于，所述头显设备为增强现实AR设备或混合现实MR设备，所述在放疗设备的预设位置显示所述三维体表参考影像，包括：
    获取所述头显设备与所放疗设备之间的位置关系；
    基于所述头显设备与所放疗设备之间的位置关系，在所述放疗设备的预设位置显示所述三维体表参考影像。
  7. 根据权利要求1至5任一所述的方法，其特征在于，所述头显设备为虚拟现实VR设备，所述在放疗设备的预设位置显示所述三维体表参考影像，包括：
    实时获取位于所述放疗设备的患者支撑装置上的患者的第二影像；
    基于所述第二影像，生成所述患者的第一人体三维影像；
    在显示所述第一人体三维影像的同时，在所述放疗设备的预设位置显示所述三维体表参考影像。
  8. 根据权利要求1至5任一所述的方法，其特征在于，所述方法还包括：
    实时获取在所述放疗设备对所述患者进行治疗过程中所述患者的目标部位的第三影像；
    基于所述第三影像，生成所述患者的目标部位的三维体表实时影像；
    同时显示所述三维体表参考影像和所述三维体表实时影像。
  9. 根据权利要求8所述的方法，其特征在于，同时显示所述三维体表参考 影像和所述三维体表实时影像，包括：
    在将所述三维体表参考影像的轮廓的颜色，和所述三维体表实时影像的轮廓的颜色处理为两种不同的颜色后，同时显示所述三维体表参考影像和所述三维体表实时影像。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    在确定出所述三维体表实时影像的轮廓超出三维体表参考影像的轮廓后，发出提示信息。
  11. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    实时获取在所述放疗设备对所述患者进行治疗过程中所述患者的第四影像；
    基于所述第四影像，生成所述患者的第二人体三维影像；
    在接收到显示内容的切换操作后，同时显示所述三维体表参考影像和所述三维体表实时影像，或者，仅显示所述第二人体三维影像。
  12. 一种头显设备，其特征在于，包括：处理器和显示器；
    所述处理器，用于获取患者的目标部位的第一影像，并基于所述第一影像，生成所述患者的目标部位的三维体表参考影像；
    所述显示器，用于在佩戴者佩戴所述头显设备后，通过所述处理器的控制在放疗设备的预设位置显示所述三维体表参考影像，以使所述佩戴者根据观察到的所述患者的目标部位的实际位置与所述三维体表参考影像，对所述患者的位置进行调整；
    其中，所述预设位置为所述患者的目标点与所述放疗设备的等中心重合时，所述患者的目标部位所在位置。
  13. 根据权利要求12所述的头显设备，其特征在于，所述处理器还用于：
    在生成所述三维体表参考影像后，在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像与所述放疗设备的预设位置重合。
  14. 根据权利要求13所述的头显设备，其特征在于，所述处理器还用于：
    基于所述第一影像，还生成位于所述三维体表参考影像内的三维体积影像；
    在所述头显设备的坐标系中调整所述三维体表参考影像的位置，以使在所述头显设备的坐标系中，所述三维体表参考影像中与所述患者的身高方向对应的方向，和所述患者支撑装置的支撑面平行，且所述三维体积影像的目标点与所述放疗设备的等中心重合。
  15. 一种放疗系统，其特征在于，包括：放疗设备和头显设备；
    所述放疗设备，包括患者支撑装置，用于承载患者；
    所述头显设备为权利要求12至14任一所述的头显设备。
  16. 根据权利要求15所述的放疗系统，其特征在于，所述头显设备为AR设备或MR设备，所述头显设备具有摄像头；
    所述头显设备中的处理器，用于基于所述摄像头获取到的放疗设备的图像，确定所述头显设备与所述放疗设备的之间的位置关系，并基于所述头显设备与所述放疗设备之间的位置关系，控制所述头显设备中的显示器显示所述三维体表参考影像，以使所述显示器显示的三维体表参考影像与所述放疗设备的预设位置重合。
  17. 根据权利要求15所述的放疗系统，其特征在于，所述头显设备为VR设备，所述放疗系统还包括：
    多个第一光学摄像头，用于实时采集位于所述患者支撑装置上的患者的第二影像，并实时的将所述第二影像发送给所述头显设备的处理器；
    所述处理器，用于基于所述第二影像，生成所述患者的第一人体三维影像，并控制所述头显设备的显示器同时显示所述三维体表参考影像和所述第一人体三维影像。
  18. 根据权利要求15至17任一所述的放疗系统，其特征在于，所述放疗系统还包括：
    影像采集设备，用于实时采集在所述放疗设备对所述患者进行治疗过程中所述患者的目标部位的第三影像，并实时的将所述第三影像发送给所述头显设备的处理器；
    所述处理器，用于基于所述第三影像，生成所述患者的目标部位的三维体表实时影像，并控制所述头显设备的显示器同时显示所述三维体表参考影像和所述三维体表实时影像。
  19. 根据权利要求18所述的放疗系统，其特征在于，所述放疗系统还包括：
    多个第二光学摄像头，用于实时采集在所述放疗设备对所述患者进行治疗过程中所述患者的第四影像，并实时的将所述第四影像发送给所述头显设备的处理器；
    所述处理器，用于基于所述第四影像，生成所述患者的第二人体三维影像，并在接收到显示内容的切换操作后，控制所述显示器同时显示所述三维体表参考影像和所述三维体表实时影像，或者，仅显示所述第二人体三维影像。
  20. 根据权利要求15至17任一所述的放疗系统，其特征在于，所述放疗系统还包括：用于供所述患者穿戴的医用紧身衣。
PCT/CN2020/141225 2020-12-30 2020-12-30 位置调整方法、头显设备及放疗系统 WO2022141150A1 (zh)

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