CN101889870A - Radiotherapy locating device - Google Patents
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Abstract
The invention discloses a kind of radiotherapy locating device, it comprises CT machine, CT bed, radiotherapy machine, radiation therapy bed, time flight camera and the computer that all is connected with above-mentioned each parts, time flight camera is fixedly set in the positive back upper place of radiation therapy bed, is in relative position with radiotherapy machine.Time flight camera is a kind of real-time 3D mapping camera based on the time flight theory, can realize real-time three-dimensional imaging to patient by time flight camera.Knub position information in the CT 3-D view that in computer the scanning of CT machine is obtained imports in the real time 3-D image of time flight camera shooting, thereby is driven the radiation therapy bed motion and carry out pinpoint radiotherapy by radiotherapy machine according to the position of tumor in real time 3-D image by computer.This positioner employing one camera can be realized the real-time three-dimensional imaging to patient, and locating speed is fast, real-time good, and cost is lower.
Description
Technical field
Accurate positioning device and localization method thereof when the present invention relates to a kind of radiotherapy.
Background technology
Radiotherapy is exactly radiotherapy, refers to eliminate focus with ray, uses the X line, and γ line, electronics line isoradial are radiated at cancerous tissue because the biological action of lonizing radiation, can maximum kill and wound cancerous tissue, destroy cancerous tissue, it is dwindled.Radiotherapy can produce better effects as an important means of treatment malignant tumor for many cancers.
But when radiotherapy, ray can influence the normal structure of area for treatment equally, and normal cell tissue is caused damage, brings corresponding side effect.
Therefore in radiation therapy process, need accurately locate the patient's tumor position, to reduce the damage of radiotherapy as far as possible to normal structure.Be usually used in radiocurable accurate positioning device at present electronics launched field device for image (EPID), digital X-ray machine, three-dimensional positioning framework or the like are arranged.Be installed in the accurate location that electronics launched field device for image (EPID) on the radiotherapy machine and digital X-ray machine can be implemented knub position, but cost an arm and a leg, patient also will accept the roentgen radiation x of extra dose, and when radiotherapy machine goes out to restraint, these image documentation equipments just need be closed, in therapeutic process, when the patient posture accident is mobile, just can't correct in real time like this.
Chinese patent literature CN101574266A discloses a kind of radiotherapy localization method and device, and its radiotherapy localization device comprises the CCD camera of CT machine, CT bed, radiotherapy machine, radiation therapy bed, computer and one group of different angles of having demarcated.Carrying out the localized method of radiotherapy by said apparatus is: by the CT machine human body is comprised the body surface position CT scan of tumor and carries out computer CT 3D image reconstruction earlier; Taken a picture in the position that CT scanned and carry out computer photographic-type 3D image reconstruction by the CCD camera of one group of different angles of having demarcated; The knub position information that CT scan is obtained imports in the photographic-type 3-D view, obtains the position of tumor in the photographic-type 3-D view, instructs the radiation therapy bed motion that patient is treated according to the position of tumor in the photographic-type 3-D view.Thereby by the continuous positioning of one group of CCD camera continuous service realization all the time radiotherapy, having solved existing radiotherapy localization method and device can not be to the unexpected real-time corrigent problem that moves of patient posture in therapeutic process in radiation therapy process for this radiotherapy localization method and device.But still there are following several deficiency in above-mentioned radiotherapy localization method and device, the firstth, need to install one group of CCD camera that quantity is at least 2, cost of equipment costliness; And when being installed, one group of CCD camera need carry out the demarcation of different angles to all cameras, guarantee to finish complete 3D image reconstruction after the photograph of being taken the photograph after each camera position is determined is imported computer to determine that their space coordinatess each other concern, so the equipment installation process is too complicated; Next is also to need to import computer after by all CCD cameras being taken a picture in the position that CT scanned to carry out computer photographic-type 3D image reconstruction, photographic-type 3D image reconstruction process complexity, consuming time, and whole radiotherapy process has been changed in complicated, prolongation.
Chinese patent literature CN101537230A discloses a kind of radiotherapy localization method and device, and its radiotherapy localization device comprises CT machine, CT bed, radiotherapy machine, radiation therapy bed, computer and radiation therapy bed laser instrument.Carrying out the localized method of radiotherapy by said apparatus is: by the CT machine human body is comprised the body surface position CT scan of tumor and carries out computer CT 3D image reconstruction earlier; By the radiation therapy bed laser instrument position that CT scanned is carried out laser scanning and carried out the Computerized three-dimensional image reconstruction; The knub position information that CT scan is obtained imports in the laser three-D image, obtains the position of tumor in the laser three-D image, instructs the radiation therapy bed motion that patient is treated according to the position of tumor in the laser three-D image.Thereby this radiotherapy localization method and device continue the continuous positioning that scanning realizes radiotherapy all the time by the radiation therapy bed laser instrument in radiation therapy process, and having solved existing radiotherapy localization method and device can not be to the unexpected real-time corrigent problem that moves of patient posture in therapeutic process.But still there are following several deficiency in above-mentioned radiotherapy localization method and device, the firstth, need to install the radiation therapy bed laser instrument that can carry out 3-D scanning, and equipment is comparatively expensive; The secondth, need carry out laser three-dimensional scanning to the position that CT scanned by the radiation therapy bed laser instrument, sweep time is longer; The 3rd is to need to import computer after the laser scans and carry out 3D image reconstruction, 3D image reconstruction process complexity, consuming time.Second and third 2 complicated undoubtedly, prolong and changed whole radiotherapy process, increased the mental pressure of patient when radiotherapy, and may cause more side effect.
Summary of the invention
Technical problem to be solved by this invention provides a kind of one camera can realize the localized radiotherapy locating device of real-time three-dimensional, and locating speed is quite fast.
The technical scheme that realizes the object of the invention provides a kind of radiotherapy locating device, comprise CT machine, CT bed, radiotherapy machine, radiation therapy bed, time flight camera and computer, CT machine, CT bed, radiotherapy machine, radiation therapy bed and time flight camera all are connected with computer.
CT machine and CT bed are arranged in the totally enclosed CT Scan Room, and it is indoor that radiotherapy machine, radiation therapy bed and time flight camera are arranged on totally enclosed radiotherapy.Time flight camera is fixedly set in the positive back upper place of radiation therapy bed, is in relative position with radiotherapy machine.
The quantity of time flight camera is 1, is a kind of real-time 3D mapping camera based on the time flight theory, and it mainly comprises built-in laser or led light source, also comprises CCD or cmos image sensor.
Computer is provided with control sequence, CT scan Image Information Processing program and real time 3-D image message handling program.Control sequence makes computer can control the operation of CT machine, CT bed, radiotherapy machine, radiation therapy bed and time flight camera when work, can also receive corresponding feedback information from CT machine, CT bed, radiotherapy machine, radiation therapy bed and time flight camera.CT scan Image Information Processing program can make computer receive the CT scan image information from the CT machine when work.The real time 3-D image message handling program can make computer receive real time 3-D image information from time flight camera when work.
The interface that time flight camera is connected with computer is USB interface or Ethernet interface.
The model of above-mentioned time flight camera is SR4000, adopt centre wavelength be the laser illuminator of 850nm as light source, laser levels be to eye-safe grade EN 60825-1:2002:Class 1, time flight camera adopts cmos image sensor.
Computer installation is in the control room.
The control sequence that computer was provided with, CT scan Image Information Processing program and real time 3-D image message handling program, make computer when work, can finish radiocurable location, when comprising the steps: 1. computer operation, can control CT machine and CT bed and begin the examinee who lies low on the CT bed is carried out the CT scan of corresponding site, and make the CT machine obtain the CT scan image information.Above-mentioned corresponding position is the CT scan position.Computer carries out the CT 3D image reconstruction when receiving from the CT scan image information at the CT scan position of CT machine.
2. during computer operation, can control time flight camera be carried out obtaining real time 3-D image information based on taking pictures in real time of time flight theory by the examinee's on radiation therapy bed that lies low CT scan position, computer is when receiving real time 3-D image information, thereby the knub position information that will determine when carrying out the CT 3D image reconstruction imports to and realizes accurately first pendulum position in the real time 3-D image, restarting radiotherapy machine when computer moves to the appropriate location according to the position driving radiation therapy bed of tumor in real time 3-D image then examinee's tumor locus is carried out the irradiation of the ray of radiosiotope generation, also is radiotherapy.
3. in whole radiocurable process, time flight camera carries out taking pictures in real time based on the time flight theory to the CT scan position all the time, if it is unexpected when mobile to detect examinee's position, the knub position information of determining in the time of then will carrying out the CT 3D image reconstruction again imports in the real time 3-D image, computer drives radiation therapy bed according to the position of tumor in real time 3-D image and moves to the appropriate location, and the radiotherapy ray that radiotherapy machine is sent remains the position that accurate aligning comprises tumor.
When step is carried out CT scan in 1., if tumor locus in patient head, then carries out CT scan to the whole head of patient.If tumor locus at the body trunk that comprises the breast abdominal part, then carries out CT scan to whole body trunk.
If patient is carried out the head radiotherapy localization, take 2 eyes to add lip and realize the triangles location as 3 datum marks or take 2 eyes to add nose and realize the triangles location as 3 datum marks, can take the pendulum method for position that is fit to according to patient's shape of face.If, so only need take 2 nipples to add umbilicus and realize the triangle location as 3 datum marks to the radiotherapy localization that patient carries out body trunk.Again CT 3-D view and real time 3-D image are carried out the inregister of datum mark alignment fiducials point.
Before 1. step carries out, can mount the telltale mark point at each position of patient body body surface.And then carry out step 1. before, patient's the posture that lies low adjusted makes the witness marker line of patient's telltale mark point alignment CT bed on one's body.Simultaneously step 2. before, also patient's the posture that lies low is adjusted and make the witness marker line of patient's telltale mark point alignment radiation therapy bed on one's body, operate then in the computer control time flight camera taking pictures in real time based on the time flight theory carried out at the position of CT scan, time flight camera is passed to computer with real time 3-D image, when computer imports to the knub position information of CT 3-D view in the real time 3-D image, only need aim to overlap and accurately to realize pendulum according to the telltale mark point in two images.
The present invention has positive effect: (1) radiotherapy locating device of the present invention only adopts time flight camera can realize real-time three-dimensional imaging to patient, and the volume of time flight camera is little, quantity has only one again, easy for installation, occupation space is little, the cost of complete equipment is lower.
(2) the present invention adopts the real-time three-dimensional imaging of time flight camera realization to patient, directly realize three-dimensional imaging based on the time flight theory, need not the long-time scanning process of laser three-dimensional scanning formula, need in computer, not carry out the 3D image reconstruction process yet, saved the time greatly, shortened whole radiotherapy process.
(3) radiotherapy locating device of the present invention in when location owing to need in computer, not carry out the 3D image reconstruction process, the real-time of three-dimensional imaging is better, therefore localized speed is faster, move if patient posture is unexpected in the radiotherapy process, thereby can instruct the radiotherapy machine motion accurately to aim at knub position in real time, in the limited radiotherapy time, obtained effective preferably therapeutic effect undoubtedly, avoided the injury of time waste that the machine response lag causes and ray as much as possible to the human body normal structure, obviously location efficiency is higher, and safety is better.
(4) radiotherapy locating device complete equipment of the present invention is efficient simply again, and it is less that corresponding apparatus is used software in the computer, and the maintenance of a whole set of software and hardware is all comparatively simple.
(5) radiotherapy locating device of the present invention must not set a gauge point at patient body's Surface Mount in the treatment location process, take different aligning basic points to realize accurately location by three angle positioning methods at the different body surface features of head and health, saved the trouble that sets a gauge point before each radiotherapy localization at patient body's Surface Mount, more convenient.
(6) radiotherapy locating device of the present invention is not owing to use lonizing radiation in position fixing process, and therefore whole position fixing process can not cause any harm to human body.
Description of drawings
Fig. 1 is a kind of structural representation of the present invention; Floor map when Fig. 2 lies low for human body.
Labelling in the above-mentioned accompanying drawing is as follows: CT machine 1, CT bed 2, radiotherapy machine 3, radiation therapy bed 4, time flight camera 5, computer 6.
The specific embodiment
(embodiment 1) sees Fig. 1, the radiotherapy locating device of present embodiment comprises CT machine 1, CT bed 2, radiotherapy machine 3, radiation therapy bed 4, computer 6 and a time flight camera 5, and CT machine 1, CT bed 2, radiotherapy machine 3, radiation therapy bed 4, time flight camera 5 all are connected with computer 6.
CT machine 1 is the medical facilities " computed tomography machine " that hospital's interscan is used, CT machine 1 scans by certain thickness aspect by X wire harness certain part to human body, when X line directive tissue, the part ray is organized absorption, the part ray passes the detected organ of human body and receives, and produces signal.Because the density degree difference of the various tissues of human body, the penetration capacity difference of X line is so the ray that detector receives has just had difference.Handle the output scanning image by computer after changing this discrepant ray signal that is received into digital information.Density, the resolution of CT machine 1 are higher, can observe pathological changes very little in the human body, and is very responsive and reliable aspect discovery pathological changes, the relative tertiary location of determining pathological changes, size, number.
The equipment of CT bed 2 for matching with CT machine 1, patient lies low on CT bed 2, is sent into by CT bed 2 and carries out CT scan in the CT machine 1.
The equipment of radiation therapy bed 4 for matching with radiotherapy machine 3, patient lies low on radiation therapy bed 4, accepts the direct radiotherapy of radiotherapy machine 3 on radiation therapy bed 4.
The quantity of time flight camera (Time-of-flight camera) 5 is 1, time flight camera 5 is a kind of 3D mapping cameras based on time flight (Time-of-flight) principle, this camera adopts the image chip technology, can gather the three-dimensional data row in real time, and in the firmware of integrated and a compactness.Time flight camera 5 mainly comprises built-in laser or led light source, also comprises CCD or cmos image sensor.Utilization be installed near the imageing sensor built-in light source according to certain time interval to shot object (being patient in the present embodiment) Continuous irradiation light pulse (near infrared light or laser), emission light returns camera after shot object reflection, each pixel of imageing sensor is caught this reflected light, flight (coming and going) time of standalone probe light pulse obtains the object distance respectively for the pixel of each imageing sensor.Because just can be regarded as out flight time of light pulse according to irradiates light and catoptrical phase contrast, therefore if in the flight time superior on the calculating of the light velocity, can obtain the distance of captured object, the image that also can carry out color separation according to the distance display of shot object.This imaging mode adopts one camera to realize real-time 3D imaging, has characteristics such as real-time is good, no dead band.Real-time 3D imaging data can be transferred to pictorial display treatment facilities such as PC by corresponding interface (USB2.0 or Ethernet Ethernet interface) behind 5 pairs of captured object image-formings of time flight camera.
What the time flight camera 5 of present embodiment adopted is that model is the 3D slr camera of SR4000, it is the 4th time in the generation flight camera of MESA company, good looking appearance, firm, volume little (65X65X68mm), adopt centre wavelength be the laser illuminator of 850nm as light source, laser levels to eye-safe grade EN 60825-1:2002:Class 1, adopt cmos image sensor, and provide the camera of USB or two kinds of interfaces of Ethernet selective, its basic hardware parameter is:
Computer 6 is provided with control sequence, CT scan Image Information Processing program and real time 3-D image message handling program; Control sequence makes computer 6 can control the operation of CT machine 1, CT bed 2, radiotherapy machine 3, radiation therapy bed 4 and time flight camera 5 when work, can also receive corresponding feedback information from CT machine 1, CT bed 2, radiotherapy machine 3, radiation therapy bed 4 and time flight camera 5.CT scan Image Information Processing program can make computer 6 receive the CT scan image information from CT machine 1; The real time 3-D image message handling program can make computer 6 receive real time 3-D image information from time flight camera 5 when work.
Above-described CT machine 1 and CT bed 2 are arranged in the totally enclosed CT Scan Room, and it is indoor that radiotherapy machine 3, radiation therapy bed 4 and time flight camera 5 are arranged on totally enclosed radiotherapy, and computer 6 is arranged in the control room; Time flight camera 5 is fixedly set in the positive back upper place of radiation therapy bed 4, is in relative position with radiotherapy machine 3.
The control sequence that computer 6 is provided with, CT scan Image Information Processing program and real time 3-D image message handling program, make computer 6 when work, can finish radiocurable location, comprising the steps: that 1. the operator draws patient enters CT Scan Room and allows patient lie low on CT bed 2, the operator returns control room operation computer 6 then, during computer 6 work, can control CT machine 1 and CT bed 2 and begin the examinee who lies low on CT bed 2 is carried out the CT scan of corresponding site, and make CT machine 1 obtain the CT scan image information; Described corresponding position is the CT scan position; Computer 6 carries out the CT 3D image reconstruction when receiving from the CT scan image information at the CT scan position of CT machine 1.
When carrying out CT scan, if tumor locus in patient head, then carries out CT scan to the whole head of patient; If tumor locus at the body trunk that comprises the breast abdominal part, then carries out CT scan to whole body trunk.
2. the operator draws patient and enters the radiotherapy chamber and allow patient lie low on radiation therapy bed 4, the operator returns control room operation computer 6 then, during computer 6 work, can the control time the lie low CT scan position of the examinee on radiation therapy bed 4 of 5 pairs in camera of flight carry out obtaining real time 3-D image information based on taking pictures in real time of time flight theory, computer 6 is when receiving real time 3-D image information, thereby the knub position information that will determine when carrying out the CT 3D image reconstruction imports to and realizes accurately first pendulum position in the real time 3-D image, the tumor locus of restarting 3 couples of examinees of radiotherapy machine when computer 6 moves to the appropriate location according to the position driving radiation therapy bed 4 of tumor in real time 3-D image then carries out the irradiation of the ray of radiosiotope generation, also is radiotherapy.Certainly also can be by the operator according to the position operation computer 6 of tumor in real time 3-D image, and control radiation therapy bed 4 moves to the appropriate location, carry out radiotherapy by 3 pairs of positions that comprise tumor by the procuratorial work personnel of operation computer 6 control radiotherapy machines again, the described radiocurable precision of being controlled automatically by computer 6 is than the manual manipulation mode height.
The concrete grammar of seeing the aforesaid first pendulum position of Fig. 2 be with in CT 3-D view and the real time 3-D image according to head to head, health carries out point-to-point registration to health and overlaps, so the tumor image information in the CT 3-D view promptly appears on the relative position in the real time 3-D image, realizes accurately first pendulum position; More specifically, if patient is carried out the head radiotherapy localization, because head surface is more, the concavo-convex big rise and fall of organ of difference easily, the reference point that can supply when therefore putting the position is more, for example take 2 eyes to add lip and realize the triangles location as 3 datum marks or take 2 eyes to add nose and realize the triangles location, can take the pendulum method for position that is fit to according to patient's shape of face as 3 datum marks; If, so only need take 2 nipples to add umbilicus and realize the triangle location as 3 datum marks to the body trunk radiotherapy localization that patient comprises the breast abdominal part; CT 3-D view and real time 3-D image are carried out the inregister of datum mark alignment fiducials point, thereby accurately first pendulum position is realized in the position that manifests tumor in real time 3-D image.
3. in whole radiocurable process, time flight camera 5 carries out taking pictures in real time based on the time flight theory to the CT scan position all the time, if it is unexpected when mobile to detect examinee's position, the knub position information of determining in the time of then will carrying out the CT 3D image reconstruction again imports in the real time 3-D image, computer 6 drives radiation therapy bed 4 according to the position of tumor in real time 3-D image and moves to the appropriate location, and the radiotherapy ray that radiotherapy machine 3 is sent remains the position that accurate aligning comprises tumor.
If in order to obtain more accurately locating effect, perhaps patient's body surface exists some defective to cause datum mark to obtain, and before 1. step carried out, the operator can mount the telltale mark point at each position of patient body body surface so; And then carry out step 1. the time, before the operator returned control room operation computer 6 beginning CT scan, patient's the posture that lies low adjusted made the align witness marker line of CT bed 2 of patient's telltale mark point on one's body; Simultaneously step 2. in, before the operator returns control room operation computer 6, also patient's the posture that lies low is adjusted and make the witness marker line of patient's telltale mark point alignment radiation therapy bed 4 on one's body, return then in the control room operation computer 6 driving times flight camera 5 taking pictures in real time based on the time flight theory carried out at the position of CT scan, time flight camera 5 is passed to computer 6 with real time 3-D image, when computer 6 imports to the knub position information of CT 3-D view in the real time 3-D image by software, only need aim to overlap and accurately to realize pendulum according to the telltale mark point in two images.
Though at present the positioning accuracy of time flight camera 5 also has only several millimeters, along with the progress of science and technology with use the higher bandwidth (for example USB3.0) that is connected, realize that the positioning accuracy below the millimeter can realize fully.
Claims (10)
1. a radiotherapy locating device comprises CT machine (1), CT bed (2), radiotherapy machine (3), radiation therapy bed (4) and computer (6), and CT machine (1), CT bed (2), radiotherapy machine (3) and radiation therapy bed (4) all are connected with computer (6); It is characterized in that:
Also comprise time flight camera (5); Time flight camera (5) also is connected with computer (6);
CT machine (1) and CT bed (2) are arranged in the totally enclosed CT Scan Room, and it is indoor that radiotherapy machine (3), radiation therapy bed (4) and time flight camera (5) are arranged on totally enclosed radiotherapy; Time flight camera (5) is fixedly set in the positive back upper place of radiation therapy bed (4), is in relative position with radiotherapy machine (3);
The quantity of time flight camera (5) is 1, is a kind of real-time 3D mapping camera based on the time flight theory, and it mainly comprises built-in laser or led light source, also comprises CCD or cmos image sensor;
Computer (6) is provided with control sequence, CT scan Image Information Processing program and real time 3-D image message handling program; Control sequence makes computer (6) can control the operation of CT machine (1), CT bed (2), radiotherapy machine (3), radiation therapy bed (4) and time flight camera (5) when work, can also receive corresponding feedback information from CT machine (1), CT bed (2), radiotherapy machine (3), radiation therapy bed (4) and time flight camera (5); CT scan Image Information Processing program can make computer (6) receive the CT scan image information from CT machine (1) when work; The real time 3-D image message handling program can make computer (6) receive real time 3-D image information at when work from the time camera (5) that flies.
2. radiotherapy locating device according to claim 1 is characterized in that: the interface that time flight camera (5) is connected with computer (6) is USB interface or Ethernet interface.
3. radiotherapy locating device according to claim 2, it is characterized in that: the model of described time flight camera (5) is SR4000, adopting centre wavelength is that the laser illuminator of 850nm is as light source, laser levels be to eye-safe grade EN 60825-1:2002:Class 1, time flight camera (5) adopts cmos image sensor.
4. radiotherapy locating device according to claim 1 is characterized in that: computer (6) is arranged in the control room.
5. according to the described radiotherapy locating device of one of claim 1 to 4, it is characterized in that: control sequence, CT scan Image Information Processing program and real time 3-D image message handling program that computer (6) is provided with, make computer (6) when work, can finish radiocurable location, comprise the steps:
When 1. computer (6) is worked, can control CT machine (1) and CT bed (2) and begin the examinee who lies low on CT bed (2) is carried out the CT scan of corresponding site, and make CT machine (1) obtain the CT scan image information; Described corresponding position is the CT scan position; Computer (6) carries out the CT 3D image reconstruction when receiving from the CT scan image information at the CT scan position of CT machine (1);
When 2. computer (6) is worked, can control time flight camera (5) be carried out obtaining real time 3-D image information based on taking pictures in real time of time flight theory by the examinee's on radiation therapy bed (4) that lies low CT scan position, computer (6) is when receiving real time 3-D image information, thereby the knub position information that will determine when carrying out the CT 3D image reconstruction imports to and realizes accurately first pendulum position in the real time 3-D image, computer (6) is restarted radiotherapy machine (3) according to the position driving radiation therapy bed (4) of tumor in real time 3-D image examinee's tumor locus is carried out the irradiation of the ray of radiosiotope generation when moving to the appropriate location then, also is radiotherapy;
3. in whole radiocurable process, time flight camera (5) carries out taking pictures in real time based on the time flight theory to the CT scan position all the time, if it is unexpected when mobile to detect examinee's position, the knub position information of determining in the time of then will carrying out the CT 3D image reconstruction again imports in the real time 3-D image, computer (6) drives radiation therapy bed (4) according to the position of tumor in real time 3-D image and moves to the appropriate location, and the radiotherapy ray that radiotherapy machine (3) is sent remains the position that accurate aligning comprises tumor.
6. radiotherapy locating device according to claim 5 is characterized in that: when step is carried out CT scan in 1., if tumor locus in patient head, then carries out CT scan to the whole head of patient; If tumor locus at the body trunk that comprises the breast abdominal part, then carries out CT scan to whole body trunk.
7. radiotherapy locating device according to claim 5, it is characterized in that: step 2. with step 3. in, when the real time 3-D image information of computer (6) time of reception flight camera (5), after computer (6) imports to the knub position information of CT 3-D view in the real time 3-D image, automatically control radiation therapy bed (4) by computer (6) and move to the appropriate location, control radiotherapy machine (3) again and carry out radiotherapy, perhaps by the operator according to the position operation computer (6) of tumor in real time 3-D image, and control radiation therapy bed (4) moves to the appropriate location, control radiotherapy machine (3) to being carried out radiotherapy by procuratorial work personnel's the position that comprises tumor by operation computer (6) again, the described radiocurable precision of being controlled automatically by computer (6) is than the manual manipulation mode height.
8. radiotherapy locating device according to claim 5, it is characterized in that: step 2. in, computer (6) with the knub position information of CT 3-D view import in the real time 3-D image concrete grammar be with CT 3-D view and real time 3-D image according to head to head, health carries out point-to-point registration to health and overlaps, so the tumor image information in the CT 3-D view promptly appears on the relative position in the real time 3-D image, realizes accurately pendulum position.
9. radiotherapy locating device according to claim 8, it is characterized in that: if patient is carried out the head radiotherapy localization, take 2 eyes to add lip and realize the triangles location as 3 datum marks or take 2 eyes to add nose and realize the triangles location, can take the pendulum method for position that is fit to according to patient's shape of face as 3 datum marks; If, so only need take 2 nipples to add umbilicus and realize the triangle location as 3 datum marks to the radiotherapy localization that patient carries out body trunk; Again CT 3-D view and real time 3-D image are carried out the inregister of datum mark alignment fiducials point.
10. radiotherapy locating device according to claim 5 is characterized in that: before 1. step carries out, can mount the telltale mark point at each position of patient body body surface; And then carry out step 1. before, patient's the posture that lies low adjusted makes the witness marker line of patient's telltale mark point alignment CT bed (2) on one's body; Simultaneously step 2. before, also patient's the posture that lies low is adjusted and make the witness marker line of patient's telltale mark point alignment radiation therapy bed (4) on one's body, operate then in computer (6) the control time flight camera (5) taking pictures in real time based on the time flight theory carried out at the position of CT scan, time flight camera (5) is passed to computer (6) with real time 3-D image, when computer (6) imports to the knub position information of CT 3-D view in the real time 3-D image, only need aim to overlap and accurately to realize pendulum according to the telltale mark point in two images.
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| CN111558173A (en) * | 2019-02-14 | 2020-08-21 | 睿健生技股份有限公司 | Positioning method, device and system for radiotherapy |
| WO2021184314A1 (en) * | 2020-03-19 | 2021-09-23 | 西安大医集团股份有限公司 | Image registration method and apparatus, radiotherapy device and computer readable storage medium |
| CN111870825A (en) * | 2020-07-31 | 2020-11-03 | 于金明 | Radiotherapy precise field-by-field positioning method based on virtual intelligent medical platform |
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