CN106880906A - A kind of real-time verification device and method that position is put for patient in radiotherapy - Google Patents
A kind of real-time verification device and method that position is put for patient in radiotherapy Download PDFInfo
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Abstract
本发明涉及放射治疗过程中患者位置验证技术领域，尤其是涉及一种用于放射治疗中患者摆位的实时验证装置及方法。包括设置在治疗床周围的第一光学摄像机、第二光学摄像机和第三光学摄像机，每台光学摄像机安装在对应的支架上，其中第一光学摄像机设置在正对治疗床的前方，第二光学摄像机和第三光学摄像机分别设置在治疗床的两侧，三台光学摄像机通过视频线连接在视频采集卡上，视频采集卡安装在图形工作站上，视频标定板对应患者的头部、脚部、左侧、右侧设置在治疗床上，视频标定板分别采集标定图像来标定摄像机，图形工作站通过算法和软件控制摄像机来进行患者摆位的实时验证。其能够实现对患者进行精确摆位引导和验证，大大提高了放疗的精度。
The invention relates to the technical field of patient position verification during radiotherapy, in particular to a real-time verification device and method for patient positioning during radiotherapy. It includes a first optical camera, a second optical camera and a third optical camera arranged around the treatment bed, each optical camera is installed on a corresponding bracket, wherein the first optical camera is arranged facing the front of the treatment bed, and the second optical camera The video camera and the third optical camera are respectively set on both sides of the treatment bed. The three optical cameras are connected to the video acquisition card through the video cable. The video acquisition card is installed on the graphics workstation. The video calibration board corresponds to the patient's head, feet, The left side and the right side are set on the treatment bed, the video calibration board collects calibration images respectively to calibrate the camera, and the graphics workstation controls the camera through algorithms and software to perform real-time verification of patient positioning. It can realize accurate positioning guidance and verification for patients, and greatly improves the accuracy of radiotherapy.
Description
技术领域technical field
本发明涉及放射治疗过程中患者位置验证技术领域，尤其是涉及一种用于放射治疗中患者摆位的实时验证装置及方法。The invention relates to the technical field of patient position verification during radiotherapy, in particular to a real-time verification device and method for patient positioning during radiotherapy.
背景技术Background technique
放射治疗(简称放疗)是癌症治疗的三大技术手段之一，精确放疗是放疗领域研究的前沿和热点。患者精确摆位是精确放疗的前提和基础，在执行放疗计划中必须对患者进行准确摆位，才能获得期望的良好治疗效果。在临床治疗中，病灶靶区中心位置会因为对患者摆位的不准确和患者在治疗中的无意识运动产生变化，使射线不能准确地照射在患者的病灶靶区位置上，给治疗带来较大的误差，从而不能彻底治愈患者的疾病，同时也会因为对患者正常组织的过多照射从而引起并发症。因此，如何对患者进行快速精确的摆位验证并实时监测患者在治疗中无意识运动产生的体位偏差是实施精确放疗的关键所在。Radiation therapy (referred to as radiotherapy) is one of the three major technical means of cancer treatment, and precise radiotherapy is the frontier and hotspot of radiotherapy research. Accurate positioning of patients is the premise and foundation of precise radiotherapy. In the implementation of radiotherapy planning, patients must be accurately positioned in order to obtain the expected good therapeutic effect. In clinical treatment, the position of the center of the target area of the lesion will change due to inaccurate positioning of the patient and the unconscious movement of the patient during treatment, so that the radiation cannot be accurately irradiated on the target area of the lesion in the patient, which will bring more problems to the treatment. Large errors, so that the patient's disease cannot be completely cured, and at the same time, complications may be caused by excessive irradiation of the normal tissue of the patient. Therefore, how to quickly and accurately verify the patient's position and monitor the position deviation caused by the patient's involuntary movement in real time is the key to implementing precise radiotherapy.
现有技术中主流的图像引导放疗患者摆位验证技术主要是使用X射线成像、kV级锥形束CT(CBCT)以及MRI成像技术来对患者进行分次间摆位验证以及摆位误差的修正。其存在的缺点是成像不够清晰，或者会给患者正常组织带来额外的辐射剂量，有引起患者并发症的可能。同事其获得图像后，需要较长的配准融合时间来验证患者的摆位，不能做到实时的摆位验证。The mainstream image-guided radiotherapy patient setup verification technology in the prior art mainly uses X-ray imaging, kV cone beam CT (CBCT) and MRI imaging technology to verify the patient setup between fractions and correct setup errors . The disadvantage is that the imaging is not clear enough, or it will bring extra radiation dose to the normal tissue of the patient, which may cause complications in the patient. Colleagues need a long registration and fusion time to verify the patient's positioning after obtaining the images, and real-time positioning verification cannot be achieved.
所以，现有技术存在的问题是在成像过程中会使患者受到额外的辐射剂量，增加了患者正常组织患病的风险；同时利用获得的图像进行摆位验证的算法运算步骤比较复杂，很难做到实时的摆位验证，有影响患者治疗疗效的的可能。Therefore, the problem existing in the existing technology is that the patient will receive an additional radiation dose during the imaging process, which increases the risk of disease in the normal tissue of the patient; at the same time, the algorithm operation steps for positioning verification using the obtained images are relatively complicated and difficult. Real-time positioning verification may affect the therapeutic effect of patients.
发明内容Contents of the invention
本发明的目的在于针对现有技术的不足提供一种用于放射治疗中患者摆位的实时验证装置及方法。从而有效解决现有技术中的问题。The object of the present invention is to provide a real-time verification device and method for patient positioning in radiotherapy to address the deficiencies of the prior art. Thereby effectively solving the problems in the prior art.
为实现上述目的，本发明采取的技术方案为：所述的一种用于放射治疗中患者摆位的实时验证装置，其特点是包括设置在治疗室内的治疗床周围的第一光学摄像机、第二光学摄像机和第三光学摄像机，每台光学摄像机安装在对应的支架上，其中第一光学摄像机设置在正对治疗床的前方，第二光学摄像机和第三光学摄像机分别设置在治疗床的两侧，三台光学摄像机通过视频线连接在视频采集卡上，视频采集卡安装在图形工作站上，视频标定板对应患者的头部、脚部、左侧、右侧设置在治疗床上，视频标定板分别采集标定图像来标定摄像机，图形工作站通过算法和软件控制摄像机来进行患者摆位的实时验证。In order to achieve the above object, the technical solution adopted by the present invention is: the described real-time verification device for patient positioning in radiotherapy, which is characterized in that it includes a first optical camera arranged around the treatment bed in the treatment room, a second Two optical cameras and the third optical camera, each optical camera is installed on the corresponding bracket, wherein the first optical camera is arranged in front of the treatment bed, the second optical camera and the third optical camera are respectively arranged on the two sides of the treatment bed On the side, three optical cameras are connected to the video acquisition card through video cables. The video acquisition card is installed on the graphics workstation. The video calibration board is set on the treatment bed corresponding to the patient's head, feet, left side and right side. The calibration images are collected separately to calibrate the camera, and the graphics workstation controls the camera through algorithms and software to perform real-time verification of patient positioning.
所述的治疗床位旋转式治疗床，所述的第一光学摄像机的支架高度为1.8米-2.0米，第二光学摄像机和第三光学摄像机的支架高度为1.2米-2.0米，三台光学摄像机的支架底座距离治疗床中心的水平距离2.5米-3.0米，第二光学摄像机和第三光学摄像机摆放位置连线垂直于治疗床且经过治疗床中心，摄像机从上向下拍摄治疗床以及固定在其上的患者。In the treatment bed rotating treatment bed, the support height of the first optical camera is 1.8m-2.0m, the support height of the second optical camera and the third optical camera is 1.2m-2.0m, and the three optical cameras The horizontal distance between the base of the bracket and the center of the treatment bed is 2.5m-3.0m. The line connecting the placement positions of the second optical camera and the third optical camera is perpendicular to the treatment bed and passes through the center of the treatment bed. The camera shoots the treatment bed from top to bottom and fixed patients on it.
所述的一种用于放射治疗中患者摆位的实时验证方法，其特点是包括如下步骤：The described real-time verification method for patient positioning in radiotherapy is characterized in that it includes the following steps:
(1)患者首次摆位和标准参考图像的获取：患者首次在治疗室接受治疗时，将三台摄像机按照所述的验证装置设置连接好，打开验证装置图形工作站上的控制软件；按照治疗计划系统输出的患者摆位参数对患者摆位，通过常规的摆位验证方法即通过常规的DR设备采集的图像和治疗计划系统输出的DRR图像配准，来确定患者的正确摆位，使用图像工作站上的算法软件获取每个摄像头的标准参考摆位光学图像，并将该光学图像存储在数据库中；(1) First positioning of the patient and acquisition of standard reference images: When the patient receives treatment in the treatment room for the first time, connect the three cameras according to the verification device settings described above, open the control software on the graphics workstation of the verification device; follow the treatment plan The patient positioning parameters output by the system are used to determine the correct positioning of the patient through the conventional positioning verification method, that is, through the registration of images collected by conventional DR equipment and the DRR image output by the treatment planning system, using an image workstation The algorithm software on the camera obtains the standard reference position optical image of each camera, and stores the optical image in the database;
(2)差值图像的获取：在进行患者后续分次治疗时，每个摄像头拍摄的实时视频图像和该摄像头的标准参考图像进行差值计算，即将每帧实时图像的每个像素的RGB值减去对应摄像头的标准参考图像的每个像素的RGB值，获取摆位偏差图像；(2) Acquisition of difference image: During the follow-up treatment of the patient, the real-time video image captured by each camera and the standard reference image of the camera are subjected to difference calculation, that is, the RGB value of each pixel of each frame of real-time image Subtract the RGB value of each pixel of the standard reference image corresponding to the camera to obtain the positioning deviation image;
(3)感兴趣区域的获取：对摆位偏差图像首先使用5*5内核的均值滤波器和7*7内核的高斯滤波器进行平滑滤波，将平滑滤波后的差值图像使用canny算子进行轮廓提取获取包含所有轮廓的最大矩形区域坐标，即感兴趣区域坐标；(3) Acquisition of the region of interest: First, use the average filter of 5*5 kernel and the Gaussian filter of 7*7 kernel to perform smoothing and filtering on the positioning deviation image, and use the canny operator to perform smoothing and filtering on the difference image after smoothing and filtering Contour extraction obtains the coordinates of the largest rectangular area containing all contours, that is, the coordinates of the region of interest;
(4)患者摆位验证：计算感兴趣区域坐标内的标准参考图像和实时视频图像上的角点，并将两幅图像的角点进行匹配；获取匹配角点的坐标偏差值，如果偏差值小于设定的1毫米阈值，则认定患者摆位正确，如果偏差值大于1毫米，则根据偏差值对患者进行重新摆位；(4) Patient setup verification: calculate the corner points on the standard reference image and the real-time video image in the coordinates of the region of interest, and match the corner points of the two images; obtain the coordinate deviation value of the matching corner point, if the deviation value If it is less than the set threshold of 1 mm, it is determined that the patient is positioned correctly, and if the deviation is greater than 1 mm, the patient is repositioned according to the deviation;
(5)获取患者摆位偏差：将获得的ROI区域坐标映射到参考图像和和实时视频图像上，对映射的区域通过改进的ORB(Oriented FAST and Rotated BRIEF)角点提取配准算法提取角点，配准两幅图像上ROI区域内的角点；；在自动获取的ROI区域内使用ORB算法提取角点并且获取角点的描述算子，根据标准参考图像好实时视频图像上的角点和角点描述算子进行匹配；并改进ORB算法，删除其中坐标位置、方向、和描述算子完全一致的背景角点；在同一个坐标系下计算配准角点之间的位置偏差值，根据对每个摄像头的标定参数计算出在该摄像头下配置点的实际偏差距离；(5) Obtain patient setup deviation: map the obtained ROI region coordinates to the reference image and real-time video image, and extract the corner points through the improved ORB (Oriented FAST and Rotated BRIEF) corner point extraction and registration algorithm for the mapped region , register the corner points in the ROI area on the two images; ; use the ORB algorithm to extract the corner points in the automatically obtained ROI area and obtain the description operator of the corner points, and calculate the corner points and the corner points on the real-time video image according to the standard reference image The corner point description operator is used to match; and the ORB algorithm is improved to delete the background corner points whose coordinate positions, directions, and description operators are completely consistent; the position deviation value between the registration corner points is calculated in the same coordinate system, according to Calculate the actual deviation distance of the configuration points under the camera for the calibration parameters of each camera;
(6)患者摆位验证：如果某一个或者几个摄像头中视频图像的角点坐标偏差与其对应的标准参考图像上配准的角点坐标大于1毫米，则根据摄像头的位置和角点坐标偏差值引导医务人员对患者摆位进行校正调整，调整后重新进行步骤(2)的运算，直到患者在每个摄像头下的视频图像和该摄像头的标准参考图像偏差值小于1毫米，符合治疗要求则本发明装置输出信号给治疗控制系统，开始治疗；(6) Patient setup verification: If the corner point coordinate deviation of one or several cameras and the corner point coordinates registered on the corresponding standard reference image are greater than 1 mm, according to the position of the camera and the corner point coordinate deviation The value guides the medical staff to correct and adjust the patient's position, and then perform the calculation in step (2) again until the deviation between the video image of the patient under each camera and the standard reference image of the camera is less than 1 mm, and if it meets the treatment requirements The device of the present invention outputs a signal to the treatment control system to start treatment;
(7)实时监控治疗中的患者体位：患者治疗过程中，三个摄像头实时监控患者的体位，摄像头的实时视频图像与各自的标准参考图像进行差值运算，对差值运算图像进行自动的轮廓提取，获取的轮廓面积如果大于10平方像素，则需要停止治疗，对患者进行摆位调整，如果轮廓面积小于10平方像素，则继续治疗；(7) Real-time monitoring of the patient's position during treatment: During the patient's treatment, three cameras monitor the patient's position in real time, and perform difference calculations between the real-time video images of the cameras and their respective standard reference images, and automatically contour the difference calculation images Extraction, if the obtained contour area is larger than 10 square pixels, you need to stop the treatment and adjust the patient's position, if the contour area is less than 10 square pixels, continue the treatment;
(8)患者摆位实时监控：在患者治疗的过程中，摄像头实时监控患者，当患者的无意识运动引起的视频图像和摆位参考图像之间的差分值大于设定的阈值1毫米时，系统将发出信号传递给治疗控制系统，控制系统停止放疗，医务人员根据摆位偏差参数对患者进行重新摆位，然后恢复治疗。(8) Real-time monitoring of patient positioning: During the treatment of the patient, the camera monitors the patient in real time. When the difference between the video image caused by the patient's unconscious movement and the positioning reference image is greater than the set threshold of 1mm, the system The signal will be transmitted to the treatment control system, the control system will stop the radiotherapy, and the medical personnel will re-position the patient according to the position deviation parameters, and then resume the treatment.
本发明的有益效果是：所述的一种用于放射治疗中患者摆位的实时验证装置及方法，其设计使用多路普通光学摄像机多角度成像的方法来对患者进行快速精确的摆位验证，并且实时监测患者在治疗中的体位状态，将运算获得的信号反馈给放疗控制系统，对患者进行精确摆位引导和验证，大大提高了放疗的精度。其优点还包括：(1)其价格低廉，成像精度高；(2)光学摄像头成像不对患者增加任何额外的辐射剂量，有效的降低了患者在治疗时因为受到额外辐射剂量而罹患并发症的风险；(3)改进的算法增加了运算速度，可以对患者进行快速的在线摆位引导和验证；(4)可以实时监控监控患者无意识运动，一经发现患者出现摆位误差可以立即采取措施保护患者；(5)可以有效减少患者摆位的时间，客观上减少患者以及操作人员受到额外辐射剂量照射的风险；(6)减少了摆位时间，能够有效减少放疗加速器的等待时间，因而能够降低治疗成本；(7)光学成像系统不受治疗室内电磁干扰的影响，能够适应治疗室内复杂的电磁环境，适应性强。The beneficial effects of the present invention are: the described device and method for real-time verification of patient positioning in radiotherapy, which is designed to use multi-channel ordinary optical cameras for multi-angle imaging to quickly and accurately verify patient positioning , and real-time monitoring of the patient's body position during treatment, the signal obtained by the calculation is fed back to the radiotherapy control system to guide and verify the patient's precise positioning, which greatly improves the accuracy of radiotherapy. Its advantages also include: (1) its low price and high imaging accuracy; (2) optical camera imaging does not increase any additional radiation dose to the patient, which effectively reduces the risk of complications for the patient due to the additional radiation dose during treatment ;(3) The improved algorithm increases the calculation speed, and can quickly guide and verify the patient's online positioning; (4) It can monitor the patient's unconscious movement in real time, and take immediate measures to protect the patient once a patient's positioning error is found; (5) It can effectively reduce the time for setting up the patient, objectively reducing the risk of patients and operators being exposed to additional radiation doses; (6) The time for setting up can be reduced, which can effectively reduce the waiting time of the radiotherapy accelerator, thus reducing the cost of treatment (7) The optical imaging system is not affected by electromagnetic interference in the treatment room, and can adapt to the complex electromagnetic environment in the treatment room with strong adaptability.
附图说明：Description of drawings:
图1是本发明的装置结构示意图；Fig. 1 is a device structural representation of the present invention;
图2是本发明的实施方法流程结构示意图；Fig. 2 is a schematic flow chart of the implementation method of the present invention;
图3是三个摄像头的标准参考图像；Figure 3 is a standard reference image of three cameras;
图4是第一光学摄像头提取的角点及其配准画面；Fig. 4 is the corner point and its registration picture extracted by the first optical camera;
图5是第二光学摄像头提取的角点及其配准画面；Fig. 5 is the corner point and its registration picture extracted by the second optical camera;
图6是第三光学摄像头提取的角点及其配准画面。Fig. 6 is the corner points extracted by the third optical camera and its registration picture.
图中所示：1.第一光学摄像机；2.第二光学摄像机；3.第三光学摄像机；4.治疗床；5.视频采集卡；6.图形工作站；7.视频标定板；8.支架。As shown in the figure: 1. The first optical camera; 2. The second optical camera; 3. The third optical camera; 4. Treatment bed; 5. Video acquisition card; 6. Graphics workstation; 7. Video calibration board; 8. stand.
具体实施方式detailed description
以下结合附图所示之最佳实例作进一步详述：Below in conjunction with the best examples shown in the accompanying drawings for further details:
如图1和2所示，所述的一种用于放射治疗中患者摆位的实时验证装置，其特点是包括设置在治疗室内的治疗床4周围的第一光学摄像机1、第二光学摄像机2和第三光学摄像机3，每台光学摄像机安装在对应的支架8上，其中第一光学摄像机1设置在正对治疗床的前方，第二光学摄像机2和第三光学摄像机3分别设置在治疗床4的两侧，三台光学摄像机通过视频线连接在视频采集卡5上，视频采集卡5安装在图形工作站6上，视频标定板7对应患者的头部、脚部、左侧、右侧设置在治疗床4上，视频标定板7分别采集标定图像来标定摄像机，图形工作站6通过算法和软件控制摄像机来进行患者摆位的实时验证。As shown in Figures 1 and 2, the described real-time verification device for patient positioning in radiotherapy is characterized in that it includes a first optical camera 1 and a second optical camera arranged around the treatment couch 4 in the treatment room 2 and the third optical camera 3, each optical camera is installed on the corresponding bracket 8, wherein the first optical camera 1 is arranged in front of the treatment bed, the second optical camera 2 and the third optical camera 3 are respectively arranged on the treatment bed On both sides of the bed 4, three optical cameras are connected to the video capture card 5 through video cables, the video capture card 5 is installed on the graphics workstation 6, and the video calibration board 7 corresponds to the patient's head, feet, left and right sides Set on the treatment bed 4, the video calibration board 7 collects calibration images respectively to calibrate the camera, and the graphics workstation 6 controls the camera through algorithms and software to perform real-time verification of patient positioning.
所述的治疗床位旋转式治疗床，所述的第一光学摄像机1的支架高度为1.8米-2.0米，第二光学摄像机2和第三光学摄像机3的支架高度为1.2米-2.0米，三台光学摄像机的支架8底座距离治疗床中心的水平距离2.5米-3.0米，第二光学摄像机2和第三光学摄像机3摆放位置连线垂直于治疗床且经过治疗床4中心，摄像机从上向下拍摄治疗床以及固定在其上的患者。In the treatment bed rotary treatment bed, the support height of the first optical camera 1 is 1.8m-2.0m, the support height of the second optical camera 2 and the third optical camera 3 is 1.2m-2.0m, three The horizontal distance between the base of the support 8 of the first optical camera and the center of the treatment bed is 2.5 meters to 3.0 meters. Down shot of the treatment couch and the patient secured to it.
所述的一种用于放射治疗中患者摆位的实时验证方法，其特点是包括如下步骤：The described real-time verification method for patient positioning in radiotherapy is characterized in that it includes the following steps:
(1)患者首次摆位和标准参考图像的获取：患者首次在治疗室接受治疗时，将三台摄像机按照所述的验证装置设置连接好，打开验证装置图形工作站上的控制软件；按照治疗计划系统输出的患者摆位参数对患者摆位，通过常规的摆位验证方法即通过常规的DR设备采集的图像和治疗计划系统输出的DRR图像配准，来确定患者的正确摆位，使用图像工作站上的算法软件获取每个摄像头的标准参考摆位光学图像，并将该光学图像存储在数据库中；(1) First positioning of the patient and acquisition of standard reference images: When the patient receives treatment in the treatment room for the first time, connect the three cameras according to the verification device settings described above, open the control software on the graphics workstation of the verification device; follow the treatment plan The patient positioning parameters output by the system are used to determine the correct positioning of the patient through the conventional positioning verification method, that is, through the registration of images collected by conventional DR equipment and the DRR image output by the treatment planning system, using an image workstation The algorithm software on the camera obtains the standard reference position optical image of each camera, and stores the optical image in the database;
(2)差值图像的获取：在进行患者后续分次治疗时，每个摄像头拍摄的实时视频图像和该摄像头的标准参考图像进行差值计算，即将每帧实时图像的每个像素的RGB值减去对应摄像头的标准参考图像的每个像素的RGB值，获取摆位偏差图像；(2) Acquisition of difference image: During the follow-up treatment of the patient, the real-time video image captured by each camera and the standard reference image of the camera are subjected to difference calculation, that is, the RGB value of each pixel of each frame of real-time image Subtract the RGB value of each pixel of the standard reference image corresponding to the camera to obtain the positioning deviation image;
(3)感兴趣区域的获取：对摆位偏差图像首先使用5*5内核的均值滤波器和7*7内核的高斯滤波器进行平滑滤波，将平滑滤波后的差值图像使用canny算子进行轮廓提取获取包含所有轮廓的最大矩形区域坐标，即感兴趣区域坐标；(3) Acquisition of the region of interest: First, use the average filter of 5*5 kernel and the Gaussian filter of 7*7 kernel to perform smoothing and filtering on the positioning deviation image, and use the canny operator to perform smoothing and filtering on the difference image after smoothing and filtering Contour extraction obtains the coordinates of the largest rectangular area containing all contours, that is, the coordinates of the region of interest;
(4)患者摆位验证：计算感兴趣区域坐标内的标准参考图像和实时视频图像上的角点，并将两幅图像的角点进行匹配；获取匹配角点的坐标偏差值，如果偏差值小于设定的1毫米阈值，则认定患者摆位正确，如果偏差值大于1毫米，则根据偏差值对患者进行重新摆位；(4) Patient setup verification: calculate the corner points on the standard reference image and the real-time video image in the coordinates of the region of interest, and match the corner points of the two images; obtain the coordinate deviation value of the matching corner point, if the deviation value If it is less than the set threshold of 1 mm, it is determined that the patient is positioned correctly, and if the deviation is greater than 1 mm, the patient is repositioned according to the deviation;
(5)获取患者摆位偏差：将获得的ROI区域坐标映射到参考图像和和实时视频图像上，对映射的区域通过改进的ORB(Oriented FAST and Rotated BRIEF)角点提取配准算法提取角点，配准两幅图像上ROI区域内的角点；；在自动获取的ROI区域内使用ORB算法提取角点并且获取角点的描述算子，根据标准参考图像好实时视频图像上的角点和角点描述算子进行匹配；并改进ORB算法，删除其中坐标位置、方向、和描述算子完全一致的背景角点；在同一个坐标系下计算配准角点之间的位置偏差值，根据对每个摄像头的标定参数计算出在该摄像头下配置点的实际偏差距离；(5) Obtain patient setup deviation: map the obtained ROI region coordinates to the reference image and real-time video image, and extract the corner points through the improved ORB (Oriented FAST and Rotated BRIEF) corner point extraction and registration algorithm for the mapped region , register the corner points in the ROI area on the two images; ; use the ORB algorithm to extract the corner points in the automatically obtained ROI area and obtain the description operator of the corner points, and calculate the corner points and the corner points on the real-time video image according to the standard reference image The corner point description operator is used to match; and the ORB algorithm is improved to delete the background corner points whose coordinate positions, directions, and description operators are completely consistent; the position deviation value between the registration corner points is calculated in the same coordinate system, according to Calculate the actual deviation distance of the configuration points under the camera for the calibration parameters of each camera;
(6)患者摆位验证：如果某一个或者几个摄像头中视频图像的角点坐标偏差与其对应的标准参考图像上配准的角点坐标大于1毫米，则根据摄像头的位置和角点坐标偏差值引导医务人员对患者摆位进行校正调整，调整后重新进行步骤(2)的运算，直到患者在每个摄像头下的视频图像和该摄像头的标准参考图像偏差值小于1毫米，符合治疗要求则本发明装置输出信号给治疗控制系统，开始治疗；(6) Patient setup verification: If the corner point coordinate deviation of one or several cameras and the corner point coordinates registered on the corresponding standard reference image are greater than 1 mm, according to the position of the camera and the corner point coordinate deviation The value guides the medical staff to correct and adjust the patient's position, and then perform the calculation in step (2) again until the deviation between the video image of the patient under each camera and the standard reference image of the camera is less than 1 mm, and if it meets the treatment requirements The device of the present invention outputs a signal to the treatment control system to start treatment;
(7)实时监控治疗中的患者体位：患者治疗过程中，三个摄像头实时监控患者的体位，摄像头的实时视频图像与各自的标准参考图像进行差值运算，对差值运算图像进行自动的轮廓提取，获取的轮廓面积如果大于10平方像素，则需要停止治疗，对患者进行摆位调整，如果轮廓面积小于10平方像素，则继续治疗；(7) Real-time monitoring of the patient's position during treatment: During the patient's treatment, three cameras monitor the patient's position in real time, and perform difference calculations between the real-time video images of the cameras and their respective standard reference images, and automatically contour the difference calculation images Extraction, if the obtained contour area is larger than 10 square pixels, you need to stop the treatment and adjust the patient's position, if the contour area is less than 10 square pixels, continue the treatment;
(8)患者摆位实时监控：在患者治疗的过程中，摄像头实时监控患者，当患者的无意识运动引起的视频图像和摆位参考图像之间的差分值大于设定的阈值1毫米时，系统将发出信号传递给治疗控制系统，控制系统停止放疗，医务人员根据摆位偏差参数对患者进行重新摆位，然后恢复治疗。(8) Real-time monitoring of patient positioning: During the treatment of the patient, the camera monitors the patient in real time. When the difference between the video image caused by the patient's unconscious movement and the positioning reference image is greater than the set threshold of 1mm, the system The signal will be transmitted to the treatment control system, the control system will stop the radiotherapy, and the medical personnel will re-position the patient according to the position deviation parameters, and then resume the treatment.
具体实施例如图3所示，本发明用于人体仿真体模摆位引导与验证实施，使用三个海康威视的高清摄像头从左、右、前上三个角度实时引导放置在实验室内的人体塑胶仿真模型摆位，并验证摆位的正确性，将摄像头通过视频线和视频采集卡连接在图形工作站计算机上，采集三个摄像头实时视频图像，并确定三个摄像头的标准参考图像。使用一个棋盘格标定板给每个摄像头参数进行标定，棋盘格标定板的规格为每个小格尺寸为5毫米*5毫米，棋盘格为20格*20格。将人体塑胶仿真模型摆位向下偏移20毫米后，将视频图像和标准参考图像进行计算，获得引导摆位的偏差数据。如图4所示，引导患者摆位实施，第一摄像头实时视频图像感兴趣区域的角点和标准参考图像如图3的角点配准，摄像头1配准点的图像坐标偏差平均值x＝1.95像素，y＝21.17像素。根据第一摄像头的标定参数，1.25像素＝1毫米，计算可得摄像头1图像偏移为17.01毫米，与标准参考图像摆位的误差为2.99毫米。第二摄像头2实时视频图像感兴趣区域的角点和标准参考图像如图5所示。第二摄像头2配准点的图像坐标偏差平均值x＝55.41像素，y＝-2.01像素。根据第二摄像头2的标定参数，2.76像素＝1毫米，计算可得摄像头2图像偏移为19.96毫米，与标准参考图像摆位的误差为0.04毫米。第三摄像头3实时视频图像感兴趣区域的角点和标准参考图像的角点配准如图6所示，摄像头3配准点的图像坐标偏差平均值x＝-64.75像素，y＝0.127像素。根据摄像头3的标定参数，3.43像素＝1毫米，计算可得摄像头3图像偏移为-18.99毫米，与标准参考图像摆位的误差为1.01毫米。根据三个摄像头的摆放位置和它们各自的标定参数计算出体模的当前摆位和标准摆位的偏差为体模向脚方向移动的距离和实际偏移距离最大不超过2.99毫米，并且考虑三个摄像头的总体效果，计算结果和实际距离偏差为0.04毫米，证实本发明装置及方法的可行性，到达实际应用的要求。The specific embodiment is shown in Figure 3. The present invention is used for human body simulation phantom placement guidance and verification implementation. Three Hikvision high-definition cameras are used to guide and place in the laboratory in real time from three angles of left, right, and front and upper. The plastic human body simulation model is positioned, and the correctness of the positioning is verified. The camera is connected to the graphics workstation computer through the video cable and the video capture card, and the real-time video images of the three cameras are collected, and the standard reference images of the three cameras are determined. Use a checkerboard calibration board to calibrate each camera parameter. The specification of the checkerboard calibration board is that the size of each small grid is 5 mm * 5 mm, and the checkerboard grid is 20 grids * 20 grids. After the plastic human body simulation model is offset downward by 20 mm, the video image and the standard reference image are calculated to obtain the deviation data of the guiding position. As shown in Figure 4, guide the patient to perform positioning, the corner points of the real-time video image of the first camera and the corner points of the standard reference image are registered as shown in Figure 3, and the average value of the image coordinate deviation x of the registration point of the camera 1 is x=1.95 pixels, y=21.17 pixels. According to the calibration parameters of the first camera, 1.25 pixels = 1 mm, it can be calculated that the image offset of the camera 1 is 17.01 mm, and the error of the position of the standard reference image is 2.99 mm. The corner points of the region of interest of the real-time video image of the second camera 2 and the standard reference image are shown in FIG. 5 . The average deviation of the image coordinates of the registration points of the second camera 2 is x=55.41 pixels, and y=-2.01 pixels. According to the calibration parameters of the second camera 2, 2.76 pixels = 1 mm, it can be calculated that the image offset of the camera 2 is 19.96 mm, and the error of the position of the standard reference image is 0.04 mm. The registration of the corner points of the region of interest of the real-time video image of the third camera 3 with the corner points of the standard reference image is shown in FIG. 6 , the average deviation of the image coordinates of the registration points of the camera 3 is x=-64.75 pixels, y=0.127 pixels. According to the calibration parameters of the camera 3, 3.43 pixels = 1 mm, the image offset of the camera 3 can be calculated to be -18.99 mm, and the error with the standard reference image is 1.01 mm. According to the placement positions of the three cameras and their respective calibration parameters, the deviation between the current position of the phantom and the standard position is calculated as the distance that the phantom moves toward the feet and the actual offset distance does not exceed 2.99mm at most, and taking into account The overall effect of the three cameras, the deviation between the calculation result and the actual distance is 0.04mm, which proves the feasibility of the device and method of the present invention and meets the requirements of practical application.
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
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| CN110075427A (en) * | 2019-06-14 | 2019-08-02 | 广州医科大学附属肿瘤医院 | Equipment and its application method are instructed in a kind of pendulum position of Patients During Radiotherapy |
| CN110211681A (en) * | 2019-07-12 | 2019-09-06 | 江苏瑞尔医疗科技有限公司 | A kind of therapeutic bed remote control apparatus and method |
| CN110251848A (en) * | 2019-07-12 | 2019-09-20 | 江苏瑞尔医疗科技有限公司 | A kind of automatic obtaining method and device of therapeutic bed target bed value |
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| CN112089991A (en) * | 2020-09-30 | 2020-12-18 | 中国科学院近代物理研究所 | System and method for real-time monitoring and correcting patient-guided positioning and target area displacement |
| CN112316318A (en) * | 2020-11-06 | 2021-02-05 | 中国科学院近代物理研究所 | Positioning guide system and method for image-guided radiotherapy |
| CN112348857A (en) * | 2020-11-06 | 2021-02-09 | 苏州雷泰医疗科技有限公司 | Radiotherapy positioning offset calculation method and system based on deep learning |
| CN112426163A (en) * | 2019-08-26 | 2021-03-02 | 上海西门子医疗器械有限公司 | Auxiliary positioning method and system for X-ray medical equipment and computer storage medium |
| CN112473022A (en) * | 2020-11-17 | 2021-03-12 | 北京全域医疗技术集团有限公司 | Verification method and device of positioning information and computer equipment |
| CN113255774A (en) * | 2021-05-27 | 2021-08-13 | 苏州雷泰医疗科技有限公司 | Automatic positioning method and device based on anatomical structure detection and radiotherapy equipment |
| WO2021212291A1 (en) * | 2020-04-20 | 2021-10-28 | 西安大医集团股份有限公司 | Radiotherapy system and emergency control method and apparatus therein |
| CN113827876A (en) * | 2020-06-08 | 2021-12-24 | 中硼(厦门)医疗器械有限公司 | Working procedure of radiation therapy system and irradiation parameter verification device |
| CN114452548A (en) * | 2021-09-27 | 2022-05-10 | 西安大医集团股份有限公司 | Radiotherapy monitoring system and radiotherapy system |
| CN115239693A (en) * | 2022-08-15 | 2022-10-25 | 厦门理工学院 | Radiotherapy auxiliary positioning method, terminal equipment and storage medium |
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| CN116370848A (en) * | 2023-06-07 | 2023-07-04 | 浙江省肿瘤医院 | Positioning method and system for radiotherapy |
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| CN109985315A (en) * | 2017-12-29 | 2019-07-09 | 北京连心医疗科技有限公司 | A kind of nuclear-magnetism termed image-guided radiotherapy method, equipment and storage medium |
| CN108209950A (en) * | 2018-01-02 | 2018-06-29 | 安徽美时影像技术有限公司 | A kind of intelligent acquisition discriminating gear system |
| CN108543234A (en) * | 2018-05-22 | 2018-09-18 | 太丛信息科技（上海）有限公司 | A kind of novel patient real-time three-dimensional optical positioning system |
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| CN112426163B (en) * | 2019-08-26 | 2024-08-20 | 上海西门子医疗器械有限公司 | Auxiliary positioning method and system for X-ray medical equipment and computer storage medium |
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| CN113827876A (en) * | 2020-06-08 | 2021-12-24 | 中硼(厦门)医疗器械有限公司 | Working procedure of radiation therapy system and irradiation parameter verification device |
| CN112089991A (en) * | 2020-09-30 | 2020-12-18 | 中国科学院近代物理研究所 | System and method for real-time monitoring and correcting patient-guided positioning and target area displacement |
| CN112316318A (en) * | 2020-11-06 | 2021-02-05 | 中国科学院近代物理研究所 | Positioning guide system and method for image-guided radiotherapy |
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| CN112348857B (en) * | 2020-11-06 | 2024-10-15 | 苏州雷泰医疗科技有限公司 | A method and system for calculating radiotherapy positioning deviation based on deep learning |
| CN112473022A (en) * | 2020-11-17 | 2021-03-12 | 北京全域医疗技术集团有限公司 | Verification method and device of positioning information and computer equipment |
| CN113255774A (en) * | 2021-05-27 | 2021-08-13 | 苏州雷泰医疗科技有限公司 | Automatic positioning method and device based on anatomical structure detection and radiotherapy equipment |
| CN114452548A (en) * | 2021-09-27 | 2022-05-10 | 西安大医集团股份有限公司 | Radiotherapy monitoring system and radiotherapy system |
| CN115239693A (en) * | 2022-08-15 | 2022-10-25 | 厦门理工学院 | Radiotherapy auxiliary positioning method, terminal equipment and storage medium |
| CN115721878A (en) * | 2022-11-10 | 2023-03-03 | 中核粒子医疗科技有限公司 | Image recognition guided radiotherapy positioning device and method |
| CN116370848A (en) * | 2023-06-07 | 2023-07-04 | 浙江省肿瘤医院 | Positioning method and system for radiotherapy |
| CN116370848B (en) * | 2023-06-07 | 2023-09-01 | 浙江省肿瘤医院 | Positioning method and system for radiotherapy |
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