CN114832243B - Position adjustment method, head display device and radiotherapy system - Google Patents
Position adjustment method, head display device and radiotherapy system Download PDFInfo
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- 239000003550 marker Substances 0.000 claims abstract description 74
- 230000003190 augmentative effect Effects 0.000 claims description 5
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- 210000003128 head Anatomy 0.000 description 118
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
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- A—HUMAN NECESSITIES
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- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/017—Head mounted
- G02B27/0172—Head mounted characterised by optical features
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
- A61N2005/1097—Means for immobilizing the patient
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Abstract
The application discloses a position adjustment method, head display equipment and a radiotherapy system, and belongs to the technical field of medical treatment. The method comprises the following steps: after wearing the head display device, the wearer acquires the position of the reference object; based on the position relation between a reference object and a virtual visible light source and the position of the reference object, displaying the virtual visible light beam emitted by the virtual visible light source, so that the wearer adjusts the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient. Need not to adopt the laser lamp just can realize the patient location, the effectual improvement carries out the precision of location to the patient, and then has improved the effect that adopts this radiotherapy equipment to treat the patient follow-up.
Description
Technical Field
The application relates to the technical field of medical treatment, in particular to a position adjustment method, head display equipment and a radiotherapy system.
Background
Radiation therapy is an important means of treating cancer, and radiotherapy equipment is a key medical device for carrying out radiation therapy. Currently, prior to treatment of a patient with a radiotherapy apparatus, it is necessary to position (also referred to as "park") the patient on a support (e.g., a couch) of the radiotherapy apparatus such that a target point (e.g., a target point in gamma knife therapy) of a treatment site of the patient coincides with an isocenter of the radiotherapy apparatus.
In the related art, a patient is usually positioned by a laser lamp in a radiotherapy apparatus. For example, the laser lamp can emit three intersecting laser beams in different directions, and the distance between the intersection point of the central axes of the three laser beams in different directions and the treatment center of the radiotherapy apparatus is a preset distance. When the patient is positioned, the treatment bed can be moved, so that three cross line markers on the surface of the patient are respectively overlapped with the cross laser lines of the three laser beams, and then the treatment bed is moved for a preset distance, so that the center of the tumor of the patient is overlapped with the treatment center of the radiotherapy equipment.
However, on the one hand, the laser lamp is installed in the treatment room where the radiotherapy equipment is located by adopting a mechanical installation mode, so that the phenomenon of displacement is unavoidable after long-time use. On the other hand, when the emission distance of the laser beam emitted by the laser lamp is large, the laser beam is extremely easy to generate the phenomenon of laser drift. Therefore, the precision of positioning the patient by using the laser lamp is low, so that the effect of the radiotherapy equipment on the patient is poor.
Disclosure of Invention
The embodiment of the application provides a position adjustment method, head display equipment and a radiotherapy system. The problem that the precision that utilizes the laser lamp to put the patient in prior art is lower can be solved, technical scheme is as follows:
In one aspect, a position adjustment method is provided and applied to a head display device, and the method includes: after wearing the head display device, the wearer acquires the position of the reference object; based on the position relation between a reference object and a virtual visible light source and the position of the reference object, displaying the virtual visible light beam emitted by the virtual visible light source, so that the wearer adjusts the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient.
Optionally, the head display device is an augmented reality AR device or a mixed reality MR device; based on a positional relationship between a reference object and a virtual visible light source and a position of the reference object, displaying a virtual visible light beam emitted by the virtual visible light source, comprising: acquiring a first position relation between the head display equipment and the reference object; determining a second positional relationship between the head display device and the virtual visible light source based on the positional relationship between the reference and the virtual visible light source and the first positional relationship; the virtual visible light beam is displayed based on the second positional relationship.
Optionally, the head display device is a virtual reality VR device; based on a positional relationship between a reference object and a virtual visible light source and a position of the reference object, displaying a virtual visible light beam emitted by the virtual visible light source, comprising: acquiring a three-dimensional virtual image containing the radiotherapy equipment; and superposing and displaying the virtual visible light beam in the three-dimensional virtual image based on the position information of the reference object in the three-dimensional virtual image and the position relation between the reference object and the virtual visible light source.
Optionally, the method further comprises: and acquiring three-dimensional images of a human body of a patient on a patient support device of the radiotherapy equipment in real time, and displaying the three-dimensional images of the human body in a superposition manner in the three-dimensional virtual images.
Optionally, the method further comprises: and acquiring the position relation between the reference object and the virtual visible light source.
Optionally, the method further comprises: acquiring position information of the virtual visible light beam irradiated on the body surface of the patient and position information of a marker arranged on the body surface of the patient; and sending prompt information after determining that the position of the virtual visible light beam coincides with the position of the marker based on the position information of the virtual visible light beam and the position information of the marker.
Optionally, the method further comprises: determining a third positional relationship between the virtual visible light beam and the marker based on the positional information of the virtual visible light beam and the positional information of the marker; and displaying at least one of a phase difference distance and an offset direction between the position of the virtual visible light beam and the position of the marker based on the third positional relationship.
Optionally, the method further comprises: displaying a first enhanced display pattern at a position of the virtual visible light beam based on position information of the virtual visible light beam; displaying a second enhanced display pattern at a location of the marker based on the location information of the marker; wherein the color of the first enhanced display pattern is different from the color of the second enhanced display pattern.
In another aspect, there is provided a head display apparatus including: a processor and a display; the processor is used for acquiring the position of the reference object after the head display device is worn by a wearer; based on the position relation between the reference object and the virtual visible light source and the position of the reference object, the display is controlled to display the virtual visible light beam emitted by the virtual visible light source, so that the wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient.
In yet another aspect, there is provided a radiation therapy system comprising: the radiotherapy equipment, the head display equipment and the reference object are positioned in the treatment room; wherein, the head display equipment is the head display equipment.
The technical scheme provided by the embodiment of the application has the beneficial effects that at least:
The head display device can acquire the position of the reference object, and display the virtual visible light beam emitted by the virtual visible light source according to the position relation between the reference object and the virtual visible light source and the position of the reference object. And the virtual visible light beam displayed by the head display device replaces the laser beam emitted by the original laser lamp. Thus, after the wearer wears the head-up display device, the wearer may observe that this virtual visible light beam is shining on the body surface of the patient. Therefore, the wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the body surface and the marker arranged on the body surface of the patient, so that the position of the virtual visible light beam irradiated on the body surface and the marker arranged on the body surface of the patient coincide, and the patient is positioned. Thus, the patient can be positioned without adopting a laser lamp, the accuracy of positioning the patient is effectively improved, and the effect of treating the patient by adopting the radiotherapy equipment subsequently is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a radiotherapy system according to a position adjustment method according to an embodiment of the present application;
FIG. 2 is a flowchart of a position adjustment method according to an embodiment of the present application;
FIG. 3 is a flowchart of another position adjustment method according to an embodiment of the present application;
fig. 4 is a schematic diagram of an end face structure of a housing of a radiotherapy apparatus according to an embodiment of the present application;
fig. 5 is an effect diagram of a picture watched by a wearer after the wearer wears the head display device according to the embodiment of the present application;
fig. 6 is a block diagram of a head display device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a radiotherapy system according to a position adjustment method according to an embodiment of the present application. The radiotherapy system may comprise: a head-display device 101, a radiotherapy device 102 and a reference 103 which are positioned in the treatment room 100.
The head display device 101 may be an augmented Reality (english: augmented Reality; abbreviated as AR) device, a Mixed Reality (english: mixed Reality; abbreviated as MR) device, or a Virtual Reality (english: virtual Reality; abbreviated as VR) device.
The radiotherapy device 102 may be a gamma knife or a medical electron linear accelerator or the like. By way of example, the radiotherapy apparatus 102 may comprise: a housing 1021 having a treatment chamber 1022, a patient support 1023. Wherein, a rotating frame and a treatment head and the like arranged on the rotating frame can be arranged in the shell 1021, the rotating frame can drive the treatment head and other parts to rotate, the treatment head can send out treatment beams to carry out radiation treatment on a patient positioned in a treatment cavity 1022 on the patient support device 1023, and various controls, display screens or other parts for controlling radiotherapy equipment can be arranged on the shell 1021; patient support 1023 may move the patient, for example, into treatment cavity 1022. Patient support 1023 may be a three-dimensional bed, a four-dimensional bed, a five-dimensional bed, a six-dimensional bed, or a three-dimensional seat, a four-dimensional seat, a five-dimensional seat, a six-dimensional seat, or the like.
The reference object 103 located in the treatment room 100 is fixed in position and cannot move, and can be a specially formulated reference object, or can be an existing immovable component in the treatment room, and can be identified by the head display device 101 together with the patient located on the patient support device 1023.
Where the reference 103 is a specially formulated reference, in one example, the reference 103 may be fixed to the housing 1021, and in another example, the reference 103 may be disposed at a location within the treatment room 100 that is not on the housing 1021 of the radiotherapy apparatus 102, such as at a location in the patient support 1023 where movement does not occur, on a wall of the treatment room 100, or the like.
Here, the reference object 103 may be at least three and the three reference objects are not arranged in line, and in general, the reference object has a small volume, for example, less than 50 cubic centimeters, and of course, when the reference object 103 has a sufficiently large volume, for example, 50 cubic centimeters or more, the reference object 103 may be an object having at least one three-dimensional structure. In addition, the reference object 103 may be a cylinder, a cube, or other shapes, and is not particularly limited herein.
Where the reference 103 is an existing immovable component within the treatment room, the reference 103 may be, for example, one or more of the radiotherapeutic apparatus 102 itself, controls on the housing 1021 of the radiotherapeutic apparatus 10, a display screen or other component, components within the treatment room 100 where the radiotherapeutic apparatus 102 is not movable, such as walls, ceilings, lights, optical cameras, etc. mounted within the treatment room 100.
Referring to fig. 2, fig. 2 is a flowchart of a position adjustment method according to an embodiment of the application. The position adjustment method is applied to the head display device 101 in the radiotherapy system 100 shown in fig. 1. The position adjustment method may include:
step 201, after a wearer wears the head display device, the position of the reference object is acquired.
Alternatively, the position of the reference may be the position of the reference in a head-mounted device coordinate system, which may be represented by (X, Y, Z) three-dimensional coordinates. For reference, the radiotherapy system is described in detail, and will not be described here.
And 202, displaying a virtual visible light beam emitted by the virtual visible light source based on the position relation between the reference object and the virtual visible light source and the position of the reference object, so that a wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient.
Alternatively, the positional relationship between the reference and the virtual visible light source may be a relative position between the reference and the virtual visible light source in the head display device coordinate system. When the position of the reference object is coincident with the position of the laser lamp in the related art, the relative positions between the reference object and the virtual visible light source are zero or within a preset range, for example, less than 0.5 mm.
It should be noted that, the virtual visible light source replaces the laser lamp in the related art, the virtual visible light source is located at the original position of the laser lamp, and the positional relationship between the virtual visible light source and the reference object is fixed, and can be obtained and stored in advance. Since the positions (including angles, directions, etc.) of the laser light and the laser beam emitted from the laser light are fixed, correspondingly, after the position of the virtual visible light source is determined, the position of the virtual visible light beam emitted from the virtual visible light source is also determined, so that the virtual visible light beam can simulate the laser beam emitted from the laser light.
After the position of the reference object is acquired, the head display device can determine the position of the virtual visible light source based on the position relation between the reference object and the virtual visible light source, and after the position of the virtual visible light source is determined, the virtual visible light beam emitted by the virtual visible light source can be correspondingly displayed, so that a wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the body surface of the patient and the marker arranged on the body surface of the patient, which is also called positioning or positioning the patient.
Optionally, the virtual visible light beam emitted by the virtual visible light source may be red, green, blue or purple, and the user may select the virtual visible light beam with different colors according to the needs. Because the virtual visible light beam emitted by the virtual visible light source is virtual and not a real laser beam, the damage to eyes of personnel on the site where the patient is positioned by the laser beam emitted by the laser lamp can be avoided.
In summary, according to the position adjustment method provided by the embodiment of the present application, the head display device can obtain the position of the reference object, and display the virtual visible light beam emitted by the virtual visible light source according to the position of the reference object and the positional relationship between the reference object and the virtual visible light source. Therefore, the virtual visible light beam displayed by the head display device replaces the laser beam actually emitted by the original laser lamp. Thus, the wearer wearing the head-mounted display device can observe that the virtual visible light beam is irradiated on the body surface of the patient. So, further according to the virtual visible light beam of observing shines the marker that sets up on the position on the body surface and patient's body surface, adjust patient's position for virtual visible light beam shines the position on the body surface and the marker coincidence that sets up on the patient's body surface, with accomplishing the location to the patient, and need not to adopt the laser lamp, effectual improvement is to the location precision of patient, and then has improved the effect that follow-up adoption this radiotherapy equipment was treated the patient, has avoided the laser beam that the laser lamp sent to lead to the fact the injury to the eyes of site location personnel.
Referring to fig. 3, fig. 3 is a flowchart of another position adjustment method according to an embodiment of the application. The position adjustment method is applied to the head display device 101 in the radiotherapy system 100 shown in fig. 1. The position adjustment method may include:
Step 301, obtaining a position relationship between a reference object and a virtual visible light source.
Before the wearer wears the head-mounted device, the head-mounted device needs to acquire the positional relationship between the reference object and the virtual visible light source.
Because the virtual visible light source replaces the laser lamp in the related art, the head display device obtaining the positional relationship between the reference object and the virtual visible light source may include: the method comprises the steps of firstly obtaining the position where the laser lamp is originally installed, then obtaining the position of the reference object, and then establishing the relative position relation between the original installed laser and the reference object according to the position where the laser lamp is originally installed and the position of the reference object, so that the position relation between the reference object and the virtual visible light source is obtained. Of course, the positional relationship between the reference object and the virtual visible light source can be obtained by manually measuring the relative position between the position where the laser lamp is originally installed and the position of the reference object, and then the head display device acquires the positional relationship between the reference object and the virtual visible light source.
For the position where the laser lamp is originally installed, the position where the laser lamp is originally installed can be marked in a manual mode, and then the marked position is measured, so that the position where the laser lamp is originally installed can be obtained.
It should be noted that the reference object may or may not coincide with the position where the laser lamp is originally installed, which is not particularly limited in the embodiment of the present application.
Alternatively, the number of the laser lamps originally installed in the treatment room is usually three, and the number of the virtual visible light sources in the treatment room can be correspondingly three. If the reference object is one, the position relation between the reference object and the three virtual visible light sources is required to be acquired; if the reference object is more than two, the position relation between at least one virtual visible light source and each reference object can be obtained, so that after the position of the first virtual visible light source is determined, the positions of the second virtual visible light source and the third virtual visible light source can be determined according to the position relation between the first virtual visible light source, the other second virtual visible light source and the third virtual visible light source.
Illustratively, as shown in fig. 1, the number of the references 103 provided on the housing 1021 of the radiotherapy apparatus 102 is one, so that the positional relationship between the reference and the three virtual visible light sources needs to be determined, respectively. As further shown in fig. 4, fig. 4 is a schematic diagram of an end face structure of a housing of a radiotherapy apparatus according to an embodiment of the present application. The number of the reference objects 103 arranged on the end face of the casing 1021 of the radiotherapy device 102 is three, so that the position relationship between at least one virtual visible light source and the three reference objects is determined.
Alternatively, in order to be able to more accurately acquire the positional relationship between the three references 103 and one virtual visible light source, it is necessary to ensure that the positions of the three references 103 distributed in the first direction X are different, and that the positions of the three references 103 distributed in the second direction Y are also different. Wherein the first direction X is the height direction of the radiotherapy apparatus 101; the second direction Y is perpendicular to the first direction X and perpendicular to the rotation center axis L of the rotating portion 1012 of the radiotherapy apparatus 101. By letting the three references 103 be distributed in different directions, the positional relationship between the three references 103 and one virtual visible light source can be more accurately obtained.
Step 302, after the wearer wears the head display device, the position of the reference object is acquired. This step is explained in detail in step 201, and will not be described here again.
Step 303, displaying the virtual visible light beam emitted by the virtual visible light source based on the position relation between the reference object and the virtual visible light source and the position of the reference object.
In the embodiment of the application, after the head display device is worn by a wearer, the head display device can display the virtual visible light beam corresponding to the laser beam emitted by the laser lamp based on the position relation between the reference object and the virtual visible light source and the position of the reference object. Thus, the wearer can adjust the position of the patient based on the position of the virtual visible light beam on the surface of the patient and the marker provided on the surface of the patient.
It should be noted that, the head display device may further obtain a positional relationship between the virtual visible light source and the isocenter of the radiotherapy device, so that the head display device may establish an association relationship between the reference object, the virtual visible light source and the isocenter of the radiotherapy device. In this way, according to the association relation, the head display device simulates the emergent position of the virtual visible light beam to correspond to the virtual visible light source, and the emergent direction of the virtual visible light beam is the same as the actual emergent direction of the laser of the original laser lamp, so as to ensure that the position of the virtual visible light beam displayed by the head display device is the same as the position of the laser beam actually emitted by the original laser lamp.
In the present application, the head display device may be worn by the wearer when the patient is on the patient support of the radiotherapy device and the patient needs to be positioned. After the head display device displays the virtual visible light beam corresponding to the laser beam emitted by the laser lamp, as shown in fig. 5, fig. 5 is an effect diagram of a picture watched by a wearer after the wearer wears the head display device, and the wearer can watch the position a of the virtual visible light beam irradiated on the body surface of the patient and the position B of the marker arranged on the body surface of the patient at the same time. Thus, the wearer can adjust the position of the patient according to the observed position A of the virtual visible light beam irradiated on the surface of the patient and the position B of the marker arranged on the surface of the patient, so that the position A of the virtual visible light beam irradiated on the surface of the patient coincides with the position B of the marker arranged on the surface of the patient, and the patient is positioned.
After the position of the patient is adjusted so that the position a of the virtual visible light beam irradiated on the body surface of the patient coincides with the position B of the marker provided on the body surface of the patient, the initial positioning of the patient can be achieved. After that, the radiotherapy equipment also needs to control the patient support device to move for a preset distance, so that the center of the tumor of the patient is overlapped with the treatment center of the radiotherapy equipment, and the final positioning of the patient is realized.
Alternatively, the number of laser lamps installed in the treatment room is typically three. Therefore, the number of the virtual visible light sources in the treatment room is also three, and correspondingly, the head display device can display three virtual visible light beams emitted by the three virtual visible light sources.
In the embodiment of the application, since the head display device in the radiotherapy system can be: AR device, MR device or VR device, and the principles of different types of head-mounted devices are different. Thus, the following two possible implementations are taken as examples of the present application, and the manner in which a patient is positioned is schematically illustrated:
In a first possible implementation manner, when the head display device is an AR device or an MR device, the head display device displays a virtual visible light beam emitted by the virtual visible light source based on a positional relationship between the reference object and the virtual visible light source and a position of the reference object, and may include the following steps:
And A1, acquiring a first position relation between the head display equipment and the reference object.
In the embodiment of the application, before the head display device displays the virtual visible light beam, the head display device can acquire the first position relation between the head display device and the reference object.
For example, the head-display device has a camera for acquiring an image of a reference object provided on the radiotherapy device in the real world. In this way, the head-display device can determine the first positional relationship between the head-display device and the reference object based on the image of the reference object.
It should be noted that the camera of the head-display device may be a depth camera, and the image of the reference object acquired by the depth camera includes depth information, where the depth information is used to characterize a distance between the depth camera and the reference object. Therefore, the accuracy of the head display device in determining the first position relation between the head display device and the reference object is higher based on the image of the reference object acquired by the depth camera.
And B1, determining a second position relation between the head display device and the virtual visible light source based on the position relation between the reference object and the virtual visible light source and the first position relation.
In the embodiment of the application, after the head display device acquires the first position relation between the head display device and the reference object, the head display device can determine the second position relation between the head display device and the virtual visible light source based on the position relation between the reference object and the virtual visible light source and the first position relation.
In the present application, since the relative position between the reference and the virtual visible light source is fixed. Therefore, after the head display device obtains the first position relation between the head display device and the reference object and the position relation between the reference object and the virtual visible light source, the head display device can determine the second position relation between the head display device and the virtual visible light source according to the first position relation and the position relation between the reference object and the virtual visible light source.
And C1, displaying the virtual visible light beam based on the second position relation.
In the embodiment of the application, after the head display device determines the second position relation between the head display device and the virtual visible light source, the head display device can display the virtual visible light beam corresponding to the laser beam emitted by the original laser lamp based on the second position relation.
In the present application, since the orientation of the laser beam emitted from the laser lamp originally installed in the treatment room is fixed. Therefore, after the head display device obtains the second position relation between the head display device and the virtual visible light source, the head display device can simulate the position of the virtual visible light source according to the second position relation, and the simulated position of the virtual visible light source emits a virtual visible light beam which faces the same direction as the laser beam emitted by the original laser lamp. Thus, the position of the virtual visible light beam observed by the wearer on the head display device is the same as the position of the laser beam emitted by the original laser lamp, so that the virtual visible light beam displayed by the head display device can replace the laser beam emitted by the original laser lamp.
After the patient is positioned on the patient support device of the radiotherapy apparatus, if the head display apparatus worn by the wearer is an AR apparatus or an MR apparatus, the wearer can observe a real patient in the real world. After the head display device displays the virtual visible light beam, the wearer can observe the virtual visible light beam displayed by the head display device and a real patient in the real world at the same time, so that the wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient. In such cases, the wearer is typically required to control movement of the patient support device within the treatment room to effect adjustment of the patient's position.
In a second possible implementation manner, when the head display device is a VR device, the head display device displays a virtual visible light beam emitted by the virtual visible light source based on a positional relationship between the reference object and the virtual visible light source and a position of the reference object, and may include the following steps:
and A2, acquiring a three-dimensional virtual image containing radiotherapy equipment.
In the embodiment of the application, before the head display device displays the virtual visible light beam, the head display device can acquire the three-dimensional virtual image containing the radiotherapy device.
Illustratively, the radiotherapy system may further comprise: and the optical cameras are in communication connection with the head display equipment. The plurality of optical cameras can be distributed at different positions in the treatment room, and the shooting angles of each optical camera can be different, so that images containing radiotherapy equipment under different visual angles can be acquired by different optical cameras. The plurality of optical cameras can send the images to the head display device when acquiring the images containing the radiotherapy device under different visual angles. Because the different optical cameras can acquire images under different visual angles, after receiving the images, the head display device can reconstruct the images under different visual angles, and then can generate three-dimensional virtual images containing radiotherapy equipment.
And B2, superposing and displaying the virtual visible light beam in the three-dimensional virtual image based on the position information of the reference object in the three-dimensional virtual image and the position relation between the reference object and the virtual visible light source.
In the embodiment of the application, after the head display device acquires the three-dimensional virtual image containing the radiotherapy device, the head display device can determine the position information of the reference object in the three-dimensional virtual image, so that the head display device can display the virtual visible light beam in the three-dimensional virtual image in a superposition manner based on the position information of the reference object and the position relationship between the reference object and the virtual visible light source.
According to the application, the head display device can determine the position information corresponding to the original laser lamp in the three-dimensional virtual image based on the position information of the reference object and the position relation between the reference object and the virtual visible light source. And the orientation of the laser beam emitted by the laser lamp is fixed. Therefore, after the head display device determines the position information corresponding to the virtual visible light source in the three-dimensional virtual image, the head display device can emit the virtual visible light beam which is oriented to the same direction as the laser beam emitted by the original laser lamp at the position. Thus, the position of the virtual visible light beam observed by the wearer on the head display device is the same as the position of the laser beam emitted by the original laser lamp, so that the virtual visible light beam displayed by the head display device can replace the laser beam emitted by the original laser lamp.
In the application, when the head display device is a VR device, the VR device does not directly present a real patient in the real world. Therefore, the position adjustment method provided by the embodiment of the application can further include: and acquiring three-dimensional images of the human body of the patient on the patient support device of the radiotherapy equipment in real time, and displaying the three-dimensional images of the human body in a superposition manner in the three-dimensional virtual images.
For example, images containing a patient at different viewing angles can be acquired in real time by a plurality of optical cameras, and the images containing the patient are sent to the head display device in real time. After receiving the images containing the patient, the head display device can reconstruct the images under different visual angles in real time, and then can acquire the three-dimensional images of the human body of the patient in real time. The three-dimensional image of the human body is an image corresponding to a patient in the real world. And the processing equipment can also display the three-dimensional image of the human body acquired by the processing equipment in real time in the three-dimensional virtual image.
Thus, after the head display device displays the virtual visible light beam and the human body three-dimensional image, the wearer can observe the virtual visible light beam displayed by the head display device and the human body three-dimensional image of the patient at the same time, so that the wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient. In this case, the wearer can either control the movement of the patient support device in the treatment room or control the movement of the patient support device in the control room outside the treatment room to effect adjustment of the patient's position.
Step 304, obtaining position information of the virtual visible light beam irradiated on the body surface of the patient and position information of the marker arranged on the body surface of the patient.
In the embodiment of the application, after the head display device displays the virtual visible light beam, the virtual visible light beam can be irradiated on the body surface of the patient. The head-display device can acquire position information of virtual visible light beams irradiated on the body surface of the patient and position information of markers arranged on the body surface of the patient.
For example, when the head-display device acquires position information of a virtual visible light beam irradiated on the body surface of a patient, the head-display device needs to acquire the position of the patient on the support device and the direction in which the virtual visible light beam exits. Thus, the head display device can determine the position information of the virtual visible light beam irradiated on the surface of the patient according to the emergent direction of the virtual visible light beam and the position of the patient.
When the head display device acquires the position information of the marker arranged on the body surface of the patient, the head display device can acquire the image of the patient and identify the marker arranged on the body surface of the patient based on the image of the patient so as to determine the position information of the marker arranged on the body surface of the patient.
Step 305, displaying a first enhanced display pattern at the position of the virtual visible light beam based on the position information of the virtual visible light beam, and displaying a second enhanced display pattern at the position of the marker based on the position information of the marker.
In the embodiment of the application, after the head display device obtains the position information of the virtual visible light beam and the position information of the marker, the head display device can display the first enhanced display pattern at the position of the virtual visible light beam based on the position information of the virtual visible light beam and display the second enhanced display pattern at the position of the marker based on the position information of the marker.
Wherein the color of the first enhanced display pattern is different from the color of the second enhanced display pattern. For example, the first enhanced display pattern may be red in color and the second enhanced display pattern may be blue in color. Therefore, the relative position relationship between the virtual visible light beam and the marker can be conveniently observed by the wearer through the first enhanced display pattern and the second enhanced display pattern, and the wearer can quickly adjust the position of the patient according to the relative position relationship between the virtual visible light beam and the marker.
Step 306, determining a third positional relationship between the virtual visible light beam and the marker based on the positional information of the virtual visible light beam and the positional information of the marker.
In the embodiment of the application, after the head display device obtains the position information of the virtual visible light beam and the position information of the marker, the head display device can also determine the third position relationship between the virtual visible light beam and the marker based on the position information of the virtual visible light beam and the position information of the marker.
Step 307, based on the third positional relationship, displaying at least one of a phase difference distance and an offset direction between the position of the virtual visible light beam and the position of the marker.
In the embodiment of the application, after the head display device determines the third positional relationship between the virtual visible light beam and the marker, the head display device may display at least one of a phase difference distance and an offset direction between the position of the virtual visible light beam and the position of the marker based on the third positional information.
The third positional relationship between the virtual visible light beam and the marker is, for example, the offset direction and the offset distance of the virtual visible light beam with respect to the marker. For this reason, the head display device can display at least one of the phase difference distance and the offset direction between the position of the virtual visible light beam and the position of the marker, thereby facilitating the wearer to quickly adjust the position of the patient after viewing the information.
Step 308, after determining that the position of the virtual visible light beam coincides with the position of the marker based on the position information of the virtual visible light beam and the position information of the marker, sending out prompt information.
In the embodiment of the application, the head display device can detect the position information of the virtual visible light beam and the position information of the marker in real time, and send out prompt information after determining that the position of the virtual visible light beam coincides with the position of the marker based on the position information of the virtual visible light beam and the position information of the marker. For example, the prompting message may be a text message or a voice message, and the prompting message is used for prompting the wearer that the position of the virtual visible light beam is coincident with the position of the marker, and the initial positioning of the patient is completed.
It should be noted that, the sequence of the steps of the display method of the head display device provided in the embodiment of the present application may be appropriately adjusted, the steps may also be increased or decreased accordingly according to the situation, and any method that is easily conceivable to be changed by those skilled in the art within the technical scope of the disclosure of the present application should be covered within the protection scope of the present application, so that no further description is provided.
In summary, according to the position adjustment method provided by the embodiment of the present application, the head display device can obtain the position of the reference object, and display the virtual visible light source to emit the virtual visible light beam according to the position relationship between the reference object and the virtual visible light source and the position of the reference object. And the position of the virtual visible light beam displayed by the head display device can be the same as the position of the laser beam actually emitted by the original laser lamp. Thus, after the wearer wears the head-up display device, the wearer may observe that this virtual visible light beam is shining on the body surface of the patient. Therefore, the wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the body surface and the marker arranged on the body surface of the patient, so that the position of the virtual visible light beam irradiated on the body surface and the marker arranged on the body surface of the patient coincide, and the patient is positioned. Thus, the patient can be positioned without adopting a laser lamp, the accuracy of positioning the patient is effectively improved, and the effect of treating the patient by adopting the radiotherapy equipment subsequently is improved.
The embodiment of the application also provides the head display device, as shown in fig. 6, and fig. 6 is a structural block diagram of the head display device. 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) or a Field Programmable Gate Array (FPGA), a modem and other devices.
A processor 101a for acquiring a position of the reference object after the head display device is worn by the wearer; based on the positional relationship between the reference object and the virtual visible light source, and the position of the reference object, the control display 101b displays the virtual visible light beam emitted by the virtual visible light beam, so that the wearer adjusts the position of the patient according to the observed position of the virtual visible light beam irradiated on the body surface of the patient and the marker provided on the body surface of the patient.
Optionally, the head-display device is an augmented reality AR device or a mixed reality MR device; a processor 101a for: acquiring a first position relation between the head display equipment and a reference object; determining a second positional relationship between the head display device and the virtual visible light source based on the positional relationship between the reference and the virtual visible light source and the first positional relationship; the display 101b is controlled to display the virtual visible light beam based on the second positional relationship.
Optionally, the head display device is a virtual reality VR device; a processor 101a for: acquiring a three-dimensional virtual image containing radiotherapy equipment; the display 101b is controlled to superimpose and display the virtual visible light beam in the three-dimensional virtual image based on the positional information of the reference object in the three-dimensional virtual image and the positional relationship between the reference object and the virtual visible light source.
Optionally, the processor 101a is further configured to: the three-dimensional image of the human body of the patient on the patient support device of the radiotherapy apparatus is acquired in real time, and the display 101b is controlled to superimpose and display the three-dimensional image of the human body in the three-dimensional virtual image.
Optionally, the processor 101a is further configured to: acquiring position information of virtual visible light beams irradiated on the body surface of a patient and position information of markers arranged on the body surface of the patient; and after determining that the position of the virtual visible light beam coincides with the position of the marker based on the position information of the virtual visible light beam and the position information of the marker, sending out prompt information.
Optionally, the processor 101a is further configured to: determining a third positional relationship between the virtual visible light beam and the marker based on the positional information of the virtual visible light beam and the positional information of the marker; based on the third positional relationship, the display 101b is controlled to display at least one of a phase difference distance and an offset direction between the position of the virtual visible light beam and the position of the marker.
Optionally, the processor 101a is further configured to: displaying a first enhanced display pattern at a position of the virtual visible light beam based on the position information of the virtual visible light beam; displaying a second enhanced display pattern at the position of the marker based on the position information of the marker; wherein the color of the first enhanced display pattern is different from the color of the second enhanced display pattern.
In summary, in the position head display device provided by the embodiment of the present application, the head display device can obtain the position of the reference object, and display the virtual visible light beam emitted by the virtual visible light source according to the position relationship between the reference object and the virtual visible light source and the position of the reference object. And the position of the virtual visible light beam displayed by the head display device can be the same as the position of the laser beam actually emitted by the original laser lamp. Thus, after the wearer wears the head-up display device, the wearer may observe that this virtual visible light beam is shining on the body surface of the patient. Therefore, the wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the body surface and the marker arranged on the body surface of the patient, so that the position of the virtual visible light beam irradiated on the body surface and the marker arranged on the body surface of the patient coincide, and the patient is positioned. Thus, the patient can be positioned without adopting a laser lamp, the accuracy of positioning the patient is effectively improved, and the effect of treating the patient by adopting the radiotherapy equipment subsequently is improved.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the radiotherapy system and the head display device described above may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The embodiment of the application also provides a computer readable storage medium. The computer readable storage medium has instructions stored therein which, when executed on a processing component, cause the processing component to perform the position adjustment method shown in fig. 2 or 3.
In the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but is intended to cover all modifications, equivalents, alternatives, and improvements falling within the spirit and principles of the application.
Claims (10)
1. A position adjustment method, characterized by being applied to a head display device, the method comprising:
After wearing the head display device, the wearer acquires the position of the reference object;
Based on the position relation between a reference object and a virtual visible light source and the position of the reference object, displaying the virtual visible light beam emitted by the virtual visible light source, so that the wearer adjusts the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient.
2. The method of claim 1, wherein the head-mounted device is an augmented reality AR device or a mixed reality MR device; based on a positional relationship between a reference object and a virtual visible light source and a position of the reference object, displaying a virtual visible light beam emitted by the virtual visible light source, comprising:
Acquiring a first position relation between the head display equipment and the reference object;
determining a second positional relationship between the head display device and the virtual visible light source based on the positional relationship between the reference and the virtual visible light source and the first positional relationship;
The virtual visible light beam is displayed based on the second positional relationship.
3. The method of claim 1, wherein the head-mounted device is a virtual reality VR device; based on a positional relationship between a reference object and a virtual visible light source and a position of the reference object, displaying a virtual visible light beam emitted by the virtual visible light source, comprising:
acquiring a three-dimensional virtual image containing radiotherapy equipment;
And superposing and displaying the virtual visible light beam in the three-dimensional virtual image based on the position information of the reference object in the three-dimensional virtual image and the position relation between the reference object and the virtual visible light source.
4. A method according to claim 3, characterized in that the method further comprises:
And acquiring three-dimensional images of a human body of a patient on a patient support device of the radiotherapy equipment in real time, and displaying the three-dimensional images of the human body in a superposition manner in the three-dimensional virtual images.
5. The method of claim 1, wherein prior to wearing the head-display device by a wearer, the method further comprises:
And acquiring the position relation between the reference object and the virtual visible light source.
6. The method according to claim 1, wherein the method further comprises:
Acquiring position information of the virtual visible light beam irradiated on the body surface of the patient and position information of a marker arranged on the body surface of the patient;
And sending prompt information after determining that the position of the virtual visible light beam coincides with the position of the marker based on the position information of the virtual visible light beam and the position information of the marker.
7. The method of claim 6, wherein the method further comprises:
determining a third positional relationship between the virtual visible light beam and the marker based on the positional information of the virtual visible light beam and the positional information of the marker;
and displaying at least one of a phase difference distance and an offset direction between the position of the virtual visible light beam and the position of the marker based on the third positional relationship.
8. The method of claim 6, wherein the method further comprises:
displaying a first enhanced display pattern at a position of the virtual visible light beam based on position information of the virtual visible light beam;
displaying a second enhanced display pattern at a location of the marker based on the location information of the marker;
Wherein the color of the first enhanced display pattern is different from the color of the second enhanced display pattern.
9. A head display device, characterized by comprising: a processor and a display;
The processor is used for acquiring the position of the reference object after the head display device is worn by a wearer; based on the position relation between the reference object and the virtual visible light source and the position of the reference object, the display is controlled to display the virtual visible light beam emitted by the virtual visible light source, so that the wearer can adjust the position of the patient according to the observed position of the virtual visible light beam irradiated on the surface of the patient and the marker arranged on the surface of the patient.
10. A radiation therapy system, comprising: the radiotherapy equipment, the head display equipment and the reference object are positioned in the treatment room; wherein the head display device is the head display device of claim 9.
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| EP4103088A4 (en) * | 2020-02-10 | 2024-03-20 | Insight Medical Systems, Inc. | Systems and methods for sensory augmentation in medical procedures |
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| CN207164367U (en) * | 2017-08-21 | 2018-03-30 | 刘洋 | AR glasses and its tracing system |
| CN111821582A (en) * | 2019-04-18 | 2020-10-27 | 西安大医集团股份有限公司 | Patient positioning method and device |
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