阅读说明：本技术 基于激光定位的标定水箱摆位方法及系统 (Water tank positioning calibration method and system based on laser positioning ) 是由 李玮 孟祥伟 袁双虎 雷晟暄 马志祥 于 2020-05-20 设计创作，主要内容包括：本公开公开了基于激光定位的标定水箱摆位方法及系统,包括：将磁共振设备、激光发射器标定在同一个坐标系下；水箱在上述坐标系中位置以坐标的形式表示；基于坐标系下磁共振设备、激光发射器的位置得到激光发射器所发射至该坐标系下水箱上激光的位置；标定时,将水箱上的激光接收器与激光发射器对准完成水箱位置定位。能够避免因人工操作不熟练或操作失误引起的测量误差,提高水箱摆位的精准度。(The utility model discloses a calibration water tank positioning method and system based on laser positioning, which comprises the following steps: calibrating the magnetic resonance equipment and the laser transmitter in the same coordinate system; the position of the water tank in the coordinate system is expressed in a coordinate mode; obtaining the position of laser emitted by a laser emitter to a water tank under a coordinate system based on the positions of magnetic resonance equipment and the laser emitter under the coordinate system; and during calibration, aligning a laser receiver on the water tank with the laser transmitter to complete the positioning of the water tank. The measuring error caused by unskilled manual operation or misoperation can be avoided, and the positioning accuracy of the water tank is improved.)

1. A water tank positioning calibration method based on laser positioning is characterized by comprising the following steps:

calibrating the magnetic resonance equipment and the laser transmitter in the same coordinate system;

the position of the water tank in the coordinate system is expressed in a coordinate mode;

obtaining the position of laser emitted by a laser emitter to a water tank under a coordinate system based on the positions of magnetic resonance equipment and the laser emitter under the coordinate system;

and during calibration, aligning a laser receiver on the water tank with the laser transmitter to complete the positioning of the water tank.

2. The method for calibrating the water tank based on the laser positioning as claimed in claim 1, wherein the magnetic resonance device and the laser transmitter are calibrated in the same coordinate system, specifically:

selecting three points which are not collinear on a plane, and selecting one point outside the plane to construct a space rectangular coordinate system;

establishing a laser three-dimensional coordinate system by taking a transmitting port of a laser transmitter as an origin;

setting a mark point at any position of any side wall of the three-dimensional water tank;

simulating the position of the water tank in each coordinate system, reading out the coordinates of the water tank mark points in the coordinate system respectively, and obtaining an overall space coordinate system through coordinate transformation;

the real position of the mark point can be determined according to the position of the mark point in the overall space coordinate system.

3. The method for calibrating water tank placement based on laser positioning as claimed in claim 1, wherein the laser transmitter is placed in a position relative to the magnetic resonance apparatus.

4. The method for calibrating the water tank positioning based on the laser positioning as claimed in claim 1, wherein after a marking point is arranged at any position of any side wall of the three-dimensional water tank, MRI scanning is carried out, and the position of the marking point is displayed in an MRI coordinate system.

5. The method for calibrating the water tank positioning based on the laser positioning as claimed in claim 1, wherein in an initial state, the laser transmitter generates a coordinate system by taking a position for transmitting laser as a coordinate origin, and then the coordinate system calibrates the coordinate of the laser transmitter and the coordinate of MRI according to the coordinate position of the marking point, wherein the laser transmitter and the MRI image are in the same coordinate system.

6. A method of calibrating tank placement based on laser positioning as claimed in claim 1, characterized in that the magnetic resonance device is mounted on the MRI table, a model of the MRI table is generated in the transformed coordinate system according to the dimensions of the MRI table, and coordinates of any point on the table can be displayed.

7. The method of claim 6, wherein the location of the calibration tank is selected in the model of the MRI workbench, and the model of the calibration tank is generated based on the size of the tank.

8. The method for calibrating the placement of a water tank based on laser positioning as claimed in claim 1, wherein laser receivers are placed at fixed positions on the left, right and upper sides of the calibration water tank, and the coordinates of the positions of the laser receivers on the water tank are represented in the converted coordinate system based on the positions of the water tank inside the coordinate system and the positions of the laser receivers.

9. The method for calibrating the water tank based on laser positioning as claimed in claim 1, wherein during calibration, the calibration water tank is placed on the workbench, and the position of the calibration water tank is changed until the laser receivers receive the laser, so that the water tank is accurately placed and reaches the preset position.

10. Calibration water tank pendulum position system based on laser location, characterized by includes:

the device comprises a laser receiver, a laser transmitter and a computer;

the laser receiver is placed on the water tank, and the laser transmitter is installed at a fixed position;

the water tank is placed on an MRI workbench;

the computer calibrates the magnetic resonance equipment and the laser transmitter in the same coordinate system;

expressing the position of the water tank in the coordinate system in a coordinate mode;

obtaining the position of laser emitted by a laser emitter to a water tank under a coordinate system based on the positions of magnetic resonance equipment and the laser emitter under the coordinate system;

and during calibration, aligning a laser receiver on the water tank with the laser transmitter to complete the positioning of the water tank.

Technical Field

The disclosure belongs to the technical field of medical equipment, and particularly relates to a calibration water tank positioning method and system based on laser positioning.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

With the progress of medical technology, medical electron linear accelerators are widely adopted by hospitals all over the country. Become the mainstream of radiotherapy equipment. Generally, a magnetic resonance guided radiotherapy device mainly comprises a linear accelerator system for treatment and a magnetic resonance device for imaging, and in the magnetic resonance radiotherapy system, a three-dimensional water tank is required to be used for positioning before an instrument is used so as to verify the accuracy of a medical electron accelerator.

The three-dimensional water tank is also called a ray beam dosage scanning and analyzing device and is used for measuring and analyzing the three-dimensional dosage of rays output by the medical electronic linear accelerator so as to adjust various parameters of the accelerator. Before measurement, the three-dimensional water tank needs to be accurately positioned, and the positioning accuracy directly influences the accuracy of a measurement result, so that the positioning process is very critical preparation work.

In the traditional method, the position and the adjustment level of the water tank need to be manually fixed, and due to the lack of reference standards, the factors such as the position, the height, the levelness, the source-skin distance SSD and the like need to be checked every time the water tank is arranged, so that the process is complicated, time-consuming and labor-consuming, and the accuracy is poor.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a water tank positioning calibrating method based on laser positioning, and the aim of auxiliary positioning can be achieved by combining and applying a sensing technology and a three-dimensional water tank.

In order to achieve the above object, one or more embodiments of the present disclosure provide the following technical solutions:

a water tank positioning calibration method based on laser positioning comprises the following steps:

calibrating the magnetic resonance equipment and the laser transmitter in the same coordinate system;

the position of the water tank in the coordinate system is expressed in a coordinate mode;

obtaining the position of laser emitted by a laser emitter to a water tank under a coordinate system based on the positions of magnetic resonance equipment and the laser emitter under the coordinate system;

and during calibration, aligning a laser receiver on the water tank with the laser transmitter to complete the positioning of the water tank.

On the other hand, a calibration water tank positioning system based on laser positioning is disclosed, comprising:

the device comprises a laser receiver, a laser transmitter and a computer;

the laser receiver is placed on the water tank, and the laser transmitter is installed at a fixed position;

the water tank is placed on an MRI workbench;

the computer calibrates the magnetic resonance equipment and the laser transmitter in the same coordinate system;

expressing the position of the water tank in the coordinate system in a coordinate mode;

obtaining the position of laser emitted by a laser emitter to a water tank under a coordinate system based on the positions of magnetic resonance equipment and the laser emitter under the coordinate system;

and during calibration, aligning a laser receiver on the water tank with the laser transmitter to complete the positioning of the water tank.

The above one or more technical solutions have the following beneficial effects:

the measuring method for calibrating the accurate positioning of the water tank by the auxiliary linear accelerator comprises the steps of forming a corresponding model in a computer on the basis of the same coordinate system, obtaining the position of laser emitted by a laser emitter to the water tank under the coordinate system on the basis of the positions of magnetic resonance equipment and the laser emitter under the coordinate system, and aligning a laser receiver on the water tank with the laser emitter to finish positioning the water tank during calibration. The position of the water tank can be accurately positioned, a doctor does not need to repeatedly adjust the water tank, a large amount of time and labor are saved, and the service efficiency of the instrument is improved.

The method utilizes three line laser generators to generate line laser towards a target position, a laser receiver is placed at a specific position of a calibration water tank, and calibration is completed by utilizing the position relation between the laser receiver and the laser. The measuring method for calibrating the accurate positioning of the water tank by the auxiliary linear accelerator can avoid measuring errors caused by unskilled manual operation or misoperation, and improve the positioning accuracy of the water tank.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

FIG. 1 is a schematic diagram of a laser configuration design according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a laser intersection simulation positioning according to an exemplary embodiment of the disclosure;

FIG. 3 is a flow chart illustrating placement of a calibration water tank according to an embodiment of the disclosure;

the laser comprises a vertical line laser 1, an attached line laser 2, a laser port 3, a desktop three-dimensional coordinate system 4, a laser three-dimensional coordinate system 5, a three-dimensional water tank 6 and a water tank marking point 7.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

As described in the background art, the existing three-dimensional water tank positioning process is complex and tedious, and lacks accurate positioning indication scales, and a lot of time and energy are consumed for calibrating the linear accelerator each time. Aiming at the problems, the application provides a measuring method for calibrating accurate positioning of a water tank by an auxiliary linear accelerator.

With the progress of the sensing technology, the sensing technology is applied to medical aspects more and more. The medical sensor can detect various physiological signals of a human body and convert the physiological signals of the human body into electric signals or image signals with functional relation, is an extension of various senses of doctors and is beneficial to examination and treatment of various diseases. The sensing technology is combined with the three-dimensional water tank for application, so that the aim of auxiliary positioning can be fulfilled.

The embodiment discloses a water tank calibration positioning method based on laser positioning, firstly, a Magnetic Resonance Imaging (MRI) and three laser transmitters are calibrated in the same coordinate system, the calibrated coordinate system is displayed in a computer, then, a calibration engineer selects the position of the water tank, the position of the water tank is expressed in the coordinate system of the computer in a coordinate mode, then, the computer calculates the position coordinates of laser emitted by the three laser transmitters according to the coordinate data of the water tank and the MRI coordinate data, the laser is guided to be emitted, and then, the water tank is placed according to the laser emitting position.

In a typical application mode of the application, as shown in fig. 2, firstly, three non-collinear points are selected in a desktop, a desktop three-dimensional coordinate system 4 is constructed by selecting one point outside the desktop, a laser three-dimensional coordinate system 5 is respectively established by taking three laser emitting ports as original points, a marking point 7 is arranged at any position of any side wall of a three-dimensional water tank 6, an ideal position of the water tank is determined by a doctor, the position of the water tank is simulated in each coordinate system, four coordinates of the marking point 7 of the water tank in a four-coordinate system are respectively read out, an overall space coordinate system is obtained through coordinate transformation, and the real position of the marking point 7 in the overall space coordinate system can be determined.

In one embodiment, three laser generators, fixed in position, may be positioned relative to a point on the MRI. Before the coordinate system is calibrated, a lead mark point is placed at a certain point, then MRI scanning is carried out, and the position of a lead block is displayed in the MRI coordinate system. In an initial state, the three laser transmitters generate a coordinate system by taking the position of transmitting laser as a coordinate origin, then the three coordinate systems calibrate the coordinates of the lead points and the coordinates of MRI according to the coordinate positions of the lead points, and at the moment, the laser transmitters and the MRI images are in the same coordinate system.

Depending on the size of the MRI table, a model of the MRI table is generated within the coordinate system and the coordinates of any point on the table can be displayed.

When using the calibration water tank to calibrate MRI, the engineer can selectively place the calibration water tank, and the engineer selects the position point where the calibration water tank is placed in the computer workbench model at the moment, and generates the model of the calibration water tank according to the size of the water tank at the moment.

Because the size of the calibration water tank is determined, and the laser receivers are arranged at the fixed positions on the left side, the right side and the upper side of the calibration water tank, the position of the water tank in the coordinate system is determined, and the arrangement position of the laser receivers is determined, the position coordinates of the laser receivers on the water outlet tank can be represented in a computer according to points selected by engineers.

The three laser transmitters and the MRI are in the same coordinate system, the coordinates of the transmitting points of the three laser transmitters are determined, and after the position coordinates of the three laser receivers are obtained, the three laser transmitters transmit line laser to the positions of respective target points.

And then, placing the calibration water tank on a workbench, and starting to change the position of the calibration water tank until the three laser receivers receive the laser, wherein the specified laser receivers output 1 when receiving the laser and output 0 when not receiving the laser, and when the three outputs are all 1, the placement position of the water tank is considered to be accurate and reaches a preset position.

The specific process used is as follows:

firstly, calibrating an MRI device and three laser transmitters in the same coordinate system, displaying the calibrated coordinate system in a computer, then selecting the placement position of a water tank by a calibration engineer, representing the placement position of the water tank in the coordinate system of the computer in a coordinate mode, then calculating the positions of laser emitted by the three laser transmitters by the computer according to previous water tank data and MRI data, finishing the emission of guided laser, and then placing the water tank according to the laser emission positions.

The three laser generators 3 are fixed in position and can be positioned relative to a specific point in the MRI. Before the coordinate system is calibrated, lead mark points are placed at specific points, then MRI scanning is carried out, and the position of a lead block is displayed in the MRI coordinate system. In an initial state, the three laser transmitters generate a coordinate system by taking the position of transmitting laser as a coordinate origin, then the three coordinate systems calibrate the coordinates of the lead points and the coordinates of MRI according to the coordinate positions of the lead points, and at the moment, the laser transmitters and the MRI images are in the same coordinate system.

Further to the present disclosure, depending on the size of the MRI table, a model of the MRI table is generated within the coordinate system and the coordinates of any point on the table can be displayed.

When using the calibration water tank to calibrate MRI, the engineer can selectively place the calibration water tank, and the engineer selects the position point where the calibration water tank is placed in the computer workbench model at the moment, and generates the model of the calibration water tank according to the size of the water tank at the moment.

The calibration water tank is determined in size, the laser receivers are arranged at the fixed positions on the left side, the right side and the upper side of the calibration water tank, and the position of the water tank in the coordinate system is determined, so that the position coordinates of the laser receivers on the water outlet tank can be represented in a computer according to points selected by an engineer.

The three laser transmitters and the MRI are in the same coordinate system, the coordinates of the transmitting points of the three laser transmitters and the MRI are determined, and after the position coordinates of the three laser receivers are obtained, the three laser transmitters transmit line laser to the positions of respective target points.

And then, a calibration engineer places the calibration water tank on the workbench, and starts to change the position of the calibration water tank until the three laser receivers receive the laser, the specified laser receivers output 1 when receiving the laser and output 0 when not receiving the laser, and when the three outputs are all 1, the placement position of the water tank is considered to be accurate and reaches a preset position.

In another embodiment, as shown in fig. 1 and 2, the calibration water tank positioning system based on laser positioning includes two vertical line lasers 1, an attached line laser 2, a laser emitting port 3, and a computer. The attached line laser 2 is arranged on the front edge of a treatment head 9 of the electronic linear accelerator, the two vertical lasers 1 are arranged on two sides of the treatment bed, and the emission angles of the three lasers are adjustable so as to independently adjust the convergence point of the three rays.

The water tank calibration positioning based on laser positioning is realized according to the method.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.