阅读说明：本技术 患者移动状态的检测方法、装置及系统 (Method, device and system for detecting movement state of patient ) 是由 苟天昌 闫浩 李金升 于 2019-09-27 设计创作，主要内容包括：一种患者移动状态的检测方法、装置及系统,获取患者在摆位完成初始的当前位置信息(即第一参考坐标信息),获取患者在放射治疗过程中的当前位置信息(即第一坐标信息)(201)；将第一参考坐标信息和第一坐标信息进行坐标转换后得到处于治疗床坐标系下的第二参考坐标信息和第二坐标信息(202)；根据第二坐标信息和第二参考坐标信息,对患者进行治疗管理(203)。在放射治疗的过程中,及时判断患者是否发生移动,即实现对患者移动的实时追踪。相应的,根据移动情况对患者进行可靠治疗管理,有效避免因患者发生移动而导致放射线照射到其他正常器官,造成其他正常器官被误照射而出现损伤的问题,放射治疗精度较高。(A method, a device and a system for detecting the moving state of a patient acquire the initial current position information (namely first reference coordinate information) of the patient after the patient is positioned, and acquire the current position information (namely first coordinate information) of the patient in the radiation treatment process (201); performing coordinate conversion on the first reference coordinate information and the first coordinate information to obtain second reference coordinate information and second coordinate information in a coordinate system of the treatment couch (202); and performing treatment management (203) on the patient according to the second coordinate information and the second reference coordinate information. In the process of radiotherapy, whether the patient moves or not is judged in time, and the movement of the patient is tracked in real time. Correspondingly, the reliable treatment management is carried out on the patient according to the moving condition, the problem that the other normal organs are damaged due to the fact that the other normal organs are irradiated by the radiation rays caused by the movement of the patient is effectively avoided, and the radiation treatment precision is high.)

A method of detecting a patient movement state, the method comprising:

acquiring first reference coordinate information and first coordinate information of a patient, wherein the first reference coordinate information is initial position information of the patient when the positioning of the patient is finished, the first coordinate information is current position information of the patient in a radiation treatment process of the patient, and coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;

Respectively performing coordinate conversion on the first reference coordinate information and the first reference coordinate information to obtain second reference coordinate information and second coordinate information, wherein coordinate systems of the second reference coordinate information and the second coordinate information are both coordinate systems of the treatment couch;

and performing treatment management on the patient according to the second coordinate information and the second reference coordinate information.

The method of claim 1, wherein the performing coordinate transformation on the first reference coordinate information and the first coordinate information to obtain second reference coordinate information and second coordinate information comprises:

acquiring a target rotation matrix;

and multiplying the target rotation matrix with the first reference coordinate information and the first coordinate information respectively to obtain second reference coordinate information and second coordinate information.

The method of claim 2, wherein the obtaining the target rotation matrix comprises:

acquiring a first coordinate matrix of at least one marking reference object preset on a treatment couch under a coordinate system of the treatment couch;

acquiring a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system;

And multiplying the first coordinate matrix by the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.

The method according to any one of claims 1 to 3, wherein the performing therapy management on the patient based on the second coordinate information and the second reference coordinate information comprises:

determining whether the patient moves according to the deviation between the second coordinate information and the second reference coordinate information;

and performing treatment management on the patient according to the movement condition of the patient.

The method of claim 4, wherein the therapy management of the patient based on patient movement comprises:

when the movement condition of the patient meets a preset condition, performing treatment management on the patient;

the preset conditions include: the duration of time that the patient moves is in the medium or high threshold region; or the deviation is located in a medium threshold region or a high threshold region.

The method according to claim 5, wherein the performing treatment management on the patient when the movement condition of the patient meets a preset condition comprises:

if the deviation is located in a middle threshold area, and/or the duration of the movement of the patient is located in the middle threshold area, sending out warning information, wherein the warning information is used for warning a treating physician to perform movement guidance on the patient;

And if the deviation is located in the high threshold area, and/or the duration of the movement of the patient is located in the high threshold area, sending instruction stopping information, wherein the instruction stopping information is used for controlling the stopping of the radiation treatment.

The method of any one of claims 1 to 3, wherein the obtaining first reference coordinate information of the patient comprises:

when the positioning is finished, acquiring coordinates of a marking reference object preset on the body surface of a patient, and determining the coordinates of the marking reference object on the body surface of the patient as first reference coordinate information;

or when the positioning is finished, acquiring the coordinates of a marking reference object preset on a fixing device for fixing a patient, and determining the coordinates of the marking reference object on the fixing device as the first reference coordinate information;

or when the positioning is finished, acquiring first sub-reference coordinate information of a marking reference object preset on the body surface of the patient, acquiring second sub-reference coordinate information of the marking reference object preset on a fixing device for fixing the patient, and determining the relative coordinate information or absolute coordinate information between the first sub-reference coordinate information and the second sub-reference coordinate information as the first reference coordinate information.

The method of claim 4, further comprising: and displaying the deviation.

The method of claim 8, wherein the displaying the deviation comprises: displaying the deviation within a preset time period.

The method according to claim 8 or 9, characterized in that the method further comprises:

displaying at least one of the deviations of the patient in the X-axis, Y-axis and Z-axis directions, wherein the X-axis, the Y-axis and the Z-axis are orthogonal in pairs.

The method of claim 10, further comprising: and displaying the deviation by using at least one of the deviation value, the discrete point and the connection mode.

An apparatus for detecting a patient movement state, the apparatus comprising:

the system comprises an acquisition module, a positioning module and a control module, wherein the acquisition module is used for acquiring first reference coordinate information and first coordinate information of a patient, the first reference coordinate information is initial position information of the patient when the positioning of the patient is finished, the first coordinate information is current position information of the patient in the process of radiotherapy on the patient, and coordinate systems of the first coordinate information and the first reference coordinate information are both infrared system coordinate systems;

The coordinate conversion module is used for respectively performing coordinate conversion on the first reference coordinate information and the first reference coordinate information to obtain second reference coordinate information and second coordinate information, and coordinate systems where the second reference coordinate information and the second coordinate information are located are both coordinate systems of the treatment couch;

and the management module is used for carrying out treatment management on the patient according to the second coordinate information and the second reference coordinate information.

The apparatus of claim 12, wherein the coordinate transformation module comprises:

the acquisition submodule is used for acquiring a target rotation matrix;

and the multiplying submodule is used for multiplying the target rotation matrix with the first reference coordinate information and the first coordinate information respectively to obtain the second reference coordinate information and the second coordinate information.

The apparatus of claim 13, wherein the acquisition sub-module is configured to: acquiring a first coordinate matrix of at least one marking reference object preset on a treatment couch under a coordinate system of the treatment couch;

acquiring a second coordinate matrix of the at least one marked reference object in the infrared system coordinate system;

And multiplying the first coordinate matrix by the inverse matrix of the second coordinate matrix to obtain the target rotation matrix.

A system for detecting a patient movement state, the system comprising:

infrared locating means and means for detecting the movement of the patient according to any one of claims 12 to 14 in communicative connection with said infrared locating means;

the infrared positioning device is used for detecting first reference coordinate information and first coordinate information of the patient under the control of the detection device of the patient moving state, and sending the first reference coordinate information and the first coordinate information to the detection device of the patient moving state.

The system of claim 15, wherein the infrared positioning device comprises: at least one infrared position sensor, the system further comprising: the infrared light reflection device comprises a mark reference object which is arranged on the surface of a patient or a fixing device for fixing the patient in advance, wherein an infrared light reflection material is coated on the mark reference object;

the infrared position sensor is used for emitting infrared light to the marked reference object, receiving the infrared light reflected by the marked reference object, and detecting the first reference coordinate information and the first coordinate information according to the received infrared light.

The system of claim 16, wherein each of the infrared position sensors comprises: two cameras and two infrared signal generators;

the infrared signal generator is used for emitting infrared light to the marked reference object;

the camera is used for receiving the infrared light reflected by the marked reference object.

The system of claim 16, wherein the shape of the marker reference is spherical.

An apparatus for detecting a patient movement state, the apparatus comprising: a processor and a memory, the memory having stored therein instructions that are loaded and executed by the processor to implement the method of detecting a patient movement state according to any one of claims 1 to 11.

A storage medium having stored therein instructions which, when run on a processing component, cause the processing component to execute the method of detecting a patient movement state according to any one of claims 1 to 11.