METHODS AND SYSTEMS FOR TREATING AN OBJECT

The present disclosure may disclose methods and systems for treating an object. The method may include imaging an object fixed on a positioning device using an imaging device. The method may include obtaining a plan image of the object. The method may include generating information of a region of interest (ROI) of the object based on the plan image of the object. The method may include generating a treatment plan based on the information of the ROI. The treatment plan may include a plan isocenter on the plan image. The method may further include treating a target portion of the object based on the treatment plan using a treatment device. The object may be fixed on the positioning device from a moment that the object is started to fixed on the positioning device to an end of the treatment of the target portion.

TECHNICAL FIELD

The present disclosure relates to the field of medical technology, in particular, to methods and systems for treating an object.

BACKGROUND

Radiotherapy treatment is widely used for treating cancers. Before a patient receives a radiotherapy treatment, a doctor may determine and/or modify a radiotherapy treatment plan according to an illness condition of the patient. The radiotherapy treatment may be performed on the patient based on the treatment plan. However, during the determination and/or the modification of the treatment plan, the patient may need to wait for a relatively long time during which the structure of a tumor or other diseased tissues (e.g., the tissues surrounding the tumor) of the patient may change. For example, the tumor may grow, deform, or shrink. The patient may need to go to the hospital to be reexamined for a plurality of times and the treatment plan may need to be updated, thereby reducing the accuracy of the radiotherapy treatment, prolonging the treatment time, and reducing the efficiency of the radiotherapy treatment. Therefore, it is desirable to provide methods and systems for treating an object.

SUMMARY

In one aspect of the present disclosure, a method for treating an object is provided. The method may include imaging an object fixed on a positioning device using an imaging device. The method may include obtaining a plan image of the object. The method may include generating information of a region of interest (ROI) of the object based on the plan image of the object. The method may include generating a treatment plan based on the information of the ROI. The treatment plan may include a plan isocenter on the plan image. The method may further include treating a target portion of the object based on the treatment plan using a treatment device. The object may be fixed on the positioning device from a moment that the object is started to fixed on the positioning device to an end of the treatment of the target portion.

In another aspect of the present disclosure, a system for treating an object is provided. The system may include a positioning device, an imaging device, a treatment device, and a control device. The positioning device may be configured to position an object and position the object relative to the imaging device or the treatment device. The imaging device may be configured to image the object. The treatment device may be configured to treat a target portion of the object based on a treatment plan. The control device may be configured to generate, based on a plan image acquired by the imaging device, information of a target area of the target portion, obtain a plan isocenter, and determine the treatment plan based on the plan isocenter and the information of the target area.

In yet another aspect of the present disclosure, a non-transitory computer readable medium is provided. The non-transitory computer readable medium may include at least one set of instructions, wherein when executed by one or more processors of a computing device, the at least one set of instructions causes the computing device to perform a method. The method may include imaging an object fixed on a positioning device using an imaging device. The method may include obtaining a plan image of the object. The method may include generating information of a region of interest (ROI) of the object based on the plan image of the object. The method may include generating a treatment plan based on the information of the ROI. The treatment plan may include a plan isocenter on the plan image. The method may further include treating a target portion of the object based on the treatment plan using a treatment device. The object may be fixed on the positioning device from a moment that the object is started to fixed on the positioning device to an end of the treatment of the target portion.

DETAILED DESCRIPTION

In order to illustrate the technical solutions related to the embodiments of the present disclosure, a brief introduction of the drawings referred to in the description of the embodiments is provided below. Obviously, drawings described below are only some examples or embodiments of the present disclosure. Those skilled in the art, without further creative efforts, may apply the present disclosure to other similar scenarios according to these drawings. It should be understood that the purposes of these illustrated embodiments are only provided to those skilled in the art to practice the application, and not intended to limit the scope of the present disclosure. Unless apparent from the locale or otherwise stated, like reference numerals represent similar structures or operations throughout the several views of the drawings.

As used in the disclosure and the appended claims, the singular forms “a,” “an,” and/or “the” may include plural forms unless the content clearly indicates otherwise. In general, the terms “comprise,” “comprises,” and/or “comprising,” “include,” “includes,” and/or “including,” merely prompt to include steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive listing. The methods or devices may also include other steps or elements.

The flowcharts used in the present disclosure illustrate operations that systems implement according to some embodiments of the present disclosure. It should be noted that the foregoing or the following operations may not be performed in the order accurately. Instead, the steps can be processed in reverse order or simultaneously. Besides, one or more other operations may be added to the flow charts, or one or more operations may be omitted from the flow chart.

FIG. 1is a schematic diagram illustrating an object treatment system according to some embodiments of the present disclosure.

As shown inFIG. 1, in some embodiments, a workflow for performing a radiotherapy treatment on an object120may be executed by the object treatment system100. The object treatment system100may include a positioning device110, an imaging device130, a control device140, a treatment device160, and a network170. In some embodiments, the object treatment system100may include all of or a portion of the positioning device110, the imaging device130, the control device140, the treatment device160, and the network170. In some embodiments, the object treatment system100may include an image-guided radiotherapy system having both an imaging function and a radiotherapy treatment function. In some embodiments, the imaging function and the radiotherapy treatment function of the object treatment system100may share the positioning device110. In some embodiments, the imaging device130and the treatment device160may be integrated into a single medical device, such as a radiotherapy device disclosed in Chinese Patent Application No. CN106924888A. In some embodiments, the imaging device130and the treatment device160may not be integrated into a single device (e.g., the imaging device130and the treatment device160may be independent of each other), which will not be limited in the present disclosure.

In some embodiments, a patient may be fixed on the positioning device110, imaged by the imaging device130, and/or treated by the treatment device160. A doctor may control the positioning device110, the imaging device130, and/or the treatment device160, and/or perform an examination and/or controlling on the patient through the control device140. The control device140, the positioning device110, the imaging device130, and/or the treatment device160may be connected via the network170. For example, the patient (e.g., a cancer patient) may be fixed on a treatment couch and scanned by a CT device, the doctor may determine a treatment plan150used in radiotherapy treatment of the object120through the control device140, and then the patient may be treated using the treatment device160based on the treatment plan150.

In some embodiments, other objects may be detected and/or treated based on related operations induced by one or more corresponding operators through terminal(s). For example, a component, a mechanical part, or the like, may be detected and/or processed. In some embodiments, the imaging device130may perform a first-level safety inspection on a good, e.g., using an X-ray fluoroscopy, and the treatment device160may process the good, such as perform an explosive detection. In some embodiments, the imaging device130may scan a living body, and the treatment device160may take a sample of the living body. In some embodiments, if an interventional treatment is performed on the patient, the treatment device160may include a surgical robot.

The positioning device110may be configured to position the object120relative to the imaging device130and/or the treatment device160. In some embodiments, the positioning device110may include various components for positioning the object120. For example, the positioning device110may include a treatment couch having a positioning function. The positioning device110may include a solid positioning component, such as a vacuum pad, a mask, etc. In some embodiments, the positioning device110may fix a posture of the object120so that a relative position of different portions of a body part of the object120may be unchanged (or substantially unchanged). For example, the object120may be fixed with a posture such as a lying flat posture, a bending knee posture, etc. The object120may be kept in a same (or substantially same) fixed state by the positioning device110until subsequent one or more treatments (or treatment fractions) are completed, thereby facilitating subsequent treatment(s). More descriptions regarding the positioning device110may be found elsewhere in the present disclosure. See, e.g.,FIG. 7and the relevant descriptions thereof.

The imaging device130may be configured to image the object120and generate data (e.g., image data) related to the object120. For example, the imaging device130may scan the object120and generate an image associated with the object120. The data associated with the object120may include an image of a target area of a target portion (e.g., a cancer portion, a lesion portion, etc.) of the object120. In some embodiments, the target area may include an area of the target portion, an area that the target portion may invade, etc. In some embodiments, the imaging device130may include a medical imaging device (e.g., a CT imaging device, an MRI device, a CBCT imaging device, a DR device, a PET imaging device, an SPECT imaging device, a PET-CT imaging device, a PET-MR imaging device, an ultrasonic device, an ECT imaging device, etc.).

The control device140may be configured to generate information of an ROI of the object120based on the data related to the object120generated by the imaging device130. The control device140may obtain information of a plan isocenter. The control device140may determine the treatment plan150based on the plan isocenter and the information of the ROI. In some embodiments, the control device140may be connected to the imaging device130and the treatment device160, respectively.

The treatment plan150may be configured to be used to instruct how to perform the treatment (e.g., radiotherapy) on the object120. For example, the treatment plan150may be configured to indicate how one or more beams of the radiotherapy are delivered to the ROI of the object120. In some embodiments, the treatment plan150may provide a total dose (e.g., 0.1 Gy, 10 Gy, 50 Gy, 100 Gy, etc.) required for the radiotherapy treatment, a total dose distribution of the ROI, etc. In some embodiments, the treatment plan150may include an organ at risk of the object120or a contour of the organ identified before a treatment process, or the like, or any combination thereof.

The treatment plan150may provide a working parameter set related to the treatment (e.g., a radiotherapy treatment). The working parameter set may indicate one or more radiation fields that the treatment device may implement in the treatment(s). The working parameter set may include one or more machine radiation parameters, one or more geometrical parameters, or the like, or any combination thereof. The machine radiation parameter(s) may include a dose rate (e.g., MUs/min) of a radiation source, a duration of radiation, a modality type (e.g., photons, electrons, etc.) of the radiation source, or the like, or any combination thereof. The geometrical parameter(s) may include an angle of a gantry of the treatment device at a certain time, a rotation speed of the gantry at a certain time, an angle of a collimator of the treatment device at a certain time, a rotation speed of the collimator at a certain time, a leaf setting parameter of a multi-leaf collimator (e.g., a parameter value of an individual leaf of the multi-leaf collimator, etc.) of the treatment device, a position and/or an angle of the treatment device160, or the like, or any combination thereof.

The treatment device160may be configured to treat the object120. For example, the treatment device160may perform a radiotherapy treatment on the object120. In some embodiments, the treatment device160may include a radiotherapy device, such as a medical linear particle accelerator (LINAC) device, a heavy ion therapy machine, a neutron therapy machine, a proton therapy machine, a gamma knife, or the like, or any combination thereof. In some embodiments, the treatment device160may include a treatment head, a gantry, a collimator, etc. In some embodiments, the treatment head may include a radiation source that may emit radiation beams to the object120. The radiation beams may include particle beams (e.g., neutral beams, proton beams, heavy ion beams, electron beams, etc.), and photon beams (e.g., an X-ray, a γ ray, etc.), or the like, or any combination thereof.

The network170may be configured for information transmission between different components of the object treatment system100or may perform information transmission between the object treatment system100and an external device. The network170may connect a portion or all of the devices/components described according to some embodiments of the present disclosure. The network170may be implemented in various ways.

In some embodiments, the object treatment system100may include a processor (e.g., a processor191shown inFIG. 5). The processor may be configured to perform at least one of the following operations: reconstructing a plan image based on the image data of the object120, determining the treatment plan150based on the plan image, and/or verifying the treatment plan150. In some embodiments, the processor may be an independent component. In some embodiments, the processor may be integrated into the imaging device130, the control device140, and/or the treatment device160. More descriptions regarding the object treatment system100may be found elsewhere in the present disclosure. See, e.g.,FIG. 4andFIG. 5and the relevant descriptions thereof.

FIG. 2is a flowchart illustrating an exemplary process for treating an object according to some embodiments of the present disclosure.

In some embodiments, at least a portion of the process200may be implemented by one or more devices or components of the object treatment system100illustrated inFIG. 1. The process200may include one or more of the following operations. The operations of the illustrated process200presented below are intended to be illustrative. In some embodiments, the process200may be accomplished with one or more additional operations not described, and/or without one or more of the operations discussed. Additionally, the order in which the operations of the process200as illustrated inFIG. 2and described below is not intended to be limiting.

In210, an imaging device (e.g., the imaging device130) may image an object (e.g., object120) fixed on a positioning device (e.g., the positioning device110).

In some embodiments, the object120may be an object (e.g., a patient) to be treated. In some embodiments, a doctor may guide the object120fixed on the positioning device110to be positioned based on a position of a lesion of the object120. In some embodiments, through positioning the object120, the position of a target portion (e.g., a lesion) of the object may be caused to be close to or located at an isocenter of the treatment device160(also referred to as a machine isocenter of the treatment device160). In some embodiments, the object may be fixed using the positioning device110(e.g., a vacuum pad, a mask, etc.). The object120may be kept in a fixed state using the positioning device110until subsequent treatment(s) (or treatment fractions) are completed, thereby facilitating the subsequent treatment(s). The isocenter of the treatment device160may refer to a rotation isocenter of a treatment head of the treatment device160, that is, a treatment isocenter of the treatment device160. More descriptions regarding the positioning of the object120may be found elsewhere in the present disclosure.

The object120may be fixed on the positioning device110in various ways. In some embodiments, the object120may be fixed on the positioning device110under the guidance of the doctor. For example, the doctor may guide the object120to be positioned to a standard position of the positioning device110, and the object120may be fixed by the positioning device110through a fixing function of the positioning device110, thereby improving the positioning accuracy of the object120relative to the positioning device110and facilitating the subsequent treatment(s) (e.g., radiation examination(s) and/or treatment(s)). Merely by way of example, the positioning device110may include a vacuum pad. After the object120is lying flat on the vacuum pad, the doctor may guide the object120to pose an instructed posture and perform a vacuum operation on the vacuum pad to fix the object120with the instructed posture.

In some embodiments, the object120may be fixed on the positioning device110through an intelligent guidance device. In some embodiments, the intelligent guidance device may be configured to guide the object120to determine a fixed position and/or a posture. For example, the intelligent guidance device may guide the object120to determine a corresponding positioning device110through a voice prompt and/or a screen display, and prompt the object120to be fixed on the positioning device110with the instructed posture (e.g., a lying flat posture). The intelligent guidance device may include a monitoring device (e.g., a camera). The monitoring device of the intelligent guidance device may be configured to collect current position information and/or a posture of the patient in real time. In some embodiments, the intelligent guidance device, a control device (e.g., the control device140), and/or a processor (e.g., the processor191) may compare the collected real-time position information and/or the posture with a standard positioning guidance and provide a comparison result to the patient, so that the patient may make adjustment according to the comparison result.

In some embodiments, the doctor may guide the object120to be fixed on the positioning device110in a remote guidance manner. For example, the doctor may obtain a real-time video of the object120through the monitoring device (e.g., a camera), and guide the object120to be fixed on the positioning device110in a voice interaction manner.

In some embodiments, the doctor or the intelligent guidance device may prompt the object120placed on the positioning device110to adjust the posture. After the doctor and/or the intelligent guidance device confirm that the posture of the object120is adjusted correctly, the object120may be fixed on the positioning device110as described above.

In some embodiments, the intelligent guidance device may be connected to other devices (e.g., a CT scan device, a treatment device, etc.), and guide, according to information of the object120, the object120to be fixed on the positioning device110. For example, the intelligent guidance device may obtain, from the control device140, information that a lower leg of the object120is to be scanned, and the intelligent guidance device may guide the object120to be fixed on the positioning device110in a bending knee posture.

In some embodiments, the object120may be fixed on the positioning device110in various manners. In some embodiments, the doctor may detect and determine that the object120is fixed on the positioning device110through the monitoring device (e.g., a camera). For example, the camera may obtain an image of a space accommodating the positioning device110and the object120. The doctor or the control device140may recognize (e.g., using an image recognition technology), based on the image, whether the position of the object120after being fixed on the positioning device110is accurate, whether the fixation is stable, or the like, or any combination thereof. In response to that a recognition result meets a predetermined requirement, the doctor or the control device may determine that the object120is fixed on the positioning device110. In response to that the recognition result does not meet the predetermined requirement (e.g., the fixed position of the object is not accurate, the fixation is unstable, etc.), the doctor or the control device may adjust the fixed position, a fixing mode, fixing tightness of the object120, or the like, or any combination thereof.

In some embodiments, the intelligent guidance device may receive input information after the object120is placed on the positioning device110, and determine whether the object120is fixed on the positioning device110. For example, the intelligent guidance device may receive the input information such as position information of the object120(e.g., a relative position of the object120and the positioning device110, a relative position of the positioning device110and the imaging device130, etc.) after the object120is placed on the positioning device110, whether the object120is stable after being fixed, or the like, or any combination thereof. The intelligent guidance device may process the input information and output a determination result indicating whether the object120is fixed on the positioning device110. For example, the determination result may include “YES” or “NO”. In response to that the determination result is “YES”, the intelligent guidance device may determine that the object120is fixed on the positioning device110. In response to that the determination result is “NO”, the intelligent guidance device may prompt the object120, for example, the intelligent guidance device may prompt that the relative position of the object120and the positioning device110is not accurate, or the posture of the object120fixed on the positioning device110is not standard, etc.

In some embodiments, after the object120is fixed on the positioning device110, the object120may be imaged by the imaging device130. For example, the doctor may image the object120by performing a medical scan on the object120using the imaging device130.

More descriptions regarding the imaging device130may be found elsewhere in the present disclosure. See, e.g.,FIG. 1andFIG. 4, and the relevant descriptions thereof. More descriptions regarding the image data of the object120acquired by the imaging device130may be found elsewhere in the present disclosure. See, e.g., operation220and the relevant descriptions thereof.

In220, a plan image of the object may be obtained.

A plan image may include or refer to image data used for determining a treatment plan. In some embodiments, the plan image may include but is not limited to medical image data commonly used in the field, such as CT image data, MRI image data, CBCT image data, DR image data, PET image data, SPECT image data, PET/CT image data, PET/MR image data, ultrasound image data, ECT image data, etc.

In some embodiments, the plan image of the object120may be obtained by the imaging device130. For example, the plan image of the object120may be obtained when the object120is moved to a scanning area of the imaging device130using the positioning device110.

In230, information of an ROI of the object may be generated based on the plan image.

The ROI may include a tissue, an organ, or any other medical region of interest. For example, the ROI may include a lesion (e.g., a tumor) portion in a CT scan image or a segmented image of the object120, or a target area corresponding to a position of a lesion and/or an organ-at-risk area around the target area.

In some embodiments, the plan image obtained in operation220may be input in the object treatment system100, and the object treatment system100may automatically generate information of the ROI based on the plan image. In some embodiments, the object treatment system100may recognize information of the target portion of the object120based on the plan image, and segment the plan image base on the information of the target portion to obtain the information of the ROI. The information of the target portion may include lesion information or other information such as medical history information, disease type information, etc. In some embodiments, the information of the target portion may be directly input by a doctor, or may be automatically determined based on image data, e.g., using an automatic delineation algorithm such as a neural network algorithm. In some embodiments, when generating the information of the ROI, the object treatment system100may generate information of the organ-at-risk information for reference or use in subsequent treatment(s).

In some embodiments, the ROI may be manually drawn by the doctor.

In some embodiments, after obtaining the information of the ROI, the object treatment system100may prompt the information of the ROI to an operator (e.g., the doctor, a physicist, etc.). The operator may confirm the information of the ROI or modify the information of the ROI and confirm the modified information of the ROI. In some embodiments, the object treatment system100may further prompt information of the organ-at-risk for operator's reference. In some embodiments, the object treatment system100may promote the information of the ROI after the information of the ROI is generated, so that the operator may modify and/or confirm the information of the ROI automatically segmented by the object treatment system100. It should be understood that the information of the ROI may be promoted in various manners. For example, the information of the ROI may be promoted on a display screen, in a sound manner, in a light manner, in a voice manner, or the like, or any combination thereof.

In some embodiments, the object treatment system100may automatically generate a plan isocenter. In some embodiments, a difference may be formed between the automatically generated plan isocenter and a plan isocenter (e.g., a positioning isocenter formed during positioning the object120) determined by the doctor. On this occasion, the doctor may fine-tune the positioning of the object120(e.g., by adjusting a position of a couch board of a treatment couch) based on the plan isocenter prompted by the object treatment system100and the plan image. The doctor may modify, update, and/or confirm the plan isocenter.

In some embodiments, after the plan image of the object120is obtained, a user may confirm whether a one-stop workflow is performed. The object treatment system100may receive user's confirmation information for the workflow. For example, the user may confirm that the one-stop workflow is to be performed, and the object treatment system100may automatically generate information of the ROI in response to the user's confirmation.

In some embodiments, the one-stop workflow may include a workflow associated with positioning, imaging, treating, and/or resetting the object.

In240, a treatment plan (e.g., the treatment plan150) may be generated according to the information of the ROI.

A treatment plan may refer to a plan for performing corresponding treatment on an object (e.g., the object120). In some embodiments, the treatment plan may include the plan isocenter on the plan image. The plan isocenter may refer to a point defined in the plan image, which may represent a point located at the machine isocenter of the treatment device160when the object120is treated. The plan isocenter may be an important parameter in radiotherapy treatment, and the object120may need to be positioned so that the plan isocenter may coincide with the isocenter of the treatment device160before the radiotherapy treatment is performed. In some embodiments, the treatment plan may further include one or more parameters related to operation(s) of the treatment device160, such as a count of rays, angle data of each ray, a dose value and/or dose distribution data, a position of a multi-leaf collimator, an angle of a gantry, a rotation speed of the gantry, an angle of a collimator, a rotation direction of the collimator, a couch code value, or the like, or any combination thereof.

In some embodiments, the object treatment system100may automatically generate the plan isocenter based on the plan image. For example, after automatically generates the information of the ROI based on the plan image, the object treatment system100may automatically generate the plan isocenter based on the information of the ROI.

In some embodiments, the object treatment system100may determine the plan isocenter based on user's input. For example, the user may directly operate on the plan image to determine the position of the plan isocenter and input it into the object treatment system100. The object treatment system100may receive the user's input and determine the plan isocenter.

In some embodiments, during fixing the object120on the positioning device110, the treatment plan may be determined online based on the information of the ROI. For example, after the CT scan is performed on the object120, the object120may be fixed on the positioning device110, and the control device140may determine the treatment plan150.

In some embodiments, one or more devices (e.g., the control device140) of the object treatment system100may process the plan image of the object120, e.g., using a machine learning model to generate the treatment plan150. For example, the plan image of the object120may be input into the machine learning model, and an output of the machine learning model may include the treatment plan150, and the output treatment plan150may include one or more parameters of the treatment device160(e.g., the count of rays, angle data of each ray, the dose value and/or dose distribution data, the position of the multi-leaf collimator, the angle of the gantry, the rotation speed of the gantry, the angle of the collimator, the rotation direction of the collimator, the couch value, or the like, or any combination thereof.).

In some embodiments, the device(s) (e.g., the control device140) of the object treatment system100may obtain historical data of the treatment plan150from an external source (e.g., an electronic medical record, a medical database, etc.) through a network (e.g., the network170), and directly generate the treatment plan150according to the historical data of the treatment plan150. The treatment plan150may be generated using various techniques, which are not limited in the present disclosure.

In some embodiments, a radiotherapy process of the object120may include a plurality of treatment fractions or stages, the treatment plan150may include a treatment plan for one of the treatment stages or fractions, or a treatment plan for the entire radiotherapy process. In some embodiments, the object treatment system100may determine one or more positioning points according to a position of the object120that the object120is initially positioned and mark the positioning point(s) on the plan image.

In some embodiments, the object treatment system100may generate positioning point information on the plan image. In some embodiments, the positioning point information may represent the positioning isocenter of the object120. In some embodiments, the object treatment system100may determine the positioning point(s) based on the positioning of the object120and obtain the positioning point information of the positioning point(s). For example, the object treatment system100may determine three positioning points, positioning point A, positioning point B, and positioning point C. The positioning point A, the positioning point B, and the positioning point C may be located on a left side, a right side, and an upper side of the isocenter of the treatment device, respectively. In some embodiments, a first line passing the positioning point C and being vertical to a second line connecting the positioning point A and the positioning point B may intersect with the line connecting the positioning point A and the positioning point B. An intersection point of the first line and the second line may be regarded as the positioning isocenter. During positioning the object120, the object120may be positioned, so that the positioning isocenter may coincide with the treatment isocenter of the treatment device160.

In some embodiments, after positioning the object120, a radiation imaging marker may be pasted on a surface of the object120, and the radiation imaging marker may represent the position of the positioning isocenter. The plan image may include a representation of the radiation imaging marker, and the representation of the radiation imaging marker on the plan image may be regarded as the positioning point.

In some embodiments, the object treatment system100may determine whether the positioning isocenter coincides with the plan isocenter based on the positioning point information.

In some embodiments, when the treatment plan150is executed, a position of the object120corresponding to the plan isocenter may locate at the machine isocenter of the treatment device160, and the use of the plan isocenter may improve the accuracy of the radiotherapy treatment performed on the object120. By determining whether the positioning isocenter coincides with the plan isocenter, the object treatment system100may determine whether a difference is formed between the positioning isocenter and the plan isocenter before treating the object120. In response to determining that the positioning isocenter coincides with the plan isocenter, the object treatment system100may determine that the position of the object120satisfies the treatment plan. During the treatment of the object120, the object120may be returned to a position of the object120that the object120is initially positioned, and the plan isocenter of the object120may be located at the isocenter of the treatment device160.

A coincidence of the positioning isocenter and the plan isocenter may refer that a difference between a coordinate of the positioning isocenter and a coordinate of the plan isocenter is less than a preset threshold. That is, if the difference between the coordinate of the positioning isocenter and the coordinate of the plan isocenter is greater than the preset threshold, it may be determined that the positioning isocenter does not coincide with the plan isocenter. In some embodiments, the preset threshold may be determined according to an actual condition. For example, the preset threshold may be different for target areas of different target portions. In some embodiments, the preset threshold may be within a range, such as a range from 0.1 to 0.5 mm. In some embodiments, the preset threshold may be one or more reference values, such as 0.1 mm, 0.2 mm, etc.

In some embodiments, in response to determining that the positioning isocenter does not coincide with the plan isocenter, the positioning device110and/or the treatment device160may be moved based on a difference between the positioning isocenter and the plan isocenter, so that a relative position of the positioning device110and the treatment device160may satisfy the treatment plan.

In some embodiments, a couch movement value may be determined based on the difference between the positioning isocenter and the plan isocenter. In subsequent operations, the positioning device110or other components (e.g., the couch board of the treatment couch) may be moved according to the couch movement value, so that the plan isocenter may be moved to coincide with the isocenter of the treatment device, and the relative position of the positioning device110and the treatment device160may satisfy the treatment plan.

In some embodiments, the plan isocenter may be determined in the plan image, and an internal anatomical structure of the object120may be displayed in the plan image. The positioning isocenter may be determined when the initial positioning of the patient is performed. In an initial positioning stage of the object120, the positioning isocenter may be generally estimated based on the physiological structure of the object120. Compared to the use of the positioning isocenter, the use of the plan isocenter may improve the position accuracy for positioning the target portion of the object120at the machine isocenter of the treatment device160.

In some embodiments, the positioning device110may be automatically moved based on the plan isocenter, so that the relative position of the target portion of the object and the treatment device160may satisfy the treatment plan. In some embodiments, the object treatment system100may determine the couch movement value based on the difference between the positioning isocenter and the plan isocenter, and the couch movement value may be sent to a moving device (e.g., a moving device180shown inFIG. 5). In some embodiments, a movement value of the moving device180may be directly determined according to the couch movement value, and the moving device180may drive the positioning device110or other components (e.g., the couch board of the treatment couch) to move, so that the plan isocenter of the object120may coincide with the isocenter of the treatment device160. More descriptions regarding the moving device180may be found elsewhere in the present disclosure. See, e.g.,FIG. 5and the relevant descriptions thereof.

In some embodiments, when the relative position of the target portion of the object and the treatment device160satisfies the treatment plan, an alignment device (e.g., the alignment device190shown inFIG. 5) may determine an alignment mark on the target portion of the object120. The alignment mark may refer to a mark formed on the target portion by light emitted by the alignment device190, and the alignment mark may be configured to be used to guide the object120to be reset.

In some embodiments, the radiotherapy treatment may be divided into a plurality of treatment stages or fractions. To facilitate the treatment device160to be aligned with the target portion of the object120when the object treatment system100performs a second treatment stage or fraction, or a treatment stage or fraction after the second treatment stage or fraction, a mark may be marked on a body surface of the object120to record the alignment mark formed by the alignment device190for resetting the object120in the subsequent treatment stage(s).

In some embodiments, the alignment device190may include one or more laser lights with fixed radiation angles. For example, the alignment device190may include at least two laser lights. Light emitted by the at least two laser lights may form one or more light marks on the body surface of the object120and light emitted from the at least two laser lights may converge at the isocenter of the treatment device160. The operator may manually scribe a line according to the light mark, or control other mechanical devices (e.g., a robotic arm) to automatically scribe the line, which may be used to assist in determining the target portion (e.g., the position of the lesion) of the object120. When the second treatment stage and/or a treatment stage after the second treatment stage is performed on the object120, the scribed line may be overlapped with the light in a positioning stage. It should be noted that relevant operation(s) for generating the scribed line on the object120may be performed at any time after the plan isocenter is obtained or may be performed before or after a treatment stage.

In some embodiments, the treatment device160may guide the object120to be reset.

In some embodiments, first image data related to the object120may be obtained by the treatment device160. The first image data may include information relating to the ROI associated with the target portion.

In some embodiments, in order to improve the treatment accuracy, the position of the patient may be verified under image guidance before performing radiotherapy treatment on the object120. In some embodiments, after moving the target portion of the object120to the isocenter of the treatment device160, the treatment device160may use a CBCT imaging device, an orthogonal X-ray imaging device, or a two-dimensional (2D) X-ray imaging device to obtain the first image data associated with the object120. The first image data may include a 2D image or a three-dimensional (3D) image, and the first image data may display the ROI associated with the target portion. In some embodiments, the first image data may be registered with the plan image corresponding to the treatment plan of the object120to verify the position of the target portion of the object120. The above-mentioned image guidance may include, but is not limited to, an electronic portal imaging device (EPID) image, a CT image, an MRI image, a CBCT image, a DR image, a PET image, an SPECT image, a PET-CT image, a PET-MR image, an ultrasound image, an ECT image, or the like, or any combination thereof. Those skilled in the art may also choose other verification techniques to verify the position of the patient.

In250, the target portion of the object120may be treated using the treatment device160according to the treatment plan150. In some embodiments, the treatment plan150may be determined based on the information of the target portion of the object120and the information of the ROI. For example, an optimal beam intensity distribution of each of radiation fields may be determined according to a prescribed dose of the target area and dose limitation of the organ at risk, so that an actual dose distribution formed in the object120may be close to the prescribed dose. As another example, the treatment device160may treat the target portion of the object120according to the count of rays radiated to the object160, the angle data of each ray, the dose value and/or the dose distribution data, etc., in the treatment plan150to improve treatment accuracy of the object120.

In some embodiments, the object treatment system100may automatically determine and optimize the treatment plan150. In some embodiments, the doctor may optimize or update an initial treatment plan using an optimization technique. In some embodiments, one or more parameters of the initial treatment plan may be optimized using a fluence map optimization (FMO) technique, a direct aperture optimization (DAO) technique, or the like, or any combination thereof. In some embodiments, the doctor may confirm the optimized initial treatment plan. In some embodiments, the confirmation operation may be used to confirm whether the optimized initial treatment plan meets an expected requirement, such as an expected value of the radiation dose level. In response to that the optimized initial treatment plan does not meet the requirement, the optimization operation may be performed on the initial treatment plan. In response to that the optimized initial treatment plan meets the requirement, the doctor may confirm that the optimized initial treatment plan is the treatment plan (e.g., the treatment plan150). In some embodiments, the doctor may also modify the optimized initial treatment plan and continue to optimize the optimized initial treatment plan to obtain a better optimization result.

In some embodiments, the object120may be fixed on the positioning device110during a period from a moment that the object is started to be fixed on the positioning device110to an end of the treatment of the object. In some embodiments, the object treatment system100may generate a prompt and transmit the prompt to the operator (e.g., the doctor) or the object120in a prompting manner to keep the object120to be fixed on the positioning device110. More descriptions regarding fixing the object120on the positioning device110may be found elsewhere in the present disclosure. See, e.g., operation210and the relevant descriptions thereof.

In some embodiments, a time interval from the moment that the object is started to be fixed on the positioning device to an end of an initial treatment fraction of the object may be within a range from 10 minutes to 30 minutes. In some embodiments, the time interval from the moment that the object is started to be fixed on the positioning device to the end of the initial treatment fraction of the object may be no longer than 30 minutes. Based on a short-term radiotherapy workflow for the object120, a continuous and integrated radiotherapy process may be implemented for the object120, thereby improving the efficiency of determining the treatment plan and the entire radiotherapy process, improving the efficiency of implementing a process from positioning the object to treating the object at one time, reducing a plurality of unnecessary patient positioning processes, ensuring the consistency of a posture of the patient during the positioning process and the treatment process, and improving the treatment accuracy. For the operator, the workflow may be simplified and repeated operations may be avoided, thereby reducing errors. For a patient, a waiting time for the treatment may be reduced and a count of times for visiting a hospital may be reduced.

In some embodiments, when the treatment device160treats the target portion of the object120, an actual dose distribution may be received using a detector of the treatment device160. In some embodiments, the treatment device160may include the EPID. The EPID may be also referred to as a detector herein. The detector may be disposed on the gantry of the treatment device160relative to the treatment head of the treatment device160. The detector and the treatment head may be respectively disposed above an upper side and/or below a lower side of the object120, and the detector may receive the radiation beams emitted from the treatment head to receive the measured dose distribution.

In some embodiments, the treatment plan150may be verified in real time based on the measured dose distribution and the treatment plan150. More descriptions regarding the real-time verification of the treatment plan150may be found elsewhere in the present disclosure. See, e.g.,FIG. 3and the relevant descriptions thereof.

FIG. 3is a flowchart illustrating an exemplary process for verifying a treatment plan in real time according to some embodiments of the present disclosure.

In some embodiments, at least a portion of the process300may be implemented by one or more devices or components of the object treatment system100shown inFIG. 1. The process300may include one or more of the following operations.

In310, the object treatment system100may determine a reference dose distribution received by a detector based on a plan image and a treatment plan.

In some embodiments, the object treatment system100may determine the reference dose distribution received by the detector according to a treatment plan (e.g., treatment plan150) and the plan image confirmed by a user. For example, tissue structure information of the object120may be obtained based on the plan image, and radiation beam parameters may be obtained based on the treatment plan150. Information of radiation beams passing through the object120may be determined based on the tissue structure information and the radiation beam parameters using a simulative calculation technique. The reference dose distribution received by the detector from each radiation angle may be simulated based on the information of the radiation beams passing through the object120and an energy response of the detector.

In320, the object treatment system100may verify the treatment plan150in real time based on the measured dose distribution and the reference dose distribution. In some embodiments, during the treatment of the object120using the treatment device160, a value of the measured dose distribution received by the detector may be compared with a value of the reference dose distribution, and the treatment plan may be verified in real time. For example, in response to that a difference between the measured dose distribution and the reference dose distribution exceeds a preset range, the user may be prompted to stop the treatment device160for inspection.

In some embodiments, the object treatment system100may verify a position of the object120in real time through the detector. For example, the detector may obtain an EPID image of the object120, and the object treatment system100may verify the position of the object120in real time by comparing a position of an ROI in the EPID image with a position of the ROI in the plan image. For example, in response to that a position difference between the plan isocenter of the object120and the machine isocenter of the treatment device160exceeds a threshold, the position of the object120may be not accurate and the object treatment system100may adjust the position of the object120.

FIG. 4is a block diagram illustrating an exemplary object treatment system according to some embodiments of the present disclosure.

As shown inFIG. 4, the object treatment system100may include the positioning device110, the imaging device130, a treatment device (e.g., the treatment device160inFIG. 1), and the control device140.

The positioning device110may be configured to position an object (e.g., the object120inFIG. 1). The positioning device110may position the object120relative to the imaging device130and/or the treatment device160. In some embodiments, the positioning device110may fix a target portion (e.g., the head, the limbs, etc.) or a whole body of the object120. In some embodiments, the positioning device110may include a treatment couch having a positioning function. In some embodiments, the positioning device110may further include a component of the treatment couch, for example, a fixing rod, a fixing plate, a fixing frame, etc., which may be detachably disposed on the treatment couch. In some embodiments, the positioning device110may include a fixing component, for example, a vacuum pad, a mask, a foam rubber, a thermoplastic film, or the like. In some embodiments, the positioning device110may be customized for the object120.

In some embodiments, the positioning device110may position the object120relative to the imaging device130and/or the treatment device160. That is, the positioning device110may position the target portion of the object120at an isocenter of the imaging device130to be scanned, or an isocenter of the treatment device160to be treated.

More descriptions regarding the positioning device110may be found elsewhere in the present disclosure. See, e.g.,FIG. 7and the relevant descriptions thereof.

The imaging device130may be configured to image the object120. In some embodiments, the imaging device130may include a CT imaging device, an MRI device, a CBCT imaging device, a DR device, a PET imaging device, an SPECT imaging device, a PET-CT imaging device, a PET-MR imaging device, an ultrasound device, an ECT imaging device, or the like, or any combination thereof. More descriptions regarding imaging the object120using the imaging device130may be found elsewhere in the present disclosure. See, e.g.,FIG. 2and the relevant descriptions thereof.

The treatment device160may be configured to treat the target portion of the object120based on a treatment plan (e.g., the treatment plan150inFIG. 1). In some embodiments, the treatment device160may include a linear accelerator (LINAC), a heavy ion therapy device, a neutron therapy device, a proton therapy device, a gamma knife, or the like, or any combination thereof.

In some embodiments, the treatment device160may treat the target portion of the object120using different energy and/or different types of rays generated by various accelerators. In different application scenarios, the treatment device160may include a device having different functions. Specifically, in radiotherapy treatment, the treatment device160may include a gamma knife and a linear accelerator. In cargo examination, the treatment device160may include an explosive imaging device. In a living body scan, the treatment device160may include a sampling device. In an interventional treatment, the treatment device160may include a surgical robot.

In some embodiments, the imaging device130and the treatment device160may be coplanar so that an isocenter of the imaging device130may coincide with the isocenter of the treatment device160. On this occasion, a plan isocenter of the target portion of the object120before and/or during the radiotherapy may coincide with the isocenter of the imaging device130and/or the isocenter of the treatment device160, thereby reducing a movement of the object120between the imaging device130and the treatment device160and improving imaging and/or treatment accuracy of the treatment performed on the object120.

The control device140may be configured to generate information of an ROI based on the plan image acquired by the imaging device130, obtain a plan isocenter, and determine the treatment plan150based on the plan isocenter and the information of the ROI.

It should be noted that the positioning device110, the imaging device130, the treatment device160, and the control device140in the object treatment system100may be configured to implement a portion of operations of the object treatment method, respectively. The specific functions of each device/component may refer to the corresponding operations implemented when the object treatment method is executed, which is not repeated herein. Furthermore, those skilled in the art may set various devices/components such as the positioning device110, the imaging device130, the treatment device160, the control device140, etc., in the object treatment system100according to actual needs, which is not limited or further illustrated in the present disclosure.

FIG. 5is a block diagram illustrating an exemplary object treatment system according to some embodiments of the present disclosure.

In some embodiments, the object treatment system100may include the positioning device110, the imaging device130, the control device140, and the treatment device160. In some embodiments, the object treatment system100may further include a moving device180. The moving device180may be configured to automatically move the positioning device110and/or the treatment device160based on a plan isocenter, so that a relative position of the target portion of the object and the treatment device160may satisfy a treatment plan (e.g., the treatment plan150inFIG. 1).

In some embodiments, the moving device180may include at least a portion of the fixing device110. For example, the moving device180may include a treatment couch having a moving function. A position of a couch board of the treatment couch may be moved by a driving component of the treatment couch to satisfy the treatment plan150.

In some embodiments, the moving device180may include a mechanical device having an automatic moving function. For example, the moving device180may include an intelligent mechanical cart. In some embodiments, the moving device180may further include a driving component having an automatic driving function. For example, the moving device180may include a driving wheel, a driving chain, etc. integrated on the positioning device110.

In some embodiments, the moving device180may move the positioning device110according to a couch movement value determined based on the plan isocenter and a positioning isocenter, so that the plan isocenter may be moved to coincide with the isocenter of the treatment device160.

In some embodiments, the object treatment system100may further include an alignment device190. The alignment device190may be configured to determine an alignment mark on the target portion of the object120. The alignment mark may be configured to be used to guide the object120to be reset. In some embodiments, the alignment device190may include a laser light. More descriptions regarding that the alignment device190guides the object120to be reset may be found elsewhere in the present disclosure. See, e.g.,FIG. 2and the relevant descriptions thereof.

In some embodiments, the object treatment system100may further include a processor191. The processor191may be configured to perform at least one of the following operations: reconstructing a plan image based on image data of the object120, determining the treatment plan150based on the plan image, and/or verifying the treatment plan150. In some embodiments, the processor191may be an independent component. Conventionally, the above operations may be performed by the imaging device130, the control device140, and the treatment device160, respectively. The processor191may implement the execution of the operations of one or more devices/components in the object treatment system100, so as to implement an integrated radiotherapy workflow for the object120. In some embodiments, the processor191may be an independent component. In some embodiments, the processor191may be integrated into the imaging device130, the control device140, or the treatment device160. In some embodiments, the reconstructing the plan image, the determining the treatment plan, and verifying the treatment plan may be performed by the processor191.

FIG. 6is a schematic diagram illustrating a scribing operation performed on a target portion by a scribing device according to some embodiments of the present disclosure.

In some embodiments, the object treatment system100may further include a scribing device. The scribing device may perform a scribing operation on a target portion of an object (e.g., the object120inFIG. 1) based on a treatment plan (e.g., the treatment plan150inFIG. 1) to obtain at least one scribing mark620.

As shown inFIG. 6, the scribing device may include a robot arm610. The robot arm610may contact a body surface of the object through one or more motions, such as expansion, movement, rotation, etc. Based on the treatment plan150, the robot arm610may perform the scribing operation on the target portion of the object120to obtain at least one scribing mark620. For example, the robot arm610may clamp a marker pen for performing the scribing operation. The robot arm610may receive information such as information of an ROI, a plan isocenter, etc., in the treatment plan, and determine a distance or range of the robot arm610that needs to move and/or expand based on the above information to drive the clamped marker pen to perform the scribing operation on the target portion of the object120to obtain the scribing mark620. A center of the scribing mark620may be located at a machine isocenter of a treatment device (e.g., the treatment device160inFIG. 1,FIG. 4, and/orFIG. 5), so that when the object returns to the positioning device110again, it may be reset according to the scribing mark620.

In some embodiments, the scribing device may be manually controlled to perform the scribing operation. In some embodiments, an alignment device (e.g., the alignment device190inFIG. 5) (e.g., a laser light having a fixed radiation angle) may be disposed on the scribing device. For example, at least two laser lights may be disposed on the scribing device, the light emitted by the laser light may generate light marks on the body surface of the object, and the lights emitted from different laser lights may converge at the isocenter of the treatment device160. An operator may control the robot arm610to perform the scribing operation according to the light marks to scribe a line on the body surface of the object120to assist in determining a position of the object120.

In some embodiments, the object treatment system100may further include an automatic scribing tool. The automatic scribing tool may refer to a software tool that controls the scribing device to perform the scribing operation, and the automatic scribing tool may be installed in a control device (e.g., the control device140). Specifically, the automatic scribing tool may be configured to send an instruction to the scribing device to direct the scribing device to perform the scribing operation.

In some embodiments, the scribing mark620may be generated by the scribing operation, and the scribing operation may be automatically performed by the scribing device based on the treatment plan. Specifically, the automatic scribing tool may determine an operation instruction based on the treatment plan. The operation instruction may indicate the movement path of the robot arm610of the scribing device, and the robot arm610may draw the line on the target portion based on the operation instruction.

In some embodiments, the operation instruction may be manually determined by a user, for example, the user may draw a line on the target portion according to the light irradiated by the laser light.

In some embodiments, the operation instruction may be automatically determined by the object treatment system100. The operation instruction confirmed by the object treatment system100may be input to the automatic scribing tool to control the scribing device to scribe the target portion.

In some embodiments, the operation instruction may be determined in other manners, and the manner(s) may be determined according to an actual situation.

In some embodiments, the scribing operation may be performed during the determination of the treatment plan or may be performed before or after the initial treatment.

FIG. 7is a schematic diagram illustrating an exemplary positioning device according to some embodiments of the present disclosure.

As shown inFIG. 7, the positioning device110of the object treatment system100may include a housing110-1, and a material110-2filled in a space defined by the housing110-1.

In some embodiments, the positioning device110may include a vacuum pad. In some embodiments, the vacuum pad may include the housing110-1, and the material110-2filled in the space defined by the housing110-1. In some embodiments, the housing110-1may be made of a soft and flexible material, such as an air-impermeable material, a thermoplastic material, a heat-resistant material, or the like, or any combination thereof. In some embodiments, the housing110-1may include a valve (not shown inFIG. 7) connected to a vacuum source (e.g., a vacuum compressor, a vacuum pump, etc.). The valve may be disposed on an upper surface of the housing110-1. The valve may be configured to inflate and/or deflate the vacuum pad. For example, a partial vacuum may be generated by using a vacuum pump to extract air from the vacuum pad through the valve. The vacuum pad may be placed on a couch board of a treatment couch, an object120may be placed on the vacuum pad, and the vacuum pad may match a body contour of the object. The vacuum pad may maintain a shape to record positioning information of the object when the vacuum pad is vacuumed. In treatment stages of the object, the vacuum pad with the positioning information may be used to reset the object.

In some embodiments, the material110-2may be filled in the area defined by the housing110-1. For example, the material110-2may be filled in the area inside the housing110-1. The material110-2may include foam particles, sponges, cotton, or the like, or any combination thereof. The foam particles may include a polymeric material such as a resin, a fiber, a rubber, or the like, or any combination thereof. The resin may include phenol-formaldehyde, urea-formaldehyde, melamine-formaldehyde, epoxy resin, polyurethane, polyimide, polymethyl methacrylate (PMMA), acrylonitrile butadiene styrene (ABS), polyamide, polylactic acid (PLA), polybenzimidazole (PBI), polycarbonate (PC), polyethersulfone (PES), polyether ether ketone (PEEK), polyethylene (PE), polyphenylene ether (PPO), polyphenylene sulfide (PPS), polypropylene (PP), polystyrene (PS), polyvinyl chloride (PVC), etc. The sponge may include natural cellulose, foam resin, etc. The foam resin may include polyether, polyester, polyvinyl alcohol, etc. In a natural state (e.g., the vacuum operation is not performed), the material110-2may move freely in the housing110-1. After performing the vacuuming operation on the vacuum pad (or the housing110-1), the movement of the material110-2may be restricted so that the shape formed by the housing110-1may be consistent with the contour of the object120.

In some embodiments, the positioning device110may include a thermoplastic pad. The thermoplastic pad may refer to a pad that may be deformed under an action of heat. The thermoplastic pad may include a housing made of a thermoplastic material. As another example, the thermoplastic pad may include a housing, and a material filled in an area defined by the housing. The filling material of the thermoplastic pad may include a thermoplastic material. The thermoplastic pad may be deformed under the action of heat. The positioning information of the object120may be recorded based on the deformation of the thermoplastic pad.

In some embodiments, the positioning device110may be taken from a warehouse710by an operator (e.g., a doctor, a technician, etc.) who executes the treatment plan150and placed on the treatment couch to perform related operations in a subsequent treatment plan (e.g., the treatment plan150inFIG. 1).

In some embodiments, the positioning device110may be taken by an automatic pickup device720from the warehouse, and placed on the treatment couch to perform related operations in the subsequent treatment plan. Specifically, the automatic pickup device720may determine a position of the positioning device110in the warehouse710according to the information of the object120and the treatment plan150, and may automatically pick up the corresponding positioning device110from the warehouse710based on the determined position information of the positioning device110.

Each of the patents, patent applications, publications of patent applications, and other material, such as articles, books, specifications, publications, documents, and/or the like, referenced herein is hereby incorporated herein by this reference in its entirety for all purposes, excepting any prosecution file history associated with same, any of same that is inconsistent with or in conflict with the present document, or any of same that may have a limiting effect as to the broadest scope of the claims now or later associated with the present document. It should be noted that if the description, definition, and/or terms used in the appended application of the present disclosure is inconsistent or conflicting with the content described in the present disclosure, the use of the description, definition and/or terms of the present disclosure shall prevail.