WO2018194297A1 - Therapeutic device control system and method - Google Patents

Abstract

Disclosed in one embodiment of the present invention is a therapeutic device control method for controlling a therapeutic device which emits radiation at a patient, comprising the steps of: acquiring, at regular time intervals, an input image signal, which includes information on a patient's posture and surrounding background and is composed of a plurality of pixels; digitally converting the input image signal so as to generate input image data including information on the contrast intensity of each of the plurality of pixels; analyzing whether the change in the input image data exceeds a preset change threshold value so as to generate reference image data; generating motion data, including a true pixel having motion and a false pixel not having motion, according to whether the difference between the most recently generated input image data and the reference image data exceeds a preset motion threshold value; and controlling radiation emittance of the therapeutic device according to whether the proportion of the true pixels in the plurality of pixels exceeds a preset control threshold value on the basis of the motion data.

Description

Therapy device control system and method

Embodiments of the present invention relate to a therapeutic device control system and method for controlling a therapeutic device based on a patient's movement.

When treating a patient through a medical treatment device, there is a possibility that a medical accident may occur due to the movement of the patient. In particular, when irradiating a patient through a radiation therapy device, the movement of the patient should be limited during irradiation in order to intensively irradiate the tumor tissue while minimizing the injury of the normal tissue of the patient.

To this end, the operator has conventionally taken a method of fixing the body of the patient using a variety of instruments, monitoring the patient with a video image or the naked eye to stop the operation of the radiation therapy device in case of emergency. In particular, recently, a method of acquiring a patient's motion as a video image and converting the data into pixels for each pixel to warn the operator when the motion data extracted from the image exceeds a predetermined reference value or to automatically stop irradiation is also used. have.

However, the acquired video image includes not only the movement of the patient but also the movement of various medical devices located near the patient such as a couch or gantry supporting the patient. Accordingly, when the couch is moved during irradiation, or when the surrounding background of the patient changes due to a movement such as rotation of the gantry, an error that may be mistaken as a movement of the patient may occur.

The background art described above is technical information possessed by the inventors for the derivation of the present invention or acquired during the derivation process of the present invention, and is not necessarily a publicly known technique disclosed to the general public before the application of the present invention.

Embodiments of the present invention distinguish between areas with frequent movements and areas with relatively low movements during treatment, so that areas with relatively low movements can be considered as changes in the natural surrounding background instead of the patient's movements and can be excluded from motion detection. It is an object to provide a therapeutic device control system and method.

In one embodiment of the present invention, in the treatment device control method for controlling the treatment device for irradiating the radiation, the patient includes information on the patient's posture and the surrounding background of the patient, and the input image signal composed of a plurality of pixels at regular time intervals Obtaining the input image data; and digitally converting the input image signal to generate input image data including information on intensity intensity of each of the plurality of pixels, and whether a change of the input image data deviates from a preset change threshold. Generating the reference image data by analyzing whether or not the difference between the most recently generated input image data and the reference image data deviates from a preset motion threshold and a false pixel with no motion Generating motion data including a plurality of pixels based on the motion data; A method of controlling a treatment device, the method comprising controlling irradiation of a treatment device according to whether a ratio of true pixels deviates from a predetermined control threshold.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to the embodiments of the present invention, by applying an algorithm that reflects the movement of the surrounding background of the patient, it is possible to detect only the movement of the patient without the movement of the surrounding background of the patient.

Of course, the scope of the present invention is not limited by these effects.

1 is a block diagram showing a treatment device control system and a radiation therapy device together according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating in detail the image analyzer of FIG. 1.

3 is a flowchart illustrating a treatment device control method according to another embodiment of the present invention.

FIG. 4 is a flowchart illustrating a step of generating reference image data shown in FIG. 3 in more detail.

FIG. 5 is a flow chart illustrating in detail the step of generating the motion data shown in FIG. 3.

6 is a conceptual diagram illustrating a treatment device integrated management system according to another embodiment of the present invention.

In one embodiment of the present invention, in the treatment device control method for controlling the treatment device for irradiating the radiation, the patient includes information on the patient's posture and the surrounding background of the patient, and the input image signal composed of a plurality of pixels at regular time intervals Obtaining the input image data; and digitally converting the input image signal to generate input image data including information on intensity intensity of each of the plurality of pixels, and whether a change of the input image data deviates from a preset change threshold. Generating the reference image data by analyzing whether or not the difference between the most recently generated input image data and the reference image data deviates from a preset motion threshold and a false pixel with no motion Generating motion data including a plurality of pixels based on the motion data; A method of controlling a treatment device, the method comprising controlling irradiation of a treatment device according to whether a ratio of true pixels deviates from a predetermined control threshold.

In the present embodiment, the step of generating the reference image data, if the change of the input image data is less than the predetermined change threshold value, the most recently generated input image data is reflected in the newly generated reference image data, the input image When the change in the data exceeds the change threshold, the existing reference image data may be maintained.

In the present embodiment, the generating of the motion data may include generating the motion data as true pixels with motion when a difference between the most recently generated input image data and the reference image data exceeds a preset motion threshold value. When the difference between the recently generated input image data and the reference image data is less than a predetermined motion threshold value, the motion data may be generated as a false pixel having no motion.

로 생성할 수 있다.In the present embodiment, the step of generating the reference image data is represented as a function of the input image data when I _input (x, t), the change threshold value δ _binary , and the reference image update rate are defined as α. Losing the reference image data I _reference (x, t) [Equation 1]

Can be generated as

In the present exemplary embodiment, the change threshold δ _binary may have a numerical value corresponding to a predetermined ratio among the maximum values of the information on the intensity intensity of each of the plurality of pixels.

로 생성할 수 있다.In the present embodiment, the step of generating the motion data, if the input image data is defined as I _input (x, t), the reference image data I _reference (x, t), the motion threshold value of δ _motion , The motion data I _moving (x, t) expressed as a function of [Equation 2]

Can be generated as

In the present embodiment, the motion threshold δ _motion may have a numerical value corresponding to a predetermined ratio among the maximum values of the information about the intensity intensity of each of the plurality of pixels.

In the present embodiment, controlling the irradiation of the treatment device may transmit a control signal to the treatment device when the ratio of true pixels among the plurality of pixels exceeds a control threshold.

In the present exemplary embodiment, the method may further include generating an alarm signal when a ratio of true pixels among the plurality of pixels exceeds a control threshold.

The method may further include continuously acquiring an input image signal when the ratio of the true pixels among the plurality of pixels is less than a control threshold.

Another embodiment of the present invention is a treatment device control system for controlling a treatment device for irradiating radiation to a patient, comprising information on the patient's posture and the surrounding background of the patient, the input image signal consisting of a plurality of pixels at regular time intervals And an image acquisition unit configured to analyze the input image signal to generate an analysis result, and a control unit to control the treatment unit according to the analysis result. A digital converter configured to generate input image data including information on intensity of each pixel, and reference image data to generate reference image data by analyzing whether a change of the input image data deviates from a preset change threshold value. The generation unit and the difference between the most recently generated input image data and the reference image data A motion data generation unit for generating motion data including a true pixel with motion and a false pixel without motion according to whether or not the deviation threshold value is exceeded; and calculating a ratio of the true pixel among a plurality of pixels based on the motion data; And a pixel ratio calculation unit.

In the present exemplary embodiment, the reference image data generation unit reflects the most recently generated input image data to newly generated reference image data when the change of the input image data is less than a preset change threshold value, and the change of the input image data is changed. When the change threshold value is exceeded, the existing reference image data may be maintained.

In the present embodiment, when the difference between the most recently generated input image data and the reference image data exceeds a preset motion threshold value, the motion data generator generates the motion data as true pixels with motion, and most recently. When the difference between the input image data and the reference image data generated in the PDP is less than a predetermined motion threshold value, the motion data may be generated as a false pixel having no motion.

로 생성할 수 있다.In the present embodiment, the reference image data generation unit, when the input image data is defined as I _input (x, t), the change threshold value δ _binary and the reference image update rate as α, the reference image represented as a function thereof Data I _reference (x, t)

Can be generated as

In the present exemplary embodiment, the change threshold δ _binary may have a numerical value corresponding to a predetermined ratio among the maximum values of the information on the intensity intensity of each of the plurality of pixels.

로 생성할 수 있다.In the present embodiment, the motion data generation unit defines the input image data as I _input (x, t), the reference image data as I _reference (x, t), and the motion threshold as δ _motion . Represent the motion data I _moving (x, t) [Equation 2]

Can be generated as

In the present embodiment, the motion threshold δ _motion may have a numerical value corresponding to a predetermined ratio among the maximum values of the information about the intensity of each of the plurality of pixels.

In the present exemplary embodiment, the image acquisition unit may continuously acquire the input image signal when the ratio of true pixels among the plurality of pixels is less than the control threshold.

In the present embodiment, the controller may control the irradiation of the treatment device according to whether the ratio of the true pixels among the plurality of pixels deviates from the preset control threshold based on the motion data.

In the present embodiment, the control unit may stop the operation of the treatment device when the ratio of the true pixels of the plurality of pixels exceeds the control threshold.

In the present embodiment, when the ratio of the true pixel of the plurality of pixels exceeds the control threshold value, it may further include an alarm signal generation unit for generating an alarm signal according to the control signal of the controller to transmit to the treatment device.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. Effects and features of the present invention, and methods of achieving them will be apparent with reference to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various forms.

In the following embodiments, the terms first, second, etc. are used for the purpose of distinguishing one component from other components rather than having a limiting meaning.

In the following examples, the singular forms "a", "an" and "the" include plural forms unless the context clearly indicates otherwise.

In the following examples, the terms including or having have meant that there is a feature or component described in the specification and does not preclude the possibility of adding one or more other features or components. In particular, throughout the specification, when a part is said to "include" a certain component, it means that it may further include other components, except to exclude other components unless specifically stated otherwise. In addition, the terms "... unit", "... group", "... module", etc. described in the specification mean a unit for processing at least one function or operation, which is hardware or software or hardware and It can be implemented through a combination of software.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or corresponding components will be denoted by the same reference numerals, and redundant description thereof will be omitted. .

1 is a block diagram showing a treatment device control system and a radiation therapy device together according to an embodiment of the present invention.

Referring to FIG. 1, the treatment device control system 100 according to an embodiment of the present invention may monitor a movement of a patient receiving radiation therapy through the radiation therapy device 10 and control the radiation therapy device 10.

The radiation therapy device 10 may include a therapy device control module 11, an operation signal output unit 13, and a radiation device 15.

The treatment device control module 11 may interface with the operator to receive a control command, and control the irradiation apparatus 15 according to the received control command. In this case, the treatment device control module 11 may receive a control command from the treatment device control system 100. In addition, the treatment device control module 11 may transmit control information corresponding to the received control command to the operation signal output unit 13. In this case, the control information may include irradiation start information or irradiation end information.

The operation signal output unit 13 may receive control information from the treatment device control module 11 and transmit a radiation start signal or a radiation end signal to the treatment device control system 100 according to the transmitted control information.

The radiation device 15 may irradiate the patient under the control of the treatment device control module 11.

The treatment apparatus control system 100 may include a signal receiver 110, an image acquirer 120, an image analyzer 130, a controller 140, and an alarm signal generator 150.

The sensation receiver 110 receives a signal transmitted from the radiation therapy device 10, and transmits the received signal to the image analyzer 130.

The image acquirer 120 may include information about the posture of the patient and the surrounding background of the patient, and may acquire an input image signal composed of a plurality of pixels at regular time intervals. In this case, the image acquisition unit 120 may include a plurality of image acquisition devices 121 installed at different positions.

For example, the plurality of image capturing devices 121 may be installed in a couch (not shown) supporting the patient. When the image capturing apparatus 121 is installed in the couch, the movement of the patient may be observed at a closer position, and the visual field of the image capturing apparatus 121 may not be disturbed by the movement of the radiation therapy apparatus 10.

The image analyzer 130 may generate an analysis result by analyzing the input image signal acquired by the image acquirer 120 and transmit the analysis result to the controller 140. In this case, the image analyzer 130 may analyze each of a plurality of pixels constituting the obtained input image signal, and may analyze the input image signal by detecting a boundary of a patient projected on the obtained input image signal.

In detail, the image analyzer 130 may convert the input image signal acquired by the image acquirer 120 into input image data through an algorithm to be described later, and generate reference image data by analyzing the input image data. The motion data may be generated by comparing the reference image data and the input image data, which will be described later in detail with reference to FIGS. 3 to 5.

If it is determined that there is a change in the posture of the patient based on the analysis result transmitted from the image analyzer 130, the controller 140 may control the treatment device control module 11 through a control signal, and also alarm through an alarm command. The signal generator 150 may be controlled. In detail, the controller 140 based on the motion data generated by the image analyzer 130, the radiation therapy apparatus 10 according to whether the ratio of the detected pixels among the plurality of pixels deviates from a preset control threshold value. Irradiation of can be controlled. That is, the control unit 140 may stop the operation of the radiation therapy device 10 when the ratio of the detected pixels of the plurality of pixels exceeds the control threshold.

The alarm signal generator 150 may generate an alarm signal for notifying the operator of the radiation of the patient to the operator of the radiation therapy apparatus 10 according to the alarm command of the controller 140. Here, the alarm signal generator 150 may include a lamp or alarm sound generator, and may generate an alarm signal through the lamp or alarm sound generator.

Next, with reference to Figure 2 will be described in detail with respect to the image analysis unit of the treatment device control system according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating in detail the image analyzer of FIG. 1.

Referring to FIG. 2, the image analyzer 130 according to an exemplary embodiment of the present invention may include an image acquisition controller 131, an image signal receiver 132, a digital converter 133, and a data storage unit 134. ), A reference image data generator 135, a motion data generator 136, a pixel ratio calculator 137, and a screen output unit 138.

The image acquisition controller 131 may receive a signal from the signal receiver 110 and control the image acquisition unit 120 according to the transmitted signal. In this case, the image acquisition controller 131 may control the image acquisition unit 120 so that the image acquisition unit 120 acquires an input image signal at predetermined time intervals.

The image signal receiver 132 may receive an input image signal from the image acquirer 120.

The digital converter 133 may digitally convert the input image signal to generate input image data corresponding to the input image signal. The input image data generated by the digital converter 133 may include information on intensity of each of the plurality of pixels (hereinafter referred to as a characteristic value).

In this case, when the plurality of pixels follow a red-green-blue (RGB) scheme in which red, green, and blue colors are respectively mixed, the characteristic values of each of the plurality of pixels are red, green, and blue. Each ratio value of blue may be included. In addition, when each of the plurality of pixels follows a black and white scheme in which black and white are mixed to express colors, the characteristic values of the plurality of pixels may include respective ratio values of black and white.

The data storage unit 134 may store input image data and reference image data to be described later. In this case, the data storage unit 134 may store a plurality of input image data generated by the digital converter 133 at predetermined time intervals.

For example, the first input image signal acquired by the image acquisition unit 120 at a first time may be converted into first input image data by the digital converter 133 and stored in the data storage unit 134. The second input image signal acquired by the image acquisition unit 120 at a second time earlier than the time may be converted into second input image data by the digital converter 133 and stored in the data storage unit 134. That is, the data storage unit 134 may store the first input image data and the second input image data acquired and converted at different times.

The reference image data generation unit 135 may generate reference image data by analyzing the input image data. The reference image data generated by the reference image data generation unit 135 may be stored in the data storage unit 134, and the reference image data stored in the data storage unit 134 may be transferred to a motion data generation unit to be described later, and the motions described below. It can be used to generate data. A detailed method of generating reference image data by the reference image data generator 135 will be described later in detail with reference to FIGS. 3 and 4.

The motion data generator 136 receives the most recently generated input image data and the reference image data from the data storage unit 134, and sets a difference between the most recently generated input image data and the reference image data. By calculating whether the value deviates from the value, the motion data including the true pixel with motion and the false pixel without motion may be generated. A more specific method of generating motion data in the motion data generator 136 will be described later in detail with reference to FIGS. 3 and 5.

The pixel ratio calculator 137 may calculate a ratio of the number of true pixels among the total number of pixels based on the motion data generated by the motion data generator 136 and transmit the ratio to the controller 140.

The screen output unit 138 may output an image corresponding to the input image signal received by the acid signal receiver 132 so that the operator can visually check the image. In this case, the operator may observe the posture and the movement of the patient through the image output through the screen output unit 138.

Next, a method of controlling the treatment device through the treatment device control system according to an embodiment of the present invention will be described in detail with reference to FIGS. 3 to 5.

3 is a flowchart illustrating a treatment device control method according to another embodiment of the present invention.

Referring to FIG. 3, first, the treatment device control module 11 may receive a control command for operating the radiation therapy device 10 (S105). At this time, the operator of the radiation therapy device 10 may fix the body of the patient to the couch, and then perform an interface with the therapy device control module 11 to transmit a control command to the therapy device control module 11.

Next, the operation signal output unit 13 may transmit the irradiation start signal to the treatment device control system 100 (S110). Specifically, the treatment device control module 11 transmits the irradiation start information corresponding to the received control command to the operation signal output unit 13, and the operation signal output unit 13 corresponds to the received irradiation start information. The irradiation start signal may be sent to the treatment device control system 100.

Thereafter, the irradiation apparatus 15 starts irradiation with respect to the patient under the control of the treatment device control module 11 (S115).

Meanwhile, the image acquisition controller 131 of the image analyzer 130 controls the image acquisition unit 120 according to the irradiation start signal, and the image acquisition unit 120 controls the patient under the control of the image acquisition control unit 131. It includes information on the posture of the patient and the surrounding background of the patient, and obtains an input image signal consisting of a plurality of pixels at regular time intervals (S120). At this time, the signal receiving unit 110 receives the irradiation start signal and transmits the irradiation start signal to the image acquisition control unit 131, and the image acquisition control unit 131 receives the image acquisition unit 120 according to the received irradiation start signal. ).

Next, when the image signal receiver 132 of the image analyzer 130 receives an input image signal from the image acquirer 120, the digital converter 133 of the image analyzer 130 converts the digital signal to a plurality of images. Input image data including information on the intensity of each of the pixels is generated (S125). In this case, the input image data may include characteristic values.

Thereafter, the input image data generated by the digital converter 133 may be stored in the data storage unit 134 (S130).

Next, the input image data stored in the data storage unit 134 is transferred to the reference image data generating unit 135, and the reference image data generating unit 135 generates the reference image data by analyzing the input image data ( S135), which will be described in detail with reference to FIG.

FIG. 4 is a flowchart illustrating a step of generating reference image data shown in FIG. 3 in more detail.

Referring to FIG. 4, the step of generating reference image data (S135) may include changing the input image data (I _input (x, t)) (I _input (x, t-1) − I _input (x, t−). 2) |) may be started by checking whether or not the predetermined change threshold value δ _binary is exceeded (S135a). Here, 't-1' and 't-2' mean different times, and I _input (x, t-1) means most recently generated input image data, and I _input (x, t -2) means any input image data generated before I _input (x, t-1). Therefore, | I _input (x, t-1)-I _input (x, t-2) | means the difference between different input image data (I _input (x, t)) generated at different times. This may be a numerical value indicating how much the input image data I _input (x, t) has changed.

Here, the change threshold value δ _binary may be defined as a numerical value corresponding to a predetermined ratio among the maximum values (eg, 0 to 255) of the characteristic value. For example, when the change threshold δ _binary is defined as 6% of the maximum value of the characteristic value, the change threshold δ _binary may be 15. The change threshold δ _binary may be defined through experiments, and may be set differently according to the intensity of illumination of the space where the radiation therapy device 10 is installed.

If the change (| I _input (x, t-1)-I _input (x, t-2) |) of the input image data (I _input (x, t)) is changed to the preset change threshold value (δ _binary ) If exceeded, the existing reference image data is maintained as it is (I _ref (x, t) = I _ref (x, t-1)) (S135b). In this case, when the reference image data is not generated, the first input image data received by the reference image data generator 135 may be generated as the reference image data.

Meanwhile, the change (| I _input (x, t-1)-I _input (x, t-2) |) of the input image data I _input (x, t) is less than the predetermined change threshold (δ _binary ). In this case, the most recently generated input image data may be reflected in newly generated reference image data (I _ref (x, t) = α I _ref (x, t-1) + (1-α) I _input (x , t-1)) (S135c).

Here, α is a reference image update rate, and the sensitivity of the small movement or change in generating subsequent motion data (to be described later with reference to FIG. 5) using the reference image data by controlling the update rate of the reference image data. To adjust the function. That is, when the value of α is close to 1, the most recently generated input image data is less reflected in the newly generated reference image data. On the contrary, as the value of α is close to 0, the newly generated reference image data is the most. A lot of recently generated input image data is reflected.

In detail, when the value of α approaches 1 (for example, when α is 1, the same as maintaining the existing reference image data as it is), the newly generated reference image data is generated from the existing reference image data. It doesn't change much. Therefore, even when the input image data is minutely changed, the difference from the reference image data is sensed. Therefore, there is an advantage that the small and minute patient movement can be effectively detected. There is a disadvantage to be regarded as.

On the other hand, when the value of α approaches 0, the newly generated reference image data is reflected to the most recently generated value of the input image data. This means that the reference image data is continuously updated by the change of the input image data. Therefore, when the input image data is minutely changed, it is difficult to detect a difference from the reference image data. Therefore, it is difficult to continuously observe the movement of the patient, and it is difficult to detect small and minute movements.

Therefore, while the movement is frequently detected, such as breathing of the patient, while the couch is moved during treatment, or relatively less area, such as when the gantry (not shown) of the radiation therapy device 10 is rotated To exclude from motion detection, it is necessary to apply an appropriate value of α.

Figure 1 below is detected when the treatment device control system 100 according to an embodiment of the present invention is connected to the radiation therapy device 10 and the couch of the radiation therapy device 10 is moved at a maximum speed (0.196 cm / s). A graph showing the percentage of true pixels.

Pic 1

Referring to Figure 1, it can be seen that when the α value is less than 0.9, the change of the image due to the movement of the couch is not detected.

Figure 2 below shows the true value detected when the phantom with the chest contour of the patient's body is periodically moved at 2mm, 3mm, 5mm and 1cm in order to evaluate the effect of the patient's motion detection by the α value. It is a graph showing the percentage of pixels.

Picture 2

Referring to Figure 2, it can be seen that when the α value is 0.85 or more, the microscopic movement of the phantom moving with the movement distance of 2 mm can be detected.

Therefore, the results of the above experiments can be seen that the appropriate α value is 0.85 to 0.9 that can smoothly detect only the minute movements of the patient while excluding the change of the image caused by the movement of the couch during the treatment. However, embodiments of the present invention are not limited to this α value. For example, when the same experiment is performed in a place having a different surrounding environment, an α value different from the α value may be derived. That is, the embodiments of the present invention do not limit a specific α value, and it is to be understood that the process itself for deriving an appropriate α value is within the scope of the embodiments of the present invention.

Next, the reference image data newly generated by the reference image data generator 135 may be stored in the data storage 134 again, and the newly generated reference image data may be transferred to the motion data generator 136 again. Can be. In addition, the motion data generator may receive the most recently generated input image data from the data storage unit 134.

The motion data generator 136 may move the true pixel and the motion according to whether or not the difference between the reference image data transmitted from the data storage unit 134 and the most recently generated input image data deviates from a preset motion threshold. In operation S140, motion data including a false pixel having no pixel may be generated. This will be described in detail with reference to FIG. 5.

FIG. 5 is a flow chart illustrating in detail the step of generating the motion data shown in FIG. 3.

Referring to FIG. 5, in operation S140, the difference between the most recently generated input image data I _input (x, t) and the reference image data I _ref (x, t) (| It may be started by checking whether I _input (x, t)-I _ref (x, t) |) exceeds a predetermined motion threshold δ _motion (S140a).

Here, the motion threshold value δ _motion may be defined as a numerical value corresponding to a predetermined ratio among the maximum values (eg, 0 to 255) of the characteristic value, similarly to the change threshold value δ _motion . This motion threshold δ _motion may be defined through experiments, and may be set differently according to the illuminance of the space in which the radiation therapy device 10 is installed.

If the difference between the input image data I _input (x, t) and the reference image data I _ref (x, t), | I _input (x, t)-I _ref (x, t) | When the set motion threshold value δ _motion is exceeded, motion data may be generated as a true pixel with motion (I _moving (x, t) = 1) (S140b).

On the other hand, the difference between the input image data I _input (x, t) and the reference image data I _ref (x, t) | I _input (x, t)-I _ref (x, t) | When the set motion threshold δ _motion is less than, motion data may be generated as a false pixel without motion (I _moving (x, t) = 0) (S140c).

Next, the motion data generated by the motion data generator 136 is transferred to the pixel ratio calculator 137. The pixel ratio calculator 137 may calculate a ratio of the number of true pixels among the total number of pixels based on the motion data transferred from the motion data generator 136 (S145).

Next, the controller 140 determines whether the ratio of the true pixel number among the total number of pixels calculated by the pixel ratio calculator 137 exceeds a preset control threshold value δ _warn (S150).

If the ratio of the number of true pixels among the total number of pixels exceeds the preset control threshold value δ _warn , the controller 140 determines that a change has occurred in the posture of the patient and controls to stop irradiation. The control signal including the command is transmitted to the treatment device control module 11 (S155).

Next, the treatment device control module 11 controls the irradiation apparatus 15 according to a control command included in the control signal, and the irradiation device 15 emits radiation to the patient under the control of the treatment device control module 11. The investigation is stopped (S160).

Meanwhile, the controller 140 controls the alarm signal generator 150 through an alarm command for notifying the operator that a change in the posture of the patient has occurred, and the alarm signal generator 150 controls the alarm command of the controller 140. In accordance with the lamp or alarm sound generator to generate an alarm signal (S165).

On the other hand, if the ratio of the number of true pixels among the total number of pixels does not exceed the preset control threshold value δ _warn , the process returns to the input image signal acquisition step S120 and acquires the input image signal again. Repeat the process from).

Meanwhile, FIG. 3 illustrates a process up to which the treatment device control system 100 stops irradiation of the radiation treatment device 10. However, while the radiation therapy device 10 is irradiating the radiation, the operator may stop the radiation through a control command for directly stopping the radiation, and the irradiation of the patient may be terminated. In this case, the operation signal output unit 13 transmits the irradiation stop signal to the treatment device control system 100, and the treatment device control system 100 stops monitoring the patient according to the irradiation stop signal, and irradiates the radiation. The signal wait state can be maintained until the start signal is received.

Next, with reference to Figure 6 will be described in the treatment unit integrated management system using the treatment unit control system according to an embodiment of the present invention.

6 is a conceptual diagram illustrating a treatment device integrated management system according to another embodiment of the present invention.

As shown in FIG. 6, the treatment device integrated management system according to another embodiment of the present invention may include a treatment device control system 100, a network 300, and a plurality of radiation therapy devices 10.

The treatment device control system 100 is connected to the plurality of radiation therapy devices 10 through the network 300 and controls each of the plurality of radiation therapy devices 10.

The network 300 is a communication network that relays the treatment device control system 100 and the plurality of radiation therapy devices 10. In this case, the network 300 may allocate an address to each of the plurality of radiation therapy devices 10 and may inform the treatment device control system 100 of the assigned address.

Each of the plurality of radiation therapy devices 10 is a medical device that performs radiation therapy by irradiating radiation to a subject under the control of the treatment device control system 100.

The subject of control of the therapeutic apparatus control system and method according to the embodiment of the present invention described above is not limited to the radiation therapy apparatus, and the therapeutic apparatus control system and method may be applied to various unmanned medical equipment.

Particular implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings by way of example shows a functional connection and / or physical or circuit connections, in the actual device replaceable or additional various functional connections, physical It may be represented as a connection, or circuit connections. In addition, unless specifically mentioned, such as "essential", "important" may not be a necessary component for the application of the present invention.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and the scope of the spirit of the present invention is defined not only in the claims below, but also in the ranges equivalent to or equivalent to those of the claims. Will belong to.

According to the embodiments of the present invention as described above, by applying an algorithm that reflects the movement of the surrounding background of the patient, it is possible to detect only the movement of the patient without the movement of the surrounding background of the patient.

Claims (21)

In the treatment device control method for controlling the treatment device to irradiate the patient, Acquiring an input image signal including a plurality of pixels and information about a patient's posture and a background of the patient at regular time intervals; Digitally converting the input image signal to generate input image data including information on intensity intensity of each of the plurality of pixels; Generating reference image data by analyzing whether the change of the input image data deviates from a predetermined change threshold value; Generating motion data including a true pixel with motion and a false pixel without motion depending on whether a difference between the most recently generated input image data and the reference image data is outside a preset motion threshold value; And And controlling irradiation of the treatment device according to whether the ratio of the true pixels of the plurality of pixels is out of a predetermined control threshold based on the motion data. According to claim 1, Generating the reference image data, When the change of the input image data is less than a preset change threshold value, the most recently generated input image data is reflected in the newly generated reference image data, And when the change of the input image data exceeds the change threshold, maintaining the previously generated reference image data. According to claim 1, Generating the motion data, When the difference between the most recently generated input image data and the reference image data exceeds a preset motion threshold, the motion data is generated as a true pixel with motion, And when the difference between the most recently generated input image data and the reference image data is less than a predetermined motion threshold, generating the motion data as a false pixel having no motion. According to claim 1, Generating the reference image data, When the input image data is defined as I _input (x, t), the change threshold is δ _binary and the reference image update rate is α, the reference image data I _reference (x, t) expressed as a function thereof is defined. [Equation 1]

Produced by, treatment device control method. The method of claim 4, wherein And the change threshold value δ _binary has a numerical value corresponding to a predetermined ratio among the maximum values of the information about the intensity of each of the plurality of pixels. According to claim 1, Generating the motion data, When the input image data is defined as I _input (x, t), the reference image data is I _reference (x, t), and the motion threshold value is δ _motion , the motion data represented as a function thereof I _moving (x t) [Equation 2]

Produced by, treatment device control method. The method of claim 6, And the motion threshold δ _motion has a numerical value corresponding to a predetermined ratio among the maximum values of the information about the intensity of each of the plurality of pixels. According to claim 1, Controlling the irradiation of the treatment device, And transmitting a control signal to the treatment device when the ratio of the true pixels of the plurality of pixels exceeds the control threshold. The method of claim 8, And generating an alert signal when the ratio of the true pixels of the plurality of pixels exceeds the control threshold. According to claim 1, And continuously acquiring the input image signal when the ratio of the true pixels of the plurality of pixels is less than the control threshold value. In the treatment device control system for controlling the treatment device to irradiate the patient, An image acquisition unit including information about a patient's posture and a background of the patient, and obtaining an input image signal including a plurality of pixels at regular time intervals; An image analyzer configured to analyze the input image signal and generate an analysis result; And And a controller for controlling the treatment device according to the analysis result. The image analyzer, A digital conversion unit for digitally converting the input image signal to generate input image data including information on intensity intensity of each of the plurality of pixels; A reference image data generation unit for generating reference image data by analyzing whether the change of the input image data deviates from a predetermined change threshold value; Generating motion data for generating motion data including a true pixel with motion and a false pixel without motion depending on whether a difference between the most recently generated input image data and the reference image data is outside a preset motion threshold value. Wealth, And a pixel ratio calculator configured to calculate a ratio of the true pixels among the plurality of pixels based on the motion data. The method of claim 11, wherein The reference image data generation unit, When the change of the input image data is less than a predetermined change threshold value, the most recently generated input image data is reflected in the newly generated reference image data, And maintaining the previously generated reference image data when the change of the input image data exceeds the change threshold. The method of claim 11, wherein The motion data generator, When the difference between the most recently generated input image data and the reference image data exceeds a preset motion threshold, the motion data is generated as a true pixel with motion, And when the difference between the most recently generated input image data and the reference image data is less than a predetermined motion threshold, generating the motion data as a false pixel having no motion. The method of claim 11, wherein The reference image data generation unit, When the input image data is defined as I _input (x, t), the change threshold is δ _binary and the reference image update rate is α, the reference image data I _reference (x, t) expressed as a function thereof is defined. [Equation 1]

Produced by, treatment device control system. The method of claim 14, And said change threshold value δ _binary has a value corresponding to a predetermined ratio of the maximum value of information on the intensity intensity of each of the plurality of pixels. The method of claim 11, wherein The motion data generator, When the input image data is defined as I _input (x, t), the reference image data is I _reference (x, t), and the motion threshold value is δ _motion , the motion data represented as a function thereof I _moving (x t) [Equation 2]

Produced by, treatment device control system. The method of claim 16, And the motion threshold δ _motion has a numerical value corresponding to a predetermined ratio of the maximum value of the information on the intensity intensity of each of the plurality of pixels. The method of claim 11, wherein And the image acquiring unit continuously acquires the input image signal when the ratio of the true pixels among the plurality of pixels is less than or equal to a control threshold. The method of claim 11, wherein And the controller controls irradiation of the treatment device based on whether the ratio of the true pixels of the plurality of pixels deviates from a preset control threshold based on the motion data. The method of claim 19, And the control unit stops the operation of the treatment device when the ratio of the true pixels of the plurality of pixels exceeds the control threshold. The method of claim 19, And a warning signal generator configured to generate an alarm signal according to a control signal of the controller and transmit the alarm signal to the treatment device when the ratio of the true pixel of the plurality of pixels exceeds the control threshold value.

Images