Multi-modal data fusion radiotherapy position determination method and auxiliary robot system

Abstract

The invention relates to the field of medical image processing and the technical field of planning algorithms, and particularly relates to a multi-modal data fusion radiotherapy position determination method and an auxiliary robot system. Preoperative and intraoperative images and ultrasonic data are fused to reconstruct a real-time three-dimensional model so as to judge the progress of the current operation; meanwhile, a preoperative particle implantation planning method is constructed, the needle number is minimized while the curative effect is guaranteed as much as possible, and implantation radiotherapy is autonomously carried out according to a preoperative planned path. The 3D model corresponding to the operation environment can be displayed in real time, the real-time position condition of a focus and a medical instrument can be known, the formed path scheme can be properly adjusted according to the actual condition, and a doctor is helped to better complete the implantation radiotherapy operation.

Description

technical field [0001] The present invention relates to the field of medical image processing and the technical field of planning algorithms, and more specifically, to a multimodal data fusion radiotherapy position determination method and an auxiliary robot system. Background technique [0002] The existing radiotherapy for cervical cancer implantation mainly relies on manual operation by doctors. After planning the puncture path through the preoperative planning system, the particles are manually implanted into the patient's body under navigation, and the postoperative dose is verified. But on the one hand, there is a risk of exposure to radiation, and on the other hand, the efficacy and efficiency of surgery also have a lot to do with the experience of the doctor. [0003] The biggest difference between cervical cancer and other cancers such as liver cancer is the challenge brought by the abnormally narrow surgical environment. However, the current surgical methods are ba...

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Problems solved by technology

But on the one hand, there is a risk of radiation exposure; on the other hand, the curative effect and efficiency of surgery also have a lot to do with the doctor's experience.

[0003] The biggest difference between cervical cancer and other cancers such as liver cancer is the challenge brought by the abnormally narrow surgical environment. However, the current surgical methods are basically manual operations without real-time feedback, and its accuracy and stability are difficult to guarantee. Although there is a preoperative planning system, the planning system usually only considers the curative effect, does not consider the number of implanted needles as an important factor, and does not think of ways to reduce the pain of patients

However, the implantation of radioactive seeds is obtained after the CT scan after the operation is completed, which has high requirements on the experience and ability of doctors, which restricts the promotion and use of this treatment method.

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