CN-115025404-B - Rack motion control method, computer equipment and storage medium

CN115025404BCN 115025404 BCN115025404 BCN 115025404BCN-115025404-B

Abstract

The application discloses a rack motion control method, computer equipment and a storage medium, wherein the rack motion control method comprises the steps of obtaining a control point list, wherein the control point list comprises at least two control points with known execution sequences and rack motion speeds corresponding to the at least two control points, and sequentially processing the at least two control points according to the execution sequences based on the rack motion speeds corresponding to the at least two control points so as to minimize the number of the control points included in the control point list. According to the gantry motion control method provided by the application, the control points are processed based on the gantry motion speed corresponding to the control points, so that the number of the control points included in the control point list is minimized, the switching times of the control points are reduced in the process of executing the treatment plan, the stability of gantry motion and the gantry motion control precision are improved, and the precision of radiotherapy is further improved.

Inventors

LI BO
LIU JINFEI
CHEN LONG
CHENG HONG

Assignees

西安大医集团股份有限公司
西安大医集团股份有限公司

Dates

Publication Date: 20260421
Application Date: 20220601
Priority Date: 20220601

Claims (10)

1. A method of controlling movement of a gantry, comprising: Acquiring a control point list, wherein the control point list comprises at least two control points with known execution sequences and a frame movement speed corresponding to the at least two control points; According to the execution sequence, when the current control point is not the first control point or the last control point: deleting the current control point in response to the fact that the movement speed of the frame corresponding to the current control point is the same as that of the frame corresponding to the last control point; storing the current control point to minimize the number of control points included in the control point list in response to the difference of the frame movement speed corresponding to the current control point and the previous control point; wherein the movement travel of the frame from the first control point position to the last control point position is less than 360 degrees.
2. The gantry motion control method of claim 1, wherein the method further comprises: Determining the current control point as the first control point, storing the current control point, and updating the current control point according to the execution sequence; and determining the updated current control point as the last control point, and storing the updated current control point.
3. The gantry motion control method of claim 2, wherein the method further comprises: determining that the updated current control point is different from the frame movement speed corresponding to the last control point, storing the updated current control point, and updating the updated current control point according to the execution sequence; And determining that the updated current control point is the same as the frame movement speed corresponding to the last control point, and updating the updated current control point according to the execution sequence.
4. A method of controlling movement of a gantry, comprising: Acquiring a control point list, wherein the control point list comprises at least two control points with known execution sequences and a frame movement speed corresponding to the at least two control points; acquiring a frame travel variable quantity corresponding to a current control point; According to the execution sequence, when the current control point is not the first control point or the last control point: Responding to the fact that the movement speeds of the machine frame corresponding to the current control point and the last control point are different, or the sum of the machine frame stroke variable quantities corresponding to the current control point and the last control point is larger than or equal to a preset value, storing the current control point and the machine frame stroke variable quantity corresponding to the current control point, and updating the current control point according to the execution sequence; Responding to the fact that the movement speed of the frame corresponding to the current control point and the movement speed of the frame corresponding to the last control point are the same, wherein the sum of the stroke variable amounts of the frame corresponding to the current control point and the last control point is smaller than a preset value, deleting the current control point, and updating the stroke variable amount of the frame corresponding to the current control point to be the sum of the stroke variable amounts of the frame corresponding to the current control point and the last control point so as to minimize the number of the control points included in the control point list; the machine frame travel change amount corresponding to the current control point is the movement travel of the machine frame from the current control point position to the next control point position, and the preset value is smaller than 360 degrees.
5. The gantry motion control method of claim 4, further comprising: Determining the current control point as a first control point, storing the current control point and the frame travel variable corresponding to the current control point, and updating the current control point according to the execution sequence; And determining the updated current control point as the last control point, and storing the updated current control point.
6. The gantry motion control method of claim 2 or 5, wherein after determining the updated current control point as the last control point and saving the updated current control point, the method further comprises updating the control point list.
7. The gantry motion control method of claim 6, further comprising controlling the gantry motion based on the updated list of control points.
8. The gantry motion control method of claim 7, wherein said controlling said gantry motion based on said updated list of control points comprises: and when the rack reaches a preset position corresponding to the current target control point, transmitting data of next target control point position, wherein the preset position corresponding to the current target control point is positioned before the current target control point position.
9. A computer device, the computer device comprising: One or more processors; memory, and One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the gantry motion control method of any one of claims 1 to 8.
10. A computer readable storage medium, having stored thereon a computer program, the computer program being loaded by a processor to perform the steps of the gantry motion control method of any one of claims 1 to 8.

Description

Rack motion control method, computer equipment and storage medium Technical Field The application relates to the technical field of radiotherapy, in particular to a gantry motion control method, computer equipment and a storage medium. Background Radiation therapy is a common way of treating tumors, and can be used to kill tumor lesions using high energy radiation generated by radiotherapy equipment. Generally, when radiation treatment is performed on a tumor of a patient, a radiation treatment plan is first formulated according to the condition of the tumor of the patient, and then the radiation device applies a desired radiation dose to the tumor of the patient according to the treatment plan, so as to achieve treatment of the tumor of the patient. In general, one radiation treatment plan is composed of treatment plan data of a plurality of fields, and the treatment plan data of each field includes treatment plan data of a plurality of control points, and when controlling the radiation apparatus to execute the treatment plan, the radiation apparatus is sequentially controlled to execute the treatment plan data for each control point according to the execution order of the plurality of control points. In the related art, during the process of controlling the radiation equipment to execute treatment planning, when the control point is switched, the motion of the gantry needs to undergo the process of deceleration-acceleration-uniform speed, and as the gantry is relatively heavy, a shaking phenomenon can occur during the motion process, so that the stability of the motion of the gantry is poor, the control precision of the gantry is reduced, and the radiation treatment precision is further affected. Disclosure of Invention The embodiment of the application provides a gantry motion control method, computer equipment and a storage medium, which can improve the stability of gantry motion and the accuracy of gantry motion control, thereby improving the accuracy of radiotherapy. In one aspect, the present application provides a gantry motion control method, the method comprising: And sequentially processing the at least two control points based on the frame movement speeds corresponding to the at least two control points according to the execution sequence so as to minimize the number of the control points included in the control point list. In some embodiments of the present application, The sequentially processing the at least two control points based on the frame movement speeds corresponding to the at least two control points according to the execution sequence includes: Determining the current control point as the first control point, storing the current control point, and updating the current control point according to the execution sequence; determining the updated current control point as the last control point, and storing the updated current control point; And determining that the updated current control point is not the last control point and is not the first control point, and processing the updated current control point based on the frame movement speed corresponding to the updated current control point and the last control point. In some embodiments of the present application, the processing the updated current control point based on the frame movement speed corresponding to the updated current control point and the previous control point includes: determining that the updated current control point is different from the frame movement speed corresponding to the last control point, storing the updated current control point, and updating the updated current control point according to the execution sequence; Determining that the updated current control point is the same as the frame movement speed corresponding to the last control point, and updating the updated current control point according to the execution sequence; wherein the movement travel of the frame from the first control point position to the last control point position is less than 360 degrees. In some embodiments of the present application, the sequentially processing the at least two control points based on the frame movement speeds corresponding to the at least two control points according to the execution sequence includes: Acquiring a frame travel variable quantity corresponding to a current control point, wherein the frame travel variable quantity corresponding to the current control point is a movement travel of a frame from a current control point position to a next control point position; Determining the current control point as a first control point, storing the current control point and the frame travel variable corresponding to the current control point, and updating the current control point according to the execution sequence; Determining the updated current control point as the last control point, and storing the updated current control point; Determining that the updated current control point is not the last control point,