Method and apparatus of locating tumor

A method of locating a tumor, wherein the method is applied to locate a tumor in a patient's head, and the method comprises:

• obtaining, by a processor, a position of a positioning mark before the patient's head moves, a position of the positioning mark after the patient's head moves, and a position of the tumor before the patient's head moves, wherein the positioning mark is disposed at a preset position of a body surface of the patient's head;
• determining, by the processor, movement amount of the positioning mark according to the position of the positioning mark before the patient's head moves, and the position of the positioning mark after the patient's head moves;
• determining, by the processor, a motion type of the patient's head according to the movement amount of the positioning mark, wherein the motion type at least includes one or both of translation and rotation around a preset pivot;
• and
• determining, by the processor, a position of the tumor after the patient's head moves according to the motion type of the patient's head and the position of the tumor before the patient's head moves,
• wherein it is determined that the motion type of the patient's head is the translation, determining, by the processor, the position of the tumor after the patient's head moves according to the motion type of the patient's head, and the position of the tumor before the patient's head moves, includes:
• determining, by the processor, the position of the tumor after the patient's head moves according to the movement amount of the positioning mark and the position of the tumor before the patient's head moves;
• or
• wherein it is determined that the motion type of the patient's head is the rotation around the preset pivot and that the position of the tumor before the patient's head moves coincides with the preset pivot, determining, by the processor, the position of the tumor after the patient's head moves according to the motion type of the patient's head, and the position of the tumor before the patient's head moves, includes:
• determining, by the processor, that the position of the tumor after the patient's head moves is still the position of the tumor before the patient's head moves;
• or
• wherein it is determined that the motion type of the patient's head is the rotation around the preset pivot and that the position of the tumor before the patient's head moves does not coincide with the preset pivot, determining, by the processor, the position of the tumor after the patient's head moves according to the motion type of the patient's head, and the position of the tumor before the patient's head moves, includes:
• determining, by the processor, the position of the tumor after the patient's head moves according to the position of the positioning mark before the patient's head moves, the position of the positioning mark after the patient's head moves, and the position of the tumor before the patient's head moves, wherein
• it is determined that the position of the tumor before the patient's head moves does not coincide with the preset pivot, and a space coordinate system is established by taking the preset pivot as an origin of the space coordinate system;
• and
• a position A of the positioning mark before the patient's head moves is (XA, YA, ZA), a position B of the positioning mark after the patient's head moves is (XB, YB, ZB), a position C of the tumor before the patient's head moves is (XC, YC, ZC), and a position D of the tumor after the patient's head moves is (XD, YD, ZD), and coordinates of the position C and the position D conform to the following formula:
• [
• X
• D
• Y
• D
• Z
• D
• 1
• ]
• =
• M
• *
• [
• X
• C
• Y
• C
• Z
• C
• 1
• ]
• wherein M is a rotation matrix corresponding to a vector OA rotated by an angle α around a vector OE and moved to a vector OB, M=Rx(γ)·Rz(−θ)·Ry(α)·Rz(θ)·Rx (−γ), the vector OE is a normal vector of a plane formed by the vector OA and the vector OB;
• and
• γ is an angle at which the vector OE is rotated around an X-axis to an XOY plane, and θ is an angle at which the OE vector that has been rotated to the XOY plane is rotated around a Z-axis to coincide with a Y-axis, and a is an angle ∠AB between the vector OA and the vector OB;
• Rx(γ) is a rotation matrix when rotating around the X-axis by γ degrees, Rx (−γ) is a rotation matrix when rotating around the X-axis by (−γ) degrees, Ry(α) is a rotation matrix when rotating around the Y-axis by α degrees, Rz(−θ) is a rotation matrix when rotating around the Z-axis by (−θ) degrees, and Rz(θ) is a rotation matrix when rotating around the Z-axis by θ degrees.