CN109945809B - Plug-in type position sensing device for multi-leaf grating system - Google Patents
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Abstract
The invention relates to a plug-in type position sensing device for a multi-leaf collimator system, and belongs to the technical field of medical equipment and sensors. Comprises a plurality of induction parts and a mounting circuit board; each sensing part comprises a sensor circuit board and a connecting ruler, and one or two sets of position sensors are arranged on the sensor circuit board; two ends of the connecting ruler are respectively connected with a rotor of the linear motor and the multi-blade grating blade, the connecting ruler transfers thrust along with the motion of the linear motor, and the connecting ruler is used as a base ruler of the position sensor; the mounting circuit board is provided with a plurality of connecting ruler moving through holes and connectors; the sensor circuit board is vertically inserted on the installation circuit board through a first connector and is connected with the position detection or monitoring control end of the multi-blade grating system through a second connector. The invention has simple structure and convenient assembly and disassembly, greatly reduces the occupied space of the sensor and the outgoing line quantity, and meets the requirements of safety and effectiveness in three types of medical equipment by adopting a redundant design.
Description
Technical Field
The invention belongs to the technical field of medical equipment and sensors, and particularly relates to a plug-in type position sensing device for a multi-leaf grating system.
Background
Tumor radiotherapy, which is a therapeutic method for treating malignant tumors by radiation, has a prominent role and position in tumor therapy, and has become one of the main means for treating cancer. The radiotherapy equipment consists of three moving parts, including treating head, frame and treating bed, and is provided with image interface for accurate measurement, patient positioning, etc. In the treatment head, the multi-leaf grating is a core functional component for controlling the shape and dosage of X-rays, the X-rays are conformed and strengthened through the multi-leaf grating, the X-rays are transformed into a shape consistent with a tumor, and a dosage distribution required by tumor killing is formed, so that the aims of killing tumor cells to the maximum extent and protecting surrounding normal tissues are fulfilled.
The multi-blade grating comprises a plurality of tungsten alloy blades which are arranged, and each blade is connected with a corresponding driving mechanism, a transmission mechanism, a position sensor and a driving control system and can move independently. Specifically, the drive control system controls the drive mechanism and pushes the tungsten alloy blade to move to a specified position; the tungsten alloy blades can form a specific shape which is similar to the shape of a target area of a tumor of a patient, so that the purposes of conforming to X-rays and strengthening the X-rays are achieved. In the existing apparatus, the driving mechanism for powering each blade of the multi-blade grating is mainly of three types, a rotary motor, a cylinder, and a linear motor. Because linear electric motor compares cylinder positioning accuracy height, compares that rotating electrical machines moves velocity height, acceleration is big, consequently receives industry more and more attention.
Radiotherapy equipment is as three kinds of medical equipment, needs to guarantee sufficient operational safety and reliability. In a multi-leaf grating system (i.e. a system formed by the multi-leaf grating, a driving mechanism, a transmission mechanism, a position sensor and a driving control system together), the positions of all leaves or motors need to be detected, so that the accuracy of the multi-leaf grating system in the operation process is ensured. In addition, the position of the blade (or motor) movement needs to be monitored, i.e., a redundant design of the second sensor is required to ensure the effectiveness of the operation of the multi-leaf grating system.
The integration of a multi-leaf grating system is very high, the number of leaves (and associated motors) is large, and the number of leaves of the existing multi-leaf grating can reach 164 leaves, so that the space for installing a sensor is very limited. In addition, in addition to ensuring that all the blades are provided with position detection sensors, a second sensor is also required to be arranged for position monitoring of the blades or the motor so as to ensure the reliability of the operation. Therefore, high demands are made on the installation space for position detection and position monitoring of the multileaf grating. In the existing multi-leaf grating system, a high-speed camera is used as a position detection and monitoring device of a leaf, the number of sensors can be reduced by the scheme, but a reflective film adopted by the high-speed camera has very short service life under high-energy rays and needs irregular maintenance; the scheme can occupy a certain multi-leaf grating volume by adopting a rotary encoder for position detection and monitoring, and the rotary encoder is used for acquiring position information in the rotating process of a rotary motor and is not suitable for a multi-leaf grating system based on a linear motor.
In order to solve the above problems to some extent, the applicant has proposed a dual sensing feedback and transmission system (application No. 201711173108.0) for a linear motor, which employs two sets of reading devices for reading displacement information and a matched reference scale, wherein the reading devices are installed at the end part or the outer part of the housing of the stator of the linear motor close to the multi-leaf grating blade, and the reference scale is fixed on a connecting rod to meet the dual sensing requirement. However, the dual sensing feedback and transmission system still has the following problems: firstly, the installation position of the reading device causes the reading device to occupy more limited space of the multi-leaf grating system, and on the other hand, lead-out wires of a plurality of sensors also occupy space and the system is complicated.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a plug-in type position sensing device for a multi-leaf collimator system, which is used for detecting and monitoring the position of a multi-leaf collimator leaf (or a linear motor) in radiotherapy equipment. The sensor can ensure the safety and reliability of the operation of the multi-leaf grating system on the basis of not increasing the installation space of the original multi-leaf grating system.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a plug-in type position sensing device for a multi-leaf collimator system, which comprises a multi-leaf collimator and a linear motor, wherein the multi-leaf collimator system comprises a plurality of leaf collimators and a plurality of linear motors; the multi-blade grating sensor is characterized by comprising a plurality of sensing parts and a mounting circuit board, wherein the sensing parts are arranged according to the number of the blades of the multi-blade grating, and each sensing part respectively comprises:
the sensor circuit board is a circuit board structure with a smaller volume than the installation circuit board, and one set or two sets of position sensors are arranged on the sensor circuit board and are used for detecting and/or monitoring the position of the multi-leaf grating system;
the two ends of the connecting ruler are respectively connected with a rotor of the linear motor and the multi-blade grating blades, and the connecting ruler transfers thrust along with the motion of the linear motor; meanwhile, the connecting ruler is used as a base ruler of the position sensor;
the mounting circuit board is a multilayer porous circuit board, and is provided with a plurality of connecting ruler moving through holes, a first connector and a second connector; the number of the connecting ruler moving through holes is set according to the number of the connecting rulers; the first connector is positioned at one side or two sides of the corresponding connecting ruler movement through hole and used for vertically inserting the position sensor circuit board onto the mounting circuit board and transmitting a position signal acquired by the position sensor to the second connector; the second connector is used for leading in a power line and a ground line and transmitting the received position signal to a position detection or monitoring control end of the multi-leaf grating system.
The invention achieves the technical effects that: the sensor circuit board and the mounting circuit board are used as mounting and signal collecting boards of two position sensors, wherein one of the mounting and signal collecting boards is used for position detection of a multi-blade grating blade (or a linear motor), and the other mounting and signal collecting board is used for position monitoring, so that the reliability of the operation of three types of medical equipment is guaranteed; the installation circuit board is provided with a plurality of connecting ruler motion through holes and plug connectors, the motor passes through the connecting ruler motion through holes through the connecting ruler to drive the multi-blade grating blades to do reciprocating linear motion, one set or two sets of position sensors are installed on the sensor circuit board, and the sensor circuit board is installed on one side or two sides of the connecting ruler and is communicated with the installation circuit board through the plug connectors; through two kinds of circuit board structures, the volume that position sensing device occupy multi-leaf collimator can be reduced, and this sensing device does not have the signal cable in addition, and simple to operate is favorable to improving the integrated level of multi-leaf collimator system, guarantees the two sensing demands among three types of medical equipment simultaneously, has improved the security and the reliability of multi-leaf collimator system.
Drawings
FIG. 1 is a front view of one embodiment of the present invention;
FIG. 2 is an isometric view of an embodiment of the present invention;
fig. 3 is a partially enlarged view of fig. 2.
Detailed Description
For the purpose of promoting a more complete understanding of the present invention, its objects, the manner of practicing the invention, and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of one implementation of the invention and are not intended to limit the invention.
Fig. 1 to 3 are a front view, a three-dimensional view and a partially enlarged view of an embodiment of the present invention, respectively, and a detailed structure of the embodiment will be described below with reference to several views.
The plug-in type position sensing device for the multi-leaf collimator system is used for detecting and monitoring the position of a multi-leaf collimator blade (or a linear motor) in radiotherapy equipment, wherein the multi-leaf collimator comprises a plurality of blades 1 (mostly tungsten alloy blades), and the linear motor 2 comprises a stator and a rotor; the plug-in type sensing device comprises a plurality of sensing parts (only one sensing part, a single multi-leaf grating blade and a linear motor which are arranged in a matched manner are shown in figures 1 and 2 for ensuring the clarity of the drawing, and the other sensing parts are not shown) which are arranged according to the number of the multi-leaf grating blades and a mounting circuit board 6, wherein each sensing part is matched with one multi-leaf grating blade 1 and the corresponding linear motor 2, and each sensing part respectively comprises:
the sensor circuit board 4 is a circuit board structure with a smaller volume than the installation circuit board 6, and is provided with one set or two sets of position sensors (a photoelectric encoder or a magnetic encoder, and the situation of the two sets of position sensors is shown in figure 3) for position detection and/or monitoring of the multi-leaf grating system;
one end of the connecting ruler 3 is connected with a rotor of the linear motor 2, the other end of the connecting ruler 3 is connected with a tungsten alloy blade 1 of the multi-blade grating, and the connecting ruler 3 transmits thrust along with the motion 2 of the linear motor; meanwhile, the connecting ruler 3 is used as a base ruler of the position sensor;
the mounting circuit board 6 is a multilayer porous circuit board, and is provided with a plurality of connecting ruler moving through holes 61, a first connector 62 and a second connector 5; the number of the connecting ruler moving through holes 61 is set according to the number of the connecting rulers 3, and square or circular holes can be adopted for the connecting rulers 3 to move in the holes; the first connector 62 is positioned at one side or two sides of the corresponding connecting ruler movement through hole 61 and is used for vertically inserting the sensor circuit board 4 onto the installation circuit board 6 and transmitting the position signal acquired by the position sensor to the second connector 5; the second connector 5 is used for leading in a power line and a ground line and transmitting a position signal acquired by the position sensor to a position detection or monitoring control end of the multi-leaf grating system.
The specific implementation and functions of each component device of the invention are described as follows:
the mounting circuit board 6 is a multilayer porous circuit board, has an insulated surface, and is provided with a plurality of connecting ruler movement through holes 61, the shape of the holes is square or circular, and the number of the holes is determined according to the number of the blades of the multi-blade grating system and the mounting mode of the position sensor. In this embodiment, the connecting ruler movement through holes 61 are rectangular and 60 in number. One first connector 62 is mounted on one side or two sides of each connecting ruler moving through hole, the number of the first connectors 62 is determined according to the number of the multi-leaf grating blades and the number of the position sensors on the sensor circuit board (for example, for the multi-leaf grating with 60 multi-leaf grating blades, if 2 position sensors are arranged on each sensor circuit board, 60 first connectors are needed, if only 1 position sensor is arranged on each sensor circuit board, at this time, two sensor circuit boards are correspondingly arranged near one connecting ruler, 120 first connectors are needed). The second connector 5 is used for leading in a power line and a ground line and transmitting a position signal acquired by the position sensor to a position detection or monitoring control end of the multi-blade grating.
The sensor circuit board 4 is a circuit board structure with a small volume, on which one or two sensor chips can be mounted, and the sensor circuit board 4 is vertically inserted on the mounting circuit board 6 through the first connector 62. The sensor may employ a photoelectric encoder or a magnetic encoder.
The following methods can be adopted in the arrangement of the sensor, the sensor circuit board and the mounting circuit board:
one sensor circuit board 4 is provided with a sensor (photoelectric encoder or magnetic encoder), and the area of each sensor is to completely cover the corresponding connection ruler. A sensor circuit board 4 is vertically inserted into one side of the installation circuit board 6 and two sides of the connecting ruler movement through hole 61 (or two sides of the installation circuit board 6 and one side of the connecting ruler movement through hole 61), the connecting ruler is used as a base ruler, and the two sides are engraved or recorded with magnetism to form two sets of sensors for detecting or monitoring the movement position of the multi-leaf grating blade;
two sensors (either or both of a photoelectric encoder and a magnetic encoder) are mounted on one sensor circuit board, the sensors are arranged side by side along the axial direction of the connecting ruler, and the area of each sensor is required to completely cover the corresponding connecting ruler, as shown in fig. 3. The sensor circuit board 4 can be vertically arranged on one side of the connecting ruler moving through hole 61 of the installation circuit board 6, the connecting ruler 3 is used as a base ruler, single-side scribing or magnetic recording is carried out, two sets of sensors are formed, and the arrangement mode is adopted in the embodiment for detecting or monitoring the moving position of the multi-leaf grating blade.
The working process of the embodiment of the invention is as follows: the linear motor runs according to the instruction position under the control of the drive control system, and simultaneously drives the connecting ruler to move, so that the blades move at the instruction position, and the sensor circuit board is vertically installed on the single side of the installation circuit board and the single side of the through hole through the first connector. One of the sensor chips detects the position of the connecting ruler, and position signals are fed back to a driving control unit of the linear motor through the sensor circuit board, the mounting circuit board and the two types of connectors, and the signals are used as position detection signals of the multi-leaf grating system. Meanwhile, the other sensor chip on the sensor circuit board detects the same position signal and feeds the same position signal back to the position monitoring unit of the multi-leaf grating system in the same way, and the signal is used as the position monitoring signal of the multi-leaf grating system and is used for position monitoring or verification of the multi-leaf grating blades, so that the reliability of the multi-leaf grating system in the motion process is ensured, and the double-sensing requirements of three types of medical equipment are met.
In summary, the plug-in type position sensing device for the multi-leaf collimator system is used for position feedback and position monitoring of a linear motor in a multi-leaf collimator of radiotherapy equipment, is simple in structure and convenient to assemble and disassemble, greatly reduces the occupied space of the sensor and the outgoing line number, and meets the safety and effectiveness requirements of three types of medical equipment by adopting a redundancy design.
Claims (3)
1. A plug-in position sensing device for a multi-leaf collimator system, the multi-leaf collimator system comprising a multi-leaf collimator and a linear motor; the multi-blade grating sensor is characterized by comprising a plurality of sensing parts and a mounting circuit board, wherein the sensing parts are arranged according to the number of the blades of the multi-blade grating, and each sensing part respectively comprises:
the sensor circuit board is a circuit board structure with a smaller volume than the installation circuit board, and one set or two sets of position sensors are arranged on the sensor circuit board and are used for detecting and/or monitoring the position of the multi-leaf grating system;
the two ends of the connecting ruler are respectively connected with a rotor of the linear motor and the multi-blade grating blades, and the connecting ruler transfers thrust along with the motion of the linear motor; meanwhile, the connecting ruler is used as a base ruler of the position sensor;
the mounting circuit board is a multilayer porous circuit board, and is provided with a plurality of connecting ruler moving through holes, a first connector and a second connector; the number of the connecting ruler moving through holes is set according to the number of the connecting rulers; the first connector is positioned at one side or two sides of the corresponding connecting ruler movement through hole and used for vertically inserting the sensor circuit board onto the installation circuit board and transmitting a position signal acquired by the position sensor to the second connector; the second connector is used for introducing a power line and a ground line and transmitting the received position signal to a position detection or monitoring control end of the multi-leaf grating system;
the sensor circuit boards are vertically inserted into the single side of the installation circuit board and the two sides of the connecting ruler movement through hole respectively, and each sensor circuit board is provided with a set of position sensor respectively; or, the two sides of the installation circuit board and the single side of the connecting ruler movement through hole are respectively and vertically inserted with one sensor circuit board, and each sensor circuit board is respectively provided with a set of position sensor; or one sensor circuit board is vertically inserted into a single side of the installation circuit board and a single side of the connecting ruler movement through hole, and two sets of position sensors which are arranged side by side along the axial direction of the connecting ruler are arranged on the sensor circuit board.
2. The pluggable position sensor apparatus according to claim 1, wherein the connection ruler moving through hole on the mounting circuit board is a square hole or a circular hole.
3. The plug-in position sensor device according to claim 1 or 2, characterized in that the position sensor is an optical encoder or a magnetic encoder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910140337.5A CN109945809B (en) | 2019-02-26 | 2019-02-26 | Plug-in type position sensing device for multi-leaf grating system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910140337.5A CN109945809B (en) | 2019-02-26 | 2019-02-26 | Plug-in type position sensing device for multi-leaf grating system |
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| CN109945809B true CN109945809B (en) | 2020-09-04 |
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| CN110721417B (en) * | 2019-10-18 | 2021-11-09 | 上海联影医疗科技股份有限公司 | Multi-leaf grating control system, method, device and storage medium |
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| US7075185B2 (en) * | 2004-09-14 | 2006-07-11 | Hewlett-Packard Development Company, L.P. | Routing vias in a substrate from bypass capacitor pads |
| US7687391B2 (en) * | 2006-09-27 | 2010-03-30 | International Business Machines Corporation | Electrically optimized and structurally protected via structure for high speed signals |
| WO2009129817A1 (en) * | 2008-04-21 | 2009-10-29 | Elekta Ab (Publ) | Improvements in or relating to multi-leaf collimators |
| DE102009020676B4 (en) * | 2009-05-11 | 2011-06-22 | Hochschule für angewandte Wissenschaften - Fachhochschule Coburg, 96450 | Device and method for position determination |
| JP2011194958A (en) * | 2010-03-18 | 2011-10-06 | Denso Corp | Electronic control device |
| CN104147711A (en) * | 2014-08-28 | 2014-11-19 | 山东交通学院 | Method for improving leaf position detection accuracy of multi-leaf collimator |
| CN105022413B (en) * | 2015-08-20 | 2018-04-10 | 成都伊贝基科技有限公司 | Electric multiblade optical grating encoder closed-loop control system |
| US9986633B2 (en) * | 2016-06-16 | 2018-05-29 | International Business Machines Corporation | Embedding discrete components having variable dimensions in a substrate |
| CN207530674U (en) * | 2017-11-22 | 2018-06-22 | 清华大学 | The double-sensing feedback and transmission system of a kind of linear motor |
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Effective date of registration: 20230103 Address after: 215488 Room 701, Building 1, No. 27, Zigang Road, Science and Education New Town, Taicang City, Suzhou City, Jiangsu Province Patentee after: Jiangsu Gaotong Equipment Co.,Ltd. Address before: 100084 No. 1 Tsinghua Yuan, Beijing, Haidian District Patentee before: TSINGHUA University |
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