CN100464377C - Blade regulating method of multi-blade collimator and multi-blade collimator - Google Patents

Blade regulating method of multi-blade collimator and multi-blade collimator Download PDF

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CN100464377C
CN100464377C CN 01129814 CN01129814A CN100464377C CN 100464377 C CN100464377 C CN 100464377C CN 01129814 CN01129814 CN 01129814 CN 01129814 A CN01129814 A CN 01129814A CN 100464377 C CN100464377 C CN 100464377C
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blade
means
multi
blades
plurality
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CN 01129814
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CN1413745A (en )
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宋世鹏
洪 沈
郑笑然
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深圳市一体智能技术有限公司
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Abstract

本发明涉及医用放疗设备,具体涉及一种放疗设备中的多叶片准直器叶片调整方法及多叶片准直器;控制单元向对应于每一组叶片的叶片伺服机构发出叶片调整指令,叶片伺服机构在横向驱动装置的驱动下移动至需调整叶片的位置;叶片离合装置在垂向驱动装置的驱动下使被调整叶片与叶片定位装置脱离并抓住叶片;叶片离合装置在纵向驱动装置的驱动下将被抓住叶片移动至调整位置并松开叶片;叶片定位装置使叶片定位在调整位置;叶片伺服机构在控制单元的控制下重复上述步骤,将的所有叶片分别调整到指定位置;所提供的多叶片准直器叶片调整方法及多叶片准直器,通过叶片伺服机构在三个方向上的移动来调整多个叶片成形,使调整装置中的构件数量大大减少,调整更可靠,准直器的故障率更低。 The present invention relates to a medical radiotherapy device, particularly relates to a radiotherapy apparatus multiblade collimator blade adjustment method and a multi-leaf collimator; the control unit to a corresponding set of blades to the blade of each servo adjustment command issuing blade, the blade pitch control It means to move the blade position to be adjusted in the transverse drive of the drive means; clutch means so that the blade adjusting blade and blade positioning means to seize from the vertical blade driving means of the drive; clutch means drive the blade in the longitudinal direction of the drive means the blade is moved to adjust the position of the grab and release the blade; blade pitch adjusting means is positioned in the position of the blades; blade pitch control means repeating the above steps under the control of the control unit, all the blades are adjusted to a specified location; provided the multi-leaf collimator blade adjusting method and a multi-leaf collimator, the plurality of vanes is adjusted by moving the blade pitch control means is formed in three directions, the number of components is greatly reduced in the adjusting means, adjustment is more reliable, a collimator lower failure rate of the device.

Description

多叶片准直器的叶片调整方法及多叶片准直器 The method of adjusting the multi-leaf collimator blade and multi-leaf collimator

本发明涉及医用放疗设备,具体涉及放疗设备中的多叶片准直器,更具体地说,涉及--种多叶片准直器的叶片调整方法以及基于上述方法的多叶片准直器。 The present invention relates to a medical radiotherapy device, particularly relates to a radiotherapy apparatus in a multi-leaf collimator, and more particularly, relates to - a method to adjust the kind of sirocco-leaf collimator and a multi-leaf collimator based on the above method.

在现有技术中,多叶片准直器是与放疗设备配套使用,用于做适形和调强等治疗的专用设备,其基本构造和工作原理是通过移动多片屏蔽叶片(通常为钩合金),使其端部组成与病灶相对应的图形,对放疗设备发出的治疗射线进行约束,使射线通过准直器后,射线的形状与病灶基本一致, 可实现保护正常组织,提髙放射剂跫的目的,从而提高治疗效果。 In the prior art, the multi-leaf collimator is equipment for use with radiotherapy, used to make conformal therapy and intensity modulated special equipment, the basic structure and working principle is by moving the multi-piece shield blades (generally hook alloy ), so that the end portion of the composition pattern corresponding to the lesion, for treatment of radiation emitted by the radiation device constraints, so that the rays collimator, the shape of the radiation consistent lesions, normal tissue protection can be achieved, mention Gao radiation agent trampling purpose, thereby enhancing the therapeutic effect.

现在所采用的一种多叶片准直器的叶片调整方法是在每一片叶片上都设置有驱动电机和相配套的丝杆或钢丝绳等构件组成叶片的调整机构,控制装置分别驱动每一片叶片上的驱动电机来进行叶片的适形调整,这种调整方法的缺点是,调整步骤多、时间长、调整装置中的构件过多,使得整机尺寸过大,传动部件多,故障率髙。 Blade adjustment method for multi-leaf collimator is now employed in each blade is provided with a drive motor and screw or the like supporting rope consisting blade member adjusting mechanism, the control means drive the blade on each sheet drive motor to adjust the conformable blade adjustment disadvantage of this method is multi-adjusting step, for a long time, too member adjusting device, which makes the oversized multi-transmission member, failure rate Gao.

发明内容 SUMMARY

本发明要解决的技术问题在于,提供一种多叶片准直器的叶片调整方 The present invention is to solve the technical problem is to provide a multi-leaf collimator blade adjustment side

法,利用这种调整方法可使得多叶片准直器的叶片调整更简便和可靠,本发明要解决的另一个技术问题是,提供一种基于上述调整方法的多叶片准直器,准直器中的构件少,使得整套设备的外形尺寸小,能使多叶片准直器的叶片成形更准确,故障率低。 Method, using this method of adjustment allows adjusting blade-leaf collimator is much more convenient and reliable, another technical problem to be solved by the present invention is to provide an adjustment method based on the multi-leaf collimator, the collimator the small member, such that the entire device small size, enables the multi-leaf collimator blade forming more accurate, low failure rate.

本发明的技术方案是,构造一种多叶片准直器的叶片调整方法,其特征在于,包括以下步骤: Aspect of the present invention is a method of adjusting a multiple blade structure-leaf collimator, the method comprising the steps of:

A、 控制单元向唯一的叶片伺服机构发出叶片调整成形指令; A, the control unit issues unique to the vane blade adjustment servo mechanism forming instruction;

B、 所述唯一的叶片伺服机构按照指令将位于多个叶片导向装置中的每个叶片按顺序移动至成形位置; B, only the servo blade according to an instruction located at a plurality of blades each blade guide means in order to move the forming position;

C、 所述唯一的叶片伺服机构在控制单元的控制下重复上述步骤A和B, 将位于所述多个叶片导向装置中的所述多个叶片按移动顺序移动至成形位置;在上述多叶片准直器的叶片调整方法中,所述步骤B进一步包括以下 C, the blade pitch control means only repeating the steps A and B under the control of the control unit, the plurality of vanes in said plurality of said guide blades moves in the order of moving to the molding position; In the multi-blade the method of adjusting the collimator blades, the said step B further comprises

bl、所述唯一的叶片伺服机构中的叶片离合装置沿横向移动至需调整叶片的位置; bl, the leaves of the clutch servo mechanism means unique to the blade position of the blade to be adjusted along the lateral movement;

b2、所述叶片离合装置向下移动使被调整叶片与叶片定位装置脱离并抓住叶片; b2, downward movement of the blade so that the clutch means is adjusting blade and blade positioning means to seize from the blade;

b3、所述叶片离合装置沿纵向移动将叶片移动至成形位置; b3, said blade means along a longitudinal movement of the clutch is moved to the forming position of the blade;

b4、所述叶片离合装置向上移动脱离叶片,叶片定位装置回位,将叶 b4, the upward movement of the blade from the blade clutch means, positioning means return the blade, leaf

片定位在成形位置。 Sheet positioned in the forming position.

在上述多叶片准直器的叶片调整方法中,如果其中某一个叶片所在的 In the multi-blade adjustment leaf collimator method, wherein if one blade is located

位置正好位于成形位置,叶片伺服机构跳过这个叶片,移动下一个叶片。 A position right in the molding position, the blade pitch control mechanism to skip this blade, a moving blade.

本发明另一技术问题是这样实现的,构造一种多叶片准直器,包括一 Another technical problem underlying the present invention is implemented to construct a multi-leaf collimator comprising a

个控制单元、多个叶片以及多个叶片导向装置,还包括根据来自所述控制单元命令,顺序驱动所述所述多个叶片导向装置中的每个叶片通过所述叶 A control unit, a plurality of blades and a plurality of guide vanes, further comprising a command from the control unit, sequentially driving said plurality of blades each blade guide means in said leaf by

片导向装置位移并定位的唯一的叶片何服机构;所述唯一的叶片伺服机构包括叶片离合装置,驱动叶片离合装置沿叶片的纵向、横向和垂直方向移动的驱动装置和与所述叶片连接的定位装置。 Servo-mechanism only sheet guide vane displacement and positioning means; said servomechanism comprises a single vane blade clutch means, clutch means driven blade longitudinal direction of the blade, driving means to move both laterally and vertically and connected to the blade Positioning means.

在上述多叶片准直器中,所述每个叶片导向装置均对多个叶片提供导向,每个叶片导向装置导向的多个叶片均由所述叶片伺服机构驱动。 In the multi-leaf collimator, each said blade guide means are provided on a plurality of guide vanes, a plurality of blades each blade guide means guided by said servo mechanism driving the blade.

在上述多叶片准直器中,所述叶片离合装置包括移动臂, 一个通过压盖与所述移动臂前端限位连接、可垂直移动的滑块,所述滑块的下端部的两侧向内凹进形成一个叶片抓取凸缘,在所述滑块的下端面上还设有一个小顶针,所述滑块与所述移动臂的相邻接处设有复位弹簧。 In the multi-leaf collimator, the clutch means comprises a blade movable arm, a connection with the mobile gland distal stop arm vertically movable slider, the slider on both sides of the lower end portion a recess formed within the blade gripping flange, a lower end surface of the slider also has a small thimble, of said slider adjacent to said movable arm is provided with a return spring.

实施本发明提供的多叶片准直器的叶片调整方法及多叶片准直器,通过控制单元控制一个叶片伺服机构在三个方向上的移动来调整每个叶片导向装置中的多个叶片按顺序移动成形,这种移动结构使准直器中调整装置中的构件数量大大减少,使得调整更可靠,准直器的故障率更低。 The method of adjusting the blade multi-leaf collimator embodiment the present invention provides a multi-leaf collimator and, a servo means moving blades in the three directions of a plurality of blades each blade to adjust the guide means by the control unit in order to control moving forming structure so that this movement in the collimator adjusting means in the number of components is greatly reduced, so that the adjustment is more reliable, lower failure rate of the collimator.

附图说明 BRIEF DESCRIPTION

图1为本发明多叶片准直器的结构示意图。 1 a schematic structural diagram of the present invention is a multi-leaf collimator.

具体实施方式 detailed description

由本发明提供的多叶片准直器的叶片调整方法,是由控制单元向叶片伺服机构发出叶片调整指令;叶片伺服机构在横向驱动装置的驱动下移动至调整叶片的位置处;叶片伺服机构在垂向驱动装置的驱动下使被调整叶片与叶片定位装置脱离同时抓住叶片;叶片伺服机构在纵向驱动装置的驱动下将被抓住的叶片移动至成形位置后松开叶片;叶片定位装置使叶片定位在成形位置;叶片伺服机构在控制单元的控制下重复上述步骤,将每一组中的所有叶片分别调整到指定位贾。 Method for adjusting blade multi-leaf collimator provided by the present invention, is generated by the control unit to the blade pitch control mechanism the blade adjustment command; blade pitch control means is moved to adjust the position of the blade is driven laterally driving device; blade pitch control means in the vertical driving means to make the blade and the blade is adjusted while holding the positioning device from the blade; blade moving blades driven by a servo mechanism in the longitudinal drive means to be grasped to release the blade after molding position; blade pitch blade means positioned in the forming position; blade pitch control means repeating the above steps under the control of the control unit, the adjustment of all blades are each set to a specified position Jia.

如图1所示,按照上述调整方法的工作原理,由本发明提供的多叶片准直器包括以下构件: 一个控制单元1,设有一个受控于控制单元1的叶片伺服机构2,在伺服机构2中设有叶片离合装置4,还设有受控于控制单元,可使叶片离合装置4沿叶片的纵向(Y方向)、横向(X方向)和垂直方向(Z方向)移动的驱动装置3,驱动装置3中分别设有使叶片离合装置4沿三个方向移动的步进电机,并在每一片叶片5的一端设有定位装置6。 1, in accordance with the principle of the adjusting method of the present invention is provided by the multi-leaf collimator comprises the following components: a control unit 1, controlled by the control unit is provided with a blade 2 of a servo mechanism, the servo mechanism the blade 2 is provided with clutch device 4, is also controlled by the control unit is provided, the clutch allows the longitudinal blade 4 in the blade means (Y direction), driving means lateral direction (X direction) and vertical direction (Z direction) of the 3 drive means 3 are provided in the clutch device of the blade 4 to move the stepping motor in three directions, and one end of each blade 5 is provided with a positioning means 6.

叶片伺服机构将叶片移动成形的过程如下: The servo mechanism moves the vane blade formed as follows:

选叶片移动(移动臂沿横向移动):控制单元发出选片指令,驱动装置中的横向驱动电机将移动臂移动至指定叶片(如果这一叶片已处于成形位置,则跳过这一叶片,移动下一个叶片); Selected from the blade moves (a moving arm moving laterally): the control unit issuing chip select commands, a transverse drive device in a driving motor to move the arm is moved to a specified blade (if the blade is in the molding position, then skip this blade, moving next blade);

抓片移动(移动臂沿垂直方向移动):驱动装置中的垂直方向驱动电机使机械手向下移动将叶片与定位装置分开并抓住叶片; Grip member (the movement arm to move in the vertical direction): in the vertical direction driving means driving motor to the robot is moved downward to separate and capture the blade and the blade locating means;

成形移动(移动臂沿纵向移动):驱动装置中的纵向驱动电机带动机 Forming (the movement arm to move longitudinally along): driving means driving motor drives a longitudinal machine

械手将叶片移动至成形位置; The robot blade is moved to the forming position;

移动臂在驱动装置中的垂直方向驱动电机使移动臂向上移动放开叶片,叶片一端的定位装置将叶片定位在成形位置;移动臂完成这个叶片的成形移动,控制单元控制移动臂重复上述工作过程将所有叶片都移动至成形位置,完成全部成形移动。 Movable arm driving means driving motor to move the arm vertically upward movement of the blade is released, the blade positioning device is positioned in an end of the blade forming position; movement arm to complete the blade forming the mobile control unit controls the above operation is repeated during movement of the arm All the blades are moved to the forming position, forming the entire move is completed.

Claims (5)

  1. 1.一种多叶片准直器的叶片调整方法,其特征在于,包括以下步骤:A、控制单元向唯一的叶片伺服机构发出叶片调整成形指令;B、所述唯一的叶片伺服机构按照指令将位于多个叶片导向装置中的每个叶片按顺序移动至成形位置;C、所述唯一的叶片伺服机构在控制单元的控制下重复上述步骤A和B,以将位于所述多个叶片导向装置中的多个叶片按移动顺序移动至成形位置;所述步骤B进一步包括:b1、所述唯一的叶片伺服机构中的叶片离合装置沿横向移动至需调整叶片的位置;b2、所述叶片离合装置向下移动使被调整叶片与叶片定位装置脱离并抓住叶片;b3、所述叶片离合装置沿纵向移动将叶片移动至成形位置;b4、所述叶片离合装置向上移动脱离叶片,叶片定位装置回位,将叶片定位在成形位置。 1. A method for adjusting blade multi-leaf collimator, the method comprising the steps of: A, the control unit sends an instruction to the unique blade adjustment shaped blade servo; B, only the blade according to a command to a servo mechanism a plurality of blades each blade is located in the guide means in order to move the forming position; C, the unique blade servo repeating the above steps a and B under the control of the control unit to the plurality of vanes of the guide means located a plurality of blades in order to move the mobile press molding position; said step B further comprising: b1, only in the vane blade clutch servo mechanism means to move in the lateral position of the blade to be adjusted; b2, the blade clutch It means that the downward movement of the blade with the blade to be adjusted from the positioning means to seize and blades; B3, the mobile blade clutch means to move the blade in the longitudinal molding position; B4, said clutch means is moved upward from the blade leaf, a blade positioning device return, the blade is positioned in the forming position.
  2. 2、 根据权利要求1所述多叶片准直器的叶片调整方法,其特征在于, 如果其中某一个叶片所在的位置正好位于成形位置,所述唯一的叶片伺服机构跳过这个叶片,进行下一个叶片的移动。 2, the blade 1 according to the adjustment method of a multi-leaf collimator as claimed in claim wherein, if the position where one is located right in the blade forming position, said servomechanism only skip the vane blade, carried out in a moving blades.
  3. 3、 一种多叶片准直器,其特征在于,包括一个控制单元、多个叶片以及多个叶片导向装置,其特征在于,还包括根据来自所述控制单元命令, 顺序驱动所述多个叶片导向装置中的每个叶片通过所述叶片导向装置位移并定位的唯一的叶片伺服机构;所述唯一的叶片伺服机构包括叶片离合装置,驱动叶片离合装置沿叶片的纵向、横向和垂直方向移动的驱动装置和与所述叶片连接的定位装置。 3, a multi-leaf collimator, characterized by comprising a control unit, a plurality of blades and a plurality of guide vanes, characterized by further comprising a command from the control unit sequentially drives the plurality of blades each blade only by means of the blade pitch control blade positioning guide means and the displacement of the guide means; said servomechanism comprises a single vane blade clutch means, clutch means driven blade longitudinal direction of the blade, the lateral and vertical movement means connected to said positioning means and the blade drive.
  4. 4、 根据权利要求3所述多叶片准直器,其特征在于,所述每个叶片导向装置均对多个叶片提供导向,每个叶片导向装置导向的多个叶片均由所述叶片伺服机构驱动。 4, according to claim 3 multi-leaf collimator, wherein each said blade guide means are provided on a plurality of guide vanes, a plurality of blades each blade guide means guided by the blade pitch control mechanism drive.
  5. 5、 根据权利要求4所述多叶片准直器,其特征在于,所述叶片离合装置包括移动臂, 一个通过压盖与所述移动臂前端限位连接、可垂直移动的滑块,所述滑块的下端部的两侧向内凹进形成一个叶片抓取凸缘,在所述滑块的下端面上还设有一个小顶针,所述滑块与所述移动臂的相邻接处设有复位弹簧。 5, according to claim 4 multi-leaf collimator, wherein said clutch means comprises a blade movable arm, a connection with the mobile gland distal stop arm, a vertically movable slide, the both sides of the lower end portion of the slider is recessed inwardly to form a flange gripping blade, the lower end surface of the slider also has a small thimble, adjacent the slide movement of said arm It is provided with a return spring.
CN 01129814 2001-10-23 2001-10-23 Blade regulating method of multi-blade collimator and multi-blade collimator CN100464377C (en)

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