CN103143124B - Robot is without wound radiotherapy system - Google Patents
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Abstract
The present invention relates to a kind of robot in field of medical without wound radiotherapy system, by radiotherapy treatment planning system, 3 d nc therapy bed, four-dimensional real-time imaging automatic tracking system, robot system, radioactive source, the large module composition of auxiliary treatment system and integrated control system seven; Four-dimensional real-time imaging automatic tracking system is made up of six degree of freedom G shape arm real-time imaging system and intelligent tracing system; Six degree of freedom G shape arm real-time imaging system is connected successively by G shape arm, G arm slide rail, the rotating shaft of G arm, G arm pitch axis and G arm slide, the dynamic flat panel detector of x-ray source and X ray is one group, two groups of correspondences are arranged on G shape arm, and G arm slide is arranged in track (9). The present invention has overcome the prior art projection time does not mate, time-consuming, and the low defect for the treatment of precision, both can carry out general tumour accurate radiotherapy, also can carry out treating cardiovascular disease and kidney sacred disease and regulate without wound.
Description
Affiliated technical field
The present invention relates to field of medical, be specially a kind of robot without wound radiotherapy system.
Background technology
Radiotherapy is one of important means of carrying out oncotherapy. In the time carrying out radiotherapy work, must accomplish " four essences ", i.e. Precise Diagnosis, accurately design, accurately location and accurately treatment. So-called Interesting Issues of Precise Radiation, just refer to that adopting modern computer technology, Medical Imaging Technology, radiation biological technology, radiation physical technique and clinical cancer therapy technology is means, tumour is carried out to a kind of new radiation therapy technology of " Precise Diagnosis, accurately location, accurately plan, accurately treatment ". Interesting Issues of Precise Radiation can obviously improve the Partial controll rate of tumour, reduces the complication of normal structure, thereby improves result for the treatment of. Interesting Issues of Precise Radiation comprises radiotherapy (IGRT) and the treatment of spiral-fault scanning IMRT etc. of 3 dimensional conformal radiation therapy (3D-CRT) technology, IMRT (IMRT) technology, SRT (SRT) technology, stereotaxic radiosurgery (SRS), image guiding. As the Cyberknife system of Accurary company of the U.S., spiral-fault radiotherapy TomoTherapy system. Make a general survey of all kinds of image guiding accurate radiotherapy methods and dynamic radiotheraping method, basic solution route is summarized as: quick obtaining tumour 3 D form and reference coordinate, accurately estimate the motion of tumour and calculate side-play amount, the knub position of prediction after transmission and treatment time delay, by corresponding equipment replacement tumor motion. In above-mentioned solution route, key to the issue is real-time detection tumour tracking target zone position. Under this current conditions, termed image-guided radiotherapy can develop according to two class situations: the one, and simple and direct dynamic treatment systems, the barycenter of its major concern and tracking of knub and the isocenter point of equipment, and adopt specific error (as systematic error, random error, dose error) control measure, ensure the security of therapeutic process, the radiotherapy based on x-ray imaging system as the aforementioned; The 2nd, compound dynamic treatment systems, it is except comprising the feature of simple and direct dynamical system, mainly utilize the scheme such as volume imaging technique, target acquisition and image registration techniques, electricity physiological signal control of joining day variable accurately to guide Patients During Radiotherapy, this is the substance of Four dimensional radiotherapy. But present most of radiotherapy apparatus does not also reach the requirement that can carry out four-dimensional radiotherapy.
Wherein, Chinese patent 200410081270.6 " self-control dynamic three-dimensional directional radiotherapy eutical system " will be simulated location, treatment plan, image guiding, accurately irradiated, conformal therapy is together fully-integrated, have advantages of reduce radiotherapy apparatus, shorten therapeutic process, improve treatment precision, reduce treatment cost, but still have can be further perfect place. The disclosed robot radiation therapy system based on C arm of Chinese patent CN101015723A, has adopted the single X-ray imaging of C arm to carry out image registration and guiding, can realize position correction and the target area of target area and follow the trail of. But because C arm only has an X-ray emission source, need to choose two positions and carry out target area projection and just can polymerize the three-dimensional coordinate of target area, this has just increased dynamic track and localization imaging time, and diverse location imaging has the time difference, cause projection time mismatch problem, have further improved necessity.
External hanging type X-sight pattern of Cyberknife system, adopts the orthogonal X-ray imaging system of two-beam to carry out position registration and correction, can obtain rapidly the space coordinates of target area, is conducive to carry out the real-time tracking of position, target area. But it can only polymerize the three-dimensional coordinate position of target area by the orthogonal KV imaging of two-beam, and can not obtain a position three-dimensional view data, the information of its reflection is not enough to describe the real-time vivid physical form of tumour. In addition, the X-sight of Cyberknife system can only obtain target area two dimensional image in fixing position and angle, if need the center such as correction, also needs therapeutic bed to move, not only time-consuming but also reduced treatment precision. This x-ray image guide structure is cannot to meet the need meticulousr, more accurate, and multi-angle multi-facetedly need to be carried out the treating cardiovascular disease that blood vessel and nervous system radiography Kinematic Positioning are followed the tracks of.
Summary of the invention
The object of the invention is not mate in order to overcome the prior art projection time, time-consuming, the low defect for the treatment of precision, provide a kind of robot without wound radiotherapy system, taking image guiding as basis, both can carry out general tumour accurate radiotherapy, and also can carry out treating cardiovascular disease and kidney sacred disease and regulate without wound.
The object of the invention is to be achieved through the following technical solutions:
Robot of the present invention without wound radiotherapy system by radiotherapy treatment planning system, 3 d nc therapy bed (15), four-dimensional real-time imaging automatic tracking system, robot system (17), radioactive source, the large module of auxiliary treatment system and integrated control system seven forms, wherein, radiotherapy treatment planning system is native system core, is connected respectively by network with 3 d nc therapy bed (15), four-dimensional real-time imaging automatic tracking system, robot system (17), radioactive source, auxiliary treatment system with integrated control system, 3 d nc therapy bed (15) is connected with four-dimensional real-time imaging automatic tracking system, four-dimensional real-time imaging automatic tracking system is connected with robot system (17), robot system (17) is connected with radioactive source, radioactive source is connected with auxiliary treatment system, it is characterized in that 3 d nc therapy bed (15), four-dimensional real-time imaging automatic tracking system, robot system (17), radioactive source are all connected with integrated control system with auxiliary treatment system, four-dimensional real-time imaging automatic tracking system is made up of six degree of freedom G shape arm real-time imaging system and intelligent tracing system, six degree of freedom G shape arm real-time imaging system is by G shape arm (6), G arm slide rail (1), G arm rotating shaft (2), G arm pitch axis (3) is connected successively with G arm slide (4), x-ray source (5) and the dynamic flat panel detector of X ray (7) are one group, two groups of correspondences are arranged on G shape arm (6), G arm slide (4) is arranged in track (9), track (9) is arranged on the sky rail (8) or ground on therapeutic room's ceiling, make G arm slide (4) can in ceiling plane, do two dimensional motion or do on the ground along the lengthwise movement of 3 d nc therapy bed (15) direction, intelligence tracing system is made up of infrared automatic tracing position indicator (11), electromagnetism automatic tracing position indicator (13) and respiration monitoring control sensor (14), auxiliary treatment system, according to the dissimilar sufferer needs for the treatment of, is made up of real-time dosage verification system or auxiliary patient's mood regulation system.
In such scheme, G shape arm (6) in described six degree of freedom G shape arm real-time imaging system can move up and down, the bootable two groups of x-ray sources of G arm slide rail (1) (5) and the dynamic flat panel detector of X ray (7) do the motion that is greater than 90 degree, G shape arm (6) can be around G arm rotating shaft (2) ± 90 ° rotation, can be around G arm pitch axis (3) swing ± 15 °; X-ray source (5) and the dynamic flat panel detector of X ray (7) are fixed screw in the mode of being slidably connected and are arranged on G shape arm (6) both sides, so that regulating two groups of radiographic sources (5) and the line of the dynamic flat panel detector of X ray (7) is mutual vertical or out of plumb, x-ray source (5) is kilovolt (KV) level, adjustable between 80～150KV, the dynamic flat panel detector of X ray (7) can be CCD image amplifier or the dynamic flat panel detector of non-crystalline silicon or the dynamic flat panel detector of amorphous selenium, and the maximum useful detection area of detector can reach 41cmx41cm.
In such scheme, described intelligent tracing system adopts at skin surface and places the infrared automatic tracing position indicator (11) of body surface marking thing (10) and adopt the electromagnetism automatic tracing position indicator (13) of placing electromagnetic generator (12) on tumor tissues in vivo, in order to follow the trail of better respiratory movement, spy joins a set of respiration monitoring control sensor (14) simultaneously.
In such scheme, described radioactive source is a 6MV water-cooled linear accelerator (18), be arranged in robot system (17), is furnished with the adaptive mechanism of variable field collimator (19) at water-cooled linear accelerator (18) front end, need to select different collimaters according to the difference of the disease kind for the treatment of, as circular collimater, square collimater, fine bore collimater, pinhole collimator or blank collimater (there is no the collimater that aperture, launched field are zero).
In such scheme, described real-time dosage verification system is made up of two-dimensional matrix ionisation chamber or non-crystalline silicon electronics launched field picture system or amorphous selenium electronics launched field picture system (EPID), be arranged on the two-dimensional matrix dosemeter motion bracing frame (20) on 3 d nc therapy bed (15), during for radiotherapy, real-time verification oncotherapy target area absorbed dose of radiation.
In such scheme, described auxiliary patient's mood regulation system is made up of music relaxation system and speech prompting system.
In such scheme, the mobile repetitive positioning accuracy of described 3 d nc therapy bed (15) is ± 0.02mm that maximum is carried 200Kg; Be used for carrying patient (16) and auxiliary positioning, therapeutic bed can before and after longitudinal extension, can highly regulate up and down, can move left and right adjusting, realize along about X(human body), Y(human body is longitudinal), Z(is upper and lower) rectilinear motion of three directions; The treatment accessory system that 3 d nc therapy bed (15) is installed needs configuration according to the dissimilar sufferer for the treatment of.
Environment division of the present invention is made up of four-dimensional real-time imaging automatic tracking system, 3 d nc therapy bed, robot system and treatment auxiliary system equipment four major parts.
For can dynamic monitoring and treatment because breathing produces the motion tumour (or target organ) of displacement, as lung tumors, liver cancer etc., the present invention has been equipped with intelligent tracing system, for being shifted and causing locomotive organ in body (as liver, lung, kidney, the heart etc.) motion due to breathing, patient, cause position and tumour target area displacement error, be equipped with two cover automatic location tracking systems. Automatic location tracking system adopts at skin surface and places the infrared automatic tracing position indicator of body surface marking thing and adopt the electromagnetism automatic tracing position indicator of placing electromagnetic generator on tumor tissues in vivo, in order to follow the trail of better respiratory movement, spy joins a set of respiration monitoring control sensor simultaneously. In therapeutic process, patient's position and because of internal's tiny movement in target area causing of moving, by the four-dimensional real-time imaging SDA system data analysis of these two kinds of automatic tracing navigation system monitored data and G shape arm, comparison, the control system that revised data is flowed to robot radiation therapy system is adjusted.
The present invention is directed to patient and can affect for the fear of radiation therapy process, the mood such as oppressive, nervous unstable that patient physiological action (as breathing, heartbeat, pulsation etc.) and intracorporeal organ (as liver, lung, the heart, kidney etc.) move, and cause the lasting movement of health and need continuous real-time tracing, real time imagery, real time position compensation, spy has been equipped with auxiliary patient's mood regulation system. The signal such as patient respiratory, pulsation that adopts intelligent tracing system to track, the current mood of identification patient, and then this mood signal data is flowed to regulating system, automatically control music tone, releive, trigger automatic voice prompt system according to different conditions mood signal simultaneously, patient is carried out to corresponding voice message, thereby reduce the treatment error of bringing due to the unstable mood in patient treatment process, action.
In addition, treatment plan of the present invention as required, to patient's treatment design optimized treatment plan, selects ray energy, target area, dosage to distribute and other parameter. System provides the option of following treatment plan: reverse treatment plan, Fei Deng center projection treatment plan, interval procedure plan by stages, self adaptation treatment plan etc. Treatment plan is the core of native system, the brain that it obtains according to medical image data such as patient's CT, MRI, US, PET or the 3-D view of body organ and tumor tissues, Preliminary design goes out to adopt radiocurable technical approach (conventional radiotheraphy, IMRT or adaptive radiation therapy) and various machine parameter, calculating and optimization focus point need the radiological dose of accepting. The data that also will be at any time provide according to displacement tracking system and dosage verifying system, real time modifying plan.
In the present invention, six degree of freedom G shape arm real-time imaging system possesses the ability of the requirement that meets two aspects, the one, be similar to CBCT imaging pattern, the dynamic dull and stereotyped detection system of orthogonal X ray rotates to an angle and carries out cone-beam (CB) fault imaging around isocenter point, obtains the volume imaging data of the objective of target area; The orthogonal Kv level of the two-beam X-ray imaging system of the 2nd, G shape arm, constantly locates the isocenter point of target area barycenter and equipment, obtains the real time position of target area. Then by " the orthogonal X-ray imaging of two-beam " image and this volume images registration real-time G shape arm, transfer data to radiotherapy system and carry out position, error compensation, realize real-time tracking compensation treatment. Visible, two targets can realize in an equipment.
System of the present invention is when for angiocardiopathy patients with atrial fibrillation, configuration three-dimensional cardiac electro-anatomical Mapping System, create the 3D internal membrane of heart image of the chambers of the heart interested according to mapping " signal ", adopt special algorithm to calculate the pseudo telecommunications number of internal membrane of heart excitement, projected on the 3D rendering of the chambers of the heart, build potential diagram based on these pseudo telecommunications number, syncaryon magnetic resonance simultaneously, angiogram etc., adopt image fusion technology, generate the three-dimensional structure of the chambers of the heart in X-ray machine system, and carry out transparence processing, then carry out potential anomalies chambers of the heart portion location in conjunction with the exciting potential diagram of the internal membrane of heart, thereby the radiation that guiding accelerator ray produces completes the non-invasive therapy of atrial fibrillation. when for ephrosis or kidney nerve regulation patient, the 3 D stereo Use of Neuronavigation navigation system of configure dedicated, the reference point of introducing by the anatomical landmarks to patient body existence or outside is (as external frame, patient skin mark, the gold mark of implanting, magnetic element etc.) and they be combined as tracking reference point, along human spine (as centrum), sustainer, the arteria renalis, branch's arteria renalis, renal vein, the supraneural point of kidney and/or kidney, utilize the orthogonal x-ray 3-D view technological incorporation DSA of G shape arm, MRI or FMRI image, carry out target localization and/or the tracking of kidney nerve, the radiation that utilizes accelerator ray to produce completes and reduces sympathetic renal neural activity, realize kidney nerve regulation, reach some disease for the treatment of and (comprise hypertension, in heart failure, chronic kidney disease, insulin resistance disease, diabetes, metabolic syndrome etc.) possibility.
The workflow of system of the present invention is as follows:
First, carry out data acquisition and set up model; Then, carry out the pretreatment before radiotherapy; Carry out again the processing in radiotherapy. Wherein, when carrying out data acquisition and setting up model, gather multi-mode image by CT, MRI, PET or G arm x-ray; Set up the Mathematical Modeling with bone shape anatomical features; Dissect definition and the scale of location coordinate with bone shape; Carry out the collection of therapy apparatus physical dosage parameter. While carrying out the pretreatment before radiotherapy, multi-mode image and Mathematical Modeling are carried out to the registration of multi-mode image, be combined with coordinate system and set up model and dynamic three-dimensional display again, then combined treatment machine physical dosage parameter designing is formulated TPS--radiotherapy scheme, carrys out dynamic analog treatment overall process according to radiotherapy scheme and dynamic three-dimensional display. While carrying out the processing in radiotherapy, first to obtain the coordinate data of target area and mechanical hand, again with model and dynamic three-dimensional display, the result of dosage verifying 3-D view location, middle target area and the registration of obtaining medical treatment that combine in real time, carry out intervention and correction in therapeutic process, and correction situation is returned to TPS--radiotherapy conceptual design and formulate step; Intervention in therapeutic process and correction and dynamic analog treatment overall process co-controlling carry out automatic track and localization irradiation.
Feature of the present invention:
Be combined with first six degree of freedom G shape arm real-time imaging system and six-DOF robot system, general tumour radiotherapy (as: Head and Neck, body solid tumor, vertebra portion etc.) be can carry out, angiocardiopathy (atrial fibrillation, cardiac arrhythmia), modulability ephrosis (as: hypertension, diabetes etc.) treatment met simultaneously.
Treatment plan of the present invention as required, to patient's treatment design optimized treatment plan, selects ray energy, target area, dosage to distribute and other parameter. System should provide the option of following treatment plan: reverse treatment plan, Fei Deng center projection treatment plan, interval procedure plan by stages, adaptive radiation therapy etc.
The thought of the design that the present invention's employing " patient's mat woven of fine bamboo strips one " is taken as the leading factor, is converted into the rotation of therapeutic bed the motion of six degree of freedom G shape arm and six-DOF robot mechanical arm, reduces because therapeutic bed is rotated discomfort and the psychological pressure brought to patient; Introduce auxiliary patient's regulating system simultaneously, reduce fear in Case treatment process, constrain.
Six degree of freedom G shape arm of the present invention both can have been realized CBCT function, can carry out again the orthogonal X-ray positioning and imaging of two-beam, real-time tracking.
The present invention introduces real-time three-dimensional dosage verifying system, strengthens the accuracy for the treatment of.
System of the present invention is implemented without trauma care patient, removes patient's psychological pressure, make therapeutic process more hommization effectively implement.
Center and the non-Isocenter irradiations such as system employing of the present invention, can make radiological dose reach best being uniformly distributed and conformal performance at diseased region, eliminates cold spot and focus in dosage distribution completely, and curative effect obviously strengthens.
System of the present invention can compatible radiosurgery and two kinds of functions of radiotherapy.
Two groups of x-ray sources and X detector in the present invention can independently use, and also can use together. When independent use is wherein when one group of x-ray source and X detector, G shape arm is actual can be used as the effect of C shape arm, realizes the functions such as location, calibration; In the time that two groups of x-ray sources and the dynamic flat panel detector of X ray use simultaneously, both can realize pendulum position, location, also can realize four-dimensional real time imagery, carry out dynamic tracing and obtaining of positioning image in real time.
To sum up, this robot has overcome the prior art projection time without wound radiotherapy system and has not mated, time-consuming, the low defect for the treatment of precision, it is the accurate non-invasive therapy system of many sick kinds taking image guiding as basis of real " intellectuality, dexterityization, integrated ", both can carry out general tumour accurate radiotherapy, and also can carry out treating cardiovascular disease and kidney sacred disease and regulate without wound. Structure of the present invention, is conducive to open up a new route for the treatment of other diseases.
Brief description of the drawings
Fig. 1 is the front schematic view of the embodiment of the present invention one environment division.
Fig. 2 is the side schematic view of the embodiment of the present invention one environment division.
Fig. 3 is a certain position view of G arm slide rail in the embodiment of the present invention one.
Fig. 4 is G shape arm pitch attitude side schematic view in the embodiment of the present invention one.
Fig. 5 is the schematic diagram of the embodiment of the present invention one middle guide.
Fig. 6 is the front schematic view of the embodiment of the present invention four environment divisions.
Fig. 7 is the another location schematic diagram of G shape arm in the embodiment of the present invention four.
Fig. 8 is the opening down position view of G shape arm in the embodiment of the present invention four.
Fig. 9 is the side schematic view of the embodiment of the present invention four environment divisions.
Figure 10 is G shape arm pitch attitude side schematic view in the embodiment of the present invention four.
Figure 11 is hardware and software platform structural representation of the present invention.
Figure 12 is software work module diagram of the present invention.
In accompanying drawing, 1:G arm slide rail; The rotating shaft of 2:G arm; 3:G arm pitch axis; 4:G arm slide; 5:X radiographic source; 6:G shape arm; The dynamic flat panel detector of 7:X ray; 8: day rail; 9: track; 10: body surface marking thing; 11: infrared tracker; 12: electromagnetic generator; 13: electromagnetism tracker; 14: respiration transducer; 15: 3 d nc therapy bed; 16: patient; 17: robot system; 18: water-cooled linear accelerator; 19: variable field collimator; 20: dosemeter motion bracing frame; CT: electronic computer x-ray tomography technology; MRI: magnetic resonance imaging; PET: positron emission computer tomography; PACS: picture archiving communication system; IMRT: conformal intensity modulated radiotherapy; DSA: angiogram; US: ultrasonic imaging; TPS: treatment plan.
Specific embodiment
Be described in further detail the present invention below in conjunction with drawings and Examples, but the present invention is not limited only to described embodiment.
Embodiment mono-
This routine robot without wound radiotherapy system by radiotherapy treatment planning system, 3 d nc therapy bed 15, four-dimensional real-time imaging automatic tracking system, robot system 17, radioactive source, the large module of auxiliary treatment system and data management platform seven forms; Wherein, radiotherapy treatment planning system is native system core, is connected respectively by network with 3 d nc therapy bed 15, four-dimensional real-time imaging automatic tracking system, robot system 17, radioactive source, auxiliary treatment system with integrated control system; 3 d nc therapy bed 15 is connected with four-dimensional real-time imaging automatic tracking system; Four-dimensional real-time imaging automatic tracking system is connected with robot system 17; Robot system 17 is connected with radioactive source; Radioactive source is connected with auxiliary treatment system; It is characterized in that 3 d nc therapy bed 15, four-dimensional real-time imaging automatic tracking system, robot system 17, radioactive source are all connected with integrated control system with auxiliary treatment system, but 3 d nc therapy bed 15, four-dimensional real-time imaging automatic tracking system, robot system 17, radioactive source and auxiliary treatment system have a style of one's own again, have self contained function; Four-dimensional real-time imaging automatic tracking system is made up of six degree of freedom G shape arm real-time imaging system and intelligent tracing system; Six degree of freedom G shape arm real-time imaging system is connected successively by G shape arm 6, G arm slide rail 1, G arm rotating shaft 2, G arm pitch axis 3 and G arm slide 4, the dynamic flat panel detector 7 of x-ray source 5 and X ray is one group, two groups of correspondences are arranged on G shape arm 6, G arm slide 4 is arranged in track 9, track 9 is arranged on the sky rail 8 on therapeutic room's ceiling, makes G arm slide 4 can in ceiling plane, do two dimensional motion; Intelligence tracing system is made up of infrared automatic tracing position indicator 11, electromagnetism automatic tracing position indicator 13 and respiration monitoring control sensor 14; Auxiliary treatment system, according to the dissimilar sufferer needs for the treatment of, is made up of real-time dosage verification system or auxiliary patient's mood regulation system.
G shape arm 6 in six degree of freedom G arm real-time imaging system can move up and down, the bootable two groups of x-ray sources 5 of G arm slide rail 1 and the dynamic flat panel detector 7 of X ray do the motion that is greater than 90 degree, G shape arm 6 can be around 2 ± 90 ° of rotations of G arm rotating shaft, can be around G arm pitch axis 3 swing ± 15 °; The dynamic flat panel detector 7 of x-ray source 5 and X ray is fixed screw in the mode of being slidably connected and is arranged on G shape arm 6 both sides, so that regulating two groups of radiographic sources 5 and the line of the dynamic flat panel detector 7 of X ray is mutual vertical or out of plumb, x-ray source 5 is kilovolt (KV) level, adjustable between 80～150KV, the dynamic flat panel detector 7 of X ray is CCD image amplifier, and the maximum useful detection area of the dynamic flat panel detector of X ray can reach 41cmx41cm.
Intelligence tracing system adopts at skin surface and places the infrared automatic tracing position indicator 11 of body surface marking thing 10 and adopt the electromagnetism automatic tracing position indicator 13 of placing electromagnetic generator 12 on tumor tissues in vivo, in order to follow the trail of better respiratory movement, spy joins a set of respiration monitoring control sensor 14 simultaneously.
Radioactive source is a 6MV water-cooled linear accelerator 18, be arranged in robot system 17, is furnished with the adaptive mechanism of variable field collimator 19 at water-cooled linear accelerator 18 front ends, need to select different collimaters according to the difference of the disease kind for the treatment of, as circular collimater, square collimater, fine bore collimater, pinhole collimator or blank collimater (there is no the collimater that aperture, launched field are zero).
Dosage verification system is made up of two-dimensional matrix ionisation chamber in real time, be arranged on the two-dimensional matrix dosemeter motion bracing frame 20 on 3 d nc therapy bed 15, and during for radiotherapy, Three-Dimensional Dynamic real-time verification oncotherapy target area absorbed dose of radiation.
Auxiliary patient's mood regulation system is made up of music relaxation system and speech prompting system.
The mobile repetitive positioning accuracy of 3 d nc therapy bed 15 is ± 0.02mm that maximum is carried 200Kg; Be used for carrying patient 16 and auxiliary positioning, therapeutic bed can before and after longitudinal extension, can highly regulate up and down, can move left and right adjusting, realize along about X(human body), Y(human body is longitudinal), Z(is upper and lower) rectilinear motion of three directions; The treatment accessory system root Ju that 3 d nc therapy bed 15 is installed is treated dissimilar sufferer needs configuration.
This routine environment division as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5.
Embodiment bis-
It is the dynamic flat panel detector of non-crystalline silicon that this routine robot removes the dynamic flat panel detector 7 of X ray without wound radiotherapy system, and outside dosage verification system is made up of non-crystalline silicon electronics launched field picture system (EPID) in real time, all the other are with embodiment mono-.
Embodiment tri-
It is the dynamic flat panel detector of amorphous selenium that this routine robot removes the dynamic flat panel detector 7 of X ray without wound radiotherapy system, and outside dosage verification system is made up of amorphous selenium electronics launched field picture system (EPID) in real time, all the other are with embodiment mono-.
Embodiment tetra-
This routine robot except the track 9 in six degree of freedom G shape arm real-time imaging system is arranged on therapeutic room ground, can do outside the lengthwise movement of 3 d nc therapy bed 15 directions G arm slide 4 without wound radiotherapy system on the ground, and all the other are with embodiment mono-.
This routine environment division is as shown in Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10.
Embodiment five
This routine robot is without wound radiotherapy system except real-time dosage verification system is made up of non-crystalline silicon electronics launched field picture system (EPID), and all the other are with embodiment tetra-.
Claims (6)
1. robot is without a wound radiotherapy system, by radiotherapy treatment planning system, and 3 d nc therapy bed (15), four-dimensional real-time imaging automatic tracking system, robot system (17), radioactive source, the large module of auxiliary treatment system and integrated control system seven forms; Wherein, radiotherapy treatment planning system is connected with integrated control system with 3 d nc therapy bed (15), four-dimensional real-time imaging automatic tracking system, robot system (17), radioactive source, auxiliary treatment system respectively by network; 3 d nc therapy bed (15) is connected with four-dimensional real-time imaging automatic tracking system; Four-dimensional real-time imaging automatic tracking system is connected with robot system (17); Robot system (17) is connected with radioactive source; Radioactive source is connected with auxiliary treatment system; It is characterized in that 3 d nc therapy bed (15), four-dimensional real-time imaging automatic tracking system, robot system (17), radioactive source are all connected with integrated control system with auxiliary treatment system; Four-dimensional real-time imaging automatic tracking system is made up of six degree of freedom G shape arm real-time imaging system and intelligent tracing system; Six degree of freedom G shape arm real-time imaging system is connected successively by G shape arm (6), G arm slide rail (1), G arm rotating shaft (2), G arm pitch axis (3) and G arm slide (4), x-ray source (5) and the dynamic flat panel detector of X ray (7) are one group, two groups of correspondences are arranged on G shape arm (6), G arm slide (4) is arranged in track (9), and track (9) is arranged on the sky rail (8) or ground on therapeutic room's ceiling; Intelligence tracing system is made up of infrared automatic tracing position indicator (11), electromagnetism automatic tracing position indicator (13) and respiration monitoring control sensor (14); Auxiliary treatment system is made up of real-time dosage verification system or auxiliary patient's mood regulation system; G shape arm (6) in six degree of freedom G shape arm real-time imaging system can move up and down, the bootable two groups of x-ray sources of G arm slide rail (1) (5) and the dynamic flat panel detector of X ray (7) do the motion that is greater than 90 degree, G shape arm (6) can be around G arm rotating shaft (2) ± 90 ° rotation, can be around G arm pitch axis (3) swing ± 15 °; X-ray source (5) and the dynamic flat panel detector of X ray (7) are fixed screw in the mode of being slidably connected and are arranged on G arm (6) both sides, are mutual vertical or out of plumb to regulate two groups of radiographic sources (5) and the line of the dynamic flat panel detector of X ray (7); Auxiliary patient's mood regulation system is made up of music relaxation system and speech prompting system.
2. robot according to claim 1 is without wound radiotherapy system, it is characterized in that described x-ray source (5) is KV level, adjustable between 80～150kV, the dynamic flat panel detector of X ray (7) can be CCD image amplifier or the dynamic flat panel detector of non-crystalline silicon or the dynamic flat panel detector of amorphous selenium, and the maximum useful detection area of detector can reach 41cmx41cm.
3. robot according to claim 1 is without wound radiotherapy system, it is characterized in that described intelligent tracing system adopts at skin surface places the infrared automatic tracing position indicator (11) of body surface marking thing (10) and adopts the electromagnetism automatic tracing position indicator (13) of placing electromagnetic generator (12) on tumor tissues in vivo, in order to follow the trail of better respiratory movement, spy joins a set of respiration monitoring control sensor (14) simultaneously.
4. robot according to claim 1 is without wound radiotherapy system, it is characterized in that described radioactive source is a 6MV water-cooled linear accelerator (18), be arranged in robot system (17), is furnished with the adaptive mechanism of variable field collimator (19) at water-cooled linear accelerator (18) front end, as circular collimater, square collimater, fine bore collimater, pinhole collimator or blank collimater.
5. robot according to claim 1 is without wound radiotherapy system, it is characterized in that described real-time dosage verification system is made up of two-dimensional matrix ionisation chamber or non-crystalline silicon electronics launched field picture system or amorphous selenium electronics launched field picture system, is arranged on the two-dimensional matrix dosemeter motion bracing frame (20) on 3 d nc therapy bed (15).
6. robot according to claim 1, without wound radiotherapy system, is characterized in that the mobile repetitive positioning accuracy of described 3 d nc therapy bed (15) is ± 0.02mm, maximum carrying 200kg; Therapeutic bed can before and after longitudinal extension, can highly regulate up and down, can move left and right adjusting; The treatment accessory system that 3 d nc therapy bed (15) is installed needs configuration according to the dissimilar sufferer for the treatment of.
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