CN105251135A - Precise robot radiotherapy system under guidance of MRI - Google Patents
Precise robot radiotherapy system under guidance of MRI Download PDFInfo
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- CN105251135A CN105251135A CN201510488391.0A CN201510488391A CN105251135A CN 105251135 A CN105251135 A CN 105251135A CN 201510488391 A CN201510488391 A CN 201510488391A CN 105251135 A CN105251135 A CN 105251135A
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Abstract
The invention relates to a precise robot radiotherapy system under guidance of MRI. The system comprises an x/gamma-ray source and on-line magnetic resonance imaging equipment. The on-line magnetic resonance imaging equipment is provided with a split type/cylindrical superconducting magnet for generating a magnetic field. The x/gamma-ray source is installed on a mechanical arm of a robot and is driven by the robot to move, so that a radiotherapy beam emitted by the x/gamma-ray source can enter a focus imaging region between two magnetic poles of the split type superconducting magnet or inside the cylindrical superconducting magnet through the gap between the magnetic poles and/or holes in the magnetic poles. According to the invention, under guidance of the open type magnetic resonance imaging equipment, a mechanical arm or mechanical arms of one or more robots is/are used for operating one or a plurality of treatment heads to irradiate x/gamma rays on tumor focuses, so that the x/gamma ray therapeutic machine can have more treatment functions for patients, a fast treatment speed, a better treatment capacity, and a good treatment effect.
Description
Technical field
The present invention relates to a kind of MRI(nuclear magnetic resonance) the robot accurate radiotherapy system that guides, particularly adopt electron linear accelerator/
60the radiotherapy system of Co gamma-radiation, belongs to technical field of medical instruments.
Background technology
Electron linear accelerator utilizes to have the electronics of certain energy and microwave electric field interacts, thus obtain higher energy, form the electronic beam current with certain energy, electronic beam current is directly drawn the target target areas such as bombardment tumor from electron gun, be electric wire radiotherapy, with electron beam bombardment heavy metal target (such as tungsten target), produce bremstrahlen, launch X-ray, with target target areas such as x-ray irradiation tumors, be the radiotherapy of X-ray, this radiotherapy apparatus that can produce X-beam, can be described as X-ray source.Similar, the object by ionizing radiation treatment cancer also can be played in the gamma-radiation source of suitable life-span, energy and intensity, also may be used for the radiation source as radiotherapy.What this patent related to is exactly the radiotherapy machine that this X-ray source or gamma-radiation source are formed.
Ensure that X/ gamma-ray beam is radiated at target target area, certain imaging device is needed to carry out guiding in real time, the most Cai Cone of image-guided method in existing radiotherapy restraints CT(CBCT) or plane X-radiation imaging apparatus guide, here the radiotherapy that X-radial imaging guides is referred to as, its shortcoming is: (1) patient terminates to treatment from diagnosis, repeatedly accept the X-ray scanning of X-ray imagers, not only focal zone, comprise non-focal zone and all can accept extra ionizing radiation dose, these accumulated doses are considerably beyond the annual acceptable dose to normal person, patient can be caused carcinogenic or cause new pathogenic problem, especially women and children are very, (2) radiotherapy that present X-radial imaging guides, not also real-time, be difficult in three dimensions real-time tracking treatment situation, need could to set up three dimensional space coordinate by other supplementary means to follow the tracks for the treatment of situation, that such as implants with goldc grains has wound method and the associating of plane X-radial imaging, the tracking (such as Cyberknife technology) to focus could be realized, and most radiotherapy adopting Cone-Beam CT to guide, cone-beam CT system is fixed on X-ray source runing rest, because the rotary speed of frame is very slow, the angle rotated is only limited in very little scope, the CT data set of complete angle reconstruction can not be formed to focus and target area in the process implementing radiotherapy, thus can not in the radiotherapy of three dimensions guiding in real time, (3) X-radial imaging is poor to soft tissue resolving power, can not differentiate the border of tumor and normal structure well, (4) contrast of X-radial imaging to soft tissue is single, can only judge the effect for the treatment of according to the size variation of tumor, but a change getting off often not see tumor size the course for the treatment of, it is multiple poorer than degree that the MR imaging apparatus of off-line has molecular imaging etc., uses software supporting specially and method to realize the work of carly fruit drop curative effect.
Summary of the invention
In order to overcome the above-mentioned defect of prior art, the invention provides one
the robot accurate radiotherapy system that MRI guidesthis radiotherapy system guides radiotherapy with nuclear magnetic resonance, avoid the damage of X-ray to patient's normal structure, improve the resolving power to soft tissue, add new several types of contrast, the accurate location to focus can be realized better, real time position is followed the tracks of and functional assessment, be conducive to realizing accurate radiotherapy, the radiotherapy that biology guides, is conducive to reducing the toxic and side effects that irradiation complication and radioactivity cause.
The technical solution adopted in the present invention is: a kind of
the robot accurate radiotherapy system that MRI guidescomprise X/ gamma-radiation source, also comprise online MR imaging apparatus, described online MR imaging apparatus is provided with the magnet for forming magnetic field, and described magnet is split type superconducting magnet or drum type brake superconducting magnet, and described split type superconducting magnet comprises two mutually corresponding magnetic poles, gap is left between described the two poles of the earth, described drum type brake superconducting magnet comprises superconducting coil and is provided with axial bore, and described X/ gamma-radiation source is arranged on the mechanical arm of robot, carries its motion by described robot.
The invention has the beneficial effects as follows: owing to being provided with online MR imaging apparatus, nuclear magnetic resonance can be carried out when radiotherapy, based on nuclear magnetic resonance, carry out radiation guide, given full play to thus MRI display tumor target and around the high-resolution of sensitive organization, the ability of high-contrast and the motion of dynamic tracking target area, avoid the additional injuries because X-ray scanning and imaging bring to patient's normal structure simultaneously, and adopt robot to drive X/ gamma-radiation source movement, can multi-angle, non-coplanar multi-faceted high precision ground controls therapy apparatus realization to the location of focus target area and treatment, the electron linear accelerator on robot top can under strong magnetic field circumstance fast, precise delivery radiotherapy line is to the irradiation position of specifying, thus X/ gamma-radiation source is had more treat function to patient, treat ability and better therapeutic effect more by force, owing to there is the less radiation dose to nonneoplastic tissue and more accurately to the definition of tumor target, thus there is better biological effect, be conducive to advancing radiotherapy technology to enter the New Times.
Accompanying drawing explanation
fig. 1it is the structural representation of one embodiment of the present invention
figure;
fig. 2it is the structural representation of another embodiment of the present invention
figure;
fig. 3it is the structural representation of the split type superconducting magnet of the present invention
figure.
Detailed description of the invention
See
fig. 1-3, the invention provides one
the robot accurate radiotherapy system that MRI guides, comprise X/ gamma-radiation source (comprising their collimator system) 10, also comprise online MR imaging apparatus, described online MR imaging apparatus is provided with the magnet for the formation of magnetic field, the preferred superconducting magnet of described magnet, described superconducting magnet can be split type superconducting magnet, also can be drum type brake superconducting magnet 40, described split type superconducting magnet is primarily of two mutually corresponding magnetic poles 31, 32 are formed, gap (spacing) 33 is left between described two magnetic poles, described drum type brake superconducting magnet comprises superconducting coil and is provided with axial bore 42, described X/ gamma-radiation source is arranged on the mechanical arm of robot, its motion (changing position and/or direction) is driven by described robot.For adopting the online MR imaging apparatus of split type superconducting magnet, the radiotherapy line (X-beam or gamma-ray beam etc.) that described X/ gamma-radiation source sends the hole 312 of gap between described two magnetic poles and/or described magnetic pole polar curve circle can inject imaging area between described two magnet sheets; For drum type brake superconducting magnet, the radiotherapy line that described X/ gamma-radiation source sends the axial bore of incidence window 41 on the barrel of drum type brake superconducting magnet and/or drum type brake superconducting magnet can inject the imaging area being positioned at described axial cavity, thus, radiotherapy is carried out to the focus being positioned at imaging area.
Preferably, described robot adopts the cascade machine mechanical arm framework 21 with 6 degree of freedom, and described X/ gamma-radiation source is arranged on the top of described cascade machine mechanical arm framework, is in required optional position and arbitrarily angled to make described X/ gamma-radiation source.
Preferably, described robot is also provided with walking mechanism, described walking rack comprises the robot base 22 for installing described cascade machine mechanical arm framework and is arranged on the robot ambulation wheel 23 below described robot base, also comprise the hoofing part mechanism for the motion of driven machine people road wheel, thus, can, by the stabilized walking of walking mechanism control, X/ gamma-radiation source be in effectively or optimum position.
Optionally, be surrounded with around described online MR imaging apparatus and take turns supporting track with described robot ambulation, enable robot around online MR imaging apparatus thus.
Preferably, the mechanical arm of described robot uses the high strength components and parts of magnetic compatibility, the magnetic field environment at place during to adapt to work.
The quantity in described X/ gamma-radiation source can be one, also can be multiple, to adapt to corresponding radiotherapy needs.
Preferably, when described X/ gamma-radiation source is multiple, described multiple X/ gamma-radiation source is arranged in respective robot respectively, is controlled position and the angle in each X/ gamma-radiation source respectively, multiple machine by each robot
people altogetherform a treatment exposure dose field optimized with irradiated lesion, meet and treat the needs of focus with optimization accurately and fast.
Described X/ gamma-radiation source can adopt the prior art of any suitable, comprises necessary auxiliary equipment, can be used in corresponding radiocurable ray line to be formed.
Preferably, X/ gamma-radiation source adopt the straight accelerator of electronics or
60co gamma-radiation source, to realize the miniaturization of integral device.
Such as, described X-ray source can comprise electron linear accelerator, and described electron linear accelerator is the source producing X-ray, and described electron linear accelerator is formed primarily of accelerating tube, corresponding microwave power source and microwave transmission system.
Preferably, described accelerating tube is the accelerating tube of S-band or the accelerating tube of X-band, and its energy and beam intensity meet the requirement improving and improve radiotherapeutic effect.
And for example, described gamma-radiation source can comprise
60co gamma-radiation source and corresponding ray colimated light system.
Accordingly, described electron linear accelerator is provided with the accelerating tube that is suitable for X/S band microwave and the magnetron for generation of X/S band microwave, described magnetron imports described accelerating tube into by the microwave that waveguide is produced, described waveguide can adopt the device that can guide or transmit corresponding microwave of any suitable, can be flexible, also can be hard, to adapt to practical operation and motion needs.
Usually, described magnet can comprise identical and two magnetic poles (split type) distributed up and down of size, also can be centered around the magnet (drum type brake) formed by serpentine pipe in a closed cylinder, no matter be split type or drum type brake can coordinate very well with therapeutic bed, facilitate therapeutic bed to enter or the imaging exited between split type superconducting magnet two magnetic pole and treatment space or be positioned at the imaging of circumferential hole and the treatment space of drum type brake superconducting magnet.
Can be provided with one or more (such as three) support post 38, three support post fulcrum lines between two magnetic poles of described split type magnet is that equilateral triangle is distributed between two magnetic poles.
Usually, described magnet should comprise magnet case and appurtenances, meets the requirement of nuclear magnetic resonance, but structure is avoided as far as possible the beam of irradiation, reduces housing to the absorption of ray.
Such as, described magnet can comprise magnet case 311, and described magnet case is preferably toroidal shell, and correspondingly, adopt overall shape to be annular superconducting coil, when magnet comprises two magnetic poles, each magnetic pole is equipped with respective magnet case.
Preferably, particularly when adopting split type magnet, the central authorities of described toroidal shell are can through the hole 312 of radiotherapy line, superconducting coil and other devices hindering radiotherapy line to pass through are not set in the hole of toroidal shell central authorities, so that the radiotherapy line making X/ gamma-radiation source penetrate when needed injects the treatment space between two magnetic poles by this hole.
Preferably, when adopting drum type brake magnet, can the radial direction through hole penetrating cylinder side wall be set on cylinder side wall, with the incidence window of described radial direction through hole for X/ gamma-radiation, the shape of incidence window and size should require to adapt with radiotherapy, such as, when needs are incident from multiple angle, incidence window can be made to be have the fan-shaped of certain angle or ringwise.
The superconducting coil 330 for generation of magnetic field can be provided with in described magnet case, produce with superconducting coil and there is required magnetic field.Arranging of superconducting coil can according to prior art, can comprise for generation of the superconducting coil of homogeneous main magnetic field, gradient coil and radio-frequency coil etc., corresponding coil in described two magnetic poles cooperatively interacts, jointly between two magnet sheets, form corresponding magnetic field, make online MR imaging apparatus carry out nuclear magnetic resonance to the human body in imaging region between two magnetic poles thus.Therapy area on patient body is arranged on the imaging region of MR imaging apparatus, just can carries out realtime imaging in radiotherapy simultaneously, follow the tracks of the movement of target area, to carry out guiding in real time to X/ gamma-radiation source, avoid radiotherapy line to depart from target area of irradiation.
Usually, described superconducting coil can be arranged in the refrigerating chamber 321 in described magnet case, described refrigerating chamber is connected refrigeration machine (unit) 322 for pipe with refrigerant reflux tube 323 by cold-producing medium, described refrigerating chamber makes refrigerant cycle use by the compressor of refrigerant tubing and corresponding cold head, forms the refrigerant cycle right compression conduit being supplied pipe, refrigerating chamber, refrigerant reflux tube, refrigeration machine backflow import by refrigeration machine outlet, cold-producing medium.
Described online MR imaging apparatus and/or off-line MR imaging apparatus adopt fixed usually, and the support 34 being provided with base 35 and being arranged on base, described two magnetic poles are installed on described support.
Described online MR imaging apparatus and/or off-line MR imaging apparatus is supporting is usually also furnished with corresponding therapeutic bed 50; preferably; described online MR imaging apparatus and/or off-line MR imaging apparatus are adapted to identical medical bedstead, to facilitate the transfer of patient.
This radiotherapy system can also be provided with the off-line MR imaging apparatus for working out radiotherapy planning, described off-line MR imaging apparatus is that spatial resolution and anatomy structure imaging contrast are all higher than the MR imaging apparatus of described online MR imaging apparatus, there is the manhole being greater than normal diagnostic MR imaging apparatus, can position patient when using the various auxiliary fixing member to patient and possess the function for evaluating tumor efficiency.Utilize the high-quality imaging of off-line MR imaging apparatus as patient data during formulation radiotherapy planning and treatment parameter thus, the treatment plan image of off-line patient can as the reference picture of online real time imaging, it not only has high-resolution anatomical structure image, there are again the data of physiological parameter imaging and cerebral function imaging, more there is directive significance to the formulation for the treatment of plan, registration in addition between off-line and online MR image belongs to the registration of same modality images, accuracy is higher, and systematic error is less.
Key point of the present invention is: under the guiding of opening MR imaging apparatus, handles one or more treatment head by the mechanical arm of one or more robot, irradiates X or gamma-ray beam, realize the robot radiotherapy overall process of guided by magnetic resonance to tumor focus district.
Radiotherapy system of the present invention has features:
(1) arrange for guiding the online and off-line two kinds of MR imaging apparatus (or title magnetic resonance imager) of radiotherapy, wherein online magnetic resonance imager is mainly used in guiding X/ gamma-radiation source completed treatment task online, off-line magnetic resonance imager is used for off-line imaging, meets the needs of specifying radiotherapy planning.
(2) for the online MRI equipment of online guiding in real time radiotherapy, be made up of superconducting magnet (superconducting coil) and other hardware and software kit, the design of superconducting magnet consider robot radiotherapy machine X-ray source or
60co gamma-radiation source can be subject to the impact in magnetic field at therapeutic process, the technical measures such as magnetic field shielding are adopted to carry out magnetic field shielding, the software and hardware configuration of this MRI equipment makes this equipment can provide the outline of therapy area, center of mass motion and the mutual relation information with its surrounding tissue and organ for treatment, there is provided the precision of the accurate location of focal zone and movable information to reach or to be better than 1mm level, meet real time dynamic tracing target area, radiotherapy machine X/ gamma-radiation source and carry out effective needs for the treatment of.
(3) for the off-line MR imaging apparatus of radiotherapy in the treatment plan, general employing high field super imaging system, except the function that general clinical diagnosis MRI equipment has, in the manhole forming the magnet of this system must foot in the auxiliary implement putting the fixing patient needed for formulation radiotherapy planning, the needs of anatomical structure and functional imaging (physiological parameter imaging and cerebral function imaging) must be met simultaneously.Its software comprises segmentation focus realize three-dimension dynamical display, and the functions such as the three-dimensional registration of its anatomical structure image in 1mm precision and display, also will have quantitative drug molecule to strengthen dynamic imaging ability, may be used for assessing the curative effect of therapy area.
(4) in order to meet, patient is moved in the online MRI equipment for the treatment of from the off-line MRI equipment formulating radiotherapy planning in the accuracy rating of 1mm, need design and supporting corresponding therapeutic bed, this therapeutic bed meets in Patients During Radiotherapy the comfort level allowing patient have, with the mood of the anxiety of reduction of patient, also will meet treatment X-ray through the various interference to X-roentgenotherapia field brought during therapeutic bed, the correcting algorithm being beneficial to disturb for getting rid of and reduce these provides data accurately.
(5) in order to ensure that the X-roentgenotherapia intensity that robot and radiotherapy machine X/ gamma-radiation source have enough motilities and accelerator and provide is not less than present electron linear accelerator level, the present invention preferably adopts X-band 6.5MV electron linear accelerator, but S-band electron linear accelerator also can be installed and used, adopt volume little in a word, lightweight accelerating tube and magnetron etc., to ensure that the robot radiotherapy machine system that MRI guides can normally work, the magnetic interference comprised being subject in Accelerating electron process shields, and in Rapid Dose Calculation process, consider the problem that secondary electron that X-ray and the interaction of human body in therapy area produce is subject to dose response function that influence of magnetic field causes and changes.
(6) because electronic kinetic energy is converted to the efficiency very low (~ 5%) of X-ray energy, a large amount of heat energy is deposited on anode tungsten disc.Because anode tungsten disc is generally high speed rotating in a vacuum, can not directly cool, can only cooling vacuum locular wall indirectly.Indirect cooling effectiveness is lower, and cooling system is comparatively large, is unfavorable for that robot manipulates.The present invention adopts direct oil cooling mode antianode tungsten disc to cool, the one side of tungsten disc is vacuum or air, another side is coolant, as water or oil, tungsten disc rotates around axle center, high energy electron will enter antivacuum by titanium window (50 ~ 150 microns) from vacuum, incide tungsten target and produce X-ray thus.
(7) replace the limited central rotation beam that waits to distribute with the multicenter multi-angle beam distribution that can plan, greatly reduce the constraint to ray beam position and direction, improve conformal precision and dosage control accuracy;
(8) can realize following the trail of the stereoscopic localized of therapy area, include, but are not limited to follow the tracks of the impact that the breathing of patient and heart beating are moved on target area, be easy to implement more accurately to compensate, avoid the therapy discontinued because of target area displacement, and automatically can complete the tracking of other responsive internal organs of spinal column, pulmonary and abdominal part and histokinesis according to image information, can avoid implanting with metal the injury caused patient as positioning datum point
(9) in order to meet the requirement on flexibility of robot radiotherapy machine therapeutic process, the present invention adopts the robot of 6 degree of freedom cascade machine mechanical arm architecture designs, under the control meeting the radiotherapy planning systems soft ware that MRI guides, robot carries the X-ray source of electron linear accelerator, or
60co gamma-radiation source meets the needs of the direction irradiated lesion from multiple optimization.In order to get rid of the needs of MRI system high-intensity magnetic field interference, the mechanical arm of this robot uses the high strength components and parts of magnetic compatibility, and can match multiple robot and control multiple treatment head respectively and irradiate from different directions, significantly to shorten treatment time simultaneously.
Alleged by the present invention, X/ gamma-radiation source refers to X-ray source and/or gamma-radiation source.
Split type alleged by the present invention/drum type brake superconducting magnet refers to split type superconducting magnet and/or drum type brake superconducting magnet.
X/S band microwave alleged by the present invention refers to X-band microwave and/or S-band microwave.
Each preferred and optional technological means disclosed by the invention, unless otherwise indicated and one preferably or alternatives means be outside the further restriction of another technological means, all can combination in any, form some different technical schemes.
Claims (10)
1. the robot accurate radiotherapy system of a MRI guiding, comprise X/ gamma-radiation source, characterized by further comprising online MR imaging apparatus, described online MR imaging apparatus is provided with the magnet for forming magnetic field, described magnet is split type superconducting magnet or drum type brake superconducting magnet, described split type superconducting magnet comprises two mutually corresponding magnetic poles, gap is left between described two magnetic poles, described drum type brake superconducting magnet comprises superconducting coil and is provided with axial bore, described X/ gamma-radiation source is arranged on the mechanical arm of robot, its motion is carried by described robot.
2. radiotherapy system as claimed in claim 1, it is characterized in that described robot adopts the cascade machine mechanical arm framework with 6 degree of freedom, described X/ gamma-radiation source is arranged on the top of described mechanical arm framework.
3. radiotherapy system as claimed in claim 2, it is characterized in that described robot is also provided with walking mechanism, described walking rack comprises the robot base for installing described cascade machine mechanical arm framework and is arranged on the robot ambulation wheel below described robot base, also comprises the hoofing part mechanism for driving described robot ambulation to take turns motion.
4. radiotherapy system as claimed in claim 3, is characterized in that the mechanical arm of described robot uses the high strength components and parts of magnetic compatibility.
5. the radiotherapy system as described in claim 1,2,3 or 4, is characterized in that the quantity in described X/ gamma-radiation source is one or more, and when described X/ gamma-radiation source is multiple, described multiple X/ gamma-radiation source is arranged in respective robot respectively.
6. radiotherapy system as claimed in claim 5, it is characterized in that described X-ray source comprises electron linear accelerator, described electron linear accelerator is the source producing X-ray, described electron linear accelerator is formed primarily of accelerating tube, corresponding microwave power source and microwave transmission system, and described accelerating tube is the accelerating tube of S-band or the accelerating tube of X-band.
7. radiotherapy system as claimed in claim 5, is characterized in that described gamma-radiation source comprises
60co gamma-radiation source and corresponding ray colimated light system.
8. radiotherapy system as claimed in claim 7, is characterized in that described magnet comprises magnet case and appurtenances, meets the requirement of nuclear magnetic resonance, but structure is avoided as far as possible the beam of irradiation, reduces housing to the absorption of ray.
9. radiotherapy system as claimed in claim 8, it is characterized in that the superconducting coil be provided with in described magnet case for generation of corresponding magnetic field, described superconducting coil is arranged in the refrigerating chamber in described magnet case, described refrigerating chamber makes refrigerant cycle use by the compressor of refrigerant tubing and corresponding cold head, formed by refrigeration machine, refrigeration machine outlet, cold-producing medium supply the refrigerant cycle right compression conduit of pipe, refrigerating chamber, refrigerant reflux tube, refrigeration machine backflow import.
10. the radiotherapy system as described in claim 1,2,3,4,5,6,7,8 or 9, characterized by further comprising the off-line MR imaging apparatus for working out radiotherapy planning, described off-line MR imaging apparatus is that spatial resolution and anatomy structure imaging contrast are all higher than the MR imaging apparatus of described online MR imaging apparatus, there is the manhole being greater than normal diagnostic MR imaging apparatus, can position patient when using the various auxiliary fixing member to patient and possess the function for evaluating tumor efficiency.
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| CN106975164A (en) * | 2017-04-01 | 2017-07-25 | 四川大学 | The radiotherapy unit of MRI guiding |
| CN107088269A (en) * | 2017-04-01 | 2017-08-25 | 四川大学 | The radiotherapy system of MRI guiding |
| CN107088268A (en) * | 2017-04-01 | 2017-08-25 | 四川大学 | The robot radiation therapy system of MRI guiding |
| CN107137826A (en) * | 2017-04-01 | 2017-09-08 | 四川大学 | The robot radiation therapy system of guided by magnetic resonance |
| CN107789745A (en) * | 2016-08-30 | 2018-03-13 | 瑞地玛医学科技有限公司 | A kind of robot radiation therapy system |
| CN108096722A (en) * | 2018-01-31 | 2018-06-01 | 安徽锐捷信息科技有限公司 | A kind of special magnetic resonance radio frequency coil of radiotherapy |
| CN108969091A (en) * | 2018-06-29 | 2018-12-11 | 安徽锐捷信息科技有限公司 | A kind of system of tumor treatment |
| CN109847194A (en) * | 2018-12-29 | 2019-06-07 | 佛山瑞加图医疗科技有限公司 | A kind of radiotherapy system of guided by magnetic resonance |
| CN110353796A (en) * | 2018-04-28 | 2019-10-22 | 北京铭杰医疗科技有限公司 | Tumor treatment equipment and its application method |
| CN111580030A (en) * | 2020-05-13 | 2020-08-25 | 山东省肿瘤防治研究院（山东省肿瘤医院） | Magnetic field preparation structure, equipment and system for fusion of nuclear magnetic resonance and radiotherapy |
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| CN107789745A (en) * | 2016-08-30 | 2018-03-13 | 瑞地玛医学科技有限公司 | A kind of robot radiation therapy system |
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| CN106975164A (en) * | 2017-04-01 | 2017-07-25 | 四川大学 | The radiotherapy unit of MRI guiding |
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| CN111580030B (en) * | 2020-05-13 | 2022-04-22 | 山东省肿瘤防治研究院（山东省肿瘤医院） | Magnetic field preparation structure, equipment and system for fusion of nuclear magnetic resonance and radiotherapy |
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Application publication date: 20160120 |