CN107583207B - Variable field collimator based on ultrasonic motor drive - Google Patents
Variable field collimator based on ultrasonic motor drive Download PDFInfo
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- CN107583207B CN107583207B CN201710816021.4A CN201710816021A CN107583207B CN 107583207 B CN107583207 B CN 107583207B CN 201710816021 A CN201710816021 A CN 201710816021A CN 107583207 B CN107583207 B CN 107583207B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
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Abstract
The invention discloses a variable field collimator based on ultrasonic motor driving, which comprises a first stop block, a second stop block, a shell, a base, a first connecting rod, a second connecting rod, a braking guide rail, a braking sliding block, an ultrasonic motor and a grating ruler displacement sensor. The first stop block and the second stop block are staggered to form a quadrilateral collimator view; the first stop block and the second stop block are installed in the shell through sliding connection; the first stop block and the second stop block are respectively connected with the braking slide block through a first connecting rod and a second connecting rod to form a slide block connecting rod mechanism. The ultrasonic motor drives the braking sliding block to move forward and backward, and the first and second stop blocks are pulled or pushed to move in opposite directions or back to back by acting force of the connecting rod on the stop blocks, so that expansion and contraction of the collimator radiation field are realized. The invention has simple structure and high field adjustment precision, and can realize the real-time rapid change of the field size of the collimator in the radiotherapy process by only one driver.
Description
Technical Field
The invention relates to the field of medical appliances, in particular to a variable field collimator based on ultrasonic motor driving.
Background
Radiation therapy is an important means of treating tumors, with the aim of maximizing the concentration of radiation to the tumor (target area), while the surrounding normal tissues and organs should be subjected to a minimum dose of radiation. The collimator is one of key components of radiotherapy equipment, is arranged at the front end of the accelerator of the radiation source, and controls the shape and the size of the radiation field through the expansion and the contraction of the collimator so as to better separate the dose of a target area and surrounding normal tissues, achieve uniform irradiation of the dose in the target area and realize the purpose of emphasizing conformal radiotherapy.
US patent 4450578 discloses a collimator construction employing four stops and the stop edges are associated, forming a square collimator field in the center. The two opposite stoppers are driven by a synchronous mechanism (chain, belt, etc.) along the periphery to move along the diagonal line, so that the other two stoppers can be forced to move to form a changeable square field. The handle can be rotated to drive the synchronous belt to drive the up-and-down opposite check blocks to move and force the left-and-right opposite check blocks to move up and down so as to form the variable square radiation field. Because of the flexibility of the belt, the chain and the like, and only two of the blocks are driven, the other two blocks are required to be driven by friction force, so that the field precision is low, the driving power is high, the efficiency is low, the abrasion is serious and the like can be caused; in addition, the joint of the stop blocks is provided with a gap, so that rays can be leaked. US2008019484A1 discloses a radiation collimator which is formed by two motors each controlling a cam shaft, and the width of the radiation beam and the central position of the radiation beam can be adjusted. The device needs two drivers, and simultaneously utilizes screw transmission to control the movement of the optical shutter plate, so that the transmission parts are increased, and the problems of complex structure, large occupied space and high cost exist.
Chinese patent ZL 200420105154.9 provides a square variable field collimator, but its internal motion microstructure is not clear. The variable field collimator disclosed in Chinese patent CN 103106944B adopts gear transmission and is matched with a curve clamping groove on a gear disc to push two stop blocks to move along the diagonal line of a square field so as to realize expansion and contraction of the field. However, the transmission precision of gear transmission is low, and the curve clamping groove transmission mode has the problems of great processing difficulty, serious abrasion of transmission parts and low service life.
In the prior art, most collimators are driven by a rotating motor, and the linear motion of a shielding field assembly is indirectly obtained through the cooperation of gears or belts and chains and screw transmission or friction transmission, so that the expansion and contraction of the field are realized. The structure is relatively complex, and the field adjustment precision is low.
The linear ultrasonic motor is a novel actuator, the elastic body is enabled to generate vibration in an ultrasonic frequency band by utilizing the inverse piezoelectric effect of the piezoelectric material, and macroscopic motion of the active cell is directly output through friction action between the elastic body and the active cell. Compared with the traditional electromagnetic motor, the linear ultrasonic motor has the unique advantages of simple and compact structure, capability of directly outputting low-speed high thrust, quick response, no magnetic field generation, high positioning precision, power-off self-locking and the like, and has been widely applied to the fields of aerospace, biomedical treatment, optical precision instruments and the like.
Disclosure of Invention
The invention aims to overcome the defects in the background art, and provides the variable field collimator based on ultrasonic motor driving, which has a simple structure and can realize real-time change of the size of the field in the radiotherapy process by only adopting one driver.
The invention adopts the following technical scheme for solving the technical problems:
a variable field collimator based on ultrasonic motor driving comprises a first stop block, a second stop block, a shell, a base, a first connecting rod, a second connecting rod, a braking guide rail, a braking sliding block, an ultrasonic motor and a grating ruler displacement sensor;
the housing comprises an upper end cover, a lower end cover and first to fourth side walls;
the first to fourth side walls are cylinders with cambered outer walls and plane inner walls, and the upper end cover and the lower end cover are coaxially arranged circular rings;
the first side wall and the second side wall are correspondingly arranged on two sides of the upper end cover, and the upper end faces of the first side wall and the second side wall are fixedly connected with the lower end face of the upper end cover;
the third side wall and the fourth side wall are correspondingly arranged on two sides of the lower end cover, and the lower end faces of the third side wall and the fourth side wall are fixedly connected with the upper end face of the upper end cover;
the first side wall and the second side wall are fixedly connected with the third side wall and the fourth side wall through a plurality of connecting columns respectively;
guide sliding rails are arranged on the inner walls of the first side wall to the fourth side wall;
the first stop block and the second stop block comprise a prism and a plurality of pairs of stop pieces, wherein the pairs of stop pieces are uniformly and vertically arranged on the prism, included angles between each pair of stop pieces are the same, and the stop pieces of the first stop block and the second stop block are mutually staggered;
the upper end face, the lower end face and the outer side wall of the prism of the first stop block are respectively provided with a first guide slide bar, a second guide slide bar and a first lug, and the upper end face, the lower end face and the outer side wall of the prism of the second stop block are respectively provided with a third guide slide bar, a fourth guide slide bar and a second lug;
a pair of baffle plates at the lowest layer of the first baffle plate and a pair of baffle plates at the uppermost layer of the second baffle plate are respectively provided with a guide sliding block at one end of each baffle plate far away from the first baffle plate prism;
two guide sliding blocks in the pair of baffle plates at the lowest layer of the first baffle plate are respectively arranged in the guide sliding rails on the inner walls of the third side wall and the fourth side wall, and two guide sliding blocks in the pair of baffle plates at the highest layer of the second baffle plate are respectively arranged in the guide sliding rails on the first side wall and the second side wall;
the first guide sliding block and the fourth guide sliding block are respectively matched with the first guide sliding rail and the fourth guide sliding rail, so that the first stop block and the second stop block can slide in opposite directions or back to back;
the upper end cover is provided with a first guide sliding groove and a third guide sliding groove which are respectively matched with the first guide sliding bar and the third guide sliding bar, and the lower end cover is provided with a second guide sliding groove and a fourth guide sliding groove which are respectively matched with the second guide sliding bar and the fourth guide sliding bar; when the first stop block and the second stop block can slide in opposite directions or back to back, the first guide slide bars to the fourth guide slide bars correspondingly slide in the first guide slide grooves to the fourth guide slide grooves respectively;
the brake guide rail and the lower end cover are both fixed on the base;
the sliding direction of the brake guide rail and the first stop block and the second stop block is vertical;
the brake slide block is arranged on the brake guide rail and can slide freely on the brake guide rail;
the first lug and the second lug are hinged to one end, close to the shell, of the brake slide block through a first connecting rod, a second connecting rod and a brake slide block respectively;
the output end of the ultrasonic motor is connected with the braking slide block and is used for controlling the braking slide block to slide on the braking guide rail;
the grating ruler displacement sensor is used for positioning the position of the braking sliding block on the braking guide rail so as to realize closed-loop control of the jet field adjustment.
As a further optimization scheme of the variable field collimator based on ultrasonic motor driving, the included angle between each pair of baffle plates in the first baffle plate and the second baffle plate is a right angle.
As a further optimization scheme of the variable field collimator based on ultrasonic motor driving, the included angle between each pair of baffle plates in the first baffle plate and the second baffle plate is an acute angle.
As a further optimization scheme of the variable field collimator based on ultrasonic motor driving, the included angle between each pair of baffle plates in the first baffle plate and the second baffle plate is an obtuse angle.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
1. the invention has simple structure and small occupied space, the whole collimator adopts only one drive, the enlargement or the reduction of the radiation field of the collimator can be realized by directly outputting linear motion by utilizing the linear ultrasonic motor, a transmission mechanism such as a gear, a screw rod and the like is not needed, and the transmission parts are few and a speed reducing device is not needed;
2. the ultrasonic motor utilizes the inverse piezoelectric effect of piezoelectric ceramics to amplify microscopic deformation of materials through mechanical resonance and convert the microscopic deformation into macroscopic motion of a rotor through friction coupling transmission, so that the ultrasonic motor has higher positioning precision which can reach the level of nanometer. The closed-loop control of the irradiation field adjustment can be realized by driving the cooperation of the precise guide rail and the grating ruler displacement sensor, so that the target area is precisely covered by the collimator sub-field for emphasized radiotherapy, and the precision of radiotherapy is improved;
3. the variable field collimator of the invention can be used in various high-low energy isotope radioactive sources and X-ray source radiotherapy systems, in particular to a robotic radiotherapy system, and the response time is in the millisecond level according to the self characteristics of an ultrasonic motor, so the ultrasonic motor has no inertia during reciprocating motion and has high response speed. The opening field of the whole collimator can be changed rapidly and steplessly within a certain range (such as 40mm multiplied by 40 mm) only by driving the sliding block to move forwards or backwards through the ultrasonic motor. The field changing speed is determined by the ultrasonic motor, so that the sub-field changing can be quickly and automatically carried out when the radiotherapy is carried out on different target areas, and the method is beneficial to the execution of various radiotherapy technologies (such as a conventional radiotherapy technology, a stereotactic radiotherapy technology, an emphasized radiotherapy technology and the like).
Drawings
FIG. 1 is a schematic diagram of the structure of a variable field collimator based on ultrasonic motor driving of the present invention;
FIG. 2 is a schematic view of the structure of the housing of the present invention;
FIG. 3 is a schematic view of the first and second blocks according to the present invention;
fig. 4 is a top view of the variable field collimator of the present invention based on ultrasonic motor drive.
In the figure, the device comprises a 1-shell, a 2-first stop, a 3-second stop, a 4-base, a 5-first connecting rod, a 6-second connecting rod, a 7-braking slide block, an 8-braking guide rail, a 9-ultrasonic motor, a 10-grating ruler displacement sensor, an 11-upper end cover, a 12-lower end cover, a 13-first side wall, a 14-second side wall, a 15-third side wall, a 16-fourth side wall, a 17-guiding slide rail, a 18-first guiding slide groove, a 19-third guiding slide groove, a 20-prism, a 21-baffle plate, a 22-first guiding slide bar, a 23-third guiding slide bar, a 24-guiding slide block and a 25-first lug.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the components are exaggerated for clarity.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, and/or section from another. Accordingly, a first element, component, and/or section discussed below could be termed a second element, component, or section without departing from the teachings of the present invention.
As shown in fig. 1, the invention discloses a variable field collimator based on ultrasonic motor driving, which comprises a first stop block, a second stop block, a shell, a base, a first connecting rod, a second connecting rod, a brake guide rail, a brake slide block, an ultrasonic motor and a grating ruler displacement sensor;
as shown in fig. 2, the housing includes an upper end cap, a lower end cap, and first to fourth sidewalls;
the first to fourth side walls are cylinders with cambered outer walls and plane inner walls, and the upper end cover and the lower end cover are coaxially arranged circular rings;
the first side wall and the second side wall are correspondingly arranged on two sides of the upper end cover, and the upper end faces of the first side wall and the second side wall are fixedly connected with the lower end face of the upper end cover;
the third side wall and the fourth side wall are correspondingly arranged on two sides of the lower end cover, and the lower end faces of the third side wall and the fourth side wall are fixedly connected with the upper end face of the upper end cover;
the first side wall and the second side wall are fixedly connected with the third side wall and the fourth side wall through a plurality of connecting columns respectively;
guide sliding rails are arranged on the inner walls of the first side wall to the fourth side wall;
as shown in fig. 3, the first stop block and the second stop block both comprise a prism and a plurality of pairs of stop pieces, wherein the pairs of stop pieces are uniformly and vertically arranged on the prism, included angles between each pair of stop pieces are the same, and the stop pieces of the first stop block and the second stop block are mutually staggered;
the upper end face, the lower end face and the outer side wall of the prism of the first stop block are respectively provided with a first guide slide bar, a second guide slide bar and a first lug, and the upper end face, the lower end face and the outer side wall of the prism of the second stop block are respectively provided with a third guide slide bar, a fourth guide slide bar and a second lug;
a pair of baffle plates at the lowest layer of the first baffle plate and a pair of baffle plates at the uppermost layer of the second baffle plate are respectively provided with a guide sliding block at one end of each baffle plate far away from the first baffle plate prism;
two guide sliding blocks in the pair of baffle plates at the lowest layer of the first baffle plate are respectively arranged in the guide sliding rails on the inner walls of the third side wall and the fourth side wall, and two guide sliding blocks in the pair of baffle plates at the highest layer of the second baffle plate are respectively arranged in the guide sliding rails on the first side wall and the second side wall;
the first guide sliding block and the fourth guide sliding block are respectively matched with the first guide sliding rail and the fourth guide sliding rail, so that the first stop block and the second stop block can slide in opposite directions or back to back;
the upper end cover is provided with a first guide sliding groove and a third guide sliding groove which are respectively matched with the first guide sliding bar and the third guide sliding bar, and the lower end cover is provided with a second guide sliding groove and a fourth guide sliding groove which are respectively matched with the second guide sliding bar and the fourth guide sliding bar; when the first stop block and the second stop block can slide in opposite directions or back to back, the first guide slide bars to the fourth guide slide bars correspondingly slide in the first guide slide grooves to the fourth guide slide grooves respectively;
the brake guide rail and the lower end cover are both fixed on the base;
the sliding direction of the brake guide rail and the first stop block and the second stop block is vertical;
the brake slide block is arranged on the brake guide rail and can slide freely on the brake guide rail;
the first lug and the second lug are hinged to one end, close to the shell, of the brake slide block through a first connecting rod, a second connecting rod and a brake slide block respectively;
the output end of the ultrasonic motor is connected with the braking slide block and is used for controlling the braking slide block to slide on the braking guide rail;
the grating ruler displacement sensor is arranged below the braking sliding block and used for positioning the position of the braking sliding block on the braking guide rail so as to realize closed-loop control of the adjustment of the radiation field.
The included angle between each pair of baffle plates in the first baffle plate and the second baffle plate can be a right angle or an acute angle or an obtuse angle.
As shown in fig. 4, the working process of the variable field collimator based on ultrasonic motor driving is as follows: when the ultrasonic motor drives the sliding block to move forward, the acting force of the first connecting rod and the second connecting rod on the first lug and the second lug pulls the first stop block and the second stop block to move relatively in the shell so as to shrink the field of the collimator; when the ultrasonic motor drives the sliding block to move reversely, the acting force of the first connecting rod and the second connecting rod on the first lug and the second lug pushes the first stop block and the second stop block to move back in the shell, so that the field of the collimator is enlarged.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (4)
1. The variable field collimator based on ultrasonic motor driving is characterized by comprising a first stop block, a second stop block, a shell, a base, a first connecting rod, a second connecting rod, a braking guide rail, a braking sliding block, an ultrasonic motor and a grating ruler displacement sensor;
the housing comprises an upper end cover, a lower end cover and first to fourth side walls;
the first to fourth side walls are cylinders with cambered outer walls and plane inner walls, and the upper end cover and the lower end cover are coaxially arranged circular rings;
the first side wall and the second side wall are correspondingly arranged on two sides of the upper end cover, and the upper end faces of the first side wall and the second side wall are fixedly connected with the lower end face of the upper end cover;
the third side wall and the fourth side wall are correspondingly arranged on two sides of the lower end cover, and the lower end faces of the third side wall and the fourth side wall are fixedly connected with the upper end face of the upper end cover;
the first side wall and the second side wall are fixedly connected with the third side wall and the fourth side wall through a plurality of connecting columns respectively;
guide sliding rails are arranged on the inner walls of the first side wall to the fourth side wall;
the first stop block and the second stop block comprise a prism and a plurality of pairs of stop pieces, wherein the pairs of stop pieces are uniformly and vertically arranged on the prism, included angles between each pair of stop pieces are the same, and the stop pieces of the first stop block and the second stop block are mutually staggered;
the upper end face, the lower end face and the outer side wall of the prism of the first stop block are respectively provided with a first guide slide bar, a second guide slide bar and a first lug, and the upper end face, the lower end face and the outer side wall of the prism of the second stop block are respectively provided with a third guide slide bar, a fourth guide slide bar and a second lug;
a pair of baffle plates at the lowest layer of the first baffle plate and a pair of baffle plates at the uppermost layer of the second baffle plate are respectively provided with a guide sliding block at one end of each baffle plate far away from the first baffle plate prism;
two guide sliding blocks in the pair of baffle plates at the lowest layer of the first baffle plate are respectively arranged in the guide sliding rails on the inner walls of the third side wall and the fourth side wall, and two guide sliding blocks in the pair of baffle plates at the highest layer of the second baffle plate are respectively arranged in the guide sliding rails on the first side wall and the second side wall;
the first guide sliding block and the fourth guide sliding block are respectively matched with the first guide sliding rail and the fourth guide sliding rail, so that the first stop block and the second stop block can slide in opposite directions or back to back;
the upper end cover is provided with a first guide sliding groove and a third guide sliding groove which are respectively matched with the first guide sliding bar and the third guide sliding bar, and the lower end cover is provided with a second guide sliding groove and a fourth guide sliding groove which are respectively matched with the second guide sliding bar and the fourth guide sliding bar; when the first stop block and the second stop block can slide in opposite directions or back to back, the first guide slide bars to the fourth guide slide bars correspondingly slide in the first guide slide grooves to the fourth guide slide grooves respectively;
the brake guide rail and the lower end cover are both fixed on the base;
the sliding direction of the brake guide rail and the first stop block and the second stop block is vertical;
the brake slide block is arranged on the brake guide rail and can slide freely on the brake guide rail;
the first lug and the second lug are hinged to one end, close to the shell, of the brake slide block through a first connecting rod, a second connecting rod and a brake slide block respectively;
the output end of the ultrasonic motor is connected with the braking slide block and is used for controlling the braking slide block to slide on the braking guide rail;
the grating ruler displacement sensor is used for positioning the position of the braking sliding block on the braking guide rail so as to realize closed-loop control of the jet field adjustment.
2. The variable field collimator based on ultrasonic motor driving of claim 1, wherein an included angle between each pair of blocking sheets in the first block and the second block is a right angle.
3. The variable field collimator based on ultrasonic motor driving of claim 1, wherein an included angle between each pair of baffle plates in the first baffle plate and the second baffle plate is an acute angle.
4. The variable field collimator based on ultrasonic motor driving of claim 1, wherein an included angle between each pair of baffle plates in the first baffle plate and the second baffle plate is an obtuse angle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710816021.4A CN107583207B (en) | 2017-09-12 | 2017-09-12 | Variable field collimator based on ultrasonic motor drive |
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| CN201710816021.4A CN107583207B (en) | 2017-09-12 | 2017-09-12 | Variable field collimator based on ultrasonic motor drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108853754A (en) * | 2018-05-22 | 2018-11-23 | 太丛信息科技（上海）有限公司 | A kind of ray collimator of novel changable bore |
| CN108827984A (en) * | 2018-06-12 | 2018-11-16 | 中国原子能科学研究院 | A kind of alternating expression irradiation field zoom collimator |
| CN113663230B (en) * | 2021-07-27 | 2023-09-26 | 上海联影医疗科技股份有限公司 | Collimator and treatment head with same |
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| CN1586402A (en) * | 2004-09-29 | 2005-03-02 | 清华大学 | Endoscopic optical tomographic imaging scanning probe device based on micro motor |
| CN100346739C (en) * | 2005-06-24 | 2007-11-07 | 清华大学 | Real-time imaging optical coherent endoscope system |
| CN103106944B (en) * | 2013-01-03 | 2016-06-29 | 吴大可 | Variable field collimator |
| EP2976771B1 (en) * | 2013-03-22 | 2017-05-10 | Deutsches Krebsforschungszentrum | Contour collimator for radiotherapy |
| CN208541704U (en) * | 2017-09-12 | 2019-02-26 | 南京航空航天大学 | A kind of variable field collimator based on Driven by Ultrasonic Motors |
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