CN107789745A - A kind of robot radiation therapy system - Google Patents
A kind of robot radiation therapy system Download PDFInfo
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- CN107789745A CN107789745A CN201610767232.9A CN201610767232A CN107789745A CN 107789745 A CN107789745 A CN 107789745A CN 201610767232 A CN201610767232 A CN 201610767232A CN 107789745 A CN107789745 A CN 107789745A
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- radiation therapy
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- therapy system
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 40
- 238000011282 treatment Methods 0.000 claims abstract description 60
- 230000001225 therapeutic effect Effects 0.000 claims abstract description 49
- 238000002560 therapeutic procedure Methods 0.000 claims abstract description 48
- 238000003384 imaging method Methods 0.000 claims abstract description 27
- 230000008859 change Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 11
- 210000000056 organ Anatomy 0.000 abstract description 9
- 238000009434 installation Methods 0.000 description 17
- 206010028980 Neoplasm Diseases 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000029058 respiratory gaseous exchange Effects 0.000 description 3
- 208000012886 Vertigo Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 208000002173 dizziness Diseases 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011287 therapeutic dose Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1014—Intracavitary radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1028—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy using radiation sources applied onto the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1042—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy with spatial modulation of the radiation beam within the treatment head
- A61N5/1045—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy with spatial modulation of the radiation beam within the treatment head using a multi-leaf collimator, e.g. for intensity modulated radiation therapy or IMRT
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1077—Beam delivery systems
- A61N5/1083—Robot arm beam systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N2005/1019—Sources therefor
- A61N2005/1022—Generators, e.g. X-ray tubes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1054—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a portal imaging system
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1085—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy characterised by the type of particles applied to the patient
- A61N2005/1087—Ions; Protons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
- A61N2005/1094—Shielding, protecting against radiation
Abstract
The invention discloses a kind of robot radiation therapy system, including C arms device for image, therapeutic bed, Therapy robot and mobile device, the bottom of the Therapy robot, the C arm imagings device and/or the therapeutic bed is provided with the mobile device, for changing the position of the Therapy robot, the C arm imagings device or the therapeutic bed.The robot radiation therapy system, by installing mobile device in the bottom of the Therapy robot, the C arm imagings device or the therapeutic bed, expand treatment space, provide more treatment light beam incidence points, and then it is effectively shielded from normal structure and organ, therapeutic quality is improved, reduces treatment side effect.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of robot radiation therapy system.
Background technology
Radiotherapy is the treatment carried out using one or more ionising radiations to malignant tumour and some benigns, is radiated
The means for the treatment of are ionising radiations.The purpose of tumour radiotherapy is the therapeutic dose maximum to tumor target, and is made around just
The exposure dose that often tissue and organ are received is minimum, to improve the Partial controll rate of tumour, reduces the complication of normal structure.
Existing radiotherapy equipment, over the course for the treatment of, its position are all fixed, are difficult to avoid just in therapeutic process
Often tissue and organ, because target area displacement error needs Mobile treatment table, cause the result of mobile patient, patient has dizziness
Sense, easily causes second displacement error.
The content of the invention
It is an object of the invention to provide a kind of robot radiation therapy system, can further expand treatment space, there is provided
More treatment light beam incidence points, and then normal structure and organ are effectively shielded from, therapeutic quality is improved, reduces and treats secondary make
With.
In order to solve the above technical problems, the embodiments of the invention provide a kind of robot radiation therapy system, including C arm shadows
As device, therapeutic bed, Therapy robot and mobile device, the Therapy robot, the C arm imagings device and/or described control
The bottom for treating bed is provided with the mobile device, for changing the Therapy robot, the C arm imagings device or the treatment
The position of bed.
Wherein, the mobile device is wheeled mobile device or rail type mobile device.
Wherein, the C arms device for image is single flat board C arms or double flat plate C arms.
Wherein, the C arms device for image includes C arm arm bodies and the frame being connected with the C arms arm body, and the frame is can
Telescopic column frame, robot frame or fixed frame.
Wherein, two x-ray sources and two X-ray detectors, two x-ray sources are provided with the C arms arm body
Inwall, outer wall or the side wall of the C arms arm body are arranged on two X-ray detectors.
Wherein, the therapeutic bed includes the first mechanical hand mechanical arm and the treatment being connected with the first mechanical hand mechanical arm
Bed board.
Wherein, the treatment head of the Therapy robot includes the second mechanical hand mechanical arm, electron linear accelerator and collimation
Device, the second mechanical hand mechanical arm are connected with the electron linear accelerator,
Wherein, in addition to fast quick change clamp device, by described fast between the electron linear accelerator and the collimater
Quick change clamp device connects, for realizing the quick-replaceable to the collimater
Wherein, the collimater is multi-leaf optical grating collimater, circular collimater or rectangular collimator.
Wherein, in addition to positioning laser lamp, the positioning laser lamp is arranged on the left side of the therapeutic bed, right side or above
Wall on.
Compared with prior art, the robot radiation therapy system that the embodiment of the present invention is provided has advantages below：
The robot radiation therapy system that the embodiment of the present invention is provided, including C arms device for image, therapeutic bed, therapy apparatus
Device people and mobile device, the bottom of the Therapy robot, the C arm imagings device and/or the therapeutic bed are provided with described
Mobile device, for changing the position of the Therapy robot, the C arm imagings device or the therapeutic bed.
The robot radiation therapy system, by the Therapy robot, the C arm imagings device or the treatment
The bottom installation mobile device of bed so that Therapy robot, C arm imagings device or therapeutic bed may move over the course for the treatment of, expand
Big treatment space, there is provided more treatment light beam incidence points, and then normal structure and organ are effectively shielded from, improve and control
Quality is treated, reduces treatment side effect, while Therapy robot can be simultaneously to the tumor target in multiple therapeutic beds or same
Multiple tumor targets of patient carry out seance, improve the efficiency for the treatment of.
In summary, robot radiation therapy system provided in an embodiment of the present invention, by Therapy robot, C arms into
As the bottom of device or therapeutic bed installation mobile device, therapeutic quality is improved, reduces treatment side effect, improve treatment effect
Rate.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is shown by a kind of structure of the embodiment for the robot radiation therapy system that the embodiment of the present invention provides
It is intended to；
Fig. 2 is shown by a kind of structure of the C arm device for image for the robot radiation therapy system that the embodiment of the present invention provides
It is intended to；
Another structure of the C arm device for image for the robot radiation therapy system that Fig. 3 is provided by the embodiment of the present invention
Schematic diagram；
Another structure of the C arm device for image for the robot radiation therapy system that Fig. 4 is provided by the embodiment of the present invention
Schematic diagram.
Embodiment
Just as described in the background section, existing radiotherapy equipment, over the course for the treatment of, its position are all fixed
, it is difficult to avoid normal structure and organ in therapeutic process, because target area displacement error needs Mobile treatment table, causes movement
The result of patient, patient have spinning sensation, easily cause second displacement error.
Based on this, the embodiments of the invention provide a kind of robot radiation therapy system, including C arms device for image, treatment
Bed, Therapy robot and mobile device, the bottom peace of the Therapy robot, the C arm imagings device and/or the therapeutic bed
Equipped with the mobile device, for changing the position of the Therapy robot, the C arm imagings device or the therapeutic bed.
In summary, robot radiation therapy system provided in an embodiment of the present invention, by the Therapy robot, institute
State the bottom installation mobile device of C arm imagings device or the therapeutic bed so that Therapy robot, C arm imagings device or treatment
Bed may move over the course for the treatment of, expand treatment space, there is provided more treatment light beam incidence points, and then be effectively shielded from
Normal structure and organ, therapeutic quality is improved, reduce treatment side effect, while Therapy robot can be simultaneously to multiple treatments
Multiple tumor targets of tumor target or same patient on bed carry out seance, improve the efficiency for the treatment of.
It is understandable to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.
Detail is elaborated in the following description in order to fully understand the present invention.But the present invention can with it is a variety of not
Other manner described here is same as to implement, those skilled in the art can do class in the case of without prejudice to intension of the present invention
Like popularization.Therefore the present invention is not limited to the specific embodiments disclosed below.
It refer to Fig. 1-4, a kind of specific implementation for the robot radiation therapy system that Fig. 1 is provided by the embodiment of the present invention
The structural representation of mode；The one of the C arm device for image for the robot radiation therapy system that Fig. 2 is provided by the embodiment of the present invention
Kind structural representation；The another kind of the C arm device for image for the robot radiation therapy system that Fig. 3 is provided by the embodiment of the present invention
Structural representation；Another knot of the C arm device for image for the robot radiation therapy system that Fig. 4 is provided by the embodiment of the present invention
Structure schematic diagram.
In a kind of concrete mode, the robot radiation therapy system, including C arms device for image 10, therapeutic bed 30, control
Treat robot 20 and mobile device 40, the bottom of the Therapy robot 20, the C arm imagings device and/or the therapeutic bed 30
Portion is provided with the mobile device 40, for changing the Therapy robot 20, the C arm imagings device or the therapeutic bed 30
Position.
The robot radiation therapy system, by the Therapy robot 20, the C arm imagings device or described controlling
Treat the bottom installation mobile device 40 of bed 30 so that Therapy robot 20, C arm imagings device or therapeutic bed 30 are over the course for the treatment of
It is removable, expand treatment space, there is provided more treatment light beam incidence points, and then it is effectively shielded from normal structure and device
Official, therapeutic quality is improved, reduce treatment side effect, while Therapy robot 20 can be simultaneously to swollen in multiple therapeutic beds 30
Multiple tumor targets of knurl target area or same patient carry out seance, improve the efficiency for the treatment of.Meanwhile it can avoid controlling
Because target area displacement error removes Mobile treatment table 30 (mobile patient) during treatment, because of mobile patient, patient has spinning sensation, and
And easily cause second displacement error.
It should be noted that the Therapy robot 20 or the C arm imagings device may be mounted at ceiling, ground or
Person's wall.
, can also be separately installed and Therapy robot 20 can combine installation with C arm imagings device, i.e. Therapy robot 20
With C arm imaging devices it is separately installed after, can independently move, the therapeutic effect after such Therapy robot 20 is treated can be with office
The meaning time is detected that the scope detected is bigger, and C arm imagings device will not be to the therapeutic process of Therapy robot 20
Cause any interference, the moveable scope of the treatment head of Therapy robot 20 is wider, to the diseased region of patient can be with
More treatment light beams are provided, normal structure and organ can be effectively avoided, improve therapeutic effect；Therapy robot 20 and C
After the combination installation of arm imaging device, the treatment process of tumour with the image checking in treatment, can be reacted in time so that treatment light beam
Amount of incident and treatment time control in optimal state, improve therapeutic effect.
It should be noted that in the present invention, the Therapy robot 20, the C arm imagings device and the therapeutic bed
30 can not all combine after again bottom set mobile device 40, this and it is existing in time in robot treatment system without essence
Difference, because the relative position of three has been fixed, it is impossible to improve therapeutic quality, therefore can be three in the present invention
Bottom sets mobile device 40 after being all separately provided mobile device 40 or the two combination therein.
The mobile device 40 is generally wheeled mobile device 40 or rail type mobile device 40, wherein wheeled mobile device
40 it is general can be only installed at bottom surface, but advantage is not have to install special guide rail or track, almost equipment with to with, and
Rail type mobile device 40 may be mounted at ground, wall or ceiling, and installable position is more, the ability of use environment compared with
By force, can almost install and use in any condition, shift position can accurately control, and control accuracy is high, and shortcoming is to need to spread
If special track or guide rail, installation process are complex.It should be noted that the present invention is to the wheel type mobile mobile device
40 or the physical dimension of track mobile device 40, material etc. are not specifically limited.
The effect of C arms device for image 10 is the tumour of patient to be checked and image is shown, generally single flat board C arms or
Double flat plate C arms.Single flat board C arms refer to that only an X bulb and a detector, double flat plate C arms refer to C arms on the arm body of C arms
Arm body on have two X bulbs and two detectors.
The connection of C arms device for image 10, therapeutic bed 30 or Therapy robot 20 and mobile device 40 can be directly connected to,
But it is most of due to the reasons such as height be using first be connected with frame, then bottom of the frame installation mobile device 40 realizing and
The connection of mobile device 40, therefore the C arms device for image 10 includes C arm arms body 12 and the machine being connected with the C arms arm body 12
Frame, the frame are scalable column frame, robot frame or fixed frame, and scalable frame can adjust degree of examining, machine
People's support is controlled by robot, can control the angle of C arm arms body 12 and the frame in orientation, using robot frame due to
It is to use apparatus control, relative to traditional telescoping shoring column and fixed support, control accuracy is high, and control efficiency is high.
The effect of C arms device for image 10 is the tumour of patient to be checked and image is shown, therefore the C arms arm body 12
On be typically provided with two x-ray sources 13 and two X-ray detectors 11, for x-ray source 13 and X-ray detector 11 in C
The mode of the installation of set-up mode on arm arm body 12, generally inwall, plug-in installation or side dress, i.e. two x-ray sources
13 and two X-ray detectors 11 be arranged on inwall, outer wall or the side wall of the C arms arm body 12, wherein, two in Fig. 2
The x-ray source 13 and two X-ray detectors 11 are arranged on the inwall of the C arms arm body 12；Two X in Fig. 3
Radiographic source 13 and two X-ray detectors 11 are arranged on the outer wall of the C arms arm body 12；Two x-ray sources in Fig. 4
13 and two X-ray detectors 11 be arranged on the side wall of the C arms arm body 12.
There are two x-ray sources 13 and two X-ray detectors 11, two x-ray sources 13 exist on double flat plate C arm arms body 12
It can be identical set-up mode on C arms, such as be all inwall installation, plug-in installation or side dress or different set
Mode is put, such as two x-ray sources 13 are any two kinds in inwall installation, plug-in installation or side dress on C arms.
In addition, in the present invention, in order to expand investigative range, more x-ray sources 13 and X-ray detection can also be installed
Device 11, the present invention are not especially limited to this.
The effect of therapeutic bed 30 is to make patient overlie to be treated, but many times due to Therapy robot 20
Treatment head can not perfectly reach the angle and orientation of needs, at this moment need to carry out certain tune to the position of patient and angle
Section, however, it will be apparent that the efficiency and precision of manual adjustment are very low, error is very high, therefore the therapeutic bed 30 includes the first machine
Hand mechanical arm and the plate of therapeutic bed 30 being connected with the first mechanical hand mechanical arm., will by using the first mechanical hand mechanical arm
First mechanical hand mechanical arm is connected with the plate of therapeutic bed 30, so can just be needed easily by manipulating the first mechanical hand mechanical arm
Suitable angle and orientation, improve therapeutic quality.It should be noted that the present invention to the structure of the first mechanical hand mechanical arm,
It is made and material, modification scope is not specifically limited, but be absolutely mostly to be adjusted mostly, i.e., any angle is any
Orientation, the first mechanical hand mechanical arm can be arranged on the bottom of the plate of therapeutic bed 30, can also be arranged on sidepiece, generally to adjust
Section and simple installation, it is disposed at the bottom of the plate of therapeutic bed 30.
And, it is necessary to have as far as possible big incidence range, incident precision and treatment light beam incident for Therapy robot 20
Amount, the treatment head of the general Therapy robot 20 include the second mechanical hand mechanical arm, electron linear accelerator and collimater, institute
The second mechanical hand mechanical arm is stated to be connected with the electron linear accelerator.Second mechanical hand mechanical arm accelerates with the electronic line of sight
Device is typically connected by flange.
In addition, the treatment head also includes fast quick change clamp device, between the electron linear accelerator and the collimater
Connected by the fast quick change clamp device, for realizing the quick-replaceable to the collimater.
The collimater is generally multi-leaf optical grating collimater, circular collimater or rectangular collimator, it is, of course, also possible to be it
The collimater of its type, the present invention are not especially limited to this.
For more intuitively obtain actual adjusting position with advance to adjusting position, it is necessary to carry out determining for position adjustments
Position, is typically realized by positioning laser lamp, i.e., described robot radiation therapy system also includes positioning laser lamp, the positioning
Laser lamp is arranged on the left side of the therapeutic bed 30, right side or wall above.The present invention to it is described positioning laser lamp and its
Mounting means is not specifically limited.
Further, it is also possible to the installation breathing tracker before therapeutic bed 30, at this moment due to during treatment, being to use machine
Device control, the X ray in treatment has certain side effect to human body, and medical personnel avoid direct contact with X ray as far as possible, passed through
The installation breathing tracker before therapeutic bed 30, the breathing state of patient can be obtained in real time, once the unsmooth breath of patient, you can
Stop treatment at once.
In summary, robot radiation therapy system provided in an embodiment of the present invention, by the Therapy robot, institute
State the bottom installation mobile device of C arm imagings device or the therapeutic bed so that Therapy robot, C arm imagings device or treatment
Bed may move over the course for the treatment of, expand treatment space, there is provided more treatment light beam incidence points, and then be effectively shielded from
Normal structure and organ, therapeutic quality is improved, reduce treatment side effect, while Therapy robot can be simultaneously to multiple treatments
Multiple tumor targets of tumor target or same patient on bed carry out seance, improve the efficiency for the treatment of
Robot radiation therapy system provided by the present invention is described in detail above.It is used herein specifically
Individual example is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help and understands the present invention
Method and its core concept.It should be pointed out that for those skilled in the art, original of the invention is not being departed from
On the premise of reason, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into right of the present invention and wanted
In the protection domain asked.
Claims (10)
1. a kind of robot radiation therapy system, it is characterised in that including C arms device for image, therapeutic bed, Therapy robot and shifting
Dynamic device, the bottom of the Therapy robot, the C arm imagings device and/or the therapeutic bed are provided with the mobile device,
For changing the position of the Therapy robot, the C arm imagings device or the therapeutic bed.
2. robot radiation therapy system as claimed in claim 1, it is characterised in that the mobile device fills for wheel type mobile
Put or rail type mobile device.
3. robot radiation therapy system as claimed in claim 1, it is characterised in that the C arms device for image is single flat board C
Arm or double flat plate C arms.
4. robot radiation therapy system as claimed in claim 3, it is characterised in that the C arms device for image includes C arm arms
Body and the frame being connected with the C arms arm body, the frame are scalable column frame, robot frame or fixed frame.
5. robot radiation therapy system as claimed in claim 4, it is characterised in that be provided with two X on the C arms arm body
Radiographic source and two X-ray detectors, two x-ray sources and two X-ray detectors are arranged on the C arms arm body
Inwall, outer wall or side wall.
6. robot radiation therapy system as claimed in claim 1, it is characterised in that the therapeutic bed includes the first mechanical hand
Mechanical arm and the treatment bed board being connected with the first mechanical hand mechanical arm.
7. robot radiation therapy system as claimed in claim 1, it is characterised in that the treatment head bag of the Therapy robot
Include the second mechanical hand mechanical arm, electron linear accelerator and collimater, the second mechanical hand mechanical arm and the electronic line of sight
Accelerator connects.
8. robot radiation therapy system as claimed in claim 7, it is characterised in that described also including fast quick change clamp device
Connected between electron linear accelerator and the collimater by the fast quick change clamp device, for realizing to the collimater
Quick-replaceable.
9. robot radiation therapy system as claimed in claim 8, it is characterised in that the collimater collimates for multi-leaf optical grating
Device, circular collimater or rectangular collimator.
10. the robot radiation therapy system as described in claim 1-9 any one, it is characterised in that also include positioning and swash
Light lamp, the positioning laser lamp are arranged on the left side, right side or front and rear wall of the therapeutic bed.
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| CN201610767232.9A CN107789745A (en) | 2016-08-30 | 2016-08-30 | A kind of robot radiation therapy system |
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| CN201610767232.9A CN107789745A (en) | 2016-08-30 | 2016-08-30 | A kind of robot radiation therapy system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108671418A (en) * | 2018-05-24 | 2018-10-19 | 中国科学院近代物理研究所 | Guide of magnetic resonant image device for ion beam radiation therapy |
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