CN107929956A - Detector supporting device, path planning system and radiotherapy equipment - Google Patents
Detector supporting device, path planning system and radiotherapy equipment Download PDFInfo
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- CN107929956A CN107929956A CN201711242718.1A CN201711242718A CN107929956A CN 107929956 A CN107929956 A CN 107929956A CN 201711242718 A CN201711242718 A CN 201711242718A CN 107929956 A CN107929956 A CN 107929956A
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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
- A61N5/103—Treatment planning systems
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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
- A61N5/1048—Monitoring, verifying, controlling systems and methods
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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
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Abstract
The present invention provides a kind of detector supporting device, path planning system and radiotherapy equipment.Wherein, detector supporting device is suitable for the detector in support radiotherapy equipment, can be packed up according to different use states and detector is unfolded, in collapsed state, detector supporting device will not be interfered with functions such as the CT SIM of radiotherapy equipment.Path planning system is suitable for the displacement to each moving parts in detector supporting device, movement locus carries out calculation optimization, collides to avoid detector supporting device with housing its accepting hole, while minimize the pendulum position time of detector.
Description
Technical field
The invention mainly relates to the radiotherapy equipment guided based on image, more particularly to a kind of detector supporting device,
Path planning system.
Background technology
In order to realize accurate radiotherapy, tumor treatment efficiency is improved, the radiation therapy technology based on image guiding
(Image-guided radiation therapy, IGRT) is widely used in clinic, wherein electronic portal image device
(Electronic Portal Imaging Device, EPID) is the most common image guidance devices of IGRT, it can controlled
The position of tumour is accurately positioned before treating or in therapeutic process, helps doctor to judge that patient puts whether position is accurate, judges knub position
Or whether shape changes, to reduce the possibility that normal structure receives irradiation, side effect is reduced, improves therapeutic efficiency.
China is domestic at present and the clinac of Elekta (medical courses in general reach) productions (Linear Accelerator,
LINAC), EPID can only be highly imaged in a fixed SID, and EPID tablets can be along X-axis and the level of two dimensions of Y-axis
Direction is moved, but cannot be along the movement in vertical direction of Z axis, and EPID imaging regions cannot cover the whole coverage field of LINAC.
Varian (Varian) devises a kind of EPID support arms, it passes through multiple-rotor robotic arm, it is possible to achieve EPID is different
SID is highly imaged, and the recycling stand of the EPID support arms is near the central planes such as LINAC.
Lian Ying medical science and technologies Co., Ltd have developed a kind of " integrated CT guides linear accelerator ", by medical linear plus
Fast device is integrated with CT scan localization machine (CT SIM), while equipment occupation space is greatly saved, is also provided
Accurate radiotherapy function of the one kind based on the guiding of FBCT (FAN BEAM CT, fan-beam) image.For this integration CT
Linear accelerator is guided, CT scan hole occupies the very big region of the immediate vicinities such as LINAC, in order to avoid stopping for EPID support arms
Put position to interfere with CT SIM functions, the recycling stand of EPID support arms is restricted.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of detector supporting device and its path planning system, detector
Support device will not be interfered with CT SIM functions, and the imaging region of detector can be caused to cover whole launched field area
Domain, has the characteristics that kinematic accuracy is high, shortens run duration.
In order to solve the above technical problems, the present invention provides a kind of detector supporting device, suitable for being arranged at the receipts of rack
Rong Kongzhong, is used to support detector, it includes：Telescopic arm, being capable of stretching motion along its length；First rotary components, if
It is placed in the accepting hole, and is connected with one end of the telescopic arm, for drives the telescopic arm around the length of the telescopic arm
The normal direction rotary motion for the plane that the depth direction of degree direction and the accepting hole determines；First translation component, for band
Move the first rotary components part and the telescopic arm is moved along the depth direction of the accepting hole；Detector bearing assembly, is used
In carrying the detector, it is connected with the other end of the telescopic arm, and length direction that can be along the telescopic arm and institute
State the normal direction movement for the plane that the depth direction of accepting hole determines；And second rotary components, it is arranged at the detector
Between bearing assembly and the telescopic arm, for driving length direction and institute of the detector bearing assembly around the telescopic arm
State the normal direction rotary motion for the plane that the depth direction of accepting hole determines.
In one embodiment of this invention, detector supporting device further includes drive system, for drive the telescopic arm,
One in first rotary components, the first translation component, the detector bearing assembly and second rotary components
Person or more persons movement, target location is moved to by detector.
In one embodiment of this invention, the drive system includes：Communication module, for receiving the telescopic arm, institute
State one of the first rotary components, the first translation component, the detector bearing assembly and second rotary components
Or the movement locus of more persons, and the telescopic arm, first rotary components, described first flat according to the moving track calculation
Move the drive signal of one or more of component, the detector bearing assembly and described second rotary components movement；And
Drive module, the telescopic arm, the first rotation group are driven for receiving the drive signal, and according to the drive signal
The movement of one or more of part, the first translation component, the detector bearing assembly and second rotary components.
In one embodiment of this invention, the movement locus includes multiple nodes and information corresponding with each node,
The information corresponding with each node includes：The telescopic arm, first rotary components, the first translation component, described
One or more of detector bearing assembly and second rotary components reach the time of the node, goal-selling position
Put, pre-set velocity and predetermined acceleration.
In one embodiment of this invention, the drive module is additionally operable to monitor the telescopic arm, the first rotation group
Part, described first translate the real-time of one or more of component, the detector bearing assembly and second rotary components
Positional information.
Another aspect of the present invention additionally provides a kind of path planning system, supports and fills suitable for detector as described above
Put, for control the telescopic arm, first rotary components, it is described first translation component, the detector bearing assembly and
The movement of one or more of second rotary components, target location, the path rule are moved to by the detector
The system of drawing includes：Displacement solves module, for determining the telescopic arm, described first according to the target location of the detector
One or more of rotary components, the first translation component, the detector bearing assembly and second rotary components
Displacement；Path planning module, for carrying out the trajectory path planning of the detector supporting device according to the displacement；
And anticollision detection module, for establishing anticollision according to the position relationship of the detector supporting device and the accepting hole
Detection model, and carry out anticollision detection.
In one embodiment of this invention, the displacement solves module and determines the displacement according to following principle：
Under conditions of the detector supporting device does not collide with the accepting hole, the firm of the detector supporting device is maximized
Property.
In one embodiment of this invention, the path planning module performs following steps to carry out trajectory path planning：
A. the displacement is assigned to multiple subintervals, each control node of the boundary point in the subinterval as path planning；
B. the corresponding positional information of the control node is substituted into the anticollision detection model, detecting the detector supporting device is
It is no to collide with the accepting hole, if can collide, return to step a, if will not collide, by the control
The path that node represents is exported as optimal path.
In one embodiment of this invention, the path planning module performs following steps to carry out trajectory path planning：
A. the displacement is assigned to multiple subintervals, each control node of the boundary point in the subinterval as path planning；
B. one or more TRAJECTORY CONTROL dots are generated in each subinterval；C. by all rails on programming movement path
Whether the corresponding positional information of mark control dot substitutes into the anticollision detection model, detect the detector supporting device and can
Collide with the accepting hole, if can collide, return to step a, if will not collide, by the programming movement
Path is exported as optimal path.
It is described to control it is yet another aspect of the present invention to provide a kind of radiotherapy equipment, including rack, treatment head, detector
Treat head and the detector is oppositely disposed and is installed on the machine by detector supporting device in the rack, the detector
Frame a, it is characterised in that accepting hole is defined in the rack, for housing the detector supporting device.
In one embodiment of this invention, the detector supporting device includes：Telescopic arm, can stretch along its length
Contracting movement；First rotary components, are arranged in the accepting hole, and are connected with one end of the telescopic arm, described for driving
The normal direction for the plane that telescopic arm is determined around the length direction of the telescopic arm and the depth direction of the accepting hole, which rotates, transports
It is dynamic；First translation component, for driving the depth direction of the first rotary components part and the telescopic arm along the accepting hole
Movement；Detector bearing assembly, for carrying the detector, it is connected with the other end of the telescopic arm, and can be along institute
The normal direction movement for the plane that the depth direction of the length direction and the accepting hole of stating telescopic arm determines；And second rotation
Component, is arranged between the detector bearing assembly and the telescopic arm, for driving the detector bearing assembly around institute
The normal direction rotary motion for the plane that the depth direction of the length direction and the accepting hole of stating telescopic arm determines.
In one embodiment of this invention, detector supporting device further includes drive system, for drive the telescopic arm,
One in first rotary components, the first translation component, the detector bearing assembly and second rotary components
Person or more persons movement, target location is moved to by detector.
In one embodiment of this invention, the drive system includes：Communication module, for receiving the telescopic arm, institute
State one of the first rotary components, the first translation component, the detector bearing assembly and second rotary components
Or the movement locus of more persons, and the telescopic arm, first rotary components, described first flat according to the moving track calculation
Move the drive signal of one or more of component, the detector bearing assembly and described second rotary components movement；And
Drive module, the telescopic arm, the first rotation group are driven for receiving the drive signal, and according to the drive signal
The movement of one or more of part, the first translation component, the detector bearing assembly and second rotary components.
In one embodiment of this invention, the movement locus includes multiple nodes and information corresponding with each node,
The information corresponding with each node includes：The telescopic arm, first rotary components, the first translation component, described
One or more of detector bearing assembly and second rotary components reach the time of the node, goal-selling position
Put, pre-set velocity and predetermined acceleration.
In one embodiment of this invention, the drive module is additionally operable to monitor the telescopic arm, the first rotation group
Part, described first translate the real-time of one or more of component, the detector bearing assembly and second rotary components
Positional information.
It is described to control it is yet another aspect of the present invention to provide a kind of radiotherapy equipment, including rack, treatment head, detector
Treat head and the detector is oppositely disposed and is installed on the machine by detector supporting device in the rack, the detector
Frame, it is characterised in that the radiotherapy equipment further includes path planning system, for the shifting to the detector supporting device
Planned in dynamic path.
In one embodiment of this invention, an accepting hole is defined in the rack, the accepting hole is used to accommodate described
At least part component of detector supporting device.
In one embodiment of this invention, the path planning system includes anticollision detection module, for detecting in institute
State in mobile route, whether the detector supporting device can collide with the accepting hole.
In one embodiment of this invention, the path planning system includes anticollision detection module, for detecting in institute
State in mobile route, whether the detector supporting device can collide with the therapeutic bed of the radiotherapy equipment.
Compared with prior art, the present invention has the following advantages：
In detector when not in use, detector supporting device can be recovered in the accepting hole of rack inner assembly, the receipts
Hold hole and be in CT scan ring-like hole lower section, therefore detector supporting device will not be mutually dry with the function such as CT SIM in retrieving position
Relate to.
Detector can be moved along three X-axis, Y-axis and Z axis dimension directions, and the imaging region of detector can cover
The whole coverage field of LINAC.
During detector supporting device puts position, to the resolution of displacement amount of each moving parts part of detector supporting device into
Row Automatic Optimal, reduces the geometric error that gravity elastic deformation is brought, and improves pendulum position precision.
Path planning system can carry out Automatic Optimal to the motion path of each moving parts part of detector supporting device,
And the tracing point during pendulum position is controlled in real time, realize each moving parts part synchronous interaction pendulum of detector supporting device
Position, minimize pendulum position and the recovery time of detector supporting device, while avoid detector supporting device during position put and
Accepting hole collides, and improves the work efficiency and security of detector supporting device pendulum position.
Brief description of the drawings
Fig. 1 is the 3 dimensional drawing of the radiotherapy system of one embodiment of the invention.
Fig. 2 be remove Fig. 1 shown in radiotherapy equipment shell after radiotherapy system 3 dimensional drawing.
Fig. 3 is the side view of the detector supporting device of one embodiment of the invention.
Fig. 4 is the front view of the detector supporting device of one embodiment of the invention.
Fig. 5 is side perspective view of the detector supporting device of one embodiment of the invention under retracted state.
Fig. 6 is the side perspective view of the detector supporting device of one embodiment of the invention in the deployed state.
Fig. 7 is the schematic diagram of the beam of the radiotherapy equipment of one embodiment of the invention.
Fig. 8 is the fundamental block diagram of the drive system of one embodiment of the invention.
Fig. 9 is the fundamental block diagram of the path planning system of one embodiment of the invention.
Figure 10 is the basic flow chart of the Converse solved method of each moving parts displacement of one embodiment of the invention.
Figure 11 is the path planning schematic diagram of one embodiment of the invention.
Embodiment
For the above objects, features and advantages of the present invention can be become apparent, the tool below in conjunction with attached drawing to the present invention
Body embodiment elaborates.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented using other different from other manner described here, therefore the present invention is from the limit of following public specific embodiment
System.
As shown in the application and claims, unless context clearly prompts exceptional situation, " one ", "one", " one
The word such as kind " and/or "the" not refers in particular to odd number, may also comprise plural number.It is, in general, that term " comprising " is only prompted to wrap with "comprising"
Include clearly identify the step of and element, and these steps and element do not form one it is exclusive enumerate, method or equipment
The step of may also including other or element.
Fig. 1 is the 3 dimensional drawing of the radiotherapy system of one embodiment of the invention.Fig. 2 is the radiation removed shown in Fig. 1
The 3 dimensional drawing of radiotherapy system after the shell of therapeutic equipment.Led incorporated by reference to reference to figure 1 and Fig. 2, radiotherapy system 1
To include radiotherapy equipment 10 and bed component 20.Radiotherapy equipment 10 includes rack 100, radiotherapy component 200, CT imaging groups
Part 300, pedestal 400, and the shell 1000 being covered in outside rack 100, radiotherapy component 200, image-forming assembly 300 and pedestal 400.
Rack 100 is general cylindrical shape, it is wholy set on pedestal 400, and can be rotated on pedestal 400.Rack 100 defines logical
Hole 110, the pivot center of rack 100 can be the horizontal middle spindle of through hole 110.Radiotherapy component 200 includes treatment head 210 and visits
Survey device 220.Detector 220 for example can be X-ray flat panel detector.In the present embodiment, detector 220 can be EPID.Control
Treatment first 210 and detector 220 are individually secured to the first side of rack 100, and in radiotherapy state, treatment head 210 and spy
Surveying device 220 is oppositely disposed in the both sides of pivot center.Image-forming assembly 300 is arranged at the second side of rack 100.Image-forming assembly
300 can be CT image-forming assemblies, magnetic resonance (MR) image-forming assembly or Positron Emission Tomography radiography (PET) image-forming assembly etc., or
Their any combination.In the present embodiment, using radiation source center as origin, using 110 axis of through hole, direction is square as Y-axis inwardly
To left hand rectangular coordinate system X-Y-Z being established using radioactive source to 220 direction of detector as Z axis positive direction, in order to which follow-up is retouched
State.It is appreciated that the origin of coordinate system can also be in other positions, such as isocenter point etc., and right-handed scale (R.H.scale) can also be established
System, can also directly use IEC (International Electrotechnical Commission, International Power committee member
Meeting) standard provide in coordinate system, the present invention this is not any limitation as.Wherein, isocenter point is the rotation axis of rack 100
With the crosspoint of the rotation axis for the treatment of head 210.
Fig. 3 is the side view of the detector supporting device of one embodiment of the invention.Fig. 4 is the detection of one embodiment of the invention
The front view of device support device.Rotated incorporated by reference to reference to figure 3 and Fig. 4, detector supporting device 230 including telescopic arm 233, first
Component 232, first translates component 231,235 and second rotary components 234 of detector bearing assembly.Detector supporting device 230
Suitable for being arranged in the accepting hole 120 of rack 100, as shown in Figure 5, Figure 6.In one embodiment, accepting hole 120 has a height of
22cm, width are the opening of 28cm.
Telescopic arm 233 can (A directions as shown in Figure 3) stretching motion along its length.In an optional embodiment
In, using 232 pivot of the first rotary components as reference zero, the length a of telescopic arm 233 can become between 65cm~95cm
Change.
First rotary components 232 can be arranged in accepting hole 120, and are connected with one end of telescopic arm 233, for driving
Telescopic arm 232 can be around the normal direction of the length direction A of telescopic arm 232 and the depth direction Y of accepting hole 120 plane determined
Rotary motion, i.e., rotate along the α directions shown in Fig. 3.In an optional embodiment, with the rotation of the first rotary components 232
The plane that axis and Y-direction determine be reference planes, and the scope of the central axis of telescopic arm 233 and the angle α 0 of the reference planes can
Think 1 °~44 °.
First translation component 231 can be used for driving the first rotary components 232 and telescopic arm 233 along accepting hole 120
Depth direction Y motion.In an optional embodiment, using the front end face 231a of the first translation component 231 as reference zero, first
It can be y=17cm~52cm to translate component 231 and drive the stroke range of the first rotary components 232 movement.It should be noted that
Above-mentioned " front end face " refers to the lateral surface that the first translation component 231 exposes from accepting hole 120.
Detector bearing assembly 235 is used to carry detector 220, it is connected with the other end of telescopic arm 233, and being capable of edge
Normal direction (the i.e. X side in Fig. 4 for the plane that the length direction A of the telescopic arm 233 and depth direction Y of accepting hole 120 is determined
To) mobile.In an optional embodiment, to be detected when the central point of detector 220 and the coplanar central axis of telescopic arm 233
The position of device bearing assembly 235 is reference zero, and the scope that the central point of detector 220 can move along the X direction is x=-
11cm~11cm.In one embodiment, detector 220 can be arranged on the upper surface of detector bearing assembly 235.In another reality
Apply in example, detector 220 can be integrated in detector bearing assembly 235.
Second rotary components 234 are arranged between detector bearing assembly 235 and telescopic arm 233, for driving detector
Bearing assembly 235 is revolved around the normal direction of the length direction A of telescopic arm 233 and the depth direction Y of accepting hole 120 plane determined
Transhipment is dynamic, i.e., is rotated along the β directions shown in Fig. 3.In an optional embodiment, using the central axis of telescopic arm 233 as base
Standard, detector bearing assembly 235 carry may range from for imaging plane and the angle β 0 of the central axis after detector 220
0.5 °~100 °.
Fig. 3 and detector supporting device illustrated in fig. 4 230 can be adapted for radiotherapy as there is shown in figs. 1 and 2
In equipment 10, detector 220 is installed on rack 100 by detector supporting device 230, according to the difference of radiotherapy equipment 10
State, is unfolded, packs up detector 220, and can realize that the three-dimensional of detector 220 is mobile.It would be appreciated that Fig. 3 and Fig. 4 institutes
The detector supporting device 230 shown can be applicable in other radiotherapy equipments, and the present invention does not limit this
System.
Fig. 5 is side perspective view of the detector supporting device of one embodiment of the invention under retracted state.It refer to figure
5, detector supporting device 230 is under retracted state, 233 and first rotary components 232 of the first rotary components 232 and telescopic arm
One end of connection is moved into the depths of accepting hole 120, and telescopic arm 233 and the angle α 0 of reference planes have less value,
Such as α 0<5 °, i.e. under recycling state, the major part of telescopic arm 233 is horizontally placed in accepting hole 120,.In one embodiment, exist
Under retracted state, detector bearing assembly 235 can be retracted, and detector bearing assembly 235 hangs down substantially with telescopic arm 233 at this time
Directly, irradiated to avoid sensor by radioactive source direct projection or for a long time, and shorten the service life, even resulted in and be damaged.It is preferred one
Embodiment in, when detector bearing assembly 235 is retracted, it has sufficiently large distance with beam centre axis along Y direction,
Such as not less than 55cm.
In addition, under retracted state, the major part of telescopic arm 233 is accommodated in accepting hole 120, detector bearing assembly
235 can be retracted, and detector supporting device 230 is exposed to the component of rack 100 and only accounts for less volume at this time, and is exposed to
The part of rack 100 is not overlapping in the axial direction with through hole 110, and therefore, detector supporting device 230 will not be with retracted state
The function of CTSIM, FBCT of scan components 300 interfere, such as when CT SIM are scanned, can support and fill to avoid detector
The bed board for putting the 230 bed components 20 with needing to move along Y-direction interferes with each other.
Fig. 6 is the side perspective view of the detector supporting device of one embodiment of the invention in the deployed state.It refer to figure
6, in unfolded state, telescopic arm 233 is stretched out from accepting hole 120, and the first rotary components 232 are moved from the depths of accepting hole 120
Move to front, simultaneous retractable arm 233, the first rotary components 232, the second rotary components 234 and detector bearing assembly 235 and distinguish
Stretched, rotation and translation, detector is moved to target location.Preferably, in use state, detector bearing assembly
Imaging plane after 235 carrying detectors 220 is parallel with the grade central plane of radiotherapy equipment 10, in favor of being carried out to launched field
Imaging.It is described to wait central plane to pass through isocenter point and the plane substantially vertical with beam centre axis.
It has been observed that detector supporting device 230 has the first translation component 231, the first rotary components 232, telescopic arm
233rd, the second rotary components 234 and detector bearing assembly 235, the first translation component 231 can make 232 He of the first rotary components
Telescopic arm 233 is moved along Y-direction as shown in Figure 3, and the first rotary components 232 can make telescopic arm 233 around α as shown in Figure 3
Direction rotates, telescopic arm 233 can (A directions as shown in Figure 3) stretching motion along its length, the second rotary components 234
Detector bearing assembly 235 can be made to be rotated around β directions as shown in Figure 3, detector bearing assembly 235 can be along such as Fig. 4 institutes
The X-direction movement shown, this five kinds of movement combinations get up, you can to realize that detector (such as shown in Figure 7 is penetrated in coverage field
Wild scope) interior Arbitrary 3 D position (m_X, m_Y, m_Z) swing, imaging region is covered the whole launched field model of beam
Enclose.Specifically, detector bearing assembly 235 can be moved along X-direction；First translation component 231 can make telescopic arm 233
Being moved along Y-direction as shown in Figure 3, the first rotary components 232 can be such that telescopic arm 233 is rotated around α directions as shown in Figure 3,
Telescopic arm 233 (A directions as shown in Figure 3) stretching motion, these three movement combinations can get up, can drive along its length
Dynamic detector bearing assembly 235 realizes the movement in Y-axis and Z-direction.In the embodiment shown in fig. 7, central plane is waited
At the position of m_Z=100cm.Preferably, the moving range of detector bearing assembly 235 is m_Z=95cm~155cm.
In one embodiment, the imaging region of detector 220 is 40x40cm2.As shown in fig. 7, at m_Z=145cm
Put, coverage field Φ=58cm, at this time, the central point of detector 220 with isocenter point when Z-direction is conllinear, detector 220
It is only capable of detecting center 40x40cm regions, can not be to the region of the -29cm in X-direction~-20cm, 20cm~29cm
Detected, the region of the -29cm in Y direction~-20cm, 20cm~29cm can not also be detected, it is therefore desirable to is logical
The first translation component 231, the first rotary components 232, telescopic arm 233 and detector bearing assembly 235 is crossed to cooperate and drive spy
Survey device 220 and move -9cm~9cm respectively in X-axis, Y direction, you can detector 220 is imaged whole coverage field.
It should be noted that the embodiment is only a kind of example, and unique embodiment of non-invention, those skilled in the art should can
With the size according to coverage field come determine detector 220 need movement scope.
Fig. 8 is the fundamental block diagram of the drive system of one embodiment of the invention.Fig. 8 is refer to, detector supporting device 230 is also
It can include drive system 236, for driving the first translation component 231, the first rotary components 232, telescopic arm 233, second to revolve
Turn the movement of one or more of component 234 and detector bearing assembly 235, detector 220 is moved to target location.Drive
Dynamic system 236 can include communication module 236a and drive module 236b.
Communication module 236a is used to receive the first translation component 231, the first rotary components 232, the rotation of telescopic arm 233, second
Turn the movement locus of one or more of component 234 and detector bearing assembly 235, and it is flat according to moving track calculation first
Move one in component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235
Person or the drive signal of more persons movement.In an optional embodiment, the first translation component 231, the first rotary components 232, stretch
The movement of contracting arm 233, the second rotary components 234 and detector bearing assembly 235 can realize that communicate mould at this time by motor
Block 236a can realize the first translation component 231, the first rotary components 232, telescopic arm 233, second according to TRAJECTORY CONTROL dot
Position ring, speed ring and the electric current loop of the motor of one or more of rotary components 234 and detector bearing assembly 235 movement
The PID of control is calculated, and exports PWM (Pulse Width Modulation) command signal.It would be appreciated that the first translation group
The movement of part 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 may be used also
By by realizing in the form of pneumatic etc., the present invention is not any limitation as this.In one embodiment, communication module 236a can lead to
Cross optical fiber and be connected with carrying out the path planning system of 230 path planning of detector supporting device, is in communication with each other, visited with realizing
Survey the control of 230 movement locus of device support device.It is to be appreciated that communication module 236a can also by other wired modes with
Path planning system connects, such as coaxial cable, twisted-pair feeder etc..Communication module 236a can also be advised wirelessly with path
The system of drawing connection, such as WLAN, NFC etc..Preferably, communication module 236a is CNNU (Control Node Unit) control panel
Card.
Drive module 236b is used for the drive signal for receiving communication module 236a outputs, and drives first according to drive signal
Translate in component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235
One or more movement.In one embodiment, drive module 236b can receive the PWM instruction letters of communication module 236a outputs
Number, and the first translation component 231, the first rotary components 232, telescopic arm 233, second are realized according to PWM command signals driving
The motor of one or more of rotary components 234 and detector bearing assembly 235 movement, and then realize the first translation component
231st, one of the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 or more
The movement of person.In one embodiment, drive module 236b can be multiaxis Driver Card, with the synchronous multiple direct current generators of driving
Movement.For example, multiaxis Driver Card can be five axis Driver Cards, six axis Driver Cards, seven axis Driver Cards etc..For example, drive
Dynamic model block 242 is six axis Driver Cards (SMCU, Six Motor Control Unit), to drive the fortune of five direct current generators
It is dynamic, it is possible to achieve to realize the first translation component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and visit
Survey being synchronized with the movement for one or more of device bearing assembly 235.
In one embodiment, drive module 236b can also monitor the first translation component 231, the first rotary components 232, stretch
One or more real-time position information in contracting arm 233, the second rotary components 234 and detector bearing assembly 235.It is specific next
Say, drive module 236b can also read the encoder information of each motor, to obtain the first translation component 231, the first rotation group
One or more real-time position information in part 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235,
And the positional information is fed back into path planning system.
Fig. 9 is the fundamental block diagram of the path planning system of one embodiment of the invention.It refer to Fig. 9, path planning system 250
Suitable for detector supporting device 230 as described above, it is mainly used for the translation of control first component 231, the first rotary components
232nd, one or more movement in telescopic arm 233, the second rotary components 234 and detector bearing assembly 235, by detector
220 are moved to target location.In one embodiment, path planning system 250 is by output control signal, such as TRAJECTORY CONTROL
Dot, realizes that the translation of control first component 231, the first rotary components 232, telescopic arm 233, second revolve to drive system 236
Turn one or more movement in component 234 and detector bearing assembly 235.Path planning system 250 can include displacement
Amount solves module 251, path planning module 252 and anticollision detection module 253.
Displacement solve module 251 can be used for according to the target location of detector 220 determine the first translation component 231,
One or more position in first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235
Shifting amount.The target location of detector 220 can use the coordinate (m_X, m_Y, m_Z) in X-Y-Z coordinate systems as shown in Figure 1
To represent, wherein, m_X represents the position of 220 central point of detector in the X-axis direction, and m_Y represents 220 central point of detector in Y
Position on direction of principal axis, m_Z represent the position of 220 central point of detector in the Z-axis direction.First translation component 231, first revolves
Turn component 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 displacement can by (y, α 0,
A, β 0, x) represent, wherein, y is distance of the central shaft with front end face 231a of the first rotary components 232, and α 0 is telescopic arm 233
Central axis and the angle of the plane determined with the rotation axis of the first rotary components 232 and Y-direction, a be the length of telescopic arm 233
Degree, β 0 are the imaging plane and the angle of the central axis of telescopic arm 233 after the carrying detector 220 of detector bearing assembly 235,
X is the central point of detector 220 and hanging down for the plane that is determined with the central axis of the central point of detector 220 and telescopic arm 233
Straight distance.
Can be in the hope of target location (m_X, the m_ of detector 220 by the position relationship of Fig. 3-each inter-module illustrated in fig. 7
Y, m_Z) carried with the first translation component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector
The functional relation of the displacement of component 235, such as obtained as described below according to geometrical relationship：
Wherein, GantryToIso is that the reference zero (i.e. front end face 231a) of the first translation component 231 arrives isocenter point
Y direction distance, as shown in Figure 3；Arm1ToIso be the first rotary components 232 central shaft to grade central plane Z-direction
Distance, as shown in Figure 3；ElbowToPanelCenter is the central shaft of the second rotary components 234 to 220 central point of detector
Y direction distance, as shown in Figure 3；Elbow2PanelTop is that the central shaft of the second rotary components 234 is detected to detector 220
The Z-direction distance in face；L is the distance for waiting central plane apart from radiation source center, it is therefore preferable to 100cm, as shown in Figure 7.This
Field technology personnel it would be appreciated that, above-mentioned functional relation (1) can also be calculated by homogeneous coordinates matrix.
From functional relation (1), detector 220 X-direction position m_X by detector bearing assembly 235
Displacement uniquely determines, and detector 220 is revolved in position m_Y, m_Z of Y-axis and Z-direction by the first translation component 231, first
The displacement for turning 233 these three components of component 232 and telescopic arm determines jointly.Therefore, for a target position of detector 220
Put (m_X, m_Y, m_Z), by functional relation 1 it is Converse solved go out the result is that more solutions.
Equation optimal solution in order to obtain, displacement solve module 251 can according to downstream condition to result of calculation into
Row optimization and automatic selection：
(1) telescopic arm 233 cannot collide with accepting hole 120.If the length of the telescopic arm 233 in accepting hole compared with
In the case of length, when the moving displacement amount of the first rotary components 232 is larger, it may result in telescopic arm 233 and sent out with accepting hole 120
Raw collision；
(2) maximize the geometric stiffness of detector supporting device 230, missed with reducing to position caused by gravity elastic deformation
Difference.The geometric stiffness of detector supporting device 230 is mainly determined that the stretching of telescopic arm 233 is grown by the extension elongation of telescopic arm 233
Degree is shorter, and the geometric stiffness of detector supporting device 230 is bigger.
Figure 10 is the basic flow chart of the Converse solved method of each moving parts displacement of one embodiment of the invention.It please join
Figure 10 is examined, the Converse solved method 3 of each moving parts displacement includes：
Step 31：The target location of pick-up probe 220.
Step 32：Target location is detected whether in coverage field, if it is not, then jumping to step 33；If so, then perform step
Rapid 34.
Step 33：Optimization terminates.
Step 34：Set predetermined displacement amount a.To maximize the geometric stiffness of detector supporting device 230, held first
During the row step, a is set to take the minimum value of its range of movement.
Step 35：According to the coordinate of detector 220 and the first translation component 231, the first rotary components 232, telescopic arm
233rd, the relation (such as formula 1) between the second rotary components 234 and the displacement of detector bearing assembly 235 solves (y, α 0),
In the hope of the displacement of the first translation 231 and first rotary components 232 of component.
Step 36：Range of movement detection is carried out to analysis result (a, y, α 0).If analysis result (a, y, α 0) is not moving
Scope, illustrates that analysis result is unreasonable, performs step 38, to carry out solution next time；If analysis result (a, y, α 0) is being transported
In dynamic scope, illustrate that analysis result is reasonable, step 37 is performed, to carry out follow-up detection.
Step 37：Anticollision detection is carried out to analysis result (a, y, α 0).If analysis result cannot illustrate solution by detection
It is unreasonable to analyse result, performs step 38, to carry out solution next time；If analysis result can illustrate parsing knot by detection
Fruit is reasonable, performs step 39.Wherein anticollision detection can be detected using anticollision detection model, it can be used such as
Lower principle is realized：According to the monnolithic case of displacement (y, a, x, α 0, β 0) the calculating detector support device 230 solved with
The relative position of the inner wall of accepting hole 120, to detect whether to collide.
Step 38：Make the moving displacement of telescopic arm 233 increase Δ S, and return to step 34.At this time, a=a+ Δs S, wherein,
The a on the equal sign left side is the displacement of the telescopic arm 233 of subsequent cycle, and a on the right of equal sign is the position of the telescopic arm 233 of previous cycle
Shifting amount.
Step 39：Export optimal analysis result (y, a, x, α 0, β 0).Wherein, according to formula 1, x=m_X, β 0=α 0.
Path planning module 252 can solve the displacement that module 251 solves according to displacement and be supported into row detector
The trajectory path planning of device 230.Path planning module 252 is used for realization the first translation component 231, the first rotary components
232nd, the synchronous coordination movement of telescopic arm 233, the second rotary components 234 and detector bearing assembly 235, by detector 220
It is moved to target location.
During the actual pendulum position of detector 220, if first translates component 231, the first rotary components 232, stretches
The movement position of arm 233 and speed coordination are bad, and telescopic arm 233 can be caused to collide during position is put with accepting hole 120,
Defective detector support device 230.In order to avoid the risk of collision during pendulum position, existing detector 220 puts position process one
As use substep movement control mode, i.e., first telescopic arm 233 is translated out out of accepting hole 120 to come, then controls the first rotation again
Turn the movement of component 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235.This substep control mode
Although can risk to avoid collision, detector 220 can be caused to put position long with recovery time, influence work efficiency.
To solve the above-mentioned problems, path planning module 252 can be to the first translation component 231, the first rotary components
232nd, the motion path of telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 carries out Automatic Optimal, and to pendulum
Tracing point during position is controlled in real time, realizes the first translation component 231, the first rotary components 232, telescopic arm 233, the
Two rotary components 234 and 235 synchronous interaction of detector bearing assembly pendulum position, reduce pendulum position and the recovery time of detector 220, together
When detector supporting device 230 can be avoided to collide with accepting hole 120.
In one embodiment, path planning module 252 may include steps of when carrying out path planning：
A. displacement (y, α 0, a, β 0, x) is assigned to m subinterval, m=1,2 ..., the boundary point in each subinterval is
The control node of path planning.Wherein, being assigned to the displacement ratio in each subinterval can adaptively adjust.Preferably, can be with
Displacement (y, α 0, a, β 0, x) is evenly distributed to m subinterval.If increase by there are risk of collision on path planning
One translation component 231 and displacement ratio weight of the telescopic arm 233 in above subinterval (i.e. the less subinterval of m values), and reduce
Displacement ratio weight of first rotary components 232 in above subinterval.Wherein, the information that each control node includes has：First
Translate one in component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235
Person or more persons reach time, preset target position, pre-set velocity and the predetermined acceleration of node.
B. by control node PiCorresponding positional information is updated to anticollision detection model, detects detector supporting device
Whether 230 can collide with accepting hole 120, if can collide, return to step a, will control if will not collide
Node PiThe path of expression is exported as optimal path.
In another embodiment, path planning module 252 may include steps of when carrying out path planning：
A. displacement (y, α 0, a, β 0, x) is assigned to m subinterval, m=1,2 ..., the boundary point P in each subintervali
For the control node of path planning, as shown in figure 11, wherein, being assigned to the displacement ratio in each subinterval can adaptively adjust
It is whole.Preferably, displacement (y, α 0, a, β 0, x) can be evenly distributed to m subinterval.If there is collision on path planning
Risk, then increase the first translation component 231 and Displacement Ratio of the telescopic arm 233 in above subinterval (i.e. the less subinterval of m values)
Example weight, and reduce displacement ratio weight of first rotary components 232 in above subinterval.
B. controlled in real time to put the tracing point during position to detector 220, trajectory planning module 252 uses company
Continuous TRAJECTORY CONTROL pattern (PT patterns) carries out trajectory planning to the motion path in each subinterval, i.e., is generated in each subinterval
One or more TRAJECTORY CONTROL dot Cpi, as shown in figure 11.Preferably, a rail can be generated in subinterval every 20ms
Mark control dot Cpi.Each TRAJECTORY CONTROL dot CpiComprising information have：First translation component 231, the first rotary components 232,
In telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 one or more reach TRAJECTORY CONTROL dot when
Between ti, the preset target position Pos of TRAJECTORY CONTROL doti, the pre-set velocity Vel of TRAJECTORY CONTROL doti, TRAJECTORY CONTROL dot
Predetermined acceleration Acci。
C. the path progress anticollision detection during position is put to detector 220.For a programming movement path, by road
All TRAJECTORY CONTROL dot Cp on footpathiCorresponding positional information substitutes into anticollision detection model, detection detector support dress
Put whether 230 can collide with accepting hole 120.If all TRAJECTORY CONTROL dot Cp on pathiCorresponding positional information
It can be transferred through anticollision detection, then it is assumed that detector supporting device 230 is not in during multicompartment linkage swinging position is carried out
Risk of collision, and exported using current path as optimal path；If anticollision testing result fails, then it is assumed that when preplanning road
Footpath is not optimal path, return to step a, divides the motion path re-optimization of detector supporting device 230 there are risk of collision
Match somebody with somebody.
Anticollision detection module 253 can be established according to the position relationship of detector supporting device 230 and accepting hole 120 and touched
Model is hit, when being moved to detect the path planning of support device 230, if can collide with accepting hole 120.In an embodiment
In, anticollision detection model can be realized using following principle：Calculated and visited according to the displacement (y, a, x, α 0, β 0) solved
The relative position of the monnolithic case of device support device 230 and the inner wall of accepting hole 120 is surveyed, to detect whether to collide.
In another embodiment, anticollision detection module 253 can also be according to the therapeutic bed of detector supporting device 230 and radiotherapy apparatus 1
20 position relationship establishes collision model, when being moved with detecting the path planning of support device 230, if can be sent out with therapeutic bed 20
Raw collision.Such as whether can be overlapped by calculating detector support device 230 and the position of therapeutic bed 20, so that it is determined that being
It is no to collide.
Generally, for a target location (m_X, m_Y, m_Z) of detector 220, detector supporting device 230
It is as follows to put position control flow：
1) first translation component 231, the first rotary components 232, telescopic arm 233, second revolve in detector supporting device 230
Turn the Converse solved of 235 displacement of component 234 and detector bearing assembly and optimization：For the goal-selling position of detector 220
Put (m_X, m_Y, m_Z), displacement solves module 251 and determines the first translation component 231, the first rotary components 232, telescopic arm
233rd, optimum displacement decomposition amount y, α 0, a, β 0, the x of the second rotary components 234 and detector bearing assembly 235；
2) detector supporting device 230 puts position path Automatic Optimal and trajectory planning：Determine first translation component 231,
First rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 respective optimum displacement point
After solution amount y, α 0, a, β 0, x, path planning module 252 determines that detector supporting device 230 puts the optimum programming path of position, and
TRAJECTORY CONTROL parameter on path optimizing.Under the path optimizing, the first translation component 231, the first rotary components 232, stretch
Arm 233, the second rotary components 234 and 235 synchronous interaction of detector bearing assembly pendulum position, minimize detector 220 pendulum position with
Recovery time, while avoid detector supporting device 230 from colliding during position is put with accepting hole 120；
3) pendulum position motion control in real time：Determining the first translation component 231, the first rotary components 232, telescopic arm 233, the
After TRAJECTORY CONTROL parameter on the optimization motion path and path planning of two rotary components 234 and detector bearing assembly 235,
Path planning system 250 starts to perform the pendulum position control of detector supporting device 230.
During 3a) detector supporting device 230 puts position, path planning system 250 sends one every a scheduled time
Control node or TRAJECTORY CONTROL dot CpiGive communication module 236a, control node and TRAJECTORY CONTROL dot CpiFirst is included respectively
Translate the reality of component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235
Shi Yundong control parameters, including predetermined movement time, preset target position, pre-set velocity, predetermined acceleration；
3b) obtaining control node or the TRAJECTORY CONTROL dot Cp that path planning system 250 issuesi(ti,Posi,Veli,
Acci) after, communication module 236a is responsible for translating component 231, the first rotary components 232 according to moving track calculation first, stretches
The drive signal of one or more of arm 233, the second rotary components 234 and detector bearing assembly 235 movement, and will driving
Signal output gives drive module 236b, such as the PID of actuating motor position ring, speed ring, current loop control to calculate, and exports
PWM command signals give drive module 236b.
3c) after the drive signal that communication module 236a is issued is obtained, drive module 236b is responsible for being driven according to drive signal
Dynamic first translation component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly
One or more of 235 movements, such as pwm control signal is exported, the translation of driving first component 231, the first rotary components
232nd, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 are synchronized with the movement, and complete TRAJECTORY CONTROL order.From
And realize the translation of control first component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector and hold
Component 235 is carried in ti-ti-1In time interval, with pre-set velocity Veli, predetermined acceleration Acci, reach track preset target position
Posi。
All control node P on path planning has been performediWith TRAJECTORY CONTROL dot Cpi(ti,Posi,Veli,Acci)
Afterwards, the first translation component 231, the first rotary components 232, telescopic arm 233, the second rotary components 234 and detector bearing assembly
235 moving displacement is respectively y, α 0, a, β 0, x, and detector 220, which is right up to, at this time puts position target location (m_X, m_Y, m_
Z), the pendulum position control flow of detector 220 is completed.
Similarly, in the withdrawal process of detector supporting device 230, the first translation component 231, the first rotary components
232nd, telescopic arm 233, the second rotary components 234 and detector bearing assembly 235 are along former path optimizing reverse movement, you can with
Realize the linkage of 230 multicompartment part of detector supporting device while withdraw, and avoid detector supporting device 230 and accepting hole 120
Collide.
Above-mentioned path planning system 250 is also suitable for the mobile route of the detector supporting device of other structures into professional etiquette
Draw.For example, displacement solves the displacement that module 251 solves each component of detector supporting device according to the target location of detector
Amount, detector supporting device is carried out using path planning module 252 according to the displacement that displacement solution module 251 solves
Path planning.In the case where needing to carry out anticollision detection, path planning system 250 can also include anticollision detection module
Detected for anticollision.Different detector supporting devices can be realized by the path planning system 250 in the embodiment of the present invention
Path planning.
It is further to note that in the context of this application " vertical ", it is " parallel " not be only defined in reason
By upper vertical, parallel, but certain deviation can be had according to specific scene, for example there is -0.3 °~0.3 °, -
0.5 °~0.5 °, -1 °~1 °, -3 °~3 °, -5 °~5 °, -10 °~10 ° of deviation may be embodied in it is described herein " hang down
Directly ", in the range of " parallel ".
Although the present invention is described with reference to current specific embodiment, those of ordinary skill in the art
It should be appreciated that the embodiment of the above is intended merely to the explanation present invention, can also make in the case of without departing from spirit of the invention
Go out various equivalent change or replacement, therefore, as long as change, change in the spirit of the present invention to above-described embodiment
Type will all fall in the range of following claims.
Claims (15)
1. a kind of detector supporting device, suitable for being arranged in the accepting hole of rack, is used to support detector, it includes：
Telescopic arm, being capable of stretching motion along its length；
First rotary components, are arranged in the accepting hole, and are connected with one end of the telescopic arm, described flexible for driving
The normal direction rotary motion for the plane that arm is determined around the length direction of the telescopic arm and the depth direction of the accepting hole；
First translation component, for driving first rotary components and the telescopic arm to be transported along the depth direction of the accepting hole
It is dynamic；
Detector bearing assembly, for carrying the detector, it is connected with the other end of the telescopic arm, and can be along described
The normal direction for the plane that the depth direction of the length direction of telescopic arm and the accepting hole determines moves；And
Second rotary components, are arranged between the detector bearing assembly and the telescopic arm, for driving the detector
The normal direction for the plane that bearing assembly is determined around the length direction of the telescopic arm and the depth direction of the accepting hole rotates
Movement.
2. detector supporting device according to claim 1, it is characterised in that drive system is further included, for driving
State telescopic arm, first rotary components, the first translation component, the detector bearing assembly and the second rotation group
One or more of part moves, and detector is moved to target location.
3. detector supporting device according to claim 2, it is characterised in that the drive system includes：
Communication module, for receiving the telescopic arm, first rotary components, the first translation component, the detector
The movement locus of one or more of bearing assembly and second rotary components, and according to the moving track calculation
Telescopic arm, first rotary components, the first translation component, the detector bearing assembly and second rotary components
One or more of movement drive signal；And
Drive module, the telescopic arm, first rotation are driven for receiving the drive signal, and according to the drive signal
Turn one or more of component, the first translation component, the detector bearing assembly and second rotary components fortune
It is dynamic.
4. detector supporting device according to claim 3, it is characterised in that the movement locus include multiple nodes with
And information corresponding with each node, the information corresponding with each node include：The telescopic arm, first rotary components,
One or more of described first translation component, the detector bearing assembly and described second rotary components reach the section
Time, preset target position, pre-set velocity and the predetermined acceleration of point.
5. detector supporting device according to claim 3, it is characterised in that the drive module is additionally operable to described in monitoring
Telescopic arm, first rotary components, the first translation component, the detector bearing assembly and second rotary components
One or more of real-time position information.
A kind of 6. path planning system, suitable for such as claim 1 to 5 any one of them detector supporting device, for controlling
Make the telescopic arm, first rotary components, the first translation component, the detector bearing assembly and second rotation
Turn the movement of one or more of component, the detector is moved to target location, it includes：
Displacement solves module, for determining the telescopic arm, the first rotation group according to the target location of the detector
The displacement of one or more of part, the first translation component, the detector bearing assembly and second rotary components
Amount；
Path planning module, for carrying out the trajectory path planning of the detector supporting device according to the displacement；And
Anticollision detection module, for establishing anticollision according to the position relationship of the detector supporting device and the accepting hole
Detection model, and carry out anticollision detection.
7. path planning system according to claim 6, it is characterised in that the displacement solves module according to following former
Then determine the displacement：
Under conditions of the detector supporting device does not collide with the accepting hole, the detector support dress is maximized
The rigidity put.
8. path planning system according to claim 6, it is characterised in that the path planning module performs following steps
To carry out trajectory path planning：
A. the displacement is assigned to multiple subintervals, each control section of the boundary point in the subinterval as path planning
Point；
B. the corresponding positional information of the control node is substituted into the anticollision detection model, detects the detector support dress
Whether put can collide with the accepting hole, if can collide, return to step a, if will not collide, by described in
The path that control node represents is exported as optimal path.
9. path planning system according to claim 6, it is characterised in that the path planning module performs following steps
To carry out trajectory path planning：
A. the displacement is assigned to multiple subintervals, each control section of the boundary point in the subinterval as path planning
Point；
B. one or more TRAJECTORY CONTROL dots are generated in each subinterval；
C. the corresponding positional information of all TRAJECTORY CONTROL dots on programming movement path is substituted into the anticollision to examine
Model is surveyed, detects whether the detector supporting device can collide with the accepting hole, if can collide, returns to step
Rapid a, if will not collide, exports the programming movement path as optimal path.
10. a kind of radiotherapy equipment, including rack, treatment head, detector, the treatment head and the detector are relatively set
The rack is placed in, the detector is installed on the rack by detector supporting device, it is characterised in that in the rack
An accepting hole is defined, for housing the detector supporting device.
11. radiotherapy equipment according to claim 10, it is characterised in that the detector supporting device includes：
Telescopic arm, being capable of stretching motion along its length；
First rotary components, are arranged in the accepting hole, and are connected with one end of the telescopic arm, described flexible for driving
The normal direction rotary motion for the plane that arm is determined around the length direction of the telescopic arm and the depth direction of the accepting hole；
First translation component, for driving the depth direction of the first rotary components part and the telescopic arm along the accepting hole
Movement；
Detector bearing assembly, for carrying the detector, it is connected with the other end of the telescopic arm, and can be along described
The normal direction for the plane that the depth direction of the length direction of telescopic arm and the accepting hole determines moves；And
Second rotary components, are arranged between the detector bearing assembly and the telescopic arm, for driving the detector
The normal direction for the plane that bearing assembly is determined around the length direction of the telescopic arm and the depth direction of the accepting hole rotates
Movement.
12. radiotherapy equipment according to claim 11, it is characterised in that drive system is further included, for driving
State telescopic arm, first rotary components, the first translation component, the detector bearing assembly and the second rotation group
One or more of part moves, and detector is moved to target location.
13. radiotherapy equipment according to claim 12, it is characterised in that the drive system includes：
Communication module, for receiving the telescopic arm, first rotary components, the first translation component, the detector
The movement locus of one or more of bearing assembly and second rotary components, and according to the moving track calculation
Telescopic arm, first rotary components, the first translation component, the detector bearing assembly and second rotary components
One or more of movement drive signal；And
Drive module, the telescopic arm, first rotation are driven for receiving the drive signal, and according to the drive signal
Turn one or more of component, the first translation component, the detector bearing assembly and second rotary components fortune
It is dynamic.
14. radiotherapy equipment according to claim 13, it is characterised in that the movement locus include multiple nodes with
And information corresponding with each node, the information corresponding with each node include：The telescopic arm, first rotary components,
One or more of described first translation component, the detector bearing assembly and described second rotary components reach the section
Time, preset target position, pre-set velocity and the predetermined acceleration of point.
15. radiotherapy equipment according to claim 13, it is characterised in that the drive module is additionally operable to described in monitoring
Telescopic arm, first rotary components, the first translation component, the detector bearing assembly and second rotary components
One or more of real-time position information.
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