CN107929956B - 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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- CN107929956B CN107929956B CN201711242718.1A CN201711242718A CN107929956B CN 107929956 B CN107929956 B CN 107929956B CN 201711242718 A CN201711242718 A CN 201711242718A CN 107929956 B CN107929956 B CN 107929956B
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
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- A61N5/1048—Monitoring, verifying, controlling systems and methods
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- A—HUMAN NECESSITIES
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Abstract
The invention provides a detector supporting device, a path planning system and radiotherapy equipment. The detector supporting device is suitable for supporting the detector in the radiotherapy equipment, the detector can be folded and unfolded according to different using states, and in the folded state, the detector supporting device cannot interfere with functions of the CT SIM and the like of the radiotherapy equipment. The path planning system is suitable for calculating and optimizing the displacement and the motion trail of each motion component in the detector supporting device so as to avoid collision between the detector supporting device and an accommodating hole for accommodating the detector supporting device and minimize the positioning time of the detector.
Description
Technical Field
The invention mainly relates to radiotherapy equipment based on image guidance, in particular to a detector supporting device and a path planning system.
Background
In order to realize precise radiotherapy and improve the tumor treatment efficiency, Image-guided radiation therapy (IGRT) is widely used in clinical practice, wherein an Electronic Portal Imaging Device (EPID) is the most commonly used Image-guided Device for IGRT, and can precisely position the tumor before or during treatment, help doctors determine whether the patient is positioned accurately, determine whether the tumor position or shape changes, and the like, so as to reduce the possibility of irradiation of normal tissues, reduce side effects, and improve the treatment efficiency.
At present, a medical Linear Accelerator (LINAC) produced by national countries and Elekta (medical science and technology) in China can only image at a fixed SID height, an EPID flat plate can move along the horizontal direction of two dimensions of an X axis and a Y axis but cannot move along the vertical direction of a Z axis, and an EPID imaging area cannot cover the whole radiation field area of the LINAC. Varian (Warran) has designed an EPID support arm that enables EPID imaging at different SID heights with a multi-axis robot arm, with the retrieval park position of the EPID support arm near the LINAC isocentric plane.
An integrated CT guided linear accelerator is developed by the company medical science and technology limited, the medical linear accelerator and a CT scanning and positioning machine (CT SIM) are integrated, the occupied space of equipment is greatly saved, and meanwhile, the function of precise radiotherapy based on FBCT (FAN BEAM CT, FAN-BEAM CT) image guidance is also provided. For such an integrated CT guided linear accelerator, the CT scanning aperture occupies a large area near the LINAC isocenter, and the retrieval parking position of the EPID support arm is limited in order to avoid interference between the parking position of the EPID support arm and the CT SIM function.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a detector supporting device and a path planning system thereof, wherein the detector supporting device does not interfere with the function of a CT SIM, and an imaging area of a detector can cover the whole field area, and the detector supporting device has the characteristics of high motion precision, shortened motion time and the like.
In order to solve the above technical problem, the present invention provides a detector supporting device, which is suitable for being disposed in an accommodating hole of a rack, and is used for supporting a detector, and the detector supporting device includes: a telescopic arm which can be telescopically moved along the length direction thereof; the first rotating assembly is arranged in the accommodating hole, is connected with one end of the telescopic arm and is used for driving the telescopic arm to rotate around the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole; the first translation assembly is used for driving the first rotating assembly and the telescopic arm to move along the depth direction of the accommodating hole; the detector bearing assembly is used for bearing the detector, is connected with the other end of the telescopic arm and can move along the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole; and the second rotating assembly is arranged between the detector bearing assembly and the telescopic arm and used for driving the detector bearing assembly to rotate around the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole.
In an embodiment of the present invention, the probe supporting apparatus further includes a driving system for driving one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly and the second rotating assembly to move so as to move the probe to the target position.
In an embodiment of the present invention, the driving system includes: a communication module, configured to receive a motion trajectory of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly, and calculate a driving signal for one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly to move according to the motion trajectory; and the driving module is used for receiving the driving signal and driving one or more of the telescopic arm, the first rotating assembly, the first translation assembly, the detector bearing assembly and the second rotating assembly to move according to the driving signal.
In an embodiment of the present invention, the motion trajectory includes a plurality of nodes and information corresponding to each node, where the information corresponding to each node includes: a time, a preset target position, a preset velocity, and a preset acceleration at which one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly, and the second rotating assembly reaches the node.
In an embodiment of the invention, the drive module is further configured to monitor real-time position information of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly and the second rotating assembly.
Another aspect of the present invention also provides a path planning system, adapted to the probe supporting apparatus as described above, for controlling the movement of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly and the second rotating assembly to move the probe to a target position, the path planning system comprising: a displacement solving module for determining the displacement of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly and the second rotating assembly according to the target position of the probe; the path planning module is used for planning the motion path of the detector supporting device according to the displacement; and the anti-collision detection module is used for establishing an anti-collision detection model according to the position relation between the detector supporting device and the accommodating hole and carrying out anti-collision detection.
In an embodiment of the invention, the displacement solving module determines the displacement according to the following principle: the rigidity of the probe supporting device is maximized under the condition that the probe supporting device does not collide with the accommodating hole.
In an embodiment of the present invention, the path planning module performs the following steps to plan the motion path: a. distributing the displacement to a plurality of subintervals, wherein the boundary point of each subinterval is used as a control node for path planning; b. and substituting the position information corresponding to the control node into the anti-collision detection model, detecting whether the detector supporting device collides with the accommodating hole or not, if so, returning to the step a, and if not, outputting the path represented by the control node as an optimal path.
In an embodiment of the present invention, the path planning module performs the following steps to plan the motion path: a. distributing the displacement to a plurality of subintervals, wherein the boundary point of each subinterval is used as a control node for path planning; b. generating one or more trajectory control dots within each of the subintervals; c. and b, substituting the position information corresponding to all the small track control points on the planned motion path into the anti-collision detection model, detecting whether the detector supporting device collides with the accommodating hole or not, if so, returning to the step a, and if not, outputting the planned motion path as an optimal path.
In a further aspect of the present invention, there is provided a radiotherapy apparatus comprising a gantry, a treatment head and a probe, the treatment head and the probe being oppositely disposed on the gantry, the probe being mounted to the gantry via a probe support means, wherein the gantry defines a receiving hole for receiving the probe support means.
In an embodiment of the present invention, the probe supporting device includes: a telescopic arm which can be telescopically moved along the length direction thereof; the first rotating assembly is arranged in the accommodating hole, is connected with one end of the telescopic arm and is used for driving the telescopic arm to rotate around the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole; the first translation assembly is used for driving the first rotating assembly and the telescopic arm to move along the depth direction of the accommodating hole; the detector bearing assembly is used for bearing the detector, is connected with the other end of the telescopic arm and can move along the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole; and the second rotating assembly is arranged between the detector bearing assembly and the telescopic arm and used for driving the detector bearing assembly to rotate around the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole.
In an embodiment of the present invention, the probe supporting apparatus further includes a driving system for driving one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly and the second rotating assembly to move so as to move the probe to the target position.
In an embodiment of the present invention, the driving system includes: a communication module, configured to receive a motion trajectory of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly, and calculate a driving signal for one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly to move according to the motion trajectory; and the driving module is used for receiving the driving signal and driving one or more of the telescopic arm, the first rotating assembly, the first translation assembly, the detector bearing assembly and the second rotating assembly to move according to the driving signal.
In an embodiment of the present invention, the motion trajectory includes a plurality of nodes and information corresponding to each node, where the information corresponding to each node includes: a time, a preset target position, a preset velocity, and a preset acceleration at which one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly, and the second rotating assembly reaches the node.
In an embodiment of the invention, the drive module is further configured to monitor real-time position information of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly and the second rotating assembly.
In another aspect, the present invention provides a radiotherapy apparatus, which includes a gantry, a treatment head, a detector, wherein the treatment head and the detector are oppositely disposed on the gantry, and the detector is mounted on the gantry through a detector support device, and the radiotherapy apparatus further includes a path planning system for planning a moving path of the detector support device.
In an embodiment of the present invention, the frame defines a receiving hole for receiving at least a part of the components of the detector supporting device.
In an embodiment of the present invention, the path planning system includes an anti-collision detection module, configured to detect whether the probe supporting device collides with the accommodating hole in the moving path.
In an embodiment of the invention, the path planning system comprises an anti-collision detection module for detecting whether the detector support device collides with a treatment couch of the radiotherapy apparatus in the moving path.
Compared with the prior art, the invention has the following advantages:
when the detector is not used, the detector supporting device can be retracted into a containing hole of an assembly in the machine frame, and the containing hole is positioned below the CT scanning annular hole, so that the functions of a CT SIM and the like cannot be interfered with by the detector supporting device in the retracted position.
The detector can move along three dimensions of an X axis, a Y axis and a Z axis, and the imaging area of the detector can cover the whole radiation field area of the LINAC.
In the positioning process of the detector supporting device, the displacement decomposition amount of each moving component of the detector supporting device is automatically optimized, the geometric error caused by gravity elastic deformation is reduced, and the positioning precision is improved.
The path planning system can automatically optimize the motion paths of the motion components of the detector supporting device, and real-time control is performed on track points in the positioning process, so that synchronous linkage positioning of the motion components of the detector supporting device is realized, positioning and recovery time of the detector supporting device is minimized, collision of the detector supporting device with the accommodating hole in the positioning process is avoided, and the positioning work efficiency and safety of the detector supporting device are improved.
Drawings
FIG. 1 is a three-dimensional perspective view of a radiation therapy system in accordance with an embodiment of the present invention.
Fig. 2 is a three-dimensional perspective view of the radiation therapy system shown in fig. 1 with the housing of the radiation therapy device removed.
FIG. 3 is a side view of a probe support apparatus according to an embodiment of the present invention.
FIG. 4 is a front view of a probe support apparatus according to an embodiment of the present invention.
FIG. 5 is a side perspective view of a sonde support assembly according to one embodiment of the present invention in a retracted position.
FIG. 6 is a side perspective view of a sonde support assembly according to one embodiment of the present invention in an extended position.
Fig. 7 is a schematic view of a beam of a radiotherapy apparatus according to an embodiment of the present invention.
Fig. 8 is a basic block diagram of a drive system of an embodiment of the present invention.
Fig. 9 is a basic block diagram of a path planning system according to an embodiment of the present invention.
Fig. 10 is a basic flowchart of a method for solving the inverse of the displacement of each moving element according to an embodiment of the present invention.
Fig. 11 is a schematic diagram of path planning according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
FIG. 1 is a three-dimensional perspective view of a radiation therapy system in accordance with an embodiment of the present invention. Fig. 2 is a three-dimensional perspective view of the radiation therapy system shown in fig. 1 with the housing of the radiation therapy device removed. Referring to fig. 1 and 2 in combination, a radiation therapy system 1 generally includes a radiation therapy device 10 and a couch assembly 20. The radiation therapy device 10 includes a gantry 100, a radiation therapy assembly 200, a CT imaging assembly 300, a base 400, and a housing 1000 that covers the exterior of the gantry 100, the radiation therapy assembly 200, the imaging assembly 300, and the base 400. The housing 100 has a substantially cylindrical shape, is integrally provided on the base 400, and is rotatable on the base 400. The housing 100 defines a through hole 110, and the rotation axis of the housing 100 may be a horizontal central axis of the through hole 110. Radiation therapy assembly 200 includes a treatment head 210 and a detector 220. The detector 220 may be, for example, an X-ray flat panel detector. In this embodiment, the probe 220 may be an EPID. The treatment head 210 and the detector 220 are respectively fixed to a first side of the gantry 100, and in a radiation treatment state, the treatment head 210 and the detector 220 are oppositely arranged at two sides of the rotation axis. The imaging assembly 300 is disposed on a second side of the gantry 100. The imaging assembly 300 may be a CT imaging assembly, a Magnetic Resonance (MR) imaging assembly, a Positron Emission Tomography (PET) imaging assembly, or the like, or any combination thereof. In this embodiment, a left-hand rectangular coordinate system X-Y-Z is established with the center of the radiation source as the origin, the inward direction of the axis of the through hole 110 as the positive Y-axis direction, and the direction from the radiation source to the detector 220 as the positive Z-axis direction, so as to facilitate the following description. It is understood that the origin of the coordinate system may be at other positions, such as an isocenter, etc., and a right-hand coordinate system may also be established, or a coordinate system in a standard specification of IEC (International Electrotechnical Commission) may be directly used, which is not limited by the present invention. Wherein the isocenter is the intersection of the rotational axis of the gantry 100 and the rotational axis of the treatment head 210.
FIG. 3 is a side view of a probe support apparatus according to an embodiment of the present invention. FIG. 4 is a front view of a probe support apparatus according to an embodiment of the present invention. Referring to fig. 3 and 4, the probe supporting device 230 includes a telescopic arm 233, a first rotating assembly 232, a first translating assembly 231, a probe carrying assembly 235 and a second rotating assembly 234. The probe supporting device 230 is adapted to be disposed in the receiving hole 120 of the rack 100, as shown in fig. 5 and 6. In one embodiment, the receiving hole 120 has an opening with a height of 22cm and a width of 28 cm.
The telescopic arm 233 can be telescopically moved in its length direction (direction a as shown in fig. 3). In an alternative embodiment, the length a of the telescopic arm 233 may vary between 65cm and 95cm with the center of rotation of the first rotating assembly 232 as a reference zero point.
The first rotating element 232 may be disposed in the receiving hole 120 and connected to one end of the telescopic arm 233, so as to drive the telescopic arm 232 to rotate around a normal direction of a plane defined by the length direction a of the telescopic arm 232 and the depth direction Y of the receiving hole 120, that is, around a direction α shown in fig. 3, in an alternative embodiment, a plane defined by the rotation axis of the first rotating element 232 and the Y direction is taken as a reference plane, and an included angle α 0 between a central axis of the telescopic arm 233 and the reference plane may range from 1 ° to 44 °.
The first translating element 231 can be used to drive the first rotating element 232 and the telescopic arm 233 to move along the depth direction Y of the receiving hole 120. In an alternative embodiment, the stroke range of the first translating element 231 driving the first rotating element 232 to move may be y-17 cm-52 cm, taking the front end surface 231a of the first translating element 231 as a reference zero point. The "front end surface" refers to an outer side surface of the first translation unit 231 exposed from the accommodation hole 120.
The probe carrier assembly 235 is used for carrying the probe 220, is connected to the other end of the telescopic arm 233, and is capable of moving in a normal direction (i.e., X direction in fig. 4) of a plane defined by the length direction a of the telescopic arm 233 and the depth direction Y of the receiving hole 120. In an alternative embodiment, the central point of the probe 220 can move along the X direction in a range of-11 cm to 11cm, taking the position of the probe carrier assembly 235 as a reference zero point when the central point of the probe 220 is coplanar with the central axis of the telescopic arm 233. In one embodiment, the probe 220 may be disposed on an upper surface of the probe carrier assembly 235. In another embodiment, the probe 220 may be integrated into the probe carrier assembly 235.
The second rotating assembly 234 is disposed between the probe bearing assembly 235 and the telescopic arm 233, and is configured to drive the probe bearing assembly 235 to rotate around a normal direction of a plane defined by the length direction a of the telescopic arm 233 and the depth direction Y of the accommodating hole 120, that is, along the β direction shown in fig. 3, in an alternative embodiment, an included angle β 0 between an imaging plane of the probe bearing assembly 235 bearing the probe 220 and the central axis may range from 0.5 ° to 100 ° with respect to the central axis of the telescopic arm 233.
The detector support 230 shown in fig. 3 and 4 may be applied to the radiotherapy apparatus 10 shown in fig. 1 and 2, the detector 220 is mounted to the gantry 100 through the detector support 230, the detector 220 is deployed and retracted according to different states of the radiotherapy apparatus 10, and three-dimensional movement of the detector 220 can be realized. It should be understood that the detector support 230 shown in fig. 3 and 4 may also be adapted for use in other radiation treatment apparatus, and the present invention is not limited thereto.
Referring to fig. 5, in the retracted state of the probe supporting device 230, the first rotating element 232 and the end of the telescopic arm 233 connected to the first rotating element 232 are moved to the depth of the receiving hole 120, and the included angle α 0 between the telescopic arm 233 and the reference plane is smaller, such as α 0<5 °, in the retracted state, the most part of the telescopic arm 233 is located in the receiving hole 120, in the retracted state, in one embodiment, the probe carrier 235 can be retracted, and the probe carrier 235 is substantially perpendicular to the telescopic arm 233, so as to prevent the sensor from being exposed to direct radiation or long-term radiation, thereby reducing the lifetime and even causing damage.
In addition, in the retracted state, most of the telescopic arm 233 is accommodated in the accommodating hole 120, the probe carrying assembly 235 can be retracted, and at this time, the part of the probe supporting device 230 exposed to the frame 100 occupies a small volume, and the part exposed to the frame 100 does not overlap with the through hole 110 in the axial direction, so that the probe supporting device 230 does not interfere with the functions of the CT SIM and the FBCT of the scanning assembly 300 in the retracted state, for example, when the CT SIM is scanned, the probe supporting device 230 can be prevented from interfering with the bed plate of the bed assembly 20 which needs to move in the Y direction.
FIG. 6 is a side perspective view of a sonde support assembly according to one embodiment of the present invention in an extended position. Referring to fig. 6, in the unfolded state, the telescopic arm 233 extends out of the receiving hole 120, the first rotating element 232 is moved to the front from the deep position of the receiving hole 120, and the telescopic arm 233, the first rotating element 232, the second rotating element 234 and the probe carrying element 235 respectively perform telescopic movement, rotation and translation to move the probe to the target position. Preferably, in the use state, the imaging plane of the detector carrier assembly 235 carrying the detector 220 is parallel to the isocenter plane of the radiotherapy apparatus 10 to facilitate imaging of the radiation field. The isocenter plane is a plane passing through the isocenter and substantially perpendicular to the beam central axis.
As mentioned above, the detector supporting device 230 has the first translating assembly 231, the first rotating assembly 232, the telescopic arm 233, the second rotating assembly 234 and the detector carrying assembly 235, the first translating assembly 231 can move the first rotating assembly 232 and the telescopic arm 233 along the Y direction as shown in fig. 3, the first rotating assembly 232 can rotate the telescopic arm 233 around the α direction as shown in fig. 3, the telescopic arm 233 can move telescopically along the a direction as shown in fig. 3, the second rotating assembly 234 can rotate the detector carrying assembly 235 around the β direction as shown in fig. 3, the detector carrying assembly 235 can move along the X direction as shown in fig. 4, and the five movements are combined, so that the detector can swing at any three-dimensional position (m _ X, m _ Y, m _ Z) within the field range (e.g. the field range as shown in fig. 7) so that the imaging area can cover the whole field range of the detector, specifically, the detector carrying assembly 235 can move along the X axis, the first translating assembly 231 can move along the Y direction as shown in the Y direction, the Y _ Y direction, the telescopic arm 233 can move about the X direction as shown in fig. 3, the X direction, the Z direction, the X direction of the probe carrying assembly 233 can move about the X direction, the X-X direction, the Z direction of the preferred embodiment as shown in fig. 3, the X direction of the X direction, the X-X direction, the X direction of the X-X direction of the X-X direction of the X direction, the telescopic arm 233, the embodiment.
In one embodiment, the imaging area of the detector 220 is 40x40cm2. As shown in fig. 7, when the m _ Z is 145cm, the field range Φ is 58cm, and at this time, when the center point of the detector 220 and the isocenter are collinear in the Z-axis direction, the detector 220 can only detect the central 40 × 40cm region, cannot detect the regions of-29 cm to-20 cm and 20cm to 29cm in the X-axis direction, and cannot detect the regions of-29 cm to-20 cm and 20cm to 29cm in the Y-axis direction, so the detector 220 needs to be driven by the first translation module 231, the first rotation module 232, the telescopic arm 233 and the detector carrier 235 to cooperate with each other to move by-9 cm to 9cm in the X-axis and Y-axis directions, so that the detector 220 can image the entire field range. It should be noted that this embodiment is merely an example,it is not the only embodiment of the present invention that the skilled person can determine the range of movement required for the detector 220 according to the size of the field range.
Fig. 8 is a basic block diagram of a drive system of an embodiment of the present invention. Referring to fig. 8, the probe supporting device 230 may further include a driving system 236 for driving one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the probe carrying assembly 235 to move the probe 220 to the target position. The drive system 236 may include a communication module 236a and a drive module 236 b.
The communication module 236a is configured to receive a motion trajectory of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector bearing assembly 235, and calculate a driving signal for one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector bearing assembly 235 to move according to the motion trajectory. In an alternative embodiment, the movement of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the probe carrying assembly 235 can be realized by motors, and at this time, the communication module 236a can realize PID calculation of position loop, speed loop and current loop control of the motors for moving one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the probe carrying assembly 235 according to the small point of the trajectory control, and output a pwm (pulse Width modulation) command signal. It should be understood that the movement of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the detector bearing assembly 235 can also be realized in a pneumatic manner, etc., and the present invention is not limited thereto. In an embodiment, the communication module 236a may be connected to a path planning system for performing path planning on the detector supporting device 230 through an optical fiber, and perform mutual communication to control the movement trajectory of the detector supporting device 230. It will be appreciated that the communication module 236a may also be connected to the path planning system by other wired means, such as coaxial cable, twisted pair, etc. The communication module 236a may also be connected with the path planning system in a wireless manner, such as WLAN, NFC, etc. Preferably, the communication module 236a is a cnnu (control Node unit) control board.
The driving module 236b is configured to receive the driving signal output by the communication module 236a, and drive one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector carrying assembly 235 to move according to the driving signal. In an embodiment, the driving module 236b may receive a PWM command signal output by the communication module 236a, and drive a motor that implements the movement of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector bearing assembly 235 according to the PWM command signal, thereby implementing the movement of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector bearing assembly 235. In one embodiment, the driving module 236b may be a multi-axis driving board to synchronously drive the motions of a plurality of dc motors. For example, the multi-axis driving board card may be a five-axis driving board card, a six-axis driving board card, a seven-axis driving board card, or the like. For example, the driving module 242 is a Six-axis driving board (SMCU) for driving the movement of five dc motors, which can realize the synchronous movement of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the probe carrying assembly 235.
In an embodiment, the drive module 236b may also monitor real-time position information of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector-carrying assembly 235. Specifically, the drive module 236b may also read the encoder information of each motor to obtain real-time position information of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector carrier assembly 235, and feed the position information back to the path planning system.
Fig. 9 is a basic block diagram of a path planning system according to an embodiment of the present invention. Referring to fig. 9, the path planning system 250 is adapted to the probe supporting device 230 as described above, and is mainly used for controlling the movement of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the probe carrying assembly 235, so as to move the probe 220 to the target position. In one embodiment, the path planning system 250 controls the movement of one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the detector carriage assembly 235 by outputting control signals, such as trajectory control dots, to the drive system 236. The path planning system 250 may include a displacement amount solving module 251, a path planning module 252, and an anti-collision detection module 253.
The target position of the probe 220 may be represented by coordinates (m _ X, m _ Y, m _ Z) in an X-Y-Z coordinate system as shown in FIG. 1, wherein m _ X represents the position of the center point of the probe 220 in the X-axis direction, m _ Y represents the position of the center point of the probe 220 in the Y-axis direction, and m _ Z represents the position of the center point of the probe 220 in the Z-axis direction, the first translation module 231, the first rotation module 232, the telescopic arm 233, the second rotation module 234, and the probe carrier 235 may be represented by (Y, α 0, a, β 0, X), wherein Y is the distance between the center axis of the first rotation module 232 and the front end face 231a, α 0 is the distance between the center axis of the telescopic arm 233 and the center axis of the telescopic arm β a, determined by the angle between the rotation axis of the first rotation module 232 and the Y direction, the center axis of the telescopic arm 233 and the probe carrier module 235 is the length of the center axis of the telescopic arm 233 from the center axis of the telescopic arm 233 to the imaging plane of the telescopic arm 220, and the probe carrier module 233 is determined by the angle between the center axis of the telescopic arm 233 and the center axis β 0 a.
From the positional relationships between the components shown in fig. 3-7, the target position (m _ X, m _ Y, m _ Z) of the detector 220 and the displacement amounts of the first translation component 231, the first rotation component 232, the telescopic arm 233, the second rotation component 234 and the detector carrier 235 can be obtained as a function of, for example, the geometric relationships:
wherein GantryToIso is a Y-axis direction distance from a reference zero point (i.e., the front end surface 231a) of the first translating element 231 to the isocenter, as shown in fig. 3; arm1ToIso is the Z-axis distance from the central axis of the first rotating assembly 232 to the isocenter plane, as shown in fig. 3; the ElbowToPanelcenter is the distance in the Y-axis direction from the center axis of the second rotating assembly 234 to the center point of the detector 220, as shown in FIG. 3; the Elbow2PanelTop is the distance from the central axis of the second rotating assembly 234 to the detecting surface of the detector 220 in the Z-axis direction; l is the distance of the isocenter plane from the center of the radiation source, preferably 100cm, as shown in FIG. 7. It will be appreciated by those skilled in the art that the above functional relationship (1) can also be calculated by a homogeneous coordinate matrix.
As can be seen from the functional relation (1), the position m _ X of the detector 220 in the X-axis direction is uniquely determined by the displacement amount of the detector carrying assembly 235, and the positions m _ Y, m _ Z of the detector 220 in the Y-axis and Z-axis directions are collectively determined by the displacement amounts of the three assemblies, i.e., the first translating assembly 231, the first rotating assembly 232, and the telescopic arm 233. Thus, for a target position (m _ X, m _ Y, m _ Z) of the detector 220, the inverse solution of the functional relation 1 results in multiple solutions.
In order to obtain the optimal solution of the equation, the displacement solving module 251 may perform automatic optimization selection on the calculation result according to the following boundary conditions:
(1) the telescopic arm 233 cannot collide with the housing hole 120. If the length of the retractable arm 233 in the receiving hole is long, and the movement displacement of the first rotating member 232 is large, the retractable arm 233 may collide with the receiving hole 120;
(2) the geometric stiffness of the probe support 230 is maximized to reduce positioning errors caused by gravitational elastic deformation. The geometric rigidity of the probe support 230 is mainly determined by the extension length of the telescopic arm 233, and the shorter the extension length of the telescopic arm 233 is, the greater the geometric rigidity of the probe support 230 is.
Fig. 10 is a basic flowchart of a method for solving the inverse of the displacement of each moving element according to an embodiment of the present invention. Referring to fig. 10, the inverse solution method 3 for the displacement of each motion element includes:
step 31: the target location of the detector 220 is received.
Step 32: detecting whether the target position is in the field range, if not, jumping to the step 33; if so, step 34 is performed.
Step 33: and (6) finishing the optimization.
Step 34: a predetermined displacement amount a is set. To maximize the geometric stiffness of the probe support 230, a is taken to be the minimum of its range of motion when this step is first performed.
And step 35, solving (y, α 0) according to the relation (for example, formula 1) between the coordinates of the detector 220 and the displacement of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the detector bearing assembly 235 so as to obtain the displacement of the first translation assembly 231 and the first rotation assembly 232.
And step 36, detecting the motion range of the analysis result (a, y, α 0), if the analysis result (a, y, α 0) is not in the motion range, indicating that the analysis result is not reasonable, executing step 38 to carry out next solving, and if the analysis result (a, y, α 0) is in the motion range, indicating that the analysis result is reasonable, executing step 37 to carry out subsequent detection.
And step 37, performing anti-collision detection on the analysis result (a, y, α 0), executing step 38 to perform the next solution if the analysis result fails to pass the detection, and executing step 39 if the analysis result passes the detection and indicates that the analysis result is reasonable, wherein the anti-collision detection can be performed by using an anti-collision detection model, which can be implemented by calculating the relative position between the overall shape of the probe supporting device 230 and the inner wall of the accommodating hole 120 according to the solved displacement (y, a, x, α 0, β 0) to detect whether collision occurs.
Step 38: the movement displacement of the telescopic arm 233 is increased by Δ S, and the process returns to step 34. At this time, a is a + Δ S, where a on the left side of the equal sign is the displacement amount of the telescopic arm 233 of the next cycle, and a on the right side of the equal sign is the displacement amount of the telescopic arm 233 of the current cycle.
And step 39, outputting the optimal analysis results (y, a, X, α 0 and β 0), wherein X is m _ X and β 0 is α 0 according to the formula 1.
The path planning module 252 may plan the motion path of the probe supporting device 230 according to the displacement solved by the displacement solving module 251. The path planning module 252 is configured to implement synchronous coordinated movement of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234, and the probe carrier assembly 235 to move the probe 220 to the target position.
In the actual positioning process of the probe 220, if the moving positions and speeds of the first translating assembly 231, the first rotating assembly 232 and the telescopic arm 233 are not well coordinated, the telescopic arm 233 may collide with the receiving hole 120 during the positioning process, and the probe supporting device 230 may be damaged. In order to avoid the collision risk during the positioning process, the positioning process of the conventional probe 220 generally adopts a step-by-step motion control manner, that is, the telescopic arm 233 is firstly translated out of the receiving hole 120, and then the motions of the first rotating assembly 232, the telescopic arm 233, the second rotating assembly 234 and the probe carrying assembly 235 are controlled. Although the step-by-step control method can avoid the collision risk, the positioning and recovery time of the detector 220 is too long, and the working efficiency is affected.
In order to solve the above problem, the path planning module 252 may automatically optimize the movement paths of the first translation component 231, the first rotation component 232, the telescopic arm 233, the second rotation component 234, and the detector bearing component 235, and control the track points in the positioning process in real time, so as to achieve synchronous linkage positioning of the first translation component 231, the first rotation component 232, the telescopic arm 233, the second rotation component 234, and the detector bearing component 235, reduce the positioning and recovery time of the detector 220, and simultaneously avoid collision between the detector supporting device 230 and the accommodating hole 120.
In one embodiment, the path planning module 252 may include the following steps when performing path planning:
a. the displacement amount (y, α 0, a, β 0, x) is distributed to m subintervals, m is 1,2, …, and the boundary point of each subinterval is a control node of the path planning, wherein the displacement proportion distributed to each subinterval can be adjusted adaptively, preferably, the displacement amount (y, α 0, a, β 0, x) can be distributed uniformly to the m subintervals, if there is a collision risk on the planned path, the displacement proportion weight of the first translation component 231 and the telescopic arm 233 in the preceding subinterval (i.e., the subinterval with the smaller m value) is increased, and the displacement proportion weight of the first rotation component 232 in the preceding subinterval is decreased, wherein each control node contains information of the time when one or more of the first translation component 231, the first rotation component 232, the telescopic arm 233, the second rotation component 234, and the probe carrying component 235 reaches the node, a preset target position, a preset speed and a preset acceleration.
b. Will control the node PiSubstituting the corresponding position information into the anti-collision detection model, detecting whether the probe supporting device 230 collides with the accommodating hole 120, if so, returning to step a, and if not, controlling the node PiThe indicated path is output as the optimal path.
In another embodiment, the path planning module 252 may include the following steps when performing path planning:
a. the displacement amounts (y, α 0, a, β 0, x) are assigned to m subintervals, m being 1,2, …, the boundary point P of each subintervaliPreferably, the displacement amounts (y, α 0, a, β 0, x) are uniformly distributed to m subintervals, and if there is a collision risk on the planned path, the weight of the displacement ratio of the first translating element 231 and the telescopic arm 233 to the preceding subinterval (i.e., the subinterval with the smaller value of m) is increased and the weight of the displacement ratio of the first rotating element 232 to the preceding subinterval is decreased.
b. To control the trace points during the positioning of the detector 220 in real time, the trace planning module 252 uses a continuous trace control mode (PT mode) for each trace pointThe motion path of the subintervals is subjected to trajectory planning, namely, one or more trajectory control small points Cp are generated in each subintervaliAs shown in fig. 11. Preferably, one trajectory control dot Cp may be generated every 20ms within a subintervali. Each trajectory controlling a small point CpiThe contained information is: the time t when one or more of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the detector bearing assembly 235 reaches the small point of the trajectory controliPreset target position Pos of small point of trajectory controliPreset velocity Vel of the trajectory control small pointiPreset acceleration Acc of small locus control pointi。
c. The path of the sonde 220 during positioning is detected for collision avoidance. For a planning motion path, controlling all tracks on the path to be small points CpiThe corresponding position information is substituted into the anti-collision detection model to detect whether the prober support 230 collides with the receiving hole 120. Controlling the small point Cp if all tracks on the pathiIf the corresponding position information can be detected by collision prevention, the detector supporting device 230 is considered to have no collision risk in the process of multi-component linkage positioning, and the current path is output as the optimal path; and if the anti-collision detection result fails, the current planned path is considered to have collision risk and is not the optimal path, and the step a is returned to optimize and distribute the motion path of the detector supporting device 230 again.
The anti-collision detection module 253 can establish a collision model according to the position relationship between the probe support device 230 and the receiving hole 120 to detect whether the probe support device 230 collides with the receiving hole 120 during the planned path movement, in one embodiment, the anti-collision detection module can be implemented by calculating the relative position between the overall shape of the probe support device 230 and the inner wall of the receiving hole 120 according to the solved displacement (y, a, x, α 0, β 0) to detect whether the collision occurs, in another embodiment, the anti-collision detection module 253 can also establish a collision model according to the position relationship between the probe support device 230 and the treatment couch 20 of the radiotherapy apparatus 1to detect whether the probe support device 230 collides with the treatment couch 20 during the planned path movement, for example, by calculating whether the probe support device 230 overlaps with the treatment couch 20 to determine whether the collision occurs.
In summary, for a target position (m _ X, m _ Y, m _ Z) of the probe 220, the positioning control flow of the probe supporting device 230 is as follows:
1) inverse solution and optimization of displacement amounts of the first translating assembly 231, the first rotating assembly 232, the telescopic arm 233, the second rotating assembly 234 and the probe carrying assembly 235 in the probe supporting device 230. for preset target positions (m _ X, m _ Y, m _ Z) of the probe 220, the displacement amount solving module 251 determines optimal displacement decomposition amounts Y, α 0, a, β 0, X of the first translating assembly 231, the first rotating assembly 232, the telescopic arm 233, the second rotating assembly 234 and the probe carrying assembly 235;
2) after determining the respective optimal displacement decomposition amounts y, α 0, a, β 0 and x of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the detector bearing assembly 235, the path planning module 252 determines the optimal planned path for the detector support 230 to be swung and the path control parameters on the optimal path under the optimal path, the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the detector bearing assembly 235 are synchronously linked to be swung, the swinging and recovery time of the detector 220 is minimized, and meanwhile, the detector support 230 is prevented from colliding with the accommodating hole 120 in the swinging process;
3) and (3) real-time positioning motion control: after determining the optimized motion path of the first translating assembly 231, the first rotating assembly 232, the telescopic arm 233, the second rotating assembly 234 and the probe carrying assembly 235 and the trajectory control parameters on the planned path, the path planning system 250 starts to perform the positioning control of the probe supporting device 230.
3a) In the positioning process of the detector supporting device 230, the path planning system 250 sends a control node or a small locus control point Cp at preset time intervalsiTo the communication module 236a, control nodes and tracesControl of the small Point CpiReal-time motion control parameters including preset motion time, preset target position, preset speed and preset acceleration of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the detector bearing assembly 235;
3b) control node or small track control point Cp issued by the path planning system 250i(ti,Posi,Veli,Acci) Then, the communication module 236a is responsible for calculating a driving signal for one or more of the first translating assembly 231, the first rotating assembly 232, the telescopic arm 233, the second rotating assembly 234 and the detector carrying assembly 235 to move according to the motion track, and outputting the driving signal to the driving module 236b, for example, performing PID calculation of motor position loop, speed loop and current loop control, and outputting a PWM command signal to the driving module 236 b.
3c) After obtaining the driving signal sent by the communication module 236a, the driving module 236b is responsible for driving one or more of the first translation component 231, the first rotation component 232, the telescopic arm 233, the second rotation component 234, and the detector bearing component 235 to move according to the driving signal, for example, outputting a PWM control signal to drive the first translation component 231, the first rotation component 232, the telescopic arm 233, the second rotation component 234, and the detector bearing component 235 to move synchronously, thereby completing the trajectory control command. Thereby controlling the first translating assembly 231, the first rotating assembly 232, the telescopic arm 233, the second rotating assembly 234 and the detector bearing assembly 235 at ti-ti-1At a predetermined speed Vel during a time intervaliA preset acceleration AcciTo the preset target position Pos of the tracki。
All control nodes P on the executed planning pathiAnd a trajectory control dot Cpi(ti,Posi,Veli,Acci) Then, the movement displacements of the first translation assembly 231, the first rotation assembly 232, the telescopic arm 233, the second rotation assembly 234 and the detector bearing assembly 235 are Y, α 0, a, β 0 and X, respectively, at which time the detector 220 just reaches the positioning target positions (m _ X, m _ Y and m _ Z), and the positioning control process of the detector 220 is completed.
Similarly, during the retracting process of the probe supporting device 230, the first translating element 231, the first rotating element 232, the telescopic arm 233, the second rotating element 234 and the probe carrying element 235 move reversely along the original optimized path, so that the multi-component linkage of the probe supporting device 230 can be simultaneously retracted, and the collision between the probe supporting device 230 and the receiving hole 120 is avoided.
The path planning system 250 described above is also suitable for planning the movement paths of probe supports of other configurations. For example, the displacement solving module 251 solves the displacement of each component of the detector supporting device according to the target position of the detector, and the path planning module 252 plans the path of the detector supporting device according to the displacement solved by the displacement solving module 251. In the case where collision avoidance detection is required, the path planning system 250 may further include a collision avoidance detection module for collision avoidance detection. The path planning system 250 in the embodiment of the invention can realize path planning of different detector supporting devices.
It should be noted that the terms "perpendicular" and "parallel" in the context of the present application are not limited to the theoretical perpendicular and parallel, but may have a certain deviation depending on the particular situation, and for example, the deviations of-0.3 ° to 0.3 °, -0.5 ° to 0.5 °, -1 ° to 1 °, -3 ° to 3 °, -5 ° to 5 °, -10 ° to 10 ° may be included in the ranges of "perpendicular" and "parallel" in the present application.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the above embodiments are merely illustrative of the present invention, and various equivalent changes and substitutions may be made without departing from the spirit of the invention, and therefore, it is intended that all changes and modifications to the above embodiments within the spirit and scope of the present invention be covered by the appended claims.
Claims (15)
1. A detector supporting device is suitable for being arranged in a containing hole of a rack and used for supporting a detector, and comprises:
a telescopic arm which can be telescopically moved along the length direction thereof;
the first rotating assembly is arranged in the accommodating hole, is connected with one end of the telescopic arm and is used for driving the telescopic arm to rotate around the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole;
the first translation assembly is used for driving the first rotating assembly and the telescopic arm to move along the depth direction of the accommodating hole;
the detector bearing assembly is used for bearing the detector, is connected with the other end of the telescopic arm and can move along the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole; and
and the second rotating assembly is arranged between the detector bearing assembly and the telescopic arm and used for driving the detector bearing assembly to rotate around the normal direction of the plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole.
2. The detector support apparatus of claim 1, further comprising a drive system for driving movement of one or more of the telescoping arm, the first rotation assembly, the first translation assembly, the detector carrier assembly, and the second rotation assembly to move a detector to a target position.
3. The detector support apparatus of claim 2, wherein the drive system comprises:
a communication module, configured to receive a motion trajectory of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly, and calculate a driving signal for one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly to move according to the motion trajectory; and
the driving module is used for receiving the driving signal and driving one or more of the telescopic arm, the first rotating assembly, the first translation assembly, the detector bearing assembly and the second rotating assembly to move according to the driving signal.
4. The detector support apparatus of claim 3, wherein the motion trajectory includes a plurality of nodes and information corresponding to each node, the information corresponding to each node including: a time, a preset target position, a preset velocity, and a preset acceleration at which one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly, and the second rotating assembly reaches the node.
5. The probe support apparatus of claim 3, wherein the drive module is further configured to monitor real-time positional information of one or more of the telescopic arm, the first rotational assembly, the first translation assembly, the probe carrying assembly, and the second rotational assembly.
6. A path planning system adapted for use with the probe support apparatus of any one of claims 1to 5 for controlling movement of one or more of the telescopic arm, the first rotation assembly, the first translation assembly, the probe carrier assembly and the second rotation assembly to move the probe to a target position, comprising:
a displacement solving module for determining the displacement of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly and the second rotating assembly according to the target position of the probe;
the path planning module is used for planning the motion path of the detector supporting device according to the displacement; and
and the anti-collision detection module is used for establishing an anti-collision detection model according to the position relation between the detector supporting device and the accommodating hole and carrying out anti-collision detection.
7. The path planning system according to claim 6, wherein the displacement solving module determines the displacement according to the following principle:
the rigidity of the probe supporting device is maximized under the condition that the probe supporting device does not collide with the accommodating hole.
8. The path planning system of claim 6 wherein the path planning module performs the following steps to plan a motion path:
a. distributing the displacement to a plurality of subintervals, wherein the boundary point of each subinterval is used as a control node for path planning;
b. and substituting the position information corresponding to the control node into the anti-collision detection model, detecting whether the detector supporting device collides with the accommodating hole or not, if so, returning to the step a, and if not, outputting the path represented by the control node as an optimal path.
9. The path planning system of claim 6 wherein the path planning module performs the following steps to plan a motion path:
a. distributing the displacement to a plurality of subintervals, wherein the boundary point of each subinterval is used as a control node for path planning;
b. generating one or more trajectory control dots within each of the subintervals;
c. and b, substituting the position information corresponding to all the small track control points on the planned motion path into the anti-collision detection model, detecting whether the detector supporting device collides with the accommodating hole or not, if so, returning to the step a, and if not, outputting the planned motion path as an optimal path.
10. Radiotherapy equipment comprising a gantry, a treatment head, a probe, the treatment head and the probe being oppositely disposed to the gantry, the probe being mounted to the gantry by a probe support according to any one of claims 1to 5, wherein the gantry defines a receiving cavity for receiving the probe support.
11. Radiotherapy apparatus according to claim 10, in which the probe support means comprises:
a telescopic arm which can be telescopically moved along the length direction thereof;
the first rotating assembly is arranged in the accommodating hole, is connected with one end of the telescopic arm and is used for driving the telescopic arm to rotate around the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole;
the first translation assembly is used for driving the first rotating assembly and the telescopic arm to move along the depth direction of the accommodating hole;
the detector bearing assembly is used for bearing the detector, is connected with the other end of the telescopic arm and can move along the normal direction of a plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole; and
and the second rotating assembly is arranged between the detector bearing assembly and the telescopic arm and used for driving the detector bearing assembly to rotate around the normal direction of the plane determined by the length direction of the telescopic arm and the depth direction of the accommodating hole.
12. The radiation therapy apparatus of claim 11, further comprising a drive system for driving movement of one or more of the telescopic arm, the first rotation assembly, the first translation assembly, the detector carrier assembly and the second rotation assembly to move a detector to a target position.
13. Radiotherapeutic apparatus according to claim 12 in which the drive system comprises:
a communication module, configured to receive a motion trajectory of one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly, and calculate a driving signal for one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the detector carrying assembly, and the second rotating assembly to move according to the motion trajectory; and
the driving module is used for receiving the driving signal and driving one or more of the telescopic arm, the first rotating assembly, the first translation assembly, the detector bearing assembly and the second rotating assembly to move according to the driving signal.
14. Radiotherapeutic apparatus according to claim 13 in which the motion profile comprises a plurality of nodes and information corresponding to each node including: a time, a preset target position, a preset velocity, and a preset acceleration at which one or more of the telescopic arm, the first rotating assembly, the first translating assembly, the probe carrying assembly, and the second rotating assembly reaches the node.
15. The radiation therapy apparatus of claim 13, wherein the drive module is further configured to monitor real-time positional information of one or more of the telescopic arm, the first rotation assembly, the first translation assembly, the detector-carrying assembly, and the second rotation assembly.
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Address after: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Patentee after: Shanghai Lianying Medical Technology Co., Ltd Address before: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Patentee before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |