CN109689159A - A kind of radiotherapy system and its control driving method - Google Patents
A kind of radiotherapy system and its control driving method Download PDFInfo
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- CN109689159A CN109689159A CN201680087516.1A CN201680087516A CN109689159A CN 109689159 A CN109689159 A CN 109689159A CN 201680087516 A CN201680087516 A CN 201680087516A CN 109689159 A CN109689159 A CN 109689159A
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Abstract
A kind of radiotherapy system and its control driving method, it is related to technical field of medical equipment, radiotherapy system is directed to the radiotherapy apparatus for being provided simultaneously with conformal intensity modulated treatment head (20) and multi-source focusing therapy head (10), different treatment heads (10 are realized on one device, 20) synergistic treatment improves therapeutic efficiency and therapeutic effect.Multi-source focusing therapy head (10) and conformal intensity modulated treatment head (20) are combined, therapeutic effect and therapeutic efficiency are improved.A kind of radiotherapy system, including roller (40) and at least two treatment heads (10 being arranged on roller (40), 20), at least two treatment head (10,20) includes at least one multi-source focusing therapy head (10) and at least one conformal intensity modulated treatment head (20).
Description
The present invention relates to technical field of medical equipment, and in particular to be a kind of radiotherapy system and its control driving method.
Tumour is a kind of common frequently-occurring disease, and radiotherapy is a kind of common treatment means.In radiation therapy process, general there are two types of radiotherapy mode, stereotaxis multi-source focuses radiotherapy mode and conformal modulating radiotherapy mode.So-called stereotaxis multi-source focuses radiotherapy mode, is that multi beam radioactive ray are focused on to a position (i.e. so-called target area), carries out high-dose irradiation to the target area so as to realize.Radiotherapy mode is focused using this kind of multi-source, high-dose irradiation can be carried out to tumor tissues, and the radiation injury that perienchyma is subject to is smaller.This kind of multi-source focuses radiotherapy mode, it, which accurately treats characteristic, has good therapeutic effect for intracranial tumors or head and neck neoplasm, but when encountering complex-shaped or biggish extracranial tumors, above-mentioned multi-source, which focuses radiotherapy mode, just its limitation, and it needs using conformal therapy mode, so-called conformal therapy mode, using single radioactive source, through the conformal processing to launched field, so that the distribution shape in radiological dose area and the shape of tumour are consistent or close on three-dimensional, avoid or reduce the irradiation of normal tissue, and the radiation dose distribution in dosage area is uniform.
At present, still stereotaxis multi-source radiotherapy mode can be focused without a kind of radiotherapy apparatus to become one with conformal modulating radiotherapy mode, in other words, multi-source can not only may be implemented on one device and focus accurate treatment but also conformal therapy may be implemented for current radiotherapy apparatus, for sufferer, it also cannot achieve similar and different tumour and select different therapeutic modalities on the same device.
Summary of the invention
The present invention provides a kind of radiotherapy system and its control driving method, the radiotherapy system packet
Multi-source focusing therapy head and conformal intensity modulated treatment head are included, which can realize the collaboration for realizing different treatment heads on one device, improve therapeutic efficiency and therapeutic effect.
On the one hand, the present invention provides a kind of radiotherapy systems, and at least two treatment heads including roller and setting on which cylinder, at least two treatment head includes at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head.
On the other hand, the present invention provides a kind of drive control method of radiotherapy system, the radiotherapy system includes controller, and the drive control method includes:
Controller sends the first driving control signal to rotation drive device, and the rotation drive device receives first driving control signal and drives roller around the continuous or reciprocating rotary in 360 degree of the axle center of the roller.
The embodiment of the invention provides a kind of radiotherapy system and its control driving methods, radiotherapy system includes roller and at least two treatment heads being arranged on roller, at least two treatment heads include at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head, conformal intensity modulated treatment head can carry out the conformal therapy of large area to tumour, the Dose enhancement factors that multi-source focusing therapy head can carry out part to the part of tumour are treated, so as in the cooperation of the multiple treatment heads of progress of primary emission therapeutic process selectivity, conformal and intensity modulated therapy can also be completed at the same time, improve therapeutic effect and therapeutic efficiency.
Fig. 1 is a kind of radiotherapy system provided in an embodiment of the present invention；
Fig. 2 is the lateral plan of radiotherapy system shown in Fig. 1；
Fig. 3 is a kind of structural schematic diagram of the conformal intensity modulated treatment head provided in an embodiment of the present invention along roller radial motion；
Fig. 4 is a kind of guide rail provided in an embodiment of the present invention and slide block schematic diagram；
Fig. 5 is a kind of gear and gear ring schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of collar schematic diagram provided in an embodiment of the present invention.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
A kind of radiotherapy system provided in an embodiment of the present invention, as shown in Figure 1 and Figure 2, including roller and at least two treatment heads being arranged on roller, at least two treatment heads include at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head.
Wherein, at least two treatment heads include at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head, can be each type for the treatment of head and can be and are also possible to include two or more including one.Such as, radiotherapy system can be including a multi-source focusing therapy head and a conformal intensity modulated treatment head, or, radiotherapy system can be including two multi-source focusing therapy heads and a conformal intensity modulated treatment head, again alternatively, radiotherapy system can be including two multi-source focusing therapy heads and two conformal intensity modulated treatment heads.As shown in Figure 1 and Figure 2, the application is illustrated so that radiotherapy system includes a multi-source focusing therapy head 10 and a conformal intensity modulated treatment head 20 as an example, and Fig. 1, Fig. 2 are by taking multi-source focusing therapy head 10 and conformal intensity modulated treatment head 20 are oppositely arranged as an example.
It includes multiple radioactive sources that multi-source focusing therapy head, which generally refers to treatment head, and multiple radioactive sources issue radiation beam respectively, and multiple radiation beam focuses on a focus point, which corresponds to the different zones of tumour, to realize the radiotherapy to tumour different zones.It includes a radioactive source that conformal intensity modulated treatment head, which generally refers to treatment head, the radioactive source issues the pencil-beam of scattering, collimator or multi-leaf optical grating, which form beam similar with tumor shape, may pass through region, pencil-beam, which passes through the beam, may pass through area illumination in tumour, to realize the radiotherapy of tumour.
Exemplary, as shown in Figure 1 and Figure 2, which includes: multiple first radioactive sources 11, and multiple radioactive sources issue the first radiation beam 13, and the first radiation beam 13 passes through collimator 12
The launched field diameter of adjustable first radiation beam 13, multiple first radiation beams 13 focus on focus point, which is radiated at the partial region of the tumour 31 of human body 30.Conformal intensity modulated treatment head 20 includes the second radioactive source 21, second radioactive source 21 issues the pencil-beam 23 of scattering, multi-leaf optical grating 22, which forms beam similar with 31 shape of tumour, may pass through region, pencil-beam 23, which passes through the beam, may pass through area illumination in tumour 31, to realize the radiotherapy of tumour 31.Certainly, the variation that the beam that multi-leaf optical grating is formed may pass through region is more, and carrying out the conformal beam for being also possible to be formed irradiation tumor section region may pass through region, and the present invention is not specifically limited the conformal irradiation area of multi-leaf optical grating.
It in embodiments of the present invention include two kinds for the treatment of heads, i.e. multi-source focusing therapy head and conformal intensity modulated treatment head.Multi-source focusing therapy head can carry out SRS (treatment of Stereotaxic Radiosurgery stereotactic radiosurgery) or IGRT (Imaging Guide Radiation Therapy image guided radiation therapy).Conformal intensity modulated treatment head can carry out 3D-CRT (3 dimensional conformal radiation therapy), either IMRT (Intensity Modulated Radiation Therapy Conformal intensity-modulated radiotherapy), SBRT (Stereotactic Body Radiation Therapy stereotaxis body portion radiotherapy) or IGRT (Imaging Guide Radiation Therapy image guided radiation therapy).
Certainly, radiotherapy system further includes other devices etc., and for example, referring to shown in Fig. 1, Fig. 2, radiotherapy system includes pedestal 50, roller 40, treatment head and therapeutic bed 60.Pedestal 50 is the basis of entire radiotherapy system, plays the entire radiotherapy system of carrying and fixed function.Therapeutic bed 60 is provided on pedestal 50, therapeutic bed 60 is connected by screw, pin and pedestal 50.Therapeutic bed 60 then for carrying and fixing patient, can be realized accurately the illness of patient being sent to radiotherapy system designated position.Roller 40 is additionally provided on pedestal 50, roller 40 is connected by rolling support with pedestal 50, realizes that roller is rotated around axis by gear drive.
A kind of radiotherapy system provided in an embodiment of the present invention and its control driving method, radiotherapy system includes roller and at least two treatment heads being arranged on roller, at least two treatment heads include at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head, conformal intensity modulated treatment head
The conformal therapy of large area can be carried out to tumour, the Dose enhancement factors that multi-source focusing therapy head can carry out part to the part of tumour are treated.Therefore, in a radiotherapy system, the tumor focus that multi-source focuses and conformal intensity modulated two classes mode is simultaneously or separately treated specifically is needed to certain, is had great advantages.The radiotherapy system can be by once putting position, treatment is simultaneously or separately irradiated with conformal intensity modulated treatment head and multi-source focusing therapy head, realize two kinds of knockdown radiotherapies, so as to be completed at the same time conformal and intensity modulated therapy synergistic treatment in primary emission therapeutic process, reduce error caused by repeatedly pendulum position, radiotherapy precision and speed are improved, therapeutic effect and therapeutic efficiency are improved.
A kind of radiotherapy system provided in an embodiment of the present invention, further includes first driving device, at least one treatment head can be under the drive of first driving device, along the radial motion of roller.Referring to shown in Fig. 2, radial direction, that is, radius roller of roller or the direction of diameter.The present invention implements a kind of radiotherapy system of offer, if treatment head is conformal intensity modulated treatment head, treatment head is along roller radially adjacent to cylinder axis, then launched field penumbra becomes smaller, and maximum launched field becomes smaller, and dosage rate increases, and treatment space becomes smaller.Conversely, if treatment head along roller radially away from cylinder axis, launched field penumbra becomes larger, and maximum launched field becomes larger, dosage rate reduce, treatment space become larger.
Radiotherapy equipment provided in an embodiment of the present invention, it is preferred that at least conformal intensity modulated treatment head is under the drive of first driving device, along the radial motion of roller.Such as in the case where radiotherapy system is as shown in Figure 1 and Figure 2 including a multi-source focusing therapy head 10 and a conformal intensity modulated treatment head 20, preferred conformal intensity modulated treatment head 20 can be along the radial motion of roller.Certainly, for multi-source focusing therapy head, it is also possible to the radial motion along roller.Exemplary, in the case where non-rotating focusing, multi-source focusing therapy head radially adjacent to cylinder axis, then treats space and becomes smaller along roller；Conversely, treating space radially away from cylinder axis along roller and becoming larger.
Certainly, each treatment head of radiotherapy system can be along the radial motion of roller.The treatment space that head radiotherapy needs is smaller, and the treatment space that body portion radiotherapy needs is larger, radiotherapy system provided in an embodiment of the present invention, since treatment head can then be treated along the radial motion of roller
For head further away from cylinder axis, treatment space is bigger, and radiotherapy system can be also used for the treatment of body portion, realizes the combination of head radiotherapy and body portion radiotherapy.
The embodiment of the invention provides a kind of radiotherapy systems, further includes: the second driving device, at least one treatment head can be under the drives of the second driving device along the axial movement of roller, to realize non-co-planar treatment.A kind of radiotherapy system provided in an embodiment of the present invention, treatment head, so as to realize multidirectional non-co-planar treatment, can avoid causing to burn to the part of patient in radiation therapy process along the axial movement of roller.
The embodiment of the present invention is preferred, and at least multi-source focusing therapy head can be along the axial movement of roller.Such as radiotherapy system is as shown in Figure 1 and Figure 2, in the case where a multi-source focusing therapy head 10 and a conformal intensity modulated treatment head 20, preferred multi-source focusing therapy head 10 can be along the axial movement of roller, disperse patient periphery dosage, and target spot shape can be changed and be used to improve target dose distribution.
Certainly, each treatment head of radiotherapy system can change the incident angle of beam along the axial movement of roller, to avoid some concerned sensitive organs or improve dosage distribution.
It should be noted that it further includes the second driving device that it includes first driving device that radiotherapy system, which can also be both, in the embodiment of the present invention.I.e. treatment head either along roller radial motion, can also be along the axial movement of roller.Exemplary, radiotherapy system as shown in Figure 1 and Figure 2, multi-source focusing therapy head 10 and conformal intensity modulated treatment head 20 can be along the radial motions of roller, and multi-source focusing therapy head 10 and conformal intensity modulated treatment head 20 can also be along the axial movements of roller.In shown in Fig. 2, multi-source focusing therapy head 10 and conformal intensity modulated treatment head 20 are arcuate movement in the axial direction of roller.It is exemplary, two kinds for the treatment of heads are connected with roller in drum shaft upwardly through arc guide rail, 's treatment head can in this way be wound on roller axial plane continuously to be swung around focus, swing angle is 0~± 47.5 degree of ranges, to realize non-co-planar, different incidence angles focusing or conformal therapy, oncotherapy is effectively performed so as to more flexible.Specifically, swing angle of the application to treatment head along roller axial direction is not specifically limited, such as swing angle can also be 0~± 16 degree.
In the embodiment of the present invention, first driving device or the second driving device include: the first driver and movement mechanism, and movement mechanism is connect with treatment head and the first driver respectively, and the driving movement mechanism movement of the first driver is to drive treatment head to move.
Exemplary, by taking first driving device as an example, the movement mechanism of first driving device includes screw rod, and the first driver is drived screw rod rotation or moved in a straight line, to drive treatment head to move.It is exemplary, as shown in Figure 3, radiotherapy system includes the first driver 1, by taking the first driver 1 drives 2 rotary motion of screw rod as an example, the first driver 1 be can be with threaded hole, be can be on screw rod 2 and is formed with screw thread, it is connected through a screw thread with the first driver 1, the other end of screw rod 2 is connect with conformal intensity modulated treatment head 20, and the first driver 1 drives screw rod 2 to rotate, and can drive conformal intensity modulated treatment head 20 radially moving along roller.Certainly, the above is only illustrating, treatment head can also be fixes with screw rod, and driver can be driving screw rod and move in a straight line along the radial direction along roller, so that screw rod drives treatment head along the radial motion of roller.
Above only by taking first driving device as an example, the second driving device realizes treatment head along the axial movement of roller, is also possible to realize using same or similar mode.
Further, as shown in figure 4, first driving device further includes guide rail 3 and sliding block 4, guide rail 3 and sliding block 4 are connect with roller 40 and treatment head respectively, and treatment head is moved along guide rail 3.It is exemplary, it is connect with guide rail 3 with roller 40, sliding block 4 is connect with conformal intensity modulated treatment head 20.It is fluted referring to being arranged shown in Fig. 4 on sliding block 4, protrusion is formed on guide rail 3, the groove on sliding block 4 is chimeric with the protrusion on guide rail 3 (i.e. guide rail and the contact surface of sliding block is mutually chimeric), so that sliding block 4 is moved along guide rail 3.It is of course also possible to be that fluted, setting protrusion on sliding block, so that sliding block is along concave slot sports is arranged on guide rail.
By the movement of guide rail and sliding block, treatment head is moved along the path of guide rail, and treatment head is avoided to deviate in the radially direction of motion of roller.
A kind of radiotherapy system provided in an embodiment of the present invention, guide rail is including a groove or positioned at two
Two grooves of side.I.e. the present invention is not specifically limited the specific implementation of guide rail and sliding block cooperative movement, is only illustrated for shown in Fig. 4.
Referring to shown in Fig. 3, Fig. 4, it can be to install respectively in the two sides for the treatment of head and fix a guide rail and sliding block.It is of course also possible to be to install to fix a guide rail and sliding block respectively in side or four sides, guide rail and sliding block constrain treatment head to avoid the direction of motion for the treatment of head from deflecting along the motion path of roller radial motion.
Below, by taking the second driving device as an example, as shown in Figure 5, the movement mechanism of second driving device includes gear 5 and gear ring 6, gear 5 and gear ring 6 are intermeshed, and gear ring 6 is connect with treatment head, and the first driver drives gear 5 to rotate, gear 5 is engaged with gear ring 6, so that gear ring 6 drives treatment head movement.In Fig. 5 by taking gear ring 6 is arc as an example, then referring to shown in Fig. 2, treatment head be may be implemented in roller axially along arcuate movement.Certainly, gear ring 6 can also be the outside arc in the center of circle, or be straight line gear ring etc., and the embodiment of the present invention is not specifically limited the shape etc. of gear ring, is only illustrated for shown in fig. 5.
Further, the second driving device further includes guide rail and sliding block, and guide rail and sliding block are connect with roller and treatment head respectively, and treatment head moves along the rail.Guide rail and sliding block avoid its direction of motion from deviateing for limiting treatment head along the motion path of roller axial direction.Herein, it is illustrated as shown in connection with fig. 5, if gear ring is arc, guide rail is generally arc.Specific structure about guide rail and sliding block is referred to be not repeated herein shown in Fig. 4.
A kind of radiotherapy system provided in an embodiment of the present invention, further includes third driving device, and third driving device drives treatment head in multiple Plane Rotations or Universal rotary, increases the incident angle of radiation beam, radiotherapy can be realized on more perspective.
Exemplary, third driving device can be driving treatment head in orthogonal two plane internal rotations.Or third driving device is connect with treatment head by universal wheel, so as to drive treatment head 360 degree rotation.
Radiotherapy system provided in an embodiment of the present invention, further includes: rotation drive device (not shown), shown in reference picture 1, Fig. 2, roller 40 is under the driving of rotation drive device around the continuous or reciprocating rotary in 360 degree of the axle center of roller 40.
Roller is around 360 degree of its axle center continuous rotation, i.e., roller can be ceaselessly around axle center continuous circle rotation in the same direction.Roller is around its axle center reciprocating rotary, i.e., opposite direction rotates after roller can rotate by a certain angle around axle center.It is exemplary, roller around axle center rotate clockwise 270 degree after another mistake hour hands rotate 270 degree, and so on.Certainly, roller is not specifically limited around degree the application that axle center rotates, and the above is only illustrate.
Exemplary, as shown in Figure 1 and Figure 2, two kinds for the treatment of heads are distributed in cylinder axis two sides, because roller is rotated around axis (centre of gyration), and treatment head are driven to carry out 360 degree of continuous or reciprocating rotary treatments around cylinder axis (centre of gyration).Furthermore two kinds for the treatment of heads, on placement position, the angle for arriving axle center each other is continuously adjusted at 30 degree between 180 degree.Since treatment head can accomplish that continuous maximum ± 47.5 degree of incidence angles change and 360 degree rotate around the centers of grade, the treatment incidence angle of the system is allowed to be more than 2 π.
In embodiment provided by the invention, as shown in fig. 6, rotation drive device includes: the second driver, driving gear and the cogged collar of tool that roller side is arranged in, driving gear is engaged with the gear of collar；Second driver is for driving the sliding tooth wheel to rotate, so that collar be driven to rotate.
Specifically, rotation drive device can be for driving roller to be rotated by 360 ° continuous or reciprocating rotary as shown in fig. 6, being fixed with the cogged collar 7 of tool in the side of roller.Driving gear is engaged with collar 7, and the second driver drives the rotation of sliding tooth wheel, so that gear band moving axis ring be driven to move, collar is connect with roller, so that roller realizes rotation, driving method be can refer to shown in Fig. 5.
A kind of radiotherapy system provided in an embodiment of the present invention, multi-source focusing therapy head include more radioactive sources and collimator, and multiple groups aperture of different sizes is provided in collimator；Radiotherapy system further includes fourth drive device, and fourth drive device is for driving collimator motion, so that radioactive source is sent out
Radiation beam out is projected by different pore size.
Exemplary, multi-source focusing therapy head includes six radioactive sources, four groups of apertures of different sizes is provided in collimator, each group of aperture includes six identical collimating apertures, and four groups of apertures for example can be 4mm, 8mm, 12mm and 16mm.To make different pore size be aligned respectively with radioactive source by mobile collimator, the size of adjustable radiation beam, to realize the treatment of different size launched field or target spot.Certainly, the movement of collimator is not limited to translation, rotation etc. according to the shape of collimator.
Certainly, collimator can also be including mobile collimator and precollimator etc..Exemplary, in embodiments of the present invention, radioactive source is using cobalt -60, and the gamma radiation ray that cobalt -60 generates is focused on a bit by precollimator and mobile collimator, forms the high dose area for focusing wild namely treatment.And move and be provided with different pore size in collimator, by the movement of mobile collimator aperture is switched and focuses wild size and shape to change.The accurate treatment of small field size, high dose may be implemented by the multi-source focusing therapy head.
A kind of radiotherapy system provided in an embodiment of the present invention further includes the 5th driving device, and the 5th driving device is for driving radioactive source mobile, to realize switch source.Radioactive source can of course be made to be aligned or be staggered with the aperture location of collimating aperture by movable radiation source, so as to realize switch source, to realize the beginning and interruption for the treatment of.It should be noted that can also directly pass through the aligned in position of radioactive source and collimator in some radiotherapy systems or be staggered and realize switch source, the embodiment of the present invention is only illustrated for above-mentioned.
A kind of radiotherapy system provided in an embodiment of the present invention, conformal intensity modulated treatment head include radiographic source and multi-diaphragm collimator；Radiotherapy system further includes the 6th driving device, and the 6th driving device is used to control the switch source of the radiographic source of conformal intensity modulated treatment head or the radiographic source of the conformal intensity modulated treatment head of control issues radiation beam and controls the intensity of radiation beam；Radiotherapy system further includes the 7th driving device, and the 7th driving device is for driving multi-diaphragm collimator to move, to form the irradiation field of different sizes and shapes.
Exemplary, conformal intensity modulated treatment head includes radioactive source, precollimator and multi-diaphragm collimator.In
In the embodiment of the present invention, radioactive source can be single cobalt source or be greater than 4MV-X ray generator.Radioactive source realizes launched field shape different in treatment plane by multi-diaphragm collimator, to realize three-dimensional suitable-shape regulating intense irradiation.Multi-diaphragm collimator is the prior art, is repeated no more in embodiments of the present invention.
Exemplary, exemplary if the radiographic source of conformal intensity modulated treatment head is the switch source for the radiographic source that isotope radioactive source such as six driving device of cobalt -60, the is used to control conformal intensity modulated treatment head, pass source mode can be to be staggered by movable radiation source and collimation hole site.If the radiographic source of conformal intensity modulated treatment head is accelerator, the 6th driving device is used to control accelerator and issues radiation beam and control the intensity of radiation beam.
Multi-diaphragm collimator can be similar with tumor shape by the mobile formation of blade irradiation field, be only radiated on human tumor so that radioactive source passes through the irradiation field, reduce injury to other vital tissues etc. around tumour.
A kind of radiotherapy system provided in an embodiment of the present invention, further includes at least one set of image system (IGS) and the 8th driving device, and the 8th driving device is used to drive the image of image system acquisition patient.It is shown in reference picture 1, Fig. 2, by taking radiotherapy system includes two group image systems as an example.On a rotating drum by one group of focus installation or at two groups of stereo video apparatus of fixed angle (i.e. x-ray generator and image detect acquisition system).I.e. on roller, one group or two groups of X-ray image devices are installed, to carry out the detection of real-time patient body position, lesion spatial position, spatial position compensation is carried out to therapeutic bed and treatment head using testing result, to guarantee the high accuracy positioning in therapeutic process, accurate radiotherapy is realized.When using two groups of X-ray imaging devices, the angular range of two groups of imaging devices is between 20 degree to 160 degree.
Exemplary, a group image system includes ray generator and image detection collector；
8th driving device is specifically used for driving ray emitter and issues imaging beam；8th driving device drives image detection collector according to the radiation beam received and the image for forming patient.
Specifically, being referred to for the specific structure of ray emitter and image detection collector existing
Technology, the embodiment of the present invention do not repeat them here.It should be noted that above driving can also be matched with movements such as other movements, including roller, treatment head, to complete the process of an Active treatment.
A kind of radiotherapy system provided in an embodiment of the present invention, the side of roller are provided with conducting slip ring；At least one of conducting slip ring and first driving device, the second driving device, third driving device, fourth drive device, the 5th driving device, the 6th driving device, the 8th driving device of the 7th driving device and rotation drive device are connect, and export control signal to it.That is, control signal is exported to each driving device by conducting slip ring, so that controlling radiotherapy system realizes radiotherapy.
It is general, first driving device, the second driving device, third driving device, fourth drive device, the 5th driving device, the 6th driving device, the 8th driving device of the 7th driving device and the rotation drive device can be and be electrically connected with conducting slip ring, to receive the control signal of conducting slip ring.Certainly, some of driving devices are also possible to realize the transmission of signal by other means.
In the following, this application provides the drive control methods of radiotherapy system corresponding with above-mentioned radiotherapy system.
The embodiment of the invention provides a kind of drive control methods of radiotherapy system, radiotherapy system includes controller, roller, rotation drive device and at least two treatment heads being arranged on roller, at least two treatment heads include at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head, drive control method includes: controller to rotation drive device the first driving control signal of transmission, and rotation drive device receives the first driving control signal and simultaneously drives roller around the continuous or reciprocating rotary in 360 degree of the axle center of roller.
Exemplary, referring to a kind of radiotherapy system provided in an embodiment of the present invention, rotation drive device generally comprises the second driver, driving gear and the cogged collar of tool that roller side is arranged in, and driving gear is engaged with the gear of collar；Second driver is for driving sliding tooth wheel to rotate, so that collar be driven to rotate.Then controlling implement body can be to the second driver the first driving control signal of transmission.After second driver receives the first driving control signal, driving driving gear rotation, to pass through tooth
The engagement of gear, collar drive roll circumference rotation.More further, controller, which can be, sends the first driving control signal to the second driver by slip ring.
A kind of drive control method provided in an embodiment of the present invention, radiotherapy system further includes first driving device, drive control method further include: controller sends the second driving control signal to first driving device, and first driving device receives the second driving control signal and drives radial motion of the treatment head along roller.
Exemplary, referring to a kind of radiotherapy system provided in an embodiment of the present invention, first driving device be can be including the first driver and movement mechanism, and the driving movement mechanism movement of the first driver is to drive treatment head to move.Then controlling implement body can be to the first driver the second driving control signal of transmission, after the first driver receives the second driving control signal, driving movement mechanism movement, so that logical movement mechanism drives treatment head along the radial motion of roller.Referring to shown in Fig. 3, the first driver 1, which can be, drives lead screw 2 to rotate, so that lead screw 2 drives conformal intensity modulated treatment head 20 along the radial motion of roller.
The embodiment of the invention provides drive control methods, radiotherapy system further include: the second driving device, drive control method further include: controller sends third driving control signal to the second driving device, and the second driving device receives third driving control signal and drives axial movement of the treatment head along roller.
Exemplary, referring to a kind of radiotherapy system provided in an embodiment of the present invention, the second driving device be can be including third driver and movement mechanism, and the driving movement mechanism movement of third driver is to drive treatment head to move.Then controlling implement body can be to third driver transmission third driving control signal, after third driver receives third driving control signal, driving movement mechanism movement, to drive treatment head along the axial movement of roller by movement mechanism.Referring to Figure 5, third driver can be driving gear 5 and rotate, and gear 5 is engaged with gear ring 6, and gear ring 6 drives treatment head along the axial movement of roller.
A kind of drive control method provided in an embodiment of the present invention, radiotherapy system further includes third driving device, drive control method further include: controller sends the 4th driving control signal to third driving device, and third driving device receives the 4th driving control signal and drives treatment head in multiple Plane Rotations or Universal rotary.Exemplary, third driving device drives universal joint rotation, and treatment head is driven to realize multi-angle rotary.
A kind of drive control method provided in an embodiment of the present invention, multi-source focusing therapy head include more radioactive sources and collimator, and multiple groups aperture of different sizes is provided in collimator；Drive control method further include: fourth drive device drives collimator motion, so that the radiation beam that radioactive source issues is projected by different pore size.
A kind of drive control method provided in an embodiment of the present invention, further includes: the 5th driving device drives radioactive source mobile to realize switch source.
A kind of drive control method provided in an embodiment of the present invention, conformal intensity modulated treatment head includes radiographic source and multi-diaphragm collimator；Drive control method further include: the 6th driving device controls the switch source of the radiographic source of conformal intensity modulated treatment head or the radiographic source of the conformal intensity modulated treatment head of control issues radiation beam and controls the intensity of radiation beam；7th driving device drives multi-diaphragm collimator movement, to form the irradiation field of different sizes and shapes.
The embodiment of the invention provides drive control method, radiotherapy system further includes at least one set of image-guided system, drive control method further include: the 8th driving device drives the image of image system acquisition patient.It is shown in reference picture 1, Fig. 2, by taking radiotherapy system includes two group image systems as an example.
Exemplary, a group image system includes ray generator and image detection collector；8th driving device drives ray emitter to issue imaging beam；8th driving device drives the image detection collector according to the radiation beam received and the image for forming patient.
Specifically, being referred to the prior art for the specific structure of ray emitter and image detection collector, the embodiment of the present invention is not repeated them here.It should be noted that above driving can also be with other fortune
It moves, including the movements such as roller, treatment head match, to complete the process of an Active treatment.
A kind of drive control method provided in an embodiment of the present invention, controller include: local controller and/or remote controllers.Local controller is generally arranged in the control room of radiotherapy equipment attachment, and operator controls radiotherapy equipment operation by local controller in control room, to complete the process of radiotherapy.Remote controllers can be the controller that distal end or cloud is arranged in, and by being communicatively coupled with radiotherapy equipment, radiotherapy equipment operation be controlled, to complete the process of radiotherapy.Such as, it can be local controller to first driving device, the second driving device, fourth drive device, the 5th driving device, the 6th driving device, the 7th driving device, the 8th driving device and rotation drive device transmission driving signal, be also possible to remote controllers.
Controller includes: local controller and/or remote controllers, and can be controller only includes local controller or controller only includes remote controllers, and it further includes remote controllers including local controller that controller, which can also be both,.
A kind of drive control method provided in an embodiment of the present invention, in the case where controller further includes remote controllers, radiotherapy system sends the current device parameter of radiotherapy apparatus to remote controllers；The remote controllers device parameter current according to the radiotherapy apparatus received, determines the performance indicator or state of the radiotherapy apparatus.
Exemplary, the device parameter of radiotherapy apparatus includes at least running state parameter, performance parameter, the security control parameter etc. of radiotherapy apparatus.It is exemplary, radiotherapy system is in Beijing, and remote controllers are in Shenzhen, radiotherapy system sends the current performance parameters of radiotherapy apparatus to the remote controllers for being located at Shenzhen, then the plant maintenance personnel positioned at Shenzhen can know Pekinese's equipment running status, and determine the performance indicator of the radiotherapy apparatus in time.For example, it was discovered that its equipment precision reduces, then it can notify related personnel to carry out plant maintenance etc..
Further, the performance indicator of radiotherapy apparatus or state are sent to local controller by remote controllers；Local controller adjusts the parameter of radiotherapy apparatus according to the performance indicator or state of radiotherapy apparatus.I.e.
Local control system can further confirm that the operating status of radiotherapy apparatus according to the distal end radiotherapy apparatus parameter received, and it is modified and is safeguarded.
Alternatively, remote controllers adjust the parameter of radiotherapy apparatus according to the performance indicator or state of radiotherapy apparatus, and it is sent to local controller.I.e. remote controllers are directly modified and safeguard to the parameter of radiotherapy apparatus.
The step of control method described in the disclosure of invention or algorithm, can be realized in a manner of hardware, be also possible to execute the mode of software instruction by processor to realize.Software instruction can be made of corresponding software module, software module can be stored on random access memory (Random Access Memory, RAM), flash memory, read-only memory (Read Only Memory, ROM), Erasable Programmable Read Only Memory EPROM (Erasable Programmable ROM, EPROM), in the storage medium of Electrically Erasable Programmable Read-Only Memory (Electrically EPROM, EEPROM), register, hard disk, mobile hard disk, CD-ROM (CD-ROM) or any other form well known in the art.A kind of illustrative storage medium is coupled to processor, to enable a processor to from the read information, and information can be written to the storage medium.Certainly, storage medium is also possible to the component part of processor.Pocessor and storage media can be located in ASIC.In addition, the ASIC can be located in core network interface equipment.Certainly, pocessor and storage media can also be used as discrete assembly and be present in core network interface equipment.
It will be appreciated that in said one or multiple examples, function described in the invention can be realized those skilled in the art with hardware, software, firmware or their any combination.When implemented in software, these functions can be stored in computer-readable medium or as on computer-readable medium one or more instructions or code transmit.Computer-readable medium includes computer storage media and communication media, and wherein communication media includes convenient for from a place to any medium of another place transmission computer program.Storage medium can be any usable medium that general or specialized computer can access.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, and any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all be included in the protection scope of the present invention.
Claims (20)
- A kind of radiotherapy system, which is characterized in that including at least two treatment heads of roller and setting on which cylinder, at least two treatment head includes at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head.
- Radiotherapy system according to claim 1, which is characterized in that the radiotherapy system further includes first driving device, at least one described treatment head can be under the drive of the first driving device, along the radial motion of the roller.
- Radiotherapy system according to claim 2, which is characterized in that further include: the second driving device, at least one described treatment head can the roller described in the drive lower edge of second driving device axial movement, to realize non-co-planar treatment.
- Radiotherapy system according to claim 3, it is characterized in that, the first driving device or second driving device include: the first driver and movement mechanism, the movement mechanism is connect with the treatment head and first driver respectively, and first driver drives the movement mechanism movement to drive the treatment head to move.
- Radiotherapy system according to claim 4, it is characterized in that, the movement mechanism includes gear and gear ring, the gear and gear ring intermeshing, the gear ring is connect with the treatment head, first driver drives the gear rotation, so that gear ring drives the treatment head movement.
- Radiotherapy system according to claim 3, it is characterized in that, the first driving device or second driving device further include guide rail and sliding block, and the guide rail and the sliding block are connect with the roller and the treatment head respectively, and the treatment head is moved along the guide rail.
- Radiotherapy system according to claim 1, which is characterized in that the radiotherapy system further includes third driving device, and the third driving device can drive the treatment head in multiple Plane Rotations or Universal rotary.
- Radiotherapy system according to claim 1, it is characterized in that, it further comprise rotation drive device, for driving the roller around the continuous or reciprocating rotary in 360 degree of its axle center, the rotation drive device includes: the second driver, driving gear and the cogged collar of tool that the roller side is arranged in, and the driving gear is engaged with the gear of the collar；Second driver is for driving the sliding tooth wheel to rotate, so that the collar be driven to rotate.
- Radiotherapy system according to claim 1, which is characterized in that multi-source focusing therapy head includes more radioactive sources and collimator, and it is of different sizes to be provided with multiple groups in the collimator Aperture；The radiotherapy system further includes fourth drive device, and the fourth drive device is for driving the collimator motion, so that the radiation beam that radioactive source issues is projected by different pore size.
- Radiotherapy system according to claim 1, which is characterized in that the conformal intensity modulated treatment head includes radiographic source and multi-diaphragm collimator；The radiotherapy system further includes the 6th driving device, and the 6th driving device is used to control the switch source of the radiographic source of the conformal intensity modulated treatment head or the radiographic source of the control conformal intensity modulated treatment head issues radiation beam and controls the intensity of radiation beam；The radiotherapy system further includes the 7th driving device, and the 7th driving device is used to drive the movement of multi-diaphragm collimator blade, to form the irradiation field of different sizes and shapes.
- Radiotherapy system according to claim 1, which is characterized in that the radiotherapy system further includes at least one set of image system and the 8th driving device, and the 8th driving device is for driving image system that patient is imaged.
- Radiotherapy system according to claim 1, which is characterized in that the side of the roller is provided with conducting slip ring；At least one of the conducting slip ring and the first driving device, the second driving device, third driving device, fourth drive device, the 5th driving device, the 6th driving device, the 7th driving device, the 8th driving device and described rotation drive device are connect, and export control signal to it.
- A kind of drive control method of radiotherapy system, it is characterized in that, the radiotherapy system includes controller, roller, at least two treatment heads of rotation drive device and setting on which cylinder, at least two treatment head includes at least one multi-source focusing therapy head and at least one conformal intensity modulated treatment head, and the drive control method includes:Controller sends the first driving control signal to rotation drive device, and the rotation drive device receives first driving control signal and drives roller around the continuous or reciprocating rotary in 360 degree of the axle center of the roller.
- Drive control method according to claim 13, which is characterized in that the radiotherapy system further includes first driving device, the drive control method further include:Controller sends the second driving control signal to first driving device, and the first driving device receives second driving control signal and drives treatment head along the radial motion of the roller.
- Drive control method according to claim 13, which is characterized in that the radiotherapy system further include: the second driving device, the drive control method further include:Controller sends third driving control signal, second driving device to the second driving device It receives the third driving control signal and drives the treatment head along the axial movement of the roller.
- Drive control method according to claim 13, which is characterized in that the radiotherapy system further includes third driving device, the drive control method further include:Controller sends the 4th driving control signal to third driving device, and the third driving device receives the 4th driving control signal and drives the treatment head in multiple Plane Rotations or Universal rotary.
- Drive control method according to claim 13, which is characterized in that multi-source focusing therapy head includes more radioactive sources and collimator, and multiple groups aperture of different sizes is provided in the collimator；The drive control method further include: fourth drive device drives the collimator motion, so that the radiation beam that radioactive source issues is projected by different pore size.
- Drive control method according to claim 13, which is characterized in that the conformal intensity modulated treatment head includes radiographic source and multi-diaphragm collimator；The drive control method further include: the 6th driving device controls the switch source of the radiographic source of the conformal intensity modulated treatment head or the radiographic source of the control conformal intensity modulated treatment head issues radiation beam and controls the intensity of radiation beam；7th driving device drives the movement of multi-diaphragm collimator blade, to form the irradiation field of different sizes and shapes.
- Drive control method according to claim 13, which is characterized in that the radiotherapy system further includes at least one set of image system, and the image system includes ray generator and image detection collector；8th driving device drives the ray emitter to issue imaging beam；8th driving device drives the image detection collector according to the radiation beam received and the image for forming patient.
- Drive control method according to claim 13, which is characterized in that the controller includes: local controller and/or remote controllers；In the case where the controller further includes remote controllers, the radiotherapy system sends the current device parameter of radiotherapy apparatus to the remote controllers；The device parameter of the radiotherapy apparatus includes at least the running state parameter of radiotherapy apparatus, performance parameter, security control parameter.The remote controllers device parameter current according to the radiotherapy apparatus received, determines the performance indicator or state of the radiotherapy apparatus；Alternatively,The performance indicator of the radiotherapy apparatus or state are sent to local control by the remote controllers Device；Local controller adjusts the parameter of the radiotherapy apparatus according to the performance indicator or state of the radiotherapy apparatus；Alternatively,The remote controllers adjust the parameter of the radiotherapy apparatus according to the performance indicator or state of the radiotherapy apparatus, and are sent to the local controller.
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| PCT/CN2016/105934 WO2018090194A1 (en) | 2016-11-15 | 2016-11-15 | Radiotherapy system and driving control method therefor |
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| CN109011208A (en) * | 2018-07-26 | 2018-12-18 | 上海伽玛星科技发展有限公司 | A kind of stereo directional radiative therapeutic device and its method |
| WO2021046779A1 (en) * | 2019-09-11 | 2021-03-18 | 西安大医集团股份有限公司 | Medical device |
| CN110812717A (en) * | 2019-12-11 | 2020-02-21 | 山东新华医疗器械股份有限公司 | Full-circumference spherical surface three-dimensional directional radiotherapy device |
| CN112295118A (en) * | 2020-11-11 | 2021-02-02 | 陈继红 | Cobalt 60 gamma ray radiotherapy device |
| CN112295117A (en) * | 2020-11-11 | 2021-02-02 | 陈继红 | Cobalt 60 gamma ray radiotherapy device |
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