CN109847196B - Magnetic field compensation system and method for a magnetic resonance guided radiotherapy system - Google Patents
Magnetic field compensation system and method for a magnetic resonance guided radiotherapy system Download PDFInfo
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- CN109847196B CN109847196B CN201811645993.2A CN201811645993A CN109847196B CN 109847196 B CN109847196 B CN 109847196B CN 201811645993 A CN201811645993 A CN 201811645993A CN 109847196 B CN109847196 B CN 109847196B
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005855 radiation Effects 0.000 claims abstract description 45
- 238000002595 magnetic resonance imaging Methods 0.000 claims abstract description 18
- 238000012360 testing method Methods 0.000 claims abstract description 11
- 230000006698 induction Effects 0.000 claims description 31
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 206010028980 Neoplasm Diseases 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention discloses a magnetic field compensation system and a method of a magnetic resonance guided radiotherapy system, wherein the radiotherapy system comprises a magnetic resonance imaging device and a radiotherapy device, the magnetic resonance imaging device comprises a main magnet, the radiotherapy device comprises a radiation head, a grating blade and a motor for driving the grating blade are arranged in the radiation head, the magnetic field compensation system comprises a compensation control device, a compensation permanent magnet, a magnetic field intensity testing device and a position sensor, and the magnetic field intensity testing device and the position sensor are all connected with the motor, and the compensation control device is used for controlling the movement of the compensation permanent magnet. The invention also discloses a magnetic field compensation method. The invention can dynamically adjust the intensity of the compensation magnetic field, thereby effectively ensuring the effective operation of the motor.
Description
Technical Field
The invention relates to the technical field of radiotherapy equipment, in particular to a magnetic field compensation system and method of a magnetic resonance guided radiotherapy system.
Background
The magnetic resonance guided radiotherapy system obtains the accurate position of the tumor of the patient in radiotherapy through the real-time magnetic resonance image, and then the radiation head of the radiotherapy device is utilized to carry out effective dose radiation on the tumor without affecting healthy cells nearby the tumor, so that more accurate radiotherapy is realized.
However, in the radiotherapy equipment guided by magnetic resonance, due to the influence of a strong magnetic field of the magnetic resonance, the radiation head works in a magnetic field environment, so that the torque of a motor for driving the grating blades is reduced, the driving of the grating blades in the radiation head is influenced, even the grating blades cannot be driven to move, and the radiation head is in fault. In the prior art, a magnet is directly fixed on a radiation head to generate a reverse magnetic field so as to reduce the magnetic field intensity of the position of the motor, thereby reducing the torque reduction degree of the motor. However, this approach has the following drawbacks: when the radiation head moves relative to the magnetic field of the magnetic resonance, the position of a motor in the radiation head in the magnetic field generated by the magnetic resonance is changed, the magnetic field intensity of the position of the motor is also changed, the torque of the motor is also changed, and the magnetic field intensity of a reverse magnetic field generated by the method is fixed, so that the magnetic field intensity is inconvenient to adjust according to the position of the motor, thereby further causing insufficient torque of the motor and causing faults; in addition, when the magnetic field generated by the magnetic resonance itself changes, the method cannot realize the adjustment of the intensity of the reverse magnetic field, so that the influence of the magnetic field on the operation of the motor cannot be effectively eliminated or reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a magnetic field compensation system and a magnetic field compensation method of a magnetic resonance guided radiotherapy system, which can dynamically adjust the intensity of a compensation magnetic field so as to effectively ensure the effective operation of a motor.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
The utility model provides a magnetic field compensation system of radiotherapy system of magnetic resonance guide, the radiotherapy system includes magnetic resonance imaging device and radiotherapy device, magnetic resonance imaging device includes main magnet, radiotherapy device includes the radiation head, the inside grating blade and the drive of being provided with of radiation head grating blade's motor, its characterized in that, this magnetic field compensation system includes compensation controlling means, compensation permanent magnet to and magnetic field strength testing arrangement and the position sensor that all are connected with the motor, compensation controlling means is used for controlling the removal of compensation permanent magnet.
The magnetic resonance imaging device further comprises a stand, the stand is rotatably connected with the main magnet, the radiotherapy device further comprises a support, the radiation head is fixed on the support, and the support is connected to the main magnet in a swinging mode.
The swing angle of the bracket relative to the main magnet is-20 degrees to 20 degrees.
The bracket is hinged with the main magnet.
The bracket is connected with an encoder for detecting the displacement of the bracket.
And the position sensor is connected with a magnetic protective cover.
The magnetic shield is in a sphere shape.
The radiation head is conical.
The magnetic field compensation method of a magnetic resonance guided radiotherapy system, the radiotherapy system comprises a magnetic resonance imaging device and a radiotherapy device, the magnetic resonance imaging device comprises a main magnet, the radiotherapy device comprises a radiation head, a grating blade and a motor for driving the grating blade are arranged in the radiation head, a magnetic field generated by the main magnet is defined as a main magnetic field, a magnetic field generated by a compensation permanent magnet is a compensation magnetic field, and the magnetic field compensation method comprises the following steps:
1) Detecting the position of a motor and the magnetic induction intensity of the motor in a main magnetic field;
2) According to the magnetic induction intensity of the motor in the main magnetic field and the position of the motor, calculating the preset distance between the compensation permanent magnet and the motor, so that the magnetic induction intensity of the motor in the compensation magnetic field is the same as the magnetic induction intensity of the motor in the main magnetic field after the compensation permanent magnet and the motor are separated by the preset distance;
Determining the magnetic induction intensity direction of the motor in the main magnetic field according to the position of the motor and the magnetic field distribution of the main magnetic field;
3) And moving the compensation permanent magnet to a position which is away from the motor by the preset distance, and enabling the magnetic induction intensity direction of the motor in the compensation magnetic field to be opposite to the magnetic induction intensity direction of the motor in the main magnetic field.
The invention has the following beneficial effects: the magnetic field compensation system and the method of the magnetic resonance guided radiotherapy system can move the compensation permanent magnet in real time according to the magnetic field at the motor and the motor position to adjust the intensity and the direction of the compensation magnetic field, thereby effectively realizing the dynamic adjustment of the compensation magnetic field, effectively eliminating or reducing the influence of the main magnetic field on the operation of the motor and ensuring the effective operation of the motor; the compensation effect and the reliability are better; the operation is convenient, and the adjustment efficiency and the adjustment reliability are higher.
Drawings
FIG. 1 is a schematic diagram of a compensation device of the present invention;
FIG. 2 is a schematic diagram of the structure of the radiotherapy system of the present invention;
FIG. 3 is a schematic side elevational view of FIG. 2;
In the figure: 1. main magnet, 2, support, 3, radiation head.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
As shown in fig. 1, 2 and 3, the present embodiment discloses a magnetic field compensation system for a magnetic resonance guided radiotherapy system, the radiotherapy system includes a magnetic resonance imaging device and a radiotherapy device, the magnetic resonance imaging device includes a main magnet 1, the radiotherapy device includes a radiation head 3, and a grating blade and a motor for driving the grating blade are disposed inside the radiation head 3;
the magnetic resonance imaging device is used for acquiring magnetic resonance images so as to obtain the accurate position of the tumor of the patient in radiotherapy; the radiotherapy device is used for carrying out radiotherapy on tumors, and the radiation head 3 is used for a radiation source for emitting radiation so as to carry out radiotherapy on the positions of the tumors obtained by the magnetic resonance imaging device; the motor drives the grating blades to move so as to change the shape and the size of the ray beam emitted by the radiation head 3, so as to adapt to the shape, the size and the position of the tumor.
The magnetic field compensation system comprises a compensation control device, a compensation permanent magnet, a magnetic field intensity testing device and a position sensor, wherein the magnetic field intensity testing device and the position sensor are connected with the motor; the magnetic field intensity testing device is used for detecting the magnetic induction intensity of the motor in the magnetic field generated by the main magnet 1; the position sensor is used for detecting the position of the motor; the compensation control device is used for controlling the movement of the compensation permanent magnet, and the magnetic induction intensity of the motor in the magnetic field generated by the compensation permanent magnet can be adjusted by controlling the position of the compensation permanent magnet relative to the motor.
Further, the magnetic field strength testing device adopts a tesla meter.
In one embodiment, the magnetic resonance imaging apparatus further comprises a stand, and the stand is rotatably connected with the main magnet 1, that is, the main magnet 1 can rotate relative to the stand; as shown in fig. 2-3, the radiotherapy apparatus further comprises a support 2, the radiation head 3 is fixed on the support 2, and the support 2 is swingably connected to the main magnet 1. The radiation head 3 is driven to swing through the swing of the bracket 2, so that the adjustment range of the direction of the ray bundle emitted by the radiation head 3 can be increased, tumors can be irradiated from more directions, and the device has a simple structure, is convenient to operate and can save space. In addition, when the radiation head 3 swings relative to the main magnetic field 1, the position of the motor is changed, so that the influence of the magnetic field generated by the main magnetic body 1 on the motor can be better eliminated by matching with the compensation control device, and the normal operation of the motor is ensured.
By the rotation of the main magnet 1 and the swinging of the support 2, the radiation head 3 has the following two movements, one along with the rotation of the main magnet 1 and one swinging relative to the main magnet 1, thereby being more beneficial to the adjustment of radiation angles.
Further, the swing angle of the bracket 2 relative to the main magnet 1 is-20 degrees to 20 degrees, which is more beneficial to effectively irradiating the tumor part and ensures the irradiation intensity and the effective dose.
In one of the embodiments, the support 2 is hinged to the main magnet 1, or the support 2 and the main magnet 1 are connected by bearings, to better enable the swinging of the radiation head 3.
In one embodiment, a magnetic shield is coupled to the position sensor to prevent the position sensor from magnetic interference.
Further, the magnetic shield is in a sphere shape so as to better play a role in magnetic shield.
In one embodiment, the radiation head 3 is conical in shape to facilitate the mounting of the grating vanes and to facilitate the mounting of the radiation head 3 and the support 2. The radiation head 3 is not limited to the above-described shape, but may take a circular shape or other shapes.
In one embodiment, an encoder for detecting the displacement of the support 2 is connected to the support 2 to better determine the position of the radiation head 3 and ensure the radiation position of the radiation beam.
Wherein the interior of the main magnet 1 is provided with a magnet bore for accommodating a patient.
Further, the isocenter of the radiotherapy device is located on the axis of the magnet bore.
According to the definition of the international standard IEC peer center (ISOCENTRE): in radiology equipment, the reference axes of the various movements move about a common center point, the point being the isocenter, through which the radiation axis passes within the smallest sphere centered at this point. That is, as long as the patient's tumor center is placed on the isocenter, the radiation center always coincides with the tumor center no matter what angle the support, radiation head and treatment couch are at, or any rotation is made.
The embodiment also discloses a magnetic field compensation method for a magnetic resonance guided radiotherapy system, which defines a magnetic field generated by the main magnet 1 as a main magnetic field, namely, a magnetic field generated by a magnetic resonance imaging device as a main magnetic field, and a magnetic field generated by the compensation permanent magnet as a compensation magnetic field, wherein the magnetic field compensation method comprises the following steps:
1) Detecting the position of the motor by using a position sensor and detecting the magnetic induction intensity of the motor in a main magnetic field by using a magnetic field intensity testing device;
2) The compensation control device calculates the preset distance between the compensation permanent magnet and the motor according to the magnetic induction intensity of the motor in the main magnetic field and the position of the motor, so that the magnetic induction intensity of the motor in the compensation magnetic field is the same as the magnetic induction intensity of the motor in the main magnetic field after the compensation permanent magnet and the motor are separated by the preset distance;
Determining the magnetic induction intensity direction of the motor in the main magnetic field according to the position of the motor and the magnetic field distribution of the main magnetic field; it will be appreciated that since the magnetic field distribution of the main magnetic field is determined, the direction of the magnetic induction of the motor in the main magnetic field can be determined from the distribution;
3) The compensation control device is used for controlling the compensation permanent magnet to move to a position which is away from the motor by the preset distance, and the magnetic induction intensity direction of the motor in the compensation magnetic field is opposite to the magnetic induction intensity direction of the motor in the main magnetic field, for example, the direction of the compensation magnetic field can be changed by adjusting the direction of the permanent magnet, so that the magnetic induction intensity direction of the motor in the compensation magnetic field is opposite to the magnetic induction intensity direction of the motor in the main magnetic field.
The influence of the main magnetic field on the motor can be counteracted in real time through the process, and the normal operation of the motor is effectively ensured.
The magnetic field compensation device and the method of the magnetic resonance guided radiotherapy system can effectively realize real-time measurement of the magnetic field at the motor and the motor position, and adjust the intensity and the direction of the compensation magnetic field by moving the compensation permanent magnet in real time according to the measurement result, thereby effectively realizing dynamic adjustment of the compensation magnetic field, effectively eliminating or reducing the influence of the main magnetic field on the operation of the motor, and ensuring the effective operation of the motor; the compensation magnetic field generated by the compensation permanent magnet is stable, the intensity of the compensation magnetic field is adjusted by moving the compensation permanent magnet, and the compensation effect and the reliability are better; the compensation device is convenient to operate, and has high adjustment efficiency and adjustment reliability.
The above-described embodiments are merely preferred embodiments for fully explaining the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutions and modifications will occur to those skilled in the art based on the present invention, and are intended to be within the scope of the present invention. The protection scope of the invention is subject to the claims.
Claims (7)
1. The magnetic field compensation system of the magnetic resonance guided radiotherapy system comprises a magnetic resonance imaging device and a radiotherapy device, wherein the magnetic resonance imaging device comprises a main magnet, the radiotherapy device comprises a radiation head, a grating blade and a motor for driving the grating blade are arranged in the radiation head, and the magnetic field compensation system is characterized by comprising a compensation control device, a compensation permanent magnet, a magnetic field intensity testing device and a position sensor, wherein the magnetic field intensity testing device and the position sensor are connected with the motor, the magnetic field intensity testing device is used for detecting the magnetic induction intensity of the motor in a magnetic field generated by the main magnet, and the position sensor is used for detecting the position of the motor; the compensation control device is used for calculating the preset distance between the compensation permanent magnet and the motor according to the magnetic induction intensity of the motor in the main magnetic field and the position of the motor, determining the magnetic induction intensity direction of the motor in the main magnetic field according to the position of the motor and the magnetic field distribution of the main magnetic field, controlling the compensation permanent magnet to move to a position which is away from the motor by the preset distance, and enabling the magnetic induction intensity direction of the motor in the compensation magnetic field to be opposite to the magnetic induction intensity direction of the motor in the main magnetic field;
The magnetic resonance imaging device further comprises a stand, the stand is rotatably connected with the main magnet, the radiotherapy device further comprises a bracket, the radiation head is fixed on the bracket, and the bracket is connected to the main magnet in a swinging manner;
the swing angle of the bracket relative to the main magnet is-20 degrees to 20 degrees.
2. The magnetic field compensation system of a magnetic resonance guided radiotherapy system of claim 1, wherein the support is hinged to the main magnet.
3. The magnetic field compensation system of a magnetic resonance guided radiation therapy system of claim 1 wherein an encoder for detecting displacement of said support is coupled to said support.
4. The magnetic field compensation system of a magnetic resonance guided radiation therapy system of claim 1 wherein a magnetic shield is coupled to said position sensor.
5. The magnetic field compensation system of a magnetic resonance guided radiotherapy system of claim 4, wherein the magnetic shield is spherical.
6. The magnetic field compensation system of a magnetic resonance guided radiotherapy system of claim 1, wherein the radiation head is conical.
7. The magnetic field compensation method of a magnetic resonance guided radiotherapy system, the radiotherapy system includes a magnetic resonance imaging device and a radiotherapy device, the magnetic resonance imaging device includes a main magnet, the radiotherapy device includes a radiation head, a grating blade and a motor driving the grating blade are arranged in the radiation head, the method is characterized in that a magnetic field generated by the main magnet is defined as a main magnetic field, a magnetic field generated by a compensation permanent magnet is a compensation magnetic field, and the magnetic field compensation method includes the following steps:
1) Detecting the position of a motor and the magnetic induction intensity of the motor in a main magnetic field;
2) According to the magnetic induction intensity of the motor in the main magnetic field and the position of the motor, calculating the preset distance between the compensation permanent magnet and the motor, so that the magnetic induction intensity of the motor in the compensation magnetic field is the same as the magnetic induction intensity of the motor in the main magnetic field after the compensation permanent magnet and the motor are separated by the preset distance;
Determining the magnetic induction intensity direction of the motor in the main magnetic field according to the position of the motor and the magnetic field distribution of the main magnetic field;
3) And moving the compensation permanent magnet to a position which is away from the motor by the preset distance, and enabling the magnetic induction intensity direction of the motor in the compensation magnetic field to be opposite to the magnetic induction intensity direction of the motor in the main magnetic field.
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