CN112604190B - Lung cancer radiotherapy tumor movement following system and method - Google Patents
Lung cancer radiotherapy tumor movement following system and method Download PDFInfo
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- CN112604190B CN112604190B CN202110165610.7A CN202110165610A CN112604190B CN 112604190 B CN112604190 B CN 112604190B CN 202110165610 A CN202110165610 A CN 202110165610A CN 112604190 B CN112604190 B CN 112604190B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/103—Treatment planning systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1052—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using positron emission tomography [PET] single photon emission computer tomography [SPECT] imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
- A61N2005/1097—Means for immobilizing the patient
Abstract
The utility model provides a lung cancer radiotherapy tumour motion is followed system and method, belongs to the medical equipment field, discloses a lung cancer tumour breathing motion is followed method based on four-dimensional radiotherapy to and supporting equipment, through the cooperation of equipment and method, realized the location of patient's operation position and fixed, realized the extremely adjusting to the radiation head, both cooperate, and then realized directing to the quick accurate effectual tracking of radiation head patient lung cancer tumour breathing motion, the processing speed is fast, the radiation irradiation efficiency is high, the side reaction that the radiation brought is few, degree of automation is high, the effect is showing.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to radiotherapy, and specifically relates to a lung cancer radiotherapy tumor motion following system and method.
Background
Radiotherapy, i.e. tumor radiotherapy, is a local treatment method for treating tumors by using radioactive rays, about 70% of cancer patients need radiotherapy in the process of treating cancers, about 40% of cancers can be radically treated by radiotherapy, and the role and the position of radiotherapy in tumor treatment are increasingly prominent, so that radiotherapy becomes one of the main means for treating malignant tumors. The principle of radiotherapy lies in that different tissue organs and various tumor tissues have different changed reaction degrees after being irradiated, namely radiosensitivity, the early tumors of part of tumors have small volume, good blood circulation, high oxygen content of tumor cells and high radiosensitivity, the tumor cells do not transfer far at the moment, almost all tumor cells can be killed timely and quickly by targeted radiotherapy, and the effect of radical treatment can be effectively achieved by matching with an auxiliary treatment means.
The lung cancer is one of malignant tumors which have the fastest increase of morbidity and mortality and have the greatest threat to the health and life of human beings, the morbidity and mortality of the lung cancer are obviously increased in recent years, the lung cancer is positioned at the front end of all malignant tumors, and the poor air environment is one of causes of the lung cancer. Unlike other tumors, lung cancer has good blood circulation and is suitable for radiotherapy, but lung tumor is difficult to be positioned and treated but easy to spread and needs to be treated as soon as possible as the lung continuously moves along with the breathing of a patient, so the existing lung cancer treatment scheme is mainly based on surgical operation. Due to the huge damage to patients caused by surgical operations, the self-immunity and recovery capability of the patients are seriously reduced, and a considerable part of patients with lung cancer treated by the surgical operations have poor prognosis and poor survival capability, which seriously influences the success rate and treatment effect of the treatment.
With the continuous development of the technology, people begin to face the respiratory movement of lung cancer patients and actively treat lung tumors through radiotherapy, the respiratory movement of the lung cancer patients is that the positions of the tumors in the thoracic cavities of the patients naturally change along with the natural expansion and retraction of lung lobes in the respiratory process of the patients, wherein the up-and-down reverse movement is the largest, and the movement amplitude in the front-and-back and left-and-right directions is smaller. The respiratory motion of lung cancer patients affects lung cancer radiotherapy primarily in the dosimetry, for the reasons: respiratory motion causes chest organs and tumor motion, so that the anatomical position relationship between planning and actual treatment is different, more irradiated normal tissues and low dose of partial tumor areas are generated; because the respiratory motion causes the volume and density of the lung tissue to change, the portal penumbra changes and the tumor dose in the area of the junction with the lung tissue is low. Variations in dose will affect the effectiveness of the radiation therapy.
At present, there are many ideas for solving the influence of respiratory motion on lung cancer radiotherapy, and the ideas are mainly realized by the following methods: 1. free breathing optimized Planned Target Volume (PTV): according to uncertain factors such as motion conditions and positioning errors of most tumors of the same disease, the probability principle is used to determine how large CTV (clinical target volume) -PTV gaps are used, or the sizes of the gaps are set according to the motion conditions and the positioning errors of the tumors of a specific patient, under the guidance of modern imaging technologies, such as X-ray simulation machine fluoroscopy, PET (positron emission tomography) -CT (computed tomography) and the like, accurate anatomical images of the tumors can be obtained, multi-field irradiation is further coordinated, the tumors can be effectively treated by using the radiotherapy technology, but the existing radiotherapy equipment cannot adapt to the requirements of the method; 2. and (3) breathing control: since the lung of the patient hardly moves when holding breath, the breathing movement of the lung of the patient can be reduced to a very low degree in a specific time period by controlling the breathing of the patient, and the time period for radiotherapy can be effectively provided by the patient's spontaneous Deep Inspiration Breath Holding (DIBH) or Active Breathing Control (ABC), but the biggest problem is that a considerable number of patients cannot tolerate; 3. respiratory gated radiotherapy: during the treatment process, the patient can breathe freely, the switch of the treatment ray is controlled by monitoring the breathing signal in the breathing cycle or other signal changes which can indirectly reflect the tumor position through the gate control equipment, so that the ray can only occur at a certain time phase in the breathing cycle, the maximum advantage of the breathing gate control is that the patient can breathe freely, the ray treatment is accurate, the defects are that corresponding gate control equipment is needed, the monitoring of the tumor position by the gate control signal is extremely accurate, and in addition, the needed simulation time and the treatment time are very long; 4. tracking radiotherapy: similar to the principle of door-controlled radiotherapy, the patient can breathe freely in the treatment process, the change of the tumor position in the respiratory cycle is monitored by the tracking device to control the treatment ray switch, so that the ray can only be generated when the tumor is positioned in a certain position range, the scheme has the advantages that the patient can breathe freely, the ray treatment is accurate, but a marker needs to be implanted in or near the tumor through invasive surgery and taken out after the surgery, in addition, along with the breathing movement, the tumor can move in a deformation or rotation mode and the like, but the marker cannot move, so that the patient can not adapt to the tumors in certain specific positions and specific movement states; 5. four-dimensional radiotherapy: in the simulation, planning and implementation process of treatment, not only the spatial three-dimensional positions of the tumor and the normal organ are considered, but also the change of the tumor and the normal organ in time is considered, so that the motion problems of the tumor and the normal organ are solved on the planning optimization level, in other words, the motion problems of the tumor and the normal organ are solved, in other words, Image Guided Radiation Therapy (IGRT) is adopted, the respiration of a patient is only monitored without controlling the respiration of the patient, so as to control the scanning of four-dimensional cone beam CT, the respective respiration images are acquired at different respiration phases of the patient, then the images of each phase are drawn into respective target areas, different irradiation plans are adopted at different respiration phases of the patient, the respiration monitor is also carried out at the time of radiotherapy, theoretically, the four-dimensional radiotherapy technology can greatly improve the precision of the radiotherapy, the time consumption of the radiotherapy is short, but the development of the four-dimensional radiotherapy technology needs the support of the imaging technology and equipment, the prior technical scheme is also discussed in various directions, and the advantages and the disadvantages are obvious.
The shield system is followed in the motion of current patent lung cancer radiotherapy lump, patent number 201310479309.9 discloses an auxiliary assembly, the theory according to four-dimensional radiotherapy, but the radiotherapy is more inclined to be followed up, through reserving adjustable sheltering hole on the shield, sheltering hole is adjusted along with the tumor contour at that time automatically, this kind of scheme can reduce the possibility of radiotherapy radiation error damage to a certain extent, but go on through external to the mark of tumor target region, just reduced radiotherapy's precision naturally, on the other hand, the regional dose of tumour is difficult to adjust more, there is remaining very easily, though seem to have reduced the operation degree of difficulty from the operation, but weakened the radiotherapy effect by a wide margin. The prior patent "robot noninvasive radiotherapy system", application No. 201310115139.6, discloses a device, which realizes intelligent tracking of moving tumor by placing an electromagnetic generator on tumor tissue in vivo, belongs to a tracking radiotherapy scheme under image guidance, and as mentioned in the foregoing, needs to be implanted and taken out through invasive surgery, and can be positioned and shifted when moving in the face of tumor tissue deformation, rotation and the like, thereby reducing the efficiency and treatment effect of radiotherapy to a certain extent.
Therefore, people are continuously innovated and improved, and try to provide a radiation treatment scheme which can be more excellent, has short radiation treatment time consumption, high positioning accuracy and good treatment effect to deal with the respiratory movement of the lung cancer tumor so as to meet the increasing medical requirements.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a lung cancer radiotherapy tumor movement following system and a lung cancer radiotherapy tumor movement following method, which can effectively cope with respiratory movement of lung cancer tumors.
The technical problem to be solved by the invention is realized by the following technical means:
the utility model provides a lung cancer radiotherapy tumour motion is followed system, includes radiation motion and operation fixed establishment, wherein radiation motion sets up in one side of operation table head, along the left and right sides side back-and-forth movement of operation table, including the organism, the organism passes through the track setting subaerial, and orbital direction of arranging is unanimous with the direction of arranging of operation table, the upper portion of organism is the tunnel type structure of semi-surrounding, surrounds in the top of operation table, establishes radiation head and radiation head motion in, and operation fixed establishment sets up in the first half of operation table, adjusts and fixes the first half of body of patient.
In the invention, the radiation head movement mechanism comprises three or four rotating tables which are rotatably connected and arranged on one surface of the machine body facing the operating bed, a fluted disc is arranged at the edge of each rotating table, gears and first servo motors which are meshed with the fluted disc are arranged on the corresponding machine body, and each rotating table corresponds to at least one gear and one first servo motor; the side, facing the operating table, of the rotating table is a working surface which is circular, a track penetrating through the center and a sliding table freely moving in the track are arranged on the working surface, a sliding table screw penetrating through the sliding table is arranged on the inner side of the track, and the sliding table screw is driven by a second servo motor; the sliding table is hollow, a working seat is embedded in the center, one end of the working seat is open, a radiation head is fixed in an opening of the working seat, the middle of the working seat is connected with the inner side of the sliding table in a sliding mode through a universal spherical structure, the other end of the working seat is connected with at least three telescopic rods respectively, the telescopic rods are radially and uniformly distributed along the outer wall of the working seat, one end of each telescopic rod is connected with the working seat, the other end of each telescopic rod is connected to the inner side wall of the sliding table, and each telescopic rod is driven to be adjusted through a third servo motor.
Furthermore, universal spherical structure is including setting up the bulge loop at the workstation lateral wall and setting up the sliding seat at the sliding stand inboard, and the inboard of sliding seat sets up to the concave surface, and cooperatees with the convex surface of bulge loop.
Furthermore, the top point of the convex ring is evenly provided with balls, the balls are circumferentially distributed along the maximum outer diameter of the convex ring, correspondingly, the inner side concave surface of the sliding seat is evenly provided with a long-strip-shaped arc-shaped sliding groove, the plane where the center of the sliding groove is located is perpendicular to the plane where the convex ring is located, and the sliding grooves are in one-to-one correspondence with the balls.
In the invention, the operation fixing mechanism comprises a chest fixing mechanism, the chest fixing mechanism comprises a left chest moving platform and a right chest moving platform which are oppositely arranged left and right, the left chest moving platform and the right chest moving platform are connected through a chest transverse adjusting screw rod, the chest transverse adjusting screw rod is respectively in threaded connection with the left chest moving platform and the right chest moving platform, the threads at the connecting part of the chest transverse adjusting screw rod and the two chest moving platforms are oppositely arranged, armpit positioning pieces are respectively arranged on the left chest moving platform and the right chest moving platform and are symmetrically distributed, the armpit positioning pieces comprise sleeves fixed on the two chest moving platforms and L-shaped positioning rods inserted in the sleeves, the middle bending parts of the positioning rods are in smooth transition, one end of the positioning rods is empty and faces the direction of a bed head, and the other end of the positioning rods is in a uniform column shape with a square or cross or triangle cross section, inserted into the sleeve with matched structure.
Further, operation fixed establishment still includes belly fixed establishment, left side belly moving platform and right side belly moving platform that belly fixed establishment is including controlling mutual disposition, left side belly moving platform is connected through abdomen horizontal adjusting screw with right side belly moving platform, abdomen horizontal adjusting screw respectively with left side belly moving platform and right side belly moving platform spiro union, and abdomen horizontal adjusting screw sets up with the screw thread of both sides belly moving platform junction is opposite, be provided with belly constraint piece on left side belly moving platform and the right side belly moving platform respectively, two belly constraint piece symmetric distributions, the upper end of two belly constraint pieces is connected through detachable.
Furthermore, one side that the belly constraint piece was arranged relatively all is provided with the location and holds in the palm, and the location holds in the palm and is the echelonment, and the both sides location holds in the palm the interval between the one end that is close to the head of a bed is greater than the other end, and the middle part smooth transition that the location held in the palm, the location holds in the palm one side relative and is provided with the elastic buffer layer, and the location holds in the palm and contacts with the side about patient's 10 th rib and 11 th rib respectively for the location holds in the palm the middle part and becomes the sign of location patient's thorax rib.
Furthermore, a support table is arranged in the middle of the operating bed, the support table is in a long strip shape and is arranged in the middle of the operating bed, two ends of the support table are respectively fixed with the head end and the tail end of the operating bed, the support table is positioned between the left chest moving platform and the right chest moving platform and between the left abdomen moving platform and the right abdomen moving platform, the support table is provided with a chest longitudinal adjusting screw rod and an abdomen longitudinal adjusting screw rod along the head-tail direction of the operating bed, the chest longitudinal adjusting screw rod penetrates through the chest longitudinal sliding block through a screw joint and drives the chest longitudinal sliding block to freely slide in the vacancy along the longitudinal direction of the operating bed, and the abdomen longitudinal adjusting screw rod penetrates through the abdomen longitudinal sliding block through a screw joint and drives the abdomen longitudinal sliding block to freely slide in the vacancy along the longitudinal direction of the operating bed; the chest transverse adjusting screw rod penetrates through the chest longitudinal sliding block and is rotationally connected with the chest longitudinal sliding block, and the abdomen transverse adjusting screw rod penetrates through the abdomen longitudinal adjusting block and is rotationally connected with the abdomen longitudinal adjusting block.
Furthermore, the upper planes of the left chest moving platform, the right chest moving platform, the left abdomen moving platform and the right abdomen moving platform are all parallel and level with the upper plane of the support table and are respectively connected with the support table through elastic cloth, a plurality of ribbed plates are uniformly arranged under the elastic cloth, one ends of the ribbed plates are fixed on the side surface of the support table, and the other ends of the ribbed plates are respectively connected with the left chest moving platform, the right chest moving platform, the left abdomen moving platform and the right abdomen moving platform in a sliding manner; the left chest moving platform is connected with the left belly moving platform through elastic cloth, the left chest moving platform and the left belly moving platform are respectively connected with the adjacent bed heads/bed tails through the elastic cloth, correspondingly, the right chest moving platform and the right belly moving platform are connected through the elastic cloth, and the right chest moving platform and the right belly moving platform are respectively connected with the adjacent bed heads/bed tails through the elastic cloth.
Furthermore, a bed body guide rail is arranged below the operating bed, the bed body guide rail is perpendicular to the support table and is used for respectively supporting the chest fixing structure and the abdomen fixing structure, a chest transverse adjusting screw rod penetrates through at least one side of the left chest moving platform and at least one side of the right chest moving platform, an adjusting hand wheel is arranged at the end, an abdomen transverse adjusting screw rod penetrates through at least one side of the left abdomen moving platform and at least one side of the right abdomen moving platform, and an adjusting hand wheel is arranged at the end; adjusting screw is indulged to chest passes the at least one side of head of a bed and tailstock to set up adjusting hand wheel in end department, abdomen indulge adjusting screw passes the at least one side of head of a bed and tailstock, and sets up adjusting hand wheel in end department, and adjusting hand wheel department all is provided with the calibrated scale.
Based on the structure, the lung cancer radiotherapy tumor motion following method comprises the following steps:
(1) scanning and reconstructing: after a patient is fixed, scanning the chest of the patient by using an imaging device, constructing an electronic three-dimensional model through three-dimensional reconstruction, drawing the integral structure of the lung and the tumor tissue contour of the lung of the patient, scanning different time phases of target tissues of the patient according to a time axis, introducing the target tissues into an intelligent system, training the three-dimensional model into a periodically-changed dynamic model serving as a basis of a treatment scheme, and preferably adopting CT or PET-CT as a main imaging device;
(2) establishing a radiation scheme: on the basis of a periodically changed dynamic model, a radiation irradiation plan is made, and the position, the angle and the dose of radiation irradiation on a time axis are simulated, wherein a continuous irradiation method is adopted in the method;
(3) fixing the body position of the patient: placing the patient on an operation bed, and positioning the patient by adjusting an operation fixing mechanism to keep the body position of the patient consistent with the body position of the model in the radiation irradiation plan;
(4) the radiation follows the tumor movement: and starting the radiation movement mechanism to enable the radiation head to move and work according to the movement and working mode of the treatment plan.
In the invention, the step of fixing the body position of the patient comprises the following steps:
(1) preparing: adjusting a regulating hand wheel at the bed side of the operating bed to ensure that the left chest moving platform, the right chest moving platform, the left abdomen moving platform and the right abdomen moving platform are respectively far away from the supporting table, and the elastic cloth is tensioned;
(2) coarse adjustment: after a patient lies on the operating bed, the patient lifts two arms, and adjusts an adjusting hand wheel on the bed side of the operating bed, so that the left chest moving platform, the right chest moving platform, the left abdomen moving platform and the right abdomen moving platform respectively approach to the supporting tables until the armpit positioning piece and the abdomen binding piece are close to the trunk of the patient, and the two arms of the patient are naturally laid down to the two sides of the trunk;
(3) fine adjustment: respectively and repeatedly adjusting an adjusting hand wheel at the bed side of the operating bed and an adjusting hand wheel at the head/tail of the operating bed so that the armpit positioning piece is accurately positioned at the armpit of the patient, and the abdomen positioning support is contacted with the left side and the right side of the 10 th rib and the 11 th rib of the patient, so as to be accurate to the natural comfort of the patient;
(4) positioning: the elastic bands are arranged, the two ends of each elastic band are respectively connected with the abdomen binding pieces on the two sides, the reading of each adjusting hand wheel is read out, the upper end width of the chest of the patient and the lower end width of the breastbone are obtained, and then the shoulder of the patient and the abdomen of the patient are fixed by the elastic bands of the abdomen fixing mechanism through the positioning rods of the chest fixing mechanism to fix the trunk of the patient.
In order to realize the following of lung cancer tumor respiratory motion of a patient, the invention adopts the following principle method: the tissue structure of a patient is scanned and reconstructed to construct a three-dimensional image which changes along with a time axis, a three-dimensional graph which changes periodically is constructed through a deep learning algorithm, a radiation plan is formulated on the basis, and the irradiation position, angle and intensity of a radiation head at each time phase are simulated, so that the radiation treatment time is shortened as much as possible, the radiation treatment efficiency is improved, and the influence of the side effect of radiation on an operator and the patient is reduced. On the basis, two directions need to be noticed, one is to fix the operation position of the patient and is required to be completely consistent with the simulation, and the other is to extremely adjust the radiation head, quickly and accurately move the radiation head to a specified spatial coordinate point and adjust the irradiation angle and the radiation intensity of the radiation head. The operation fixed establishment who adopts in this application has realized former direction, and is fixed through the location to patient's chest upper portion fixed with the location of patient's breastbone lower part fixed, has realized the location and fixed to patient's chest skeleton frame, and radiation head motion has realized the latter direction, through the cooperation of swivel table with the sliding stand, has realized the position control of radiation head, through the cooperation of working seat and sliding stand, and the linkage cooperation of telescopic link behind the working seat, realizes the angle cooperation of reflection head.
Compared with the prior art, the invention has the following advantages:
(1) the method is based on four-dimensional radiotherapy, combines with a PTV, a respiratory gating scheme and a tracking radiotherapy scheme, constructs a set of lung cancer tumor respiratory motion following method, respectively utilizes the scanning positioning and deep learning optimization of the PTV, enables multi-field irradiation to be effectively realized, greatly improves the efficiency and effect of radiotherapy, utilizes the control of time phases in the respiratory gating and tracking radiotherapy scheme, respectively carries out targeted radiation irradiation in each time phase when a patient freely breathes, takes the four-dimensional radiotherapy as a basis, arranges the state of each time phase according to a time axis, obtains the direction and the intensity of the radiation irradiation required by each time phase, and adjusts a plurality of radiation heads in a targeted manner, plans the moving track and the action of the radiation heads, and realizes the effective following of lung cancer tumor respiratory motion;
(2) the radiation head movement mechanism effectively realizes the extremely-controlled adjustment of the radiation heads, so that a plurality of radiation heads can be freely matched in a working area above a patient and quickly reach any position without dead angles, the free rotation of the rotating table is matched with the linear movement of the sliding table, so that the radiation heads can quickly reach any position above the patient at any time point, the sliding connection of the working seat on the inner side of the sliding table realizes the universal adjustment of the working seat, and the linkage matching of the telescopic rod behind the working seat promotes the control of the universal angle adjustment of the working seat, thereby finally realizing the quick and accurate tracking and pointing of the radiation heads to the lung cancer tumor breathing target area of the patient;
(3) the operation fixing mechanism realizes the positioning and fixing of the upper part of the chest of the patient through the positioning of the axilla of the patient by the chest fixing mechanism, and realizes the positioning and fixing of the lower part of the sternum of the patient through the positioning of the 10 th rib and the 11 th rib of the patient by the abdomen fixing mechanism, thereby realizing the positioning and fixing of the skeleton frame of the chest of the patient, and on the basis, the positioning, scanning and motion tracking of the content of the sternum frame, particularly the lung, can be easily carried out;
therefore, the invention realizes the positioning and fixing of the operative body position of the patient and the extreme adjustment of the radiation head by the cooperation of the equipment and the method, and further realizes the rapid, accurate and effective tracking and pointing of the lung cancer tumor respiratory motion of the patient with the radiation head, and has the advantages of high processing speed, high radiation irradiation efficiency, less side reaction caused by radiation, high automation degree and obvious effect.
Drawings
FIG. 1 is a schematic diagram of the overall structural location distribution of the present invention;
FIG. 2 is a schematic view of the bottom view of the inner side of the machine body and the distribution of the positions of the radiation heads;
FIG. 3 is a schematic view of the distribution of the positions of the radiation heads according to another embodiment of the present invention;
FIG. 4 is a longitudinal sectional view of the turntable of the present invention;
FIG. 5 is a longitudinal sectional view of the sliding table of FIG. 4;
FIG. 6 is a schematic view of the structure of the working seat shown in FIG. 5;
FIG. 7 is a schematic view of the inner concave structure of the sliding seat in FIG. 5;
FIG. 8 is a schematic view of the longitudinal cross-sectional structure of FIG. 7;
FIG. 9 is a top view of the surgical bed of the present invention;
FIG. 10 is a schematic view of the cross-sectional structure A-A of FIG. 9;
FIG. 11 is a schematic view of the cross-sectional structure B-B of FIG. 9;
fig. 12 is a schematic top view of the positioning bracket (left) of the present invention.
In the figure: the device comprises an operating table 1, a radiation movement mechanism 2, a rail 3, a machine body 4, a rotating table 5, a fluted disc 6, a gear 7, a first servo motor 8, a sliding table 9, a rail 10, a sliding table screw rod 11, a working seat 12, a radiation head 13, a convex ring 14, a sliding seat 15, balls 16, a sliding groove 17, a telescopic rod 18, a third servo motor 19, a left chest moving platform 20, a right chest moving platform 21, a left abdomen moving platform 22, a right abdomen moving platform 23, elastic cloth 24, a supporting table 25, a positioning rod 26, a sleeve 27, an adjusting hand wheel 28, an abdomen binding piece 29, an elastic band 30, a ribbed plate 31, a chest transverse adjusting screw rod 32, a chest longitudinal sliding block 33, a chest longitudinal adjusting screw rod 34, a bed body guide rail 35, an abdomen longitudinal sliding block 36, an abdomen longitudinal adjusting screw rod 37, an abdomen transverse adjusting screw rod 38, a positioning support 39 and an elastic buffer layer 40.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
A lung cancer radiotherapy tumor movement following method is realized by the following steps:
(1) scanning and reconstructing: after a patient is fixed, the chest of the patient is scanned by CT, an electronic three-dimensional model is reconstructed in three dimensions through software, the integral structure of the lung and the tumor tissue outline of the lung of the patient are described, then a time axis is established, the state of the tumor tissue target tissue of the patient at each time point on the time axis is scanned, namely a motion trend model of the target tissue along with the lung respiration is obtained, and then a deep learning algorithm is introduced to obtain a dynamic model of the target tissue with periodic change, which is used as the basis of a treatment scheme;
(2) establishing a radiation scheme: making a radiation irradiation plan based on the periodically changed dynamic model, and simulating the position, angle and dose of radiation irradiation on a time axis;
(3) fixing the body position of the patient: placing the patient on an operation bed, and positioning the patient by adjusting an operation fixing mechanism to keep the body position of the patient consistent with the body position of the model in the radiation irradiation plan;
(4) the radiation follows the tumor movement: and starting the radiation movement mechanism to enable the radiation head to move and work according to the movement and working mode of the treatment plan.
In the above process, the construction of the dynamic model which changes periodically is realized by the following steps:
(1) constructing a basic model: scanning lung tissues of a plurality of patients to construct a periodic change basic model of the lung tissues obtained by respiratory motion of the lung tissues;
(2) signature lung cancer characteristics: CT scanning lung tissues of a specified lung cancer patient, identifying lung cancer tumor target tissues, and marking the target tissues in the image with feature points;
(3) obtaining an optimization model: and inputting the marked feature points into the lung tissue periodic variation basic model to obtain a dynamic model of the target tissue of the specified lung cancer patient, which follows the periodic variation of respiratory motion.
In the above process, the construction of the basic model of the periodic change of the lung tissue is realized by the following processes:
(1) CT scanning is carried out on a patient A, and an image X of the respiratory movement of lung tissues of the patient A is recordedARecording each characteristic point X of lung tissue in the imageA,1，XA,2，XA,3，……XA,mThen, a plurality of sets of images { X ] are shot according to the time nodeA,1,1，XA,2,1，XA,3,1，……XA,m,1}，{XA,1,2，XA,2,2，XA,3,2，……XA,m,2}，{XA,1,3，XA,2,3，XA,3,3，……XA,m,3}，……{XA,1,n，XA,2,n，XA,3,n，……XA,m,nA, wherein a is patient a, m is different feature points, and n is different time nodes;
(2) establishing an xyz coordinate system, so that each feature point in the previous step is embodied in a three-dimensional coordinate form;
(3) according to the adjacent time nodes, calculating the displacement { Y ] of each characteristic point in the images of the adjacent time nodesA,1,1，YA,2,1，YA,3,1，……YA,m,1}，{YA,1,2，YA,2,2，YA,3,2，……YA,m,2}，{YA,1,3，YA,2,3，YA,3,3，……YA,m,3}，……{YA,1,n，YA,2,n，YA,3,n，……YA,m,（n-1）The spatial displacement is embodied by three-dimensional coordinates, wherein A is a patient A, m is different characteristic points, n is different time nodes, and (n-1) displacements are generated for the n time nodes;
(4) constructing electronic data of the lung tissue respiratory motion of the patient A on the basis of the characteristic point coordinate X and the displacement Y to generate a corresponding electronic model;
(5) replacing the patient B, repeating the process to obtain the characteristic point coordinate X and the displacement Y of the patient B, and further obtaining the error of the displacement of each characteristic point, and recording the error as Z;
(6) and repeating the process, obtaining the average value and the range of the error Z according to normal distribution, recording the reference value range of the error Z as a threshold value according to requirements, comparing the error Z threshold value with the displacement Y of each group of data, judging the error offset, recording the error offset as the precision, judging whether the new patient data meets the precision requirement according to the reference precision, if not, continuing iteration to adjust the reference precision, if so, finishing training, and obtaining the basic model of the periodic change of the lung tissue.
In the process of establishing the radiation plan, the radiation exposure plan is formulated through the following processes:
(1) introducing the working area of the radiation head into a periodically varying dynamic model of the patient's tumor target tissue, and compartmentalizing the target tissue;
(2) planning a plurality of radiation heads according to the position of a unit area of a target area, and formulating the position, angle and intensity of each radiation head required by killing the unit area through radiation irradiation;
(3) optimizing the moving track of the radiation head according to the moving speed of the radiation head, further optimizing the position, the angle and the intensity of each radiation head of each time node, finishing the optimization, namely finishing the formulation of a radiation irradiation plan, recording a computer system, and when the operation starts, the radiation head works according to the radiation irradiation plan.
With respect to positioning and securing the patient's position, in conjunction with the structure of the surgical securing mechanism shown in fig. 9-11, this is accomplished by the steps of:
(1) preparing: adjusting a hand wheel 28 on the bed side of the operating bed 1 to enable the left chest moving platform 20, the right chest moving platform 21, the left abdomen moving platform 22 and the right abdomen moving platform 23 to be respectively far away from the support table 25, and tensioning the elastic cloth 24;
(2) coarse adjustment: after a patient lies on the operating bed 1, the patient lifts up the two arms, and adjusts the adjusting hand wheel 28 on the bed side of the operating bed 1, so that the left chest moving platform 20, the right chest moving platform 21, the left abdomen moving platform 22 and the right abdomen moving platform 23 respectively approach the supporting table 25 until the armpit positioning piece and the abdomen binding piece 29 are close to the trunk of the patient, and the two arms of the patient are naturally laid down to the two sides of the trunk;
(3) fine adjustment: respectively and repeatedly adjusting an adjusting hand wheel 28 at the bed side of the operating bed 1 and an adjusting hand wheel 28 at the bed head of the operating bed 1, so that the armpit positioning piece is accurately positioned at the armpit of the patient, and the abdomen positioning support 39 is contacted with the left side and the right side of the 10 th rib and the 11 th rib of the patient, taking the natural comfort of the patient as the standard;
(4) positioning: the elastic bands 30 are arranged, the two ends of each elastic band 30 are respectively connected with the abdomen binding pieces 29 at the two sides, the reading of the adjusting handwheels 28 at all positions is read out to obtain the upper end width of the chest and the lower end width of the sternum of the patient, and then the shoulder of the patient is fixed by the positioning rod 26 of the chest fixing mechanism, and the abdomen of the patient is fixed by the elastic bands 30 of the abdomen fixing mechanism to realize the fixation of the trunk of the patient.
Based on the lung cancer radiotherapy tumor movement following method, the lung cancer radiotherapy tumor movement following system comprises a radiation movement mechanism and an operation fixing mechanism, wherein in the figure 1, the radiation movement mechanism 2 is arranged on one side of the head of the operation bed 1 and moves back and forth along the left side and the right side of the operation bed 1, the radiation movement mechanism comprises a machine body 4, the machine body 4 is arranged on the ground through a track 3, the arrangement direction of the track 3 is consistent with that of the operation bed 1, the upper part of the machine body 4 is of a semi-enclosed tunnel-type structure and is enclosed above the operation bed 1, a radiation head 13 and a radiation head movement mechanism are arranged in the upper part of the operation bed 1, and the operation fixing mechanism is arranged on the front half part of the operation bed 1 and is used for adjusting and fixing the upper body of a patient.
As embodiment 1, as shown in fig. 2, the radiation head movement mechanism includes 3 rotating tables 5, and the rotating tables 5 are arranged in a delta shape above the operating table 1, are close to each other, and are mounted on a surface of the machine body 4 facing the operating table 1.
As embodiment 2, as shown in fig. 3, the radiation head movement mechanism includes 4 rotating tables 5, and the rotating tables 5 are arranged above the operating table 1 in a square shape, are close to each other, and are installed on one surface of the machine body 4 facing the operating table 1.
In fig. 4, a toothed disc 6 is arranged at the edge of the rotating table 5, a gear 7 and a first servo motor 8 which are engaged with the toothed disc 6 are arranged on the corresponding machine body 4, each rotating table 5 corresponds to at least one gear 7 and one first servo motor 8, one surface of the rotating table 5 facing the operating table 1 is a working surface which is circular, a track 10 which runs through the center and a sliding table 9 which freely moves in the track 10 are arranged on the working surface, a sliding table screw 11 which runs through the sliding table 9 is arranged on the inner side of the track 10, and the sliding table screw 11 is driven by a second servo motor.
In fig. 5, the sliding table 9 is hollow, the working table 12 is embedded in the center, one end of the working table 12 is open, the radiation head 13 is fixed in the opening of the working table 12, the middle part of the working table 12 is slidably connected with the inner side of the sliding table 9 through a universal spherical structure, the other end of the working table 12 is respectively connected with at least three telescopic rods 18, the telescopic rods 18 are radially and uniformly distributed along the outer wall of the working table 12, one end of each telescopic rod 18 is connected with the working table 12, the other end of each telescopic rod 18 is connected to the inner side wall of the sliding table 9, and each telescopic rod 18 is driven to be adjusted through a third servo motor 19; as shown in fig. 6-8, the universal spherical structure includes a convex ring 14 disposed on the sidewall of the working seat 12 and a sliding seat 15 disposed on the inner side of the sliding table 9, the inner side of the sliding seat 15 is a concave surface and is matched with the convex surface of the convex ring 14, the top point of the convex ring 14 is uniformly provided with balls 16, the balls 16 are circumferentially distributed along the maximum outer diameter of the convex ring 14, correspondingly, the concave surface on the inner side of the sliding seat 15 is uniformly provided with elongated circular arc-shaped sliding grooves 17, the plane where the centers of the sliding grooves 17 are located is perpendicular to the plane where the convex ring 14 is located, and the sliding grooves 17 are in one-to-one correspondence with the balls 16.
In the invention, the operation fixing mechanism comprises a chest fixing mechanism, an abdomen fixing mechanism and a supporting table 25, the supporting table 25 is in a strip shape and is arranged in the middle of the operation bed 1, two ends of the supporting table 25 are respectively fixed with the head end and the tail end of the operation bed 1, wherein, as shown in figures 9 and 10, the chest fixing mechanism comprises a left chest moving platform 20 and a right chest moving platform 21 which are oppositely arranged left and right, the left chest moving platform 20 and the right chest moving platform 21 are respectively positioned at the left side and the right side of the supporting table 25, the left chest moving platform 20 and the right chest moving platform 21 are connected through a chest transverse adjusting screw 32, the chest transverse adjusting screw 32 is respectively screwed with the left chest moving platform 20 and the right chest moving platform 21, the threads at the joint of the chest transverse adjusting screw 32 and the chest moving platforms at two sides are oppositely arranged, the chest transverse adjusting screw 32 penetrates at least one side of the left chest moving platform 20 and the right chest moving platform 21, an adjusting hand wheel 28 is arranged at the end head, and a dial is arranged at the adjusting hand wheel 28.
In fig. 9 and 11, the abdomen fixing mechanism includes a left abdomen moving platform 22 and a right abdomen moving platform 23 which are oppositely arranged left and right, the left abdomen moving platform 22 and the right abdomen moving platform 23 are respectively located at the left and right sides of the supporting platform 25, the left abdomen moving platform 22 and the right abdomen moving platform 23 are connected through an abdomen transverse adjusting screw 38, the abdomen transverse adjusting screw 38 is respectively in threaded connection with the left abdomen moving platform 22 and the right abdomen moving platform 23, the abdomen transverse adjusting screw 38 is oppositely arranged with the threads at the joints of the two abdomen moving platforms, the abdomen transverse adjusting screw 38 passes through at least one side of the left abdomen moving platform 22 and the right abdomen moving platform 23, an adjusting handwheel 28 is arranged at the end, and a dial is arranged at the adjusting handwheel 28.
The support table 25 is provided with a chest longitudinal adjusting screw 34 and an abdomen longitudinal adjusting screw 37 along the head-tail direction of the operating bed 1, and a chest longitudinal sliding block 33 and an abdomen longitudinal sliding block 36 which are respectively matched with the chest longitudinal adjusting screw 34 and the abdomen longitudinal adjusting screw 37, the middle part of the support table 25 is provided with a vacancy for the chest longitudinal sliding block 33 and the abdomen longitudinal sliding block 36 to freely slide, the chest longitudinal adjusting screw 34 penetrates through the chest longitudinal sliding block 33 through a screw joint and drives the chest longitudinal sliding block to freely slide along the longitudinal direction of the operating bed 1 in the vacancy, the abdomen longitudinal adjusting screw 37 penetrates through the abdomen longitudinal sliding block 36 through a screw joint and drives the abdomen longitudinal sliding block to freely slide along the longitudinal direction of the operating bed 1 in the vacancy, the chest transverse adjusting screw 32 penetrates through the chest longitudinal sliding block 33 and is rotatably connected with the chest longitudinal sliding block, and the abdomen transverse adjusting screw 38 penetrates through the abdomen longitudinal adjusting block 36 and is rotatably connected with the abdomen longitudinal adjusting block; the chest longitudinal adjusting screw rod 34 penetrates through the bed head to extend out, an adjusting hand wheel 28 is arranged at the end, the abdomen longitudinal adjusting screw rod 37 penetrates through the bed head to extend out, the adjusting hand wheel 28 is arranged at the end, and dials are arranged at the adjusting hand wheel 28.
The upper planes of the left chest moving platform 20, the right chest moving platform 21, the left abdomen moving platform 22 and the right abdomen moving platform 23 are all flush with the upper plane of the supporting table 25 and are respectively connected with the supporting table 25 through elastic cloth 24, a plurality of rib plates 31 are uniformly arranged below the elastic cloth 24, one ends of the rib plates 31 are fixed on the side surface of the supporting table 25, and the other ends of the rib plates 31 are respectively connected with the left chest moving platform 20, the right chest moving platform 21, the left abdomen moving platform 22 and the right abdomen moving platform 23 in a sliding manner; the left chest moving platform 20 is connected with the left abdomen moving platform 22 through elastic cloth 24, the left chest moving platform 20 and the left abdomen moving platform 22 are respectively connected with the adjacent bed heads/bed tails through the elastic cloth 24, correspondingly, the right chest moving platform 21 is connected with the right abdomen moving platform 23 through the elastic cloth 24, and the right chest moving platform 21 and the right abdomen moving platform 23 are respectively connected with the adjacent bed heads/bed tails through the elastic cloth 24; a bed body guide rail 35 is arranged below the operating bed 1, the bed body guide rail 35 is perpendicular to the support platform 25, and the bed body guide rail is used for supporting the chest fixing structure and the abdomen fixing structure respectively.
Be provided with the armpit setting element on left side chest moving platform 20 and the right side chest moving platform 21 respectively, as shown in fig. 10, two armpit setting element symmetric distributions, the armpit setting element is including fixing sleeve pipe 27 on both sides chest moving platform and the locating lever 26 of the L type of pegging graft in sleeve pipe 27, the middle part position rounding off of buckling of locating lever 26, the one end of locating lever 26 is vacant, towards head of a bed direction, the other end is the even cylindricality of cross for the cross-section, peg graft in structure assorted sleeve pipe 27.
The left abdomen moving platform 22 and the right abdomen moving platform 23 are respectively provided with abdomen binding pieces 29, as shown in fig. 11, the two abdomen binding pieces 29 are symmetrically distributed, the upper ends of the two abdomen binding pieces 29 are connected through a detachable elastic band 30, one sides of the abdomen binding pieces 29 which are oppositely arranged are respectively provided with a positioning support 39, as shown in fig. 12, the positioning supports 39 are in a ladder shape, the distance between one ends of the two positioning supports 39 close to the bed head is larger than that between the other ends of the two positioning supports 39, the middle parts of the positioning supports 39 are in smooth transition, one sides of the positioning supports 39 which are opposite are provided with elastic buffer layers 40, and the positioning supports 39 are respectively contacted with the left side and the right side of the 10 th rib and the 11 th rib of a patient, so that the middle parts of the positioning supports 39 become marks for positioning the rib of the chest of the patient.
In addition, the operation fixing mechanism further comprises a shoulder fixing mechanism, the shoulder fixing mechanism is arranged between the chest fixing mechanism and the bed head and comprises a shoulder transverse adjusting screw rod, the shoulder transverse adjusting screw rod penetrates through the supporting piece and is connected with the supporting piece in a rotating mode, a left shoulder positioning piece and a right shoulder positioning piece are respectively screwed at two ends of the shoulder transverse adjusting screw rod, the thread directions of the shoulder transverse adjusting screw rod and the shoulder positioning pieces at two sides are opposite, an adjusting hand wheel is arranged at the end of the shoulder transverse adjusting screw rod, a dial is arranged at the adjusting hand wheel, the left shoulder positioning piece and the right shoulder positioning piece are oppositely arranged bent plates, the cross section of the left shoulder positioning piece is in a factory shape, and the cross section of the right shoulder positioning piece is in a symmetrical shape. When shoulder fixed establishment was applied to patient's location fixed, make left side shoulder setting element and right side shoulder setting element keep away from each other through rotating adjusting hand wheel, the patient lies the back well, rotates adjusting hand wheel and makes left side shoulder setting element and right side shoulder setting element keep away from each other, shoulder about patient is detained to left side shoulder setting element and right side shoulder setting element to the patient is comfortable naturally as the standard, realized promptly and cooperateed with chest fixed establishment, belly fixed establishment, it is fixed to carry out effectual location to the patient.
Through the steps and the structure of the process, the positioning and fixing of the operation body position of the patient are realized, the extremely-caused adjustment of the radiation head is realized, the positioning and fixing and the adjustment are matched, the rapid, accurate and effective tracking and pointing of the lung cancer tumor respiratory motion of the patient with the radiation head are further realized, the processing speed is high, the radiation irradiation efficiency is high, the side reaction caused by radiation is less, the automation degree is high, and the effect is obvious.
Claims (6)
1. A lung cancer radiotherapy tumor motion following system is characterized in that: the radiation movement mechanism is arranged on one side of the head of the operating bed and moves back and forth along the left side and the right side of the operating bed, the radiation movement mechanism comprises a machine body, the machine body is arranged on the ground through a rail, the arrangement direction of the rail is consistent with that of the operating bed, the upper part of the machine body is of a semi-enclosed tunnel structure, the machine body is enclosed above the operating bed and internally provided with a radiation head and a radiation head movement mechanism, and the operation fixing mechanism is arranged on the front half part of the operating bed; the radiation head movement mechanism comprises three or four rotating tables, the rotating tables are arranged on one surface of the machine body facing the operating bed through rotating connection, a fluted disc is arranged at the edge of each rotating table, gears and first servo motors which are meshed with the fluted disc are arranged on the corresponding machine body, and each rotating table corresponds to at least one gear and one first servo motor; the side, facing the operating table, of the rotating table is a working surface which is circular, a track penetrating through the center and a sliding table freely moving in the track are arranged on the working surface, a sliding table screw penetrating through the sliding table is arranged on the inner side of the track, and the sliding table screw is driven by a second servo motor; the sliding table is arranged in a hollow mode, a working seat is embedded in the center of the sliding table, one end of the working seat is provided with an opening, the radiation head is fixed in the opening of the working seat, the middle of the working seat is connected with the inner side of the sliding table in a sliding mode through a universal spherical structure, the other end of the working seat is connected with at least three telescopic rods respectively, the telescopic rods are distributed uniformly in a radial mode along the outer wall of the working seat, one end of each telescopic rod is connected with the working seat, the other end of each telescopic rod is connected to the inner side wall of the sliding table, and each telescopic rod is driven to be adjusted through a third servo motor; the operation fixing mechanism comprises a chest fixing mechanism, the chest fixing mechanism comprises a left chest moving platform and a right chest moving platform which are oppositely arranged left and right, the left chest moving platform and the right chest moving platform are connected through a chest transverse adjusting screw rod, the chest transverse adjusting screw rod is respectively in threaded connection with the left chest moving platform and the right chest moving platform, the threads at the connecting part of the chest transverse adjusting screw rod and the two chest moving platforms are oppositely arranged, armpit positioning pieces are respectively arranged on the left chest moving platform and the right chest moving platform and are symmetrically distributed, each armpit positioning piece comprises a sleeve fixed on the two chest moving platforms and an L-shaped positioning rod inserted in the sleeve, the middle bending part of each positioning rod is in smooth transition, one end of each positioning rod is empty and faces the direction of a bed head, and the other end of each positioning rod is in a uniform cylindrical shape with a square or cross-shaped or triangular cross section, the sleeve is inserted into a sleeve with a matched structure; operation fixed establishment still includes belly fixed establishment, left side belly moving platform and right side belly moving platform that relative arrangement about belly fixed establishment is including, left side belly moving platform is connected through abdomen horizontal adjusting screw with right side belly moving platform, abdomen horizontal adjusting screw respectively with left side belly moving platform and right side belly moving platform spiro union, and abdomen horizontal adjusting screw sets up with the opposite screw thread of both sides belly moving platform junction, be provided with belly constraint piece on left side belly moving platform and the right side belly moving platform respectively, two belly constraint piece symmetric distributions, the upper end of two belly constraint pieces is connected through the detachable elastic cord.
2. The lung cancer radiotherapy tumor motion following system of claim 1, wherein: the universal spherical structure comprises a convex ring arranged on the side wall of the working seat and a sliding seat arranged on the inner side of the sliding table, the inner side of the sliding seat is provided with a concave surface, the concave surface is matched with the convex surface of the convex ring, balls are uniformly arranged at the top point of the convex ring, the balls are circumferentially distributed along the maximum outer diameter of the convex ring, correspondingly, the inner side concave surface of the sliding seat is uniformly provided with a long-strip-shaped circular arc-shaped sliding groove, the plane where the center of the sliding groove is located is perpendicular to the plane where the convex ring is located, and the sliding groove is in one-to-one correspondence with the balls.
3. The lung cancer radiotherapy tumor motion following system of claim 1, wherein: the abdomen binding piece is characterized in that one side of the abdomen binding piece, which is arranged oppositely, is provided with a positioning support, the positioning support is in a step shape, the distance between the ends, close to the bed head, of the positioning supports on two sides is larger than that of the other end of the abdomen binding piece, the middle of the positioning support is in smooth transition, one side, opposite to the positioning support, is provided with an elastic buffer layer, and the positioning support is in contact with the left side and the right side of a 10 th rib and a 11 th rib of a patient respectively.
4. The lung cancer radiotherapy tumor motion following system of claim 1, wherein: the middle part of the operating bed is provided with a supporting table which is in a long strip shape and is arranged in the middle of the operating bed, two ends of the supporting table are respectively fixed with the head end and the tail end of the operating bed, the supporting table is positioned between the left chest moving platform and the right chest moving platform and between the left abdomen moving platform and the right abdomen moving platform, the supporting table is provided with a chest longitudinal adjusting screw rod and an abdomen longitudinal adjusting screw rod along the head-tail direction of the operating bed, the chest longitudinal adjusting screw rod penetrates through the chest longitudinal sliding block through a screw joint and drives the chest longitudinal sliding block to freely slide in the vacancy along the longitudinal direction of the operating bed, and the abdomen longitudinal adjusting screw rod penetrates through the abdomen longitudinal sliding block through a screw joint and drives the abdomen longitudinal sliding block to freely slide in the vacancy along the longitudinal direction of the operating bed; the chest transverse adjusting screw rod penetrates through the chest longitudinal sliding block and is rotationally connected with the chest longitudinal sliding block, and the abdomen transverse adjusting screw rod penetrates through the abdomen longitudinal adjusting block and is rotationally connected with the abdomen longitudinal adjusting block.
5. The lung cancer radiotherapy tumor motion following system of claim 4, wherein: the upper planes of the left chest moving platform, the right chest moving platform, the left abdomen moving platform and the right abdomen moving platform are all parallel and level with the upper plane of the support table and are respectively connected with the support table through elastic cloth, a plurality of ribbed plates are uniformly arranged under the elastic cloth, one ends of the ribbed plates are fixed on the side surface of the support table, and the other ends of the ribbed plates are respectively connected with the left chest moving platform, the right chest moving platform, the left abdomen moving platform and the right abdomen moving platform in a sliding manner; the left chest moving platform is connected with the left belly moving platform through elastic cloth, the left chest moving platform and the left belly moving platform are respectively connected with the adjacent bed heads/bed tails through the elastic cloth, correspondingly, the right chest moving platform and the right belly moving platform are connected through the elastic cloth, and the right chest moving platform and the right belly moving platform are respectively connected with the adjacent bed heads/bed tails through the elastic cloth.
6. The lung cancer radiotherapy tumor motion following system of claim 4, wherein: a bed body guide rail is arranged below the operating bed, the bed body guide rail is perpendicular to the support table and is used for respectively supporting the chest fixing structure and the abdomen fixing structure, a chest transverse adjusting screw rod penetrates through at least one side of the left chest moving platform and at least one side of the right chest moving platform, an adjusting hand wheel is arranged at the end, an abdomen transverse adjusting screw rod penetrates through at least one side of the left abdomen moving platform and at least one side of the right abdomen moving platform, and an adjusting hand wheel is arranged at the end; adjusting screw is indulged to chest passes the at least one side of head of a bed and tailstock to set up adjusting hand wheel in end department, abdomen indulge adjusting screw passes the at least one side of head of a bed and tailstock, and sets up adjusting hand wheel in end department, and adjusting hand wheel department all is provided with the calibrated scale.
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