CN114053596B - Rotary rack with replaceable treatment head - Google Patents
Rotary rack with replaceable treatment head Download PDFInfo
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- CN114053596B CN114053596B CN202010773558.9A CN202010773558A CN114053596B CN 114053596 B CN114053596 B CN 114053596B CN 202010773558 A CN202010773558 A CN 202010773558A CN 114053596 B CN114053596 B CN 114053596B
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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
- A61N5/1077—Beam delivery systems
- A61N5/1081—Rotating beam systems with a specific mechanical construction, e.g. gantries
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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
- A61N2005/1085—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy characterised by the type of particles applied to the patient
- A61N2005/1087—Ions; Protons
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Abstract
The invention discloses a rotary rack with a replaceable treatment head, which comprises a rotary body assembly with an outer ring and a plurality of proton beam outlets, and a treatment head support ring assembly with a plurality of treatment heads and an inner ring; the rotating body assembly comprises a rotating body, a rotating body encoder for measuring linear displacement of the rotating body, a rotating body roller supporting assembly and a rotating body roller driving controller; the therapeutic head support ring assembly comprises a therapeutic head support ring, a therapeutic head support ring encoder for measuring the linear displacement of the therapeutic head support ring, a therapeutic head support ring roller support assembly and a therapeutic head support ring roller drive controller, wherein the rotator encoder and the therapeutic head support ring encoder are encoders with the same step length, and the rotator roller drive controller and the therapeutic head support ring roller drive controller are respectively provided with an angle compensation control unit. The invention solves the problem of synchronization of the rotating bodies of two large-scale overweight mechanical devices based on two independent power systems, and finally achieves the difference value within the precision range of 0.096 mm.
Description
Technical Field
The invention belongs to the technical field of proton treatment, and particularly relates to a rotary rack structure with a replaceable treatment head.
Background
The rotating frame is an important component of proton treatment equipment, and beam current led out from an accelerator is transmitted through a beam current line, enters the rotating frame and is transported to a treatment room through the beam current line of the rotating frame.
The treatment head is an important device arranged on the rotating frame, and the proton beam is scattered or scanned by the treatment head to widen the Bragg peak so that the Bragg peak can cover the tumor.
The scanning and scattering of the focus of a patient by the treatment head on the rotating frame are two links of one proton treatment, and only one complete treatment is calculated after the two links are completed. Because scanning and scattering purposes are different and treatment principles are different, one treatment head cannot be used for replacement, and two different treatment heads need to be designed, as shown in fig. 4, only one treatment head is arranged on a rotating rack in the prior art and is fixedly arranged on the rotating rack. When the scanning treatment link is finished and the treatment link enters the scattering treatment link, the machine needs to be stopped to enable the rotating rack to be separated from the working state and to be changed into a static state, the treatment head is replaced by the lifting tool in the static state, specifically, the treatment head is lifted from the station 1 by the lifting tool and then horizontally rotated by 180 degrees to reach the station 2, and therefore the treatment head is detached. Then the tool moves in the opposite direction, and the new treatment head on the station 2 horizontally rotates for 180 degrees to reach the station 1, thereby completing the installation of the new treatment head. The problems existing in the prior art are as follows: the treatment head is replaced complicatedly and time-consuming, and the rotating frame can be disassembled only by stopping the machine.
Disclosure of Invention
The invention provides a rotary rack with a replaceable treatment head, aiming at solving the problems that the treatment head is complex and time-consuming to replace and the rotary rack can be detached only by stopping in the prior art.
In order to solve the technical problem, the invention provides the following technical scheme:
a rotating rack with a replaceable treatment head comprises a rotator assembly with a proton beam outlet on an outer ring and a treatment head support ring assembly with a plurality of treatment heads on an inner ring; the rotating body assembly comprises a rotating body, a rotating body encoder for measuring linear displacement of the rotating body, a rotating body roller supporting assembly and a rotating body roller driving controller; the treatment head support ring assembly comprises a treatment head support ring, a treatment head support ring encoder for measuring the linear displacement of the treatment head support ring, a treatment head support ring roller support assembly and a treatment head support ring roller drive controller; the treatment head support ring and the rotating body are coaxially arranged, the inner wall of the treatment head support ring is symmetrically provided with a plurality of treatment heads, and the treatment heads are respectively used for different stages of proton treatment; when the proton treatment angle is changed, the treatment head support ring and the rotating body move synchronously; when the treatment head is replaced, the treatment head support ring and the rotating body do relative motion, and the plurality of treatment heads are in butt joint with the proton beam outflow port on the rotating body component in a time-sharing manner, so that the replacement of the proton treatment heads at different stages is completed;
the rotator encoder and the therapeutic head support ring encoder are encoders with the same step length, the rotator roller driving controller and the therapeutic head support ring roller driving controller are communicated with each other and are respectively provided with an angle compensation control unit, and the rotator roller driving controller is connected with an upper computer treatment plan operation terminal.
The treatment head support ring component comprises a treatment head support ring, a treatment head support ring encoder, a treatment head support ring roller support component, a treatment head support ring roller driving mechanism and a treatment head support ring roller driving controller, wherein the treatment head support ring encoder is arranged on the end face of the support ring and used for measuring the linear displacement of the treatment head support ring, the treatment head support ring roller support component is arranged between the rotator and the treatment head support ring and clings to the outer surface of the treatment head support ring, the treatment head support ring roller driving mechanism is arranged on the treatment head support ring roller support component, and the treatment head support ring roller driving controller is connected with the driving mechanism in a wired mode.
The treatment head support ring roller support assembly consists of a treatment head support ring roller support, a treatment head support ring roller support driving wheel, a treatment head support ring roller support driven wheel and a treatment head support ring roller driving mechanism; the driving wheel and the driven wheel are uniformly distributed on the outer surface of the treatment head support ring in a front row and a back row under the support of the treatment head support ring roller wheel, the front row is composed of a plurality of driven wheels, the back row is composed of at least 1 driven wheel and one driving wheel, the treatment head support ring roller wheel driving mechanism is coaxially distributed with the driving wheel, the driving mechanism comprises a treatment head support ring roller wheel driving motor, a treatment head support ring roller wheel driving motor reducer and a treatment head support ring roller wheel driving motor encoder, and the motor encoder is distributed on the reducer and used for measuring the rotation angle of the motor; the roller supporting component of the treatment head supporting ring drives the treatment head supporting ring and the plurality of treatment heads on the supporting ring to rotate together through friction force.
The multiple treatment heads comprise a scattering treatment head and a scanning treatment head, when scattering beams are needed, the scattering treatment head is rotated to a proton beam outlet of the rotator component, and the proton beams irradiate onto the focus of a patient to be treated after passing through the scattering treatment head; when the scanning beam is needed, the scanning treatment head is rotated to the proton beam outlet of the rotator component, and the proton beam flows through the scanning treatment head and then irradiates the focus of the patient for treatment.
The rotator assembly comprises a rotator, a rotator roller supporting assembly, a rotator encoder, a rotator roller supporting mechanism and a rotator roller driving controller, wherein the rotator is axially in the horizontal direction, the rotator roller supporting assembly is arranged below the rotator, the rotator encoder is arranged on the end face of the rotator and is used for measuring the linear displacement of the rotator, the rotator roller supporting driving mechanism is arranged on the rotator roller supporting assembly, and the rotator roller driving controller is connected with the driving mechanism in a wired mode.
The rotating body roller supporting assembly consists of a rotating body roller support, a rotating body roller support driving wheel, a rotating body roller support driven wheel and a rotating body roller support driving mechanism; the driving wheel and the driven wheel are arranged on the lower surface of the rotating body in a front row and a rear row under the support of the roller support of the rotating body and are tightly attached to the lower surface of the rotating body, the front row is composed of a plurality of driven wheels, the rear row is composed of a plurality of driven wheels and one driving wheel, the roller support driving mechanism of the rotating body is coaxially arranged with the driving wheel, the driving mechanism comprises a roller support driving motor of the rotating body, a roller support motor reducer of the rotating body and a roller support motor encoder of the rotating body, and the roller support motor encoder of the rotating body is arranged on the roller support motor reducer of the rotating body and is used for measuring the rotating angle of the roller support driving motor of the rotating body; the rotator roller supporting assembly drives the rotator to rotate through friction force.
The rotating body roller driving controller is communicated with the therapeutic head supporting ring roller driving controller, is a main controller, is connected with an upper computer therapeutic plan issuing terminal in a wireless or limited mode, receives related instructions of a human-computer interface issued by the upper computer therapeutic plan, and sends the related instructions to the therapeutic head supporting ring roller driving controller, wherein the related instructions comprise a rotation angle instruction and a therapeutic head replacement instruction; the angle compensation control units of the rotating body roller driving controller and the therapeutic head support ring roller driving controller are respectively provided with a rotating instruction angle module, an encoder measuring module, an angle compensation module, a motor control module and a central processing module; the respective central processing module respectively sends instructions to the respective rotation instruction angle module, the angle compensation module and the motor control module and receives data collected by the rotation instruction angle module, the angle compensation module and the motor control module; the respective encoder measuring module and the angle compensation module are connected in a bidirectional mode; the respective encoder measuring modules are used for receiving the returned data of the respective two encoders, converting the data returned by the linear encoder into angles and then feeding the angle data of the two encoders back to the angle compensation module; for the rotator roller driving controller, the two encoders are a rotator roller supporting motor encoder and a rotator encoder, and for the supporting ring roller driving controller, the two encoders are a therapeutic head supporting ring roller driving motor encoder and a therapeutic head supporting ring encoder.
The resolution chosen for the support ring encoder is 12 bits, i.e. 2 12 4096, the diameter ratio of the treatment head support ring rollers to the treatment head support ring is 1:40, and the linear parameter of the treatment head support ring encoder is 0.096 mm when the radius of the treatment head support ring is 2.5 m.
The resolution selected for the rotary encoder is 13 bits, i.e. 2 13 8192, the diameter ratio of the roller of the rotating body to the rotating body is 1:40, and the linear parameter of the rotating body encoder is 0.096 mm when the radius of the rotating body is 5 m.
The accuracy of the multiple treatment heads in time sharing butt joint with proton beam outflow ports on the rotator assembly does not exceed the accuracy of 0.096 mm of linear parameters of the encoder.
Advantageous effects of the invention
1. The invention is specially provided with two controllers which are communicated with each other and are controlled independently, angle compensation control units in the respective controllers, and double encoders which are arranged around the angle compensation units and are used for comparing respective errors, wherein the double encoders comprise respective motor encoders and rotating body end face encoders, and the rotating accuracy of the rotating rack weighing 125 tons is finally controlled within the accuracy range of 0.096 mm through the mutual communication, mutual support and organic combination of the angle compensation units in the respective controllers and peripheral equipment, so that the invention makes a substantial breakthrough.
2. In order to solve the problem of synchronization of the rotating bodies of two super-large and super-heavy mechanical equipment based on two independent power systems, two sets of controllers and angle compensation control units are respectively arranged, and the angle errors of the rotating bodies are respectively compensated by adopting a common scale until the difference value is finally within the precision range of 0.096 mm, so that the synchronization of the rotating bodies of the two independent power systems is realized.
Drawings
FIG. 1 is a front view of a rotating gantry of the present invention with a replaceable treatment head;
FIG. 2 is a side view of a rotating gantry of the present invention with a replaceable treatment head;
FIG. 3 is the internal structure diagram of the roller driving controller of the rotating body and the roller driving controller of the therapeutic head support ring;
FIG. 4 is a side view of a prior art rotating gantry based tool for changing treatment heads;
in the figure:
1-a rotator assembly; 1-0: a rotating body; 1-1: rotating the gantry beam line; 1-2: a proton beam exit port; 1-3-1, 1-3-2 and 1-3-3 rotating body rollers support the driven wheel; 1-3-4: the roller of the rotating body supports the driving wheel; 1-4: a rotary body encoder; 1-5: a rotating body roller supporting driving mechanism (a rotating body roller supporting driving motor, a rotating body roller supporting motor reducer and a rotating body roller supporting motor encoder); 1-6: the roller of the rotating body drives and controls the connecting wire; 1-7: a rotator roller drive controller; 1-8: a rotating body roller support;
2: a treatment head support ring assembly; 2-0: treatment head support ring, 2-1: scanning treatment head, 2-2: a scatter therapy head; 2-3-1, 2-3-2, 2-3-3, 2-3-4, 2-3-5, 2-3-6, 2-3-7: the idler wheel of the support ring of the treatment head supports the driven wheel; 2-3-8: the roller of the treatment head support ring supports the driving wheel; 2-4: a treatment head support ring encoder; 2-5: a therapeutic head support ring roller driving mechanism (a therapeutic head support ring roller driving motor, a therapeutic head support ring roller driving motor reducer and a therapeutic head support ring roller driving motor encoder); 2-6: the roller driving control connecting line of the therapeutic head supporting ring; 2-7: a therapeutic head support ring roller drive controller; 2-8: the treatment head supports the ring roller support.
3-rotating the frame.
Detailed Description
Design principle of the invention
1. Two treatment phases of proton treatment and two operating conditions of the apparatus: the first treatment phase: using a scanning treatment head 2-1 to find the focus part of a patient; the second treatment stage: the focus part is treated by proton with the scattering therapeutic head 2-2. Two operating conditions of the device: the first working condition is as follows: the treatment head makes relative motion relative to the beam outlet, thereby completing the alignment; the second working condition is as follows: the treatment head and the rotating frame rotate together to find a treatment angle, so that the focus is aligned for treatment;
in the prior art, the two stages and the two working conditions are adopted by only one treatment head, and when the treatment head needs to be replaced in the first stage, the treatment head and the rotating frame are twisted by 180 degrees to the ground for disassembly and assembly; for the first working condition, the treatment head and the rotating frame are aligned manually, specifically, the alignment of a collimation point on the treatment head and a collimation point on a beam outlet is performed; for the second working condition, the therapeutic head is directly and fixedly arranged on the rotating frame, and the rotating frame drives the therapeutic head to rotate.
2. The design difficulty of the invention is as follows: the invention adopts a method that the rotator is provided with 2 treatment heads and the heads are automatically changed, and replaces the method that the treatment heads are manually changed and the rotator is provided with only 1 treatment head in the prior art.
The automatic replacement of the treatment head of the invention needs to overcome two difficulties, the first difficulty is that the rotary object is overweight and overlarge, so that the precision is difficult to meet the requirement: the weight of the rotating rack in the embodiment of the invention is 120 tons, and the total weight of the inner ring of the treatment head and the 2 treatment heads is 5 tons. If the weight of a rotating object is relatively light, the precision of a gear or a chain can be very high, and if a gear or chain transmission method is adopted for the transmission of a rotating body of several tons or hundreds of tons, the gear or the chain can be beaten into , so that only a friction rolling method can be adopted, but the principle of the friction rolling is that the friction between the object and the object is utilized to generate rolling, and because the required precision is very high, the error cannot exceed the linear parameter of the encoder by 0.096 mm, if the object and the object are not in place contact or water stain and oil stain generate slipping, the reading of the encoder is inaccurate and cannot meet the precision requirement; the second difficulty is: the automatic replacement of the treatment head needs to add an inner ring, which is changed from one ring in the prior art into two rings. When the treatment angle needs to be changed, the outer ring and the inner ring need to move synchronously to ensure that the malposition does not occur, and for two objects with the weight of 120 tons on the outer ring and 5 tons on the inner ring, the larger the mass is, the more difficult the shape is to change, which is the second difficulty. When the treatment head is replaced manually, only one outer ring does not have an inner ring, and the problem that the outer ring and the inner ring rotate together does not exist.
3. The solution of the invention is as follows:
firstly, an encoder of a rotating body assembly is arranged on the end face of the rotating body instead of a driven wheel of the rotating body, and an encoder of a therapy head support ring assembly is arranged on the end face of an inner ring of a therapy head instead of the driven wheel of the inner ring of the therapy head; therefore, the problem of error reading of the encoder caused by the fact that the driven wheel runs empty or water stain and oil stain slip can be avoided.
Secondly, a transmission mechanism, a control mechanism and a measuring mechanism are respectively established for the rotating body assembly and the treatment head support ring assembly; when the rotating frame and the treatment head are required to rotate integrally, the respective control mechanisms control the rotating body of the respective control mechanisms and the rotating body of the other control mechanism to keep synchronous motion.
Thirdly, communication between the two controllers is established, the rotating body controller controls the treatment head inner ring controller and is connected with a treatment plan operation terminal, the outer ring controller receives an angle needing to be rotated from the treatment plan operation terminal and informs the treatment head inner ring controller of the rotating angle, and the treatment head controller and the rotating body controller synchronously move according to the same angle;
fourthly, the respective controllers control the motors to perform angle compensation on the rotating bodies of the motors. The angle compensation method comprises the following specific steps: a rotation instruction angle module is arranged in each controller and used for receiving an angle rotation instruction of the main controller or the upper computer; the motor control module is used for executing the instruction of the central processing module and controlling the rotation angle of the motor; the encoder measuring module is used for receiving the returned data of the two encoders, converting the returned data of the linear encoder into an angle and then feeding the angle data of the two encoders back to the angle compensation module; the angle compensation module is used for receiving the angle data of the two encoders from the encoder measuring module, calculating an angle difference value and sending the difference value to the central processing module; the central processing module controls the motor to perform angle compensation through the motor control module, after the angle compensation is performed, the encoder measuring module receives angle data of the two encoders again, calculates an angle difference value and sends the angle difference value to the central processing module, and the central processing module receives the angle difference value again and stops the motor to perform the angle compensation until the feedback difference value of the angle compensation module is within an allowable minimum range.
Fifthly, designing the two linear parameters (encoder step length) of the encoder to be the same as a basic unit for calculating the proportional relation. The proportional relation is the proportional relation of the arc length of the large diameter and the arc length of the small diameter corresponding to the same rotation angle. Because the rotating body and the inner ring of the treatment head are driven by two independent motors to rotate, the rotating body and the inner ring of the treatment head are required to have the same rotating angle in order to keep synchronization, and because the rotating body and the inner ring of the treatment head adopt linear encoders, when the rotating body and the inner ring of the treatment head rotate by the same angle, the arc lengths corresponding to the rotating body with the large radius and the inner ring of the treatment head with the small radius are different, so that the proportional relation between the two arc lengths needs to be calculated, and the rotating angle can be calculated according to the linear displacement and then whether the rotating body and the inner ring of the treatment head are synchronous or not can be judged according to the rotating angle. However, the premise for determining the proportional relationship is that the basic calculation units for calculating the arc length are the same, and since the calculation of the arc length all uses the encoder step length as the basic calculation unit, the rotating body encoder and the treatment head encoder need to be designed to be encoders with the same step length.
The general idea for setting the same step size encoder is as follows: because the diameter of the rotating body is larger than that of the inner ring of the treatment head, the resolution of the encoder of the rotating body is required to be larger than that of the encoder of the inner ring of the treatment head, and the proportional relation of the two diameters is the proportional relation of the two resolutions. The diameter ratio of the therapeutic head support ring roller to the therapeutic head support ring is equal to the diameter ratio of the rotating body roller to the rotating body. The treatment head support ring roller supports the driven wheel for the treatment head support ring roller, the rotator roller supports the driven wheel for the rotator roller, and the diameter of the driven wheel supported by the treatment head support ring roller and the diameter of the driven wheel supported by the rotator roller for the rotator roller are the same as the diameter of the corresponding driving wheel.
According to the principle of the invention, the invention designs the rotary rack with the replaceable treatment head.
As shown in fig. 1 and 2, a rotating frame 3 with a replaceable treatment head comprises a rotator assembly 1 provided with a proton beam outlet on an outer ring, a treatment head support ring assembly 2 provided with a plurality of treatment heads on an inner ring; the rotating body assembly comprises a rotating body 1-0, a rotating body encoder 1-4 for measuring linear displacement of the rotating body, a rotating body roller supporting assembly and a rotating body roller driving controller 1-7; the treatment head support ring component comprises a treatment head support ring 2-0, a treatment head support ring encoder 2-4 for measuring the linear displacement of the treatment head support ring, a treatment head support ring roller support component and a treatment head support ring roller drive controller 2-7; the treatment head support ring 2-0 and the rotator 1 are coaxially arranged, the inner wall of the treatment head support ring 2-0 is symmetrically provided with a plurality of treatment heads (2-1, 2-2), and the treatment heads (2-1, 2-2) are respectively used for different stages of proton treatment; when the proton treatment angle is changed, the treatment head support ring 2-0 and the rotator 1-0 do synchronous motion; when the treatment head is replaced, the treatment head support ring and the rotating body do relative motion, and the plurality of treatment heads (2-1 and 2-2) are in butt joint with the proton beam outflow port 1-2 on the rotating body component in a time-sharing manner, so that the replacement of the proton treatment head at different stages is completed;
the method is characterized in that: the rotating body encoders 1-4 and the therapeutic head support ring encoders 2-4 are encoders with the same step length, and the rotating body roller driving controllers 1-7 and the therapeutic head support ring roller driving controllers 2-7 are respectively provided with an angle compensation control unit.
The treatment head support ring component comprises a treatment head support ring 2-0, a treatment head support ring encoder 2-4 arranged on the end face of the support ring 2-0 and used for measuring the linear displacement of the treatment head support ring, a treatment head support ring roller support component arranged between the rotator 1-0 and the treatment head support ring 2-0 and tightly attached to the outer surface of the treatment head support ring 2-0, a treatment head support ring roller driving mechanism 2-5 arranged on the treatment head support ring roller support component, and a treatment head support ring roller driving controller connected with the driving mechanism in a wired mode.
The treatment head support ring roller supporting assembly consists of a treatment head support ring roller support 1-8, a treatment head support ring roller support driving wheel 2-3-8, a treatment head support ring roller support driven wheel (2-3-1, 2-3-2, 2-3-3, 2-3-4, 2-3-5, 2-3-6 and 2-3-7, in the figure 2, 2-3-5 is opposite to 2-3-6, 2-3-7 is opposite to 2-3-8) and a treatment head support ring roller driving mechanism 2-5; the driving wheel and the driven wheel are uniformly distributed on the outer surface of the treatment head support ring in front and back two rows under the support of the roller support 2-8 of the treatment head support ring, the front row consists of a plurality of driven wheels (2-3-1, 2-3-2, 2-3-3, 2-3-4), the back row consists of a plurality of driven wheels (2-3-5, 2-3-6, 2-3-7) and one driving wheel 2-3-8, the treatment head support ring roller driving mechanism 2-5 is coaxially distributed with the driving wheel, the driving mechanism comprises a treatment head support ring roller driving motor, a treatment head support ring roller driving motor reducer and a treatment head support ring roller driving motor encoder, and the motor encoder is distributed on the reducer, the motor is used for measuring the rotation angle of the motor; the roller supporting component of the treatment head supporting ring drives the treatment head supporting ring 2-0 and the plurality of treatment heads (2-1, 2-2) on the supporting ring to rotate together through friction force.
The treatment heads (2-1 and 2-2) comprise a scattering treatment head and a scanning treatment head, when scattering beams are needed, the scattering treatment head is rotated to a proton beam outlet of the rotator component, and the proton beam passes through the scattering treatment head and then irradiates a focus of a patient for treatment; when the scanning beam is needed, the scanning treatment head is rotated to the proton beam outlet of the rotator component, and the proton beam flows through the scanning treatment head and then irradiates the focus of the patient for treatment.
The rotating body assembly 1 comprises a rotating body 1-0, a rotating body roller supporting assembly, a rotating body encoder 1-4, a rotating body roller supporting driving mechanism 1-5 and a rotating body roller driving controller 1-7, wherein the rotating body 1-0 is axially in the horizontal direction, the rotating body roller supporting assembly is arranged below the rotating body 1-0, the rotating body encoder is arranged on the end face of the rotating body 1-0 and used for measuring linear displacement of the rotating body, the rotating body roller supporting driving mechanism is arranged on the rotating body roller supporting assembly, and the rotating body roller driving controller 1-7 is connected with the driving mechanism in a wired mode.
The rotating body roller supporting assembly consists of a rotating body roller support 1-8, a rotating body roller support driving wheel 1-3-4, a rotating body roller support driven wheel (1-3-1, 1-3-2 and 1-3-3, in the figure 2, 1-3-3 is opposite to or behind 1-3-4) and a rotating body roller support driving mechanism 1-5; the driving wheels and the driven wheels are arranged on the lower surface of the rotating body 1-0 in two front and back rows under the support of the roller support of the rotating body and are tightly attached to the lower surface of the rotating body 1-0, the front row is composed of a plurality of driven wheels (1-3-1 and 1-3-2), the back row is composed of at least 1 driven wheel 1-3-3 and one driving wheel 1-3-4, the roller supporting and driving mechanism 1-5 of the rotating body is coaxially arranged with the driving wheel 1-3-4, the driving mechanism comprises a rotating body roller supporting driving motor, a rotating body roller supporting motor reducer, a rotating body roller supporting motor encoder, the rotator roller supporting motor encoder is arranged on the rotator roller supporting motor reducer and used for measuring the rotating angle of the rotator roller supporting driving motor; the rotator roller supporting assembly drives the rotator 1 to rotate through friction force.
The rotating body roller driving controllers 1-7 and the treatment head support ring roller driving controllers 2-7 are communicated with each other, the rotating body roller driving controllers 1-7 are main controllers and are connected with an upper computer treatment plan issuing terminal in a wireless or limited mode, relevant instructions of a human-computer interface of the upper computer treatment plan issuing terminal are received, and the relevant instructions are sent to the treatment head support ring roller driving controllers 2-7, and the relevant instructions comprise rotation angle instructions and treatment head replacement instructions; the angle compensation control units of the rotating body roller driving controller and the therapeutic head support ring roller driving controller are respectively provided with a rotating instruction angle module, an encoder measuring module, an angle compensation module, a motor control module and a central processing module; the respective central processing module respectively sends instructions to the respective rotation instruction angle module, the angle compensation module and the motor control module and receives data collected by the rotation instruction angle module, the angle compensation module and the motor control module; the respective encoder measuring module and the angle compensation module are connected in a bidirectional mode; the respective encoder measuring modules are used for receiving the returned data of the respective two encoders, converting the data returned by the linear encoder into angles and then feeding the angle data of the two encoders back to the angle compensation module; for the rotator roller driving controller, the two encoders are a rotator roller supporting motor encoder and a rotator encoder, and for the supporting ring roller driving controller, the two encoders are a therapeutic head supporting ring roller driving motor encoder and a therapeutic head supporting ring encoder.
Supplementary explanation:
the rotating body encoder and the therapeutic head inner ring encoder both adopt linear encoders, the linear encoders respectively return measurement data to encoder measurement modules of the controller, the encoder measurement modules convert the returned data into angles each time, and the rotating body diameter is larger than the diameter of the therapeutic head inner ring, so that the angle converted by each step length of the rotating body encoder is smaller than the angle converted by each step length of the therapeutic head inner ring encoder.
The resolution chosen for the support ring encoder is 12 bits, i.e. 2 12 4096, the diameter ratio of the treatment head support ring roller to the treatment head support ring is 1:40, and the treatment head support ring is woven if the radius of the treatment head support ring is 2.5 mThe linearity parameter of the encoder is 0.096 mm.
The resolution selected for the rotary encoder is 13 bits, i.e. 2 13 8192, the diameter ratio of the roller of the rotating body to the rotating body is 1:40, and the linear parameter of the rotating body encoder is 0.096 mm when the radius of the rotating body is 5 m.
The accuracy of the multiple treatment heads in time sharing butt joint with proton beam outflow ports on the rotator assembly does not exceed the accuracy of 0.096 mm of linear parameters of the encoder.
The invention provides a method for replacing a treatment head of a rotary rack by applying the rotary rack with the replaceable treatment head, which comprises the following steps:
step one, replacing the treatment head, wherein the support ring of the treatment head moves relative to the rotating body;
and step two, adjusting the treatment angle, and enabling the treatment head support ring and the rotating body to synchronously move.
The specific process of the step one is as follows:
the roller driving controller of the support ring of the treatment head sends a rotation command, and the rotation command is rotation by 180 degrees
According to the rotation instruction, the therapeutic head support ring roller drives the motor to act and drives the therapeutic head support ring roller to drive the motor encoder to rotate;
the therapeutic head support ring roller driving motor encoder reads the rotation angle of the motor and transmits the rotation angle back to the therapeutic head support ring roller driving controller;
a roller driving motor of the treatment head support ring drives the treatment head support ring and a treatment head support ring encoder to rotate through friction force;
the concrete links are as follows:
i. the therapeutic head support ring roller driving motor drives the therapeutic head support ring roller to support the driving wheel to rotate;
ii. The roller of the treatment head support ring supports the driving wheel to drive the roller of the treatment head support ring to support the driven wheel to rotate;
and iii, the roller of the treatment head support ring supports the driven wheel to drive the treatment head support ring and the encoder on the end face of the treatment head support ring to rotate through friction force.
Fifthly, reading of the encoder of the support ring of the treatment head is transmitted back to the roller driving controller of the support ring of the treatment head;
comparing the angle returned by the therapeutic head support ring roller driving motor encoder with the angle returned by the therapeutic head support ring encoder by the therapeutic head support ring roller driving controller;
when the angle of the therapeutic head supporting ring and the angle of the therapeutic head supporting ring are the same, the roller driving motor of the therapeutic head supporting ring stops to move so as to complete the replacement of the therapeutic head of the rotating frame;
the self-supporting points have different angles, and according to the difference value, the therapeutic head supporting ring roller driving controller sends out an angle compensation rotation command, and the steps (2) to (8) are repeated until the angles of the self-supporting points are the same.
The method for replacing the treatment head by the rotating frame is characterized in that:
the method for replacing the treatment head by the rotating frame is characterized in that:
the second step comprises the following specific processes:
the roller driving controller of the rotator receives a rotation angle command sent by an upper computer;
secondly, the therapeutic head support ring roller driving controller is informed of the rotation angle instruction;
according to the instruction, the rotating body roller support driving motor and the treatment head support ring roller driving motor act and respectively drive the rotating body roller support motor encoder and the treatment head support ring roller driving motor encoder to rotate;
the rotating body roller supporting motor encoder and the treatment head supporting ring roller driving motor encoder respectively read rotating angles of the rotating body roller supporting driving motor and the treatment head supporting ring roller driving motor and respectively transmit the rotating angles back to the rotating body roller driving controller and the treatment head supporting ring roller driving controller;
fifthly, the rotating body roller support driving motor and the treatment head support ring roller driving motor respectively drive the rotating body and the rotating body encoder on the end face of the rotating body, the treatment head support ring and the treatment head support ring encoder on the end face of the treatment head support ring to rotate through friction force;
the concrete links are as follows:
i. the rotating body roller supporting driving motor and the treatment head supporting ring roller driving motor respectively drive the rotating body roller supporting driving wheel and the treatment head supporting ring roller supporting driving wheel to rotate;
ii. The rotating body roller supporting driving wheel and the treatment head supporting ring roller supporting driving wheel respectively drive the rotating body roller supporting driven wheel and the treatment head supporting ring roller supporting driven wheel to rotate;
iii, the roller of the rotating body supports the driven wheel to drive the rotating body and the rotating body encoder on the end surface of the rotating body to rotate through friction; the roller of the treatment head support ring supports the driven wheel to drive the treatment head support ring and the encoder on the end face of the treatment head support ring to rotate through friction force.
Reading the readings of the rotator encoder and the reading of the treatment head support ring encoder respectively, and transmitting the readings to the rotator roller driving controller and the treatment head support ring roller driving controller respectively;
the wheel driving controller of the swivel body and the wheel driving controller of the treatment head support ring respectively compare the angle returned by the wheel driving motor encoder of the swivel body and the wheel driving motor encoder of the treatment head support ring with the rotation angle returned by the wheel encoder of the swivel body and the wheel driving controller of the treatment head support ring;
and when the two angles are the same, the roller supporting driving motor of the rotating body and/or the roller driving motor of the treatment head supporting ring stop respectively to finish the rotation angle;
the self-supporting body and the therapeutic head supporting ring are different in angle, and according to the difference value, the rotating body roller driving controller and/or the therapeutic head supporting ring roller driving controller send out an angle compensation rotating instruction, and the steps (3) - (8) are repeated until the angles of the rotating body roller driving controller and the therapeutic head supporting ring roller driving controller are the same.
Example one
As shown in figure 1, the rotating frame 3 with the replaceable therapeutic head provided by the invention mainly comprises a rotating body assembly 2, a therapeutic head supporting ring 2-0 and the like.
The rotator assembly 1 is supported by the rotator roller supporting assembly, and the motor on the rotator roller supporting assembly drives the roller to rotate and drives the rotator assembly 2 to rotate through friction force.
The therapeutic head roller supporting component 2 is arranged between the rotator component 1 and the therapeutic head supporting ring 2-0, and a motor on the therapeutic head roller supporting component drives the roller to rotate and drives the therapeutic head supporting ring 4 to rotate through friction force.
The scattering therapy head 2-2 and the scanning therapy head 2-1 are symmetrically arranged on the therapy head support ring 2-0, and the scattering therapy head 2-2 and the scanning therapy head 2-1 are driven to rotate together when the therapy head support ring 2-0 rotates.
When the scattered beam is needed to be used, the scattered treatment head 2-2 is rotated to the position of a proton beam outlet 1-2 led out by a beam line of the rotator component 1, and the proton beam passes through the scattered treatment head 2-2 and then irradiates the focus of a patient for treatment.
When the scanning beam is needed, the scanning treatment head 7 is rotated to a proton beam outlet led out by a beam line of the rotating body component 2, and the proton beam passes through the scanning treatment head 7 and then irradiates a focus of a patient for treatment.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. A rotating rack with a replaceable treatment head comprises a rotator assembly with a proton beam outlet on an outer ring and a treatment head support ring assembly with a plurality of treatment heads on an inner ring; the rotating body assembly comprises a rotating body, a rotating body encoder for measuring linear displacement of the rotating body, a rotating body roller supporting assembly and a rotating body roller driving controller; the treatment head support ring assembly comprises a treatment head support ring, a treatment head support ring encoder for measuring the linear displacement of the treatment head support ring, a treatment head support ring roller support assembly and a treatment head support ring roller drive controller; the treatment head support ring and the rotating body are coaxially arranged, the inner wall of the treatment head support ring is symmetrically provided with a plurality of treatment heads, and the treatment heads are respectively used for different stages of proton treatment; when the proton treatment angle is changed, the treatment head support ring and the rotating body move synchronously; when the treatment head is replaced, the treatment head support ring and the rotating body do relative motion, and the plurality of treatment heads are in butt joint with the proton beam outflow port on the rotating body component in a time-sharing manner, so that the replacement of the proton treatment heads at different stages is completed;
the method is characterized in that: the rotating body encoder and the therapeutic head support ring encoder are encoders with the same step length, the rotating body roller driving controller and the therapeutic head support ring roller driving controller are communicated with each other and are respectively provided with an angle compensation control unit, and the rotating body roller driving controller is connected with an upper computer treatment plan operation terminal;
the treatment head support ring roller support assembly consists of a treatment head support ring roller support, a treatment head support ring roller support driving wheel, a treatment head support ring roller support driven wheel and a treatment head support ring roller driving mechanism; the driving wheel and the driven wheel are uniformly distributed on the outer surface of the treatment head support ring in a front row and a back row under the support of the treatment head support ring roller wheel, the front row is composed of a plurality of driven wheels, the back row is composed of at least 1 driven wheel and one driving wheel, the treatment head support ring roller wheel driving mechanism is coaxially distributed with the driving wheel, the driving mechanism comprises a treatment head support ring roller wheel driving motor, a treatment head support ring roller wheel driving motor reducer and a treatment head support ring roller wheel driving motor encoder, and the motor encoder is distributed on the reducer and used for measuring the rotation angle of the motor; the roller supporting component of the treatment head supporting ring drives the treatment head supporting ring and the plurality of treatment heads on the supporting ring to rotate together through friction force;
the rotating body assembly comprises a rotating body, a rotating body roller supporting assembly, a rotating body encoder, a rotating body roller supporting driving mechanism and a rotating body roller driving controller, wherein the rotating body is axially in the horizontal direction, the rotating body roller supporting assembly is arranged below the rotating body, the rotating body encoder is arranged on the end face of the rotating body and used for measuring linear displacement of the rotating body, the rotating body roller supporting driving mechanism is arranged on the rotating body roller supporting assembly, and the rotating body roller driving controller is connected with the driving mechanism in a wired mode;
the rotating body roller supporting assembly consists of a rotating body roller support, a rotating body roller support driving wheel, a rotating body roller support driven wheel and a rotating body roller support driving mechanism; the driving wheel and the driven wheel are arranged on the lower surface of the rotating body in a front row and a rear row under the support of the roller support of the rotating body and are tightly attached to the lower surface of the rotating body, the front row is composed of a plurality of driven wheels, the rear row is composed of a plurality of driven wheels and one driving wheel, the roller support driving mechanism of the rotating body is coaxially arranged with the driving wheel, the driving mechanism comprises a roller support driving motor of the rotating body, a roller support motor reducer of the rotating body and a roller support motor encoder of the rotating body, and the roller support motor encoder of the rotating body is arranged on the roller support motor reducer of the rotating body and is used for measuring the rotating angle of the roller support driving motor of the rotating body; the rotator roller supporting assembly drives the rotator to rotate through friction force.
2. The rotating gantry of claim 1, wherein: the treatment head support ring component comprises a treatment head support ring, a treatment head support ring encoder, a treatment head support ring roller support component, a treatment head support ring roller driving mechanism and a treatment head support ring roller driving controller, wherein the treatment head support ring encoder is arranged on the end face of the support ring and used for measuring the linear displacement of the treatment head support ring, the treatment head support ring roller support component is arranged between the rotator and the treatment head support ring and clings to the outer surface of the treatment head support ring, the treatment head support ring roller driving mechanism is arranged on the treatment head support ring roller support component, and the treatment head support ring roller driving controller is connected with the driving mechanism in a wired mode.
3. The rotating gantry of claim 1, wherein: the multiple treatment heads comprise a scattering treatment head and a scanning treatment head, when scattering beams are needed, the scattering treatment head is rotated to a proton beam outlet of the rotator component, and the proton beams irradiate onto the focus of a patient to be treated after passing through the scattering treatment head; when the scanning beam is needed, the scanning treatment head is rotated to the proton beam outlet of the rotator component, and the proton beam flows through the scanning treatment head and then irradiates the focus of the patient for treatment.
4. The rotating gantry of claim 1, wherein: the rotating body roller driving controller is communicated with the therapeutic head supporting ring roller driving controller, is a main controller, is connected with an upper computer therapeutic plan issuing terminal in a wireless or limited mode, receives related instructions of a human-computer interface issued by the upper computer therapeutic plan, and sends the related instructions to the therapeutic head supporting ring roller driving controller, wherein the related instructions comprise a rotation angle instruction and a therapeutic head replacement instruction; the angle compensation control units of the rotating body roller driving controller and the therapeutic head support ring roller driving controller are respectively provided with a rotating instruction angle module, an encoder measuring module, an angle compensation module, a motor control module and a central processing module; the respective central processing module respectively sends instructions to the respective rotation instruction angle module, the angle compensation module and the motor control module and receives data collected by the rotation instruction angle module, the angle compensation module and the motor control module; the respective encoder measuring module and the angle compensation module are connected in a bidirectional mode; the respective encoder measuring modules are used for receiving the returned data of the respective two encoders, converting the data returned by the linear encoder into angles and then feeding the angle data of the two encoders back to the angle compensation module; for the rotator roller driving controller, the two encoders are a rotator roller supporting motor encoder and a rotator encoder, and for the supporting ring roller driving controller, the two encoders are a therapeutic head supporting ring roller driving motor encoder and a therapeutic head supporting ring encoder.
5. The rotating gantry of claim 2, wherein said treatment head is replaceable, and wherein: the resolution chosen for the support ring encoder is 12 bits, i.e. 2 12 4096, the diameter ratio of the treatment head support ring rollers to the treatment head support ring is 1:40, and the linear parameter of the treatment head support ring encoder is 0.096 mm when the radius of the treatment head support ring is 2.5 m.
6. The rotating gantry of claim 1, wherein: the resolution selected for the rotary encoder is 13 bits, i.e. 2 13 8192, the diameter ratio of the roller of the rotating body to the rotating body is 1:40, and the linear parameter of the rotating body encoder is 0.096 mm when the radius of the rotating body is 5 m.
7. The rotating gantry of claim 1, wherein: the accuracy of the multiple treatment heads in time sharing butt joint with proton beam outflow ports on the rotator assembly does not exceed the accuracy of 0.096 mm of linear parameters of the encoder.
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