CN114515162B - X-ray multifunctional imaging treatment integrated machine and X-ray diagnosis and treatment equipment - Google Patents
X-ray multifunctional imaging treatment integrated machine and X-ray diagnosis and treatment equipment Download PDFInfo
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Abstract
The invention belongs to the technical field of X-ray diagnosis and treatment equipment, and discloses an X-ray multifunctional imaging treatment integrated machine and X-ray diagnosis and treatment equipment, wherein an X-ray generation module adopts an integrated X-ray machine integrating high pressure and refrigeration; the X-ray and fluorescence detection module is used for realizing detection of X-rays and fluorescence; the X-ray protection module adopts shell X-ray protection, door X-ray protection, air duct X-ray protection and connecting line interface X-ray protection; the treatment platform accessory module is internally provided with a lead plate used for blocking the passing of X-rays; a complete machine accessory module; the operation control module is used for complete machine rotation and animal bed movement control, fault detection, safety action detection and protection, an alarm system, a linkage X-ray imaging treatment system and motion scanning exposure integrated control. The invention meets CT, XLCT, X-RT and X-PDT requirements, integrates a plurality of imaging modes and treatment modes, and realizes the multifunction and miniaturization of the equipment.
Description
Technical Field
The invention belongs to the technical field of X-ray diagnosis and treatment equipment, and particularly relates to an X-ray multifunctional imaging and treatment integrated machine and X-ray diagnosis and treatment equipment. The multifunctional X-ray imaging and treating integrated machine integrates multifunctional imaging and treatment, simultaneously realizes CT anatomy imaging, X-ray luminescence tomography (X-ray luminescence computed tomography, XLCT) functional imaging, X-ray photodynamic therapy (X-ray photodynamic therapy, X-PDT) and X-ray radiotherapy (X-RT), and realizes the integrated function of X-ray diagnosis and treatment by exciting light sources required by imaging and treatment by the same X-ray machine.
Background
Currently, X-rays have high penetrability and killing power, and X-ray based diagnostic and therapeutic devices are widely used in practice, wherein X-ray CT imaging and X-ray radiation therapy (X-RT) devices are typical representatives of X-ray diagnosis and therapy, respectively. CT mainly uses the density contrast of the self structure to image, is particularly suitable for bone research, and needs contrast enhancement by contrast agent for imaging soft tissues such as blood vessels, viscera and the like. Because of the low contrast of early lesions, conventional X-ray CT imaging systems are not beneficial for early diagnosis of disease. X-RT uses the direct or indirect destructive effect of X-rays on DNA to cause apoptosis of tumor cells, and is one of three technologies for cancer treatment. However, X-RT has poor effect on hypoxic cell tumor, high X-ray dose, large damage to normal tissues and inadaptation.
With the increasing demands of X-ray diagnosis and treatment technology precision and early discovery of early treatment, molecular imaging technology and novel treatment technology are greatly developed, including X-ray luminescence tomography (X-ray luminescence computed tomography, XLCT), X-ray photodynamic therapy (X-ray photodynamic therapy, X-PDT) and the like, and CT/XLCT optical bimodal combined imaging and radiotherapy/X-PDT multimode cooperative treatment technology is also developed, and patents ZL 2016101180848 and 2016101183827 respectively illustrate the two technologies. In CT/XLCT combined dual-mode imaging, XLCT alleviates the disadvantages of poor imaging depth and resolution caused by light scattering, absorption and background fluorescence in the traditional optical molecular image, has deeper detection depth, higher spatial resolution and sensitivity, has no background fluorescence interference, and provides three-dimensional structural function dual information in combined CT imaging. The invention designs a CT and XLCT synchronous imaging mode to improve the CT/XLCT dual-mode imaging quality and speed, improve the depth and resolution of the traditional optical molecular imaging and realize high-quality structural function dual-mode imaging. The advantages of radiotherapy/X-PDT are obvious, wherein the novel X-PDT technology combines the penetration capability, depth controllable characteristic, region selectivity and targeting advantage of photosensitizer in photodynamic therapy, greatly enhances the tumor treatment effect, reduces toxic and side effects, combines the X-RT technology, can develop X-RT and X-PDT cooperative treatment based on the same X-ray machine, and is beneficial to improving the tumor treatment effect.
In addition to the above X-ray multi-modality combined imaging and X-ray multi-modality combined therapy techniques, the development of X-ray diagnostic probes has also driven the development of X-ray diagnostic combined techniques, wherein X-ray imaging techniques provide a means of visual localization and efficacy assessment for X-ray therapy. For example, patent ZL2016101179588 proposes a combination X-ray excited fluorescence imaging and photodynamic therapy device and method, which simultaneously implements X-ray fluorescence imaging and X-PDT treatment based on the same diagnostic probe, and the X-ray fluorescence imaging provides a real-time assessment method for X-PDT. Nevertheless, ZL2016101179588 lacks three-dimensional structural information and X-ray fluorescence imaging is two-dimensional, with the disadvantage of overlapping images.
In summary, in the aspect of X-ray diagnosis, the advantages of combining CT structural imaging and novel XLCT optical imaging are of great interest in CT and XLCT imaging; in the field of X-ray therapy, the advantages of X-RT and X-PDT combined with the traditional clinical application of X-RT and the novel X-PDT therapy are also rapidly developing. However, with the development of novel XLCT molecular images and X-PDT treatment technologies, a set of integrated X-ray diagnosis and treatment platform and equipment are lacking at present, the traditional widely applied CT, X-RT and novel XLCT and X-PDT treatment technologies are unified, and particularly, the novel X-PDT treatment technology and the curative effect of X-RT treatment are cooperated, so that an effective visual evaluation means is urgently needed for in-vivo evaluation. Although ZL 2016101179588 combines the X-ray fluorescence imaging and the X-PDT treatment technology, the X-ray fluorescence imaging is in a two-dimensional mode, the defect of image overlapping exists, a CT structural image and an X-RT cooperative device are absent, and the diagnosis and treatment cooperative needs of the four are difficult to meet.
Through the above analysis, the problems and defects existing in the prior art are as follows:
(1) At present, a set of integrated X-ray diagnosis and treatment platform and equipment are lacked.
(2) The existing X-ray fluorescence imaging and X-DPT combined system is in a two-dimensional mode, has the defect of overlapping images, lacks a CT structural image and an X-RT cooperative device, and is difficult to meet the diagnosis and treatment cooperative needs of four people.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides an X-ray multifunctional imaging and treating integrated machine and X-ray diagnosis and treatment equipment.
The invention is realized in such a way that an X-ray multifunctional imaging and treating integrated machine comprises:
the X-ray generation module adopts an integrated X-ray machine integrating high pressure and refrigeration;
the X-ray and fluorescence detection module consists of an X-ray flat panel detector, an EMCCD and a radiation protection plate and is used for realizing detection of X-rays and fluorescence;
The X-ray protection module adopts shell X-ray protection, door X-ray protection, air duct X-ray protection and connecting line interface X-ray protection; the X-ray protection of the air duct and the connecting line interface adopts a labyrinth structural design, and a non-linear protection channel in a bent shape of a fold line is used for blocking X-rays from penetrating out;
The treatment platform accessory module comprises an X-ray collimator, wherein a lead plate is arranged in the X-ray collimator and used for blocking the passing of X-rays, the X-ray collimator is provided with different apertures for passing the X-rays, the apertures are divided into imaging holes and treatment holes, wherein the treatment holes are formed by small holes with diameters, a rotating shaft is arranged on the X-ray collimator and used for selecting the different apertures, and a corresponding positioning mechanism is arranged on the X-ray collimator and used for locking the selected collimation apertures;
the whole machine accessory module comprises an electric control system of a small animal bearing mechanism, an X-ray machine control system, an X-ray machine with double functions of imaging/treatment, a whole machine static installation structure of an X-ray and fluorescence detection module, and an operation controller system of a linkage CT imaging module and an X-ray excitation optical tomography (XLCT) module;
The operation control module is used for performing complete machine rotation and animal bed movement control, fault detection, safety action detection and protection, an alarm system, a linkage X-ray imaging treatment system and motion scanning exposure integrated control. The operation control module is based on software engineering design, and divides the whole machine function control into CT scanning, XLCT scanning, CT/XLCT scanning, radiotherapy (X-RT), X-ray excitation photodynamic therapy (X-PDT), X-RT/X-PDT combined therapy and image processing functions, and integrates the movement control, safety action detection, protection and alarm systems of an animal bed in the image scanning and therapy, thereby ensuring the functions and the integral safety in the use of the platform.
Further, the rotational positioning mechanism module further includes: the disc support is connected with the main support through a rotary positioning mechanism module, the rotary positioning mechanism module is provided with an external tooth rotary ring bearing, the external tooth rotary ring bearing is coaxially and fixedly connected to the rear side of the disc support, two sides of the lower end of the external tooth rotary ring bearing are respectively meshed with a driving gear, the driving gear is connected with the output end of a reduction gearbox, and the input end of the reduction gearbox is connected with a servo motor; the middle of the lower end of the outer tooth rotary ring bearing is meshed with a driven gear, and the driven gear is connected with an absolute position encoder through a threaded rod.
Further, the main support is fixed on the upper side of the base through bolts, the disc support is rotatably arranged at the upper end of the main support, an EMCCD camera is fixed at the upper end of the front face of the disc support, an X-ray machine mounting frame is fixed at the right end of the front face of the disc support, and an X-ray flat panel detector fixedly connected with the disc support is arranged on the left side of the X-ray machine mounting frame; the base upside is fixed with toy and bears the weight of the mechanism module, and toy bears the weight of the module and is located main support front side, and the inboard wind channel setting is at the surface of base, and the balancing weight is installed at the surface of disc support.
Further, the small animal bearing mechanism module is provided with an animal fixing plate and a triaxial mobile platform; the lower end of the animal fixing plate is fixedly connected with the upper end of the triaxial moving platform through a connecting mechanism.
Further, the multifunctional X-ray imaging and treating integrated machine is also provided with: a CT imaging module;
The CT imaging module comprises an X-ray machine, an X-ray flat panel detector, a radiation protection plate, a rotary positioning mechanism module and a small animal bearing mechanism module;
The X-ray excitation optical tomography module comprises an X-ray generation module, an EMCCD camera and a small animal bearing mechanism module; the X-PDT and X-RT radiotherapy module comprises an X-ray generation module, an X-ray collimator, a laser positioning device and a monitoring camera system;
An animal bed in the small animal bearing mechanism module rotates on a Y axis, a disc support rotates around the Y axis to drive an integrated X-ray machine, an X-ray collimator, an X-ray flat panel detector and an EMCCD which are arranged on the disc support to rotate around the Y axis, and meanwhile, a balancing weight is added on the disc support to balance the gravity center on the disc support, so that dynamic balance is adjusted;
A plurality of balancing weights are respectively fixed at the left end and the lower end of the front surface of the disc bracket, and both ends of each balancing weight are provided with strip-shaped fixing holes; adding a balancing weight in the X direction of the disc support and adding the balancing weight in the Y direction of the disc support;
The middle of an X-ray collimator body in the X-ray collimator is connected with a fixed bracket at the rear side through a rotating shaft; the X-ray machine is fixed at the rear side of the fixed bracket; the upper end of the front surface of the X-ray collimator body is provided with an imaging hole, the lower part of the front surface of the X-ray collimator body is provided with a boss, and the front surface of the boss is provided with a plurality of treatment holes; the outer edge of the X-ray collimator body is provided with a plurality of grooves, and the upper end of the front surface of the fixed bracket is fixedly provided with a positioning mechanism matched with the grooves.
Further, the whole machine accessory module comprises a radiation protection whole machine case, a high-rigidity bearing platform, a 30um motion precision rotating platform, a balancing weight, an X-ray machine integrating the functions of a triaxial motion carrier, imaging/treatment, a CT imaging module, a whole machine static mounting structure of an X-ray excitation optical imaging module and an operation controller system of a linkage X-ray imaging module and an XLCT imaging module.
Further, the radiation protection integral case comprises a protection case, a protection door, a key switch, casters and an air duct; the animal bed in the small animal bearing mechanism module rotates around the Y axis, the disc support drives the integrated X-ray machine, the X-ray collimator, the X-ray flat panel detector and the EMCCD which are arranged on the disc support to rotate around the Y axis, meanwhile, the balance weight is added on the disc support to balance the gravity center on the disc support, dynamic balance is adjusted, and meanwhile, the driving and locking mechanism is additionally arranged to form a rotary positioning mechanism; the X-ray protection module adopts a lead plate with the thickness of 0.6cm-1.2cm as a shielding material.
Further, the multifunctional imaging and treating integrated machine for X-ray is provided with: a rotation positioning mechanism module for positioning the free rotation angle with rotation speed control;
The rotary positioning mechanism module is provided with a double servo motor for counterinterlocking, and the double servo motor realizes free rotation and positioning within 0-360 degrees of the rotary positioning mechanism module.
Another object of the present invention is to provide an X-ray diagnosis and treatment apparatus including the X-ray multifunctional imaging and treatment integrated machine.
The invention further aims at providing an X-ray diagnosis and treatment integrated terminal which comprises the X-ray multifunctional imaging and treatment integrated machine.
By combining all the technical schemes, the invention has the advantages and positive effects that: the animal bed provided by the invention is made of carbon fiber and PMMA (polymethyl methacrylate) materials, has good light transmittance while not affecting X-rays, and is designed to adapt to small animals with different sizes. The X-ray generating part adopts an integrated X-ray machine with adjustable energy, and the voltage and the current of the X-ray generating part are continuously adjustable within the range of the imaging treatment requirement of the small animals. When the device is used for CT imaging, the radiation dose can be reduced while the imaging time and the spatial resolution are improved by adopting low-voltage X-rays; when the device is used for XLCT imaging, the high voltage or the low voltage and the power can be selected according to the actual situation; when used for X-PDT and X-RT treatment, the X-PDT treatment can be performed by adopting proper voltage and high power X-rays, and can be used for the X-RT effect and also can be used for efficiently exciting nano luminescent materials.
The invention can simultaneously realize CT structure imaging and XLCT functional imaging, and the CT structure imaging and the XLCT functional imaging can be synchronously scanned or respectively scanned. In synchronous scanning, the simultaneous acquisition of the XLCT projection and the CT projection is ensured by reducing the CT projection angle number and setting the CT projection angle number to be the same as or the same as the XLCT; on the basis, the obtained CT projection and optical projection data are subjected to corresponding small-angle reconstruction algorithm, so that a dual-mode imaging process is simplified, imaging time and radiation dose are reduced, and structural and functional fusion imaging is realized.
The invention designs and realizes a set of multifunctional imaging and treatment integrated machine for X-rays, which comprises a rotary positioning module, a ray control module and the like, and the imaging or treatment is excited by the same X-ray source, so that the requirements of CT, XLCT, X-RT and X-PDT can be met, multiple imaging modes and treatment modes are integrated, the multifunctional imaging and treatment integrated machine is multifunctional, miniaturized and easy to operate, and the preclinical researches of disease development mechanism, novel diagnosis and treatment technology, drug development and the like can be met.
Drawings
FIG. 1 is a schematic structural diagram of an integrated X-ray multifunctional imaging and treatment machine according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the internal structure of an integrated X-ray multifunctional imaging and therapy machine according to an embodiment of the present invention;
FIG. 3 is a schematic view of a rotational positioning mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a counterweight design and a schematic illustration of an installation design provided by an embodiment of the invention;
FIG. 5 is a schematic diagram of an X-ray collimator according to an embodiment of the present invention;
FIG. 6 is a block diagram of a small animal carrying mechanism provided by an embodiment of the present invention;
In the figure: 1. a protective box; 2. a protective door; 3. a key switch; 4. casters; 5. an air duct; 6. an X-ray flat panel detector; 7. an EMCCD camera; 8. balancing weight; 9. an inner air duct; 10. a base; 11. a main support; 12. a disc support; 13. an X-ray machine mounting rack; 14. an X-ray collimator; 15. a small animal bearing mechanism module; 16. a driven gear; 17. a reduction gearbox; 18. a servo motor; 19. an absolute position encoder; 20. a drive gear; 21. an external tooth slewing ring bearing; 22. a long fixing hole; 23. an X-ray machine; 24. an X-ray collimator body; 25. a rotating shaft; 26. an imaging aperture; 27. a treatment aperture; 28. a positioning mechanism; 29. a fixed bracket; 30. an animal fixing plate; 31. a connecting mechanism; 32. a triaxial mobile platform; 33 radiation protection plates.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In view of the problems existing in the prior art, the present invention provides an X-ray multifunctional imaging and therapy integrated machine, an X-ray diagnosis and therapy apparatus, and the present invention is described in detail below with reference to the accompanying drawings.
Example 1:
as shown in fig. 1, the X-ray multifunctional imaging and treatment integrated machine provided by the invention comprises: the protective box 1, the protective door 2, the key switch 3, the castor 4 and the air duct 5.
The length, width and height of the protective box 1 are 1500mm, 1250mm and 1865mm respectively. The front end of the protection box 1 is provided with a protection door 2 through a hinge, the lower part of the protection door 2 is embedded with a key switch 3, the bottommost end of the protection box 1 is provided with a caster 4, and the top surface of the protection box 1 is provided with an air duct 5.
The internal structure of the protective box 1 is set as follows: the animal bed in the small animal bearing mechanism module 15 is on the Y axis, the disc support 12 rotates around the Y axis, the integrated X-ray machine, the X-ray collimator 14, the X-ray flat panel detector 6 and the Electron Multiplying Charge Coupled Device (EMCCD) which are arranged on the disc support 12 are driven to rotate around the Y axis, meanwhile, the balancing weight 8 is added on the disc support 12 to balance the gravity center on the disc support 12, dynamic balance is adjusted, and meanwhile, a driving and locking mechanism is added to form a rotary positioning mechanism.
Example 2:
As shown in fig. 2, the X-ray multifunctional imaging and treating integrated machine provided by the invention comprises: the device comprises an X-ray flat panel detector 6, an EMCCD camera 7, a balancing weight 8, an inner air duct 9, a base 10, a main bracket 11, a disc bracket 12, an X-ray machine 13, an X-ray collimator 14 and a small animal bearing mechanism module 15.
The main support 11 is fixed on the upper side of the base 10 through bolts, the disc support 12 is rotatably arranged at the upper end of the main support 11, the EMCCD camera 7 is fixed at the upper end of the front surface of the disc support 12, the X-ray machine mounting frame 13 is fixed at the right end of the front surface of the disc support 12, and the X-ray flat panel detector 6 fixedly connected with the disc support 12 is arranged at the left side of the X-ray machine mounting frame 13; the upper side of the base 10 is fixed with a small animal bearing mechanism module 15, the small animal bearing module 15 is positioned at the front side of the main bracket 11, the inner air duct 9 is arranged on the surface of the base 10, and the balancing weight 8 is arranged on the surface of the disc bracket 12.
Example 3:
As shown in fig. 3, the rotary positioning mechanism module provided by the present invention includes: a driven gear 16, a reduction gearbox 17, a servo motor 18, an absolute position encoder 19, a driving gear 20 and an external tooth rotary ring bearing 21.
The disc support 12 is connected with the main support 11 through a rotary positioning mechanism module, the rotary positioning mechanism module is provided with an external tooth rotary ring bearing 21, the external tooth rotary ring bearing 21 is coaxially and fixedly connected to the rear side of the disc support 12, two sides of the lower end of the external tooth rotary ring bearing 21 are respectively meshed with a driving gear 20, the driving gear 20 is connected with the output end of a reduction gearbox 17, and the input end of the reduction gearbox 17 is connected with a servo motor 18. The middle of the lower end of the external tooth rotary ring bearing 21 is meshed with a driven gear 16, and the driven gear 16 is connected with an absolute position encoder 19 through a threaded rod.
Example 4:
as shown in fig. 4, the left end and the lower end of the front surface of the disc bracket 12 provided by the invention are respectively fixed with a plurality of balancing weights 8, and both ends of the balancing weights 8 are provided with strip-shaped fixing holes 22.
Example 5:
as shown in fig. 5, the X-ray collimator provided by the present invention includes: the X-ray collimator body 24, the rotating shaft 25, the imaging hole 26, the treatment hole 27, the positioning mechanism 28 and the fixing support 29.
The middle of the X-ray collimator body 24 in the X-ray collimator 14 is connected with a fixed bracket 29 at the rear side through a rotating shaft 25; the X-ray machine 23 is fixed to the rear side of the fixed bracket 29. The upper end of the front surface of the X-ray collimator body 24 is provided with an imaging hole 26, the lower part of the front surface of the X-ray collimator body 24 is convexly provided with a boss, and the front surface of the boss is provided with a plurality of treatment holes 27; the outer edge of the X-ray collimator body 24 is provided with a plurality of grooves, and the upper end of the front surface of the fixed bracket 29 is fixedly provided with a positioning mechanism 28 matched with the grooves.
Example 6:
as shown in fig. 6, the small animal bearing mechanism module 15 provided by the invention is provided with an animal fixing plate 21, a connecting mechanism 22 and a triaxial moving platform 23, wherein the lower end of the animal fixing plate 21 is fixedly connected with the upper end of the triaxial moving platform 23 through the connecting mechanism 22.
Example 7:
The invention provides an X-ray multifunctional imaging and treatment integrated machine which consists of a rotary positioning mechanism module, a small animal bearing mechanism module 15 (comprising an animal fixing plate 30 and a three-dimensional moving platform 32), an X-ray generating module (namely an integrated X-ray machine) taking imaging/treatment dual functions into consideration, an X-ray and fluorescence detection module, an X-ray protection module, a treatment platform accessory module and a complete machine accessory module.
The CT imaging module includes an X-ray generating module, that is, an X-ray machine 23, an X-ray flat panel detector 6, a radiation protection plate 33, a rotational positioning mechanism module (driven gear 16, reduction gearbox 17, servo motor 18, absolute position encoder 19, drive gear 20, external tooth slewing ring bearing 21), a small animal bearing mechanism module 15, and the like, and a corresponding control module. The XLCT imaging module includes an X-ray generation module 23, an EMCCD camera 7, a small animal carrying mechanism module 15, etc. and a corresponding control module. The X-PDT and X-RT radiotherapy module comprises an X-ray generation module 23, an X-ray collimator 14, a laser positioning device, a monitoring camera system and the like and a corresponding control module.
The concrete explanation is as follows:
The rotary positioning mechanism module consists of a free rotation angle positioning structure with rotation speed control and a measurement and control system, wherein the rotary positioning mechanism module is designed by adopting an external tooth indexing external tooth rotary ring bearing 21 as a rotary unit, and the locking technology is designed by adopting a double-motor counterlocking interlocking technology, which is a dynamic locking technology; the high-precision absolute position encoder is used as an angle detection and feedback unit, and the output of the double servo motors is driven by two opposite torques (the two servo motors are respectively controlled by independent driving systems), for example, when the disc support needs to rotate clockwise, the torque output by one servo motor is larger than the torque output by the other servo motor, for example, when the disc support needs to rotate anticlockwise, the torque output of the two servo motors is opposite, and when the disc support needs to be locked, the torque output of the two servo motors is identical, opposite in direction and locked under interaction. The process is a dynamic real-time process, the two servo motors are always in a moment countermeasure state, the method is particularly suitable for environments with accurate rotation angles, a reliable locking technology and a transmission technology, unlimited free rotation and positioning within a range of 0-360 degrees of a rotary positioning mechanism can be realized, a high-precision closed-loop control technology is adopted on the design of a measurement and control system, the two motors are respectively controlled by an independent driving system, a high-precision position encoder is used as an angle detection unit, the rotation angles and the speed can be monitored online, the rotation speeds can be accurately controlled in real time, the rotation speeds and the positioning locking can be controlled, and the full-automatic control of the process of angle rotation and positioning can be realized;
The invention relates to a rotation positioning technology of external tooth rotation, which realizes high-precision rotation and positioning functions by utilizing an external tooth rotation ring bearing, wherein gears on the external tooth rotation ring bearing play a driving and locking role. Compared with other positioning (pin positioning and motor braking) modes, the device has the characteristics of random rotation angle, quick response, high positioning precision, good repeatability, real-time regulation and control, vibration resistance and impact resistance, and can be suitable for application environments with high angle precision. The rotary positioning module consists of a disc bracket, a main bracket, a precise external tooth rotary ring bearing, a precise driving gear, a precise driven gear, a precise reduction gearbox, a high-precision servo motor, a high-precision absolute position encoder and the like,
Compared with other positioning (pin positioning and motor braking) modes, the external tooth rotary positioning technology has the characteristics of random rotation angle, high positioning precision, good repeatability, real-time regulation and control, vibration resistance and impact resistance, and can be suitable for application environments with high angle precision. In order to ensure mechanical and rotational positioning accuracy, the actually required rotational positioning error angle is ±0.01°, the pitch circle radius of the external tooth ring bearing 21 is 300mm, and the rotational error (including rotational error and external tooth machining accuracy) is Δl=rsinθ=300 mm×sin0.01 ° =0.052 mm. The mechanical error of the precise external tooth rotary ring bearing, the precise driving gear, the precise reduction gearbox and the high-precision servo motor is +/-0.05 mm, the precise external tooth rotary ring bearing adopts a crossed roller bearing ring design made of Cr40 steel as a degree detection unit, the detection precision of a position encoder is monitored in real time at a rotating angle of 0.001 DEG, and the dual-motor reverse countering interlocking design is adopted in locking and positioning, so that dynamic locking is realized, and the rotating and positioning is ensured to be within +/-0.01 deg.
The small animal bearing mechanism module 15 is composed of a triaxial (X, Y, Z) mobile platform 32, an electric control system, an animal fixing plate 30 and a connecting mechanism 31, wherein the triaxial (X, Y, Z) mobile platform 32 is composed of a PSA series electric sliding table (comprising the electric control system) with Zhuo Lihan light, and the precision can reach 5 mu m; the animal fixing plate 30 is made of carbon fiber and PMMA (organic glass), has good light transmittance while not affecting X-rays, and is designed to adapt to small animals with different sizes.
The X-ray generating module of the invention adopts a high-pressure and refrigerating integrated X-ray machine, and has simple structure and easy miniaturization. The signal and power wiring is also simplified as there is no separate high voltage and chiller. The integrated X-ray machine with the highest voltage of 160kV and the power of 400W is adopted, and the focal point of a ray source is 0.4mm, so that the imaging resolution requirement can be met. The voltage can be adjusted between 0kV and 160kV, the power can be adjusted, and the requirements of different conditions of X-ray imaging and treatment can be met.
The X-ray and fluorescence detection part of the invention is respectively composed of an X-ray flat panel detector 6, an EMCCD 7 and a radiation protection plate. The X-ray flat panel detector 6 needs to meet the requirement of imaging vision, the valian 2520DX flat panel detector is selected, and the EMCCD needs to consider the requirements of refrigeration temperature, noise, vision and the like, and the Ultra 897 type EMCCD of Andel is selected.
The X-ray protection part of the invention: the X-ray protection part comprises a shell X-ray protection 1, a door X-ray protection 2, an air duct X-ray protection 5 and a connecting line interface X-ray protection 9, wherein the air duct X-ray protection 2 and the connecting line interface X-ray protection 9 adopt a labyrinth structural design. In calculating the shielding layer thickness, the shielding transmission is first determined, and then the required shielding layer thickness is calculated from the radiation attenuation curve obtained by experimental measurement. Shielding transmission b=pr2/WUT, and 1.2cm lead plate was used as shielding material for radiation protection in 160KV X-ray machines.
Ray protection calculation:
The shielding protection principle is as follows: the radiation intensity can be weakened when the radiation comprises penetrating substances, the shielding substances with certain thickness can weaken the radiation intensity, and the radiation level can be reduced by arranging a shielding substance (shielding material) with enough thickness between the radiation source and the human body, so that the dosage received by people in work is reduced below the highest allowable dosage, the personal safety is ensured, and the protection purpose is achieved. The key point of shielding protection is that a shielding material capable of effectively absorbing rays is placed between a ray source and a human body.
Common shielding materials for X-rays are lead plates and concrete walls, or barium cement (cement with added barium sulfate-also weighing spar powder) walls.
The thickness estimation of the shielding material generally utilizes the concept of a half-value layer (half-value layer). In the X-ray examination, a wide beam X-ray was used, and the approximate half-value layer thickness T1/2 and 1/10 of the thickness T1/10 of the wide beam X-ray in lead and concrete are shown in Table 1. Note that: the half-value layer thicknesses given in the tables can only be used as reference values, because of the inevitable differences in purity and purity of the lead plates, the formulation of the concrete and the structure, and the increase in the safety must be considered in practical applications.
In shielding calculation, two factors need to be considered, namely the shielding of the primary radiation by the radiation source directly through the shield, and the scattered radiation caused by the radiation on the shield
Primary X-ray shielding: the shielding transmission is first determined and then the required shielding layer thickness is determined from the radiation attenuation curve obtained from experimental measurements.
Mask transmission amount b=pr 2/WUT
Wherein: the shielding transmission R/(mA.min) (at 1 meter) of B-X rays is numerically: 1R is equal to 1rem; p-maximum allowable dose equivalent per week: professional irradiation was p=0.1 rem/week; the radioactive workplace vicinity personnel P=0.01 rem/week (note: according to GB4792-1984 basic standards for radiation protection, the annual dose equivalent of the radioactive staff when exposed to uniform exposure throughout the body should not exceed 5rem, for a total of 52 weeks per year 365 days, the state legal working time (i.e. deducting Saturday, day and legal holiday) should be about 36 weeks per day, but in order to calculate the limit of 0.1 rem/week from the strict consideration (e.g. overtime), taking 50 weeks, the annual dose equivalent of the public staff individual should be below 0.5rem, i.e. the limit of 0.1 rem/week, if the radiation exposure workplace is adjacent to the non-professional radiation exposure staff's working site, the maximum allowable dose equivalent of the shielding should be considered calculated according to the public standards.) R-X-ray source distance to the operator, meter; t-residence factor: the total residence t=1 (which is a factor indicating the residence condition of a worker at a workplace, and is divided into three cases of total residence, partial residence, and accidental residence, wherein the total residence t=1 refers to a factor considered by places where a person often stays, is applicable to a control area including a control room, an adjacent darkroom, a working room, a laboratory, a corridor, a rest room, and an office where professional irradiation persons are conventionally used, and is used for residence and stores, offices, living areas, sports ground, other production workplaces, and the like, for example, in a ray machine room adjacent building, and the partial residence t=1/4 refers to a factor considered when a person stays for a part of time, is applicable to a non-control area, for example, a public corridor, a public room, a rest room, an entertainment room, an elevator, an unmanned parking lot, and the like, where a person passes, and the accidental residence t=1/16 refers to a factor considered by a person passing through a situation, is applicable to a non-control area, for example, a public bathroom, a stairway, an automatic elevator, a pedestrian, a vehicle passage, and the like).
U-use factor: fully using u=1 (which is a factor indicating the extent of radiation utilization, and is divided into three cases of fully using, partially using, and rarely using, fully using u=1 means directly receiving radiation, such as a door, wall, ceiling, floor, window, in a transilluminating room, directly receiving effective radiation, partially using u=1/4 means not directly receiving radiation, such as a door, wall, ceiling, floor, window, in a radiographic room, not directly receiving effective radiation, and rarely using u=1/16 means substantially not receiving effective radiation.)
W—workload: ma·min/week (referring to high voltage on-time) (i.e. weekly workload, equal in value to the product of weekly on-time and tube current).
After the shielding transmission is calculated, the required shielding thickness (lead plate or concrete wall) of the corresponding tube voltage is found out on the X-ray attenuation curve graph, and when the factor of safety is doubled, the half-value layer thickness is added.
Scatter shielding transmission bs= (PRS 12RS 22/WST) (400/F) (at 1 meter) [ unit: R/(mA. Min) ].
P-maximum allowable dose equivalent per week: professional irradiation was p=0.1 rem/week; radioactive workplace proximity personnel p=0.01 rem/week.
W—workload: mA.min/week (refer to high voltage on time).
T-residence factor: full residence t=1.
RS 1-distance of scatterer from scattering point, meter.
RS 2-distance of source from diffuser.
F-scattering area, cm.
S-scattering area is 400cm 2, the ratio of the radiation generated by scattered radiation at 1 meter of the discrete emitter to the radiation generated by incident radiation.
400-Scattering area at S, cm 2.
For X-rays below 0.5MeV, the main scattered X-rays are considered to have the same attenuation characteristics as the primary X-rays, and the Bs value is calculated to find the corresponding shielding thickness from the X-ray attenuation curve.
The invention relates to a 225KV X-ray machine (250 KV is used for replacing), the tube current is 13mA, an operator works for 6 hours (high-voltage power-on time) every day, the operator works for 5 days every week, the working position is 2 meters away from the focus of an X-ray tube, and the thickness of a lead plate for protecting primary X-rays is calculated as follows.
W=it=13ma 60min 6h 5 days=23400 ma·min/week.
P=0.1 rem/week; r=2m; u=1; t=1; b= (0.1×2 2)/(23400×1×1) =1.7×10-5 rem/(ma·min).
In summary, a lead plate of 1.2cm is used as a shielding material for the X-ray protection.
The equipment is a 160KV X-ray machine, the tube current is 5mA, an operator works for 6h (high-voltage power-on time) each day, the operator works for 5 days each week, the working place is 2 meters away from the focus of the X-ray tube, and the thickness of a lead plate for protecting primary X-rays is calculated as follows.
W=it=5 ma×60min×6h×5 days=9000 ma·min/week;
p=0.1 rem/week; r=2m; u=1; t=1;
B＝(0.1*22)/(9000*1*1)＝4.4*10-5rem/(mA·min)
(the thickness of the lead plate is about 160KV >150KV, one more 0.1cm is added, the safety factor is doubled, one half-value layer of the lead plate is added by 0.088cm, and the total is about 0.6cm;
As a result, a lead plate of 0.6cm was used as a shielding material for the X-ray protection.
The treatment table accessory part of the present invention mainly comprises an X-ray collimator 14. The X-ray collimator 14 is internally provided with a 6mm lead plate for blocking the passing of X-rays, the X-ray collimator 14 is provided with different apertures for passing the X-rays, the apertures are mainly divided into imaging holes and treatment holes 27, wherein the treatment holes 27 are formed by 0.5-10mm in diameter, a rotating shaft is arranged on the X-ray collimator 14 for selecting a non-aperture, and a corresponding positioning mechanism is arranged for locking the selected collimating aperture.
The whole machine accessory comprises a radiation protection whole machine case, a high-rigidity bearing platform, a 30um motion precision rotating platform, a balancing weight 8, an X-ray machine integrating the functions of a triaxial motion carrier and imaging/treatment, a CT imaging module, a whole machine static mounting structure of an X-ray excitation optical imaging module and an operation controller system of a linkage X-ray imaging module and an XLCT imaging module.
The radiation protection integral chassis comprises a protection box 1, a protection door 2, a key switch 3, casters 4 and an air duct 5. The length, width and height of the whole case are 1500mm, 1250mm and 1865mm respectively. The internal structure of the case is set as follows: the animal bed in the small animal bearing mechanism module 15 rotates around the Y axis, the disc support 12 drives the integrated X-ray machine, the X-ray collimator 14, the X-ray flat panel detector 6 and the EMCCD which are arranged on the disc support 12 to rotate around the Y axis, meanwhile, the balance weight 8 is added on the disc support 12 to balance the gravity center on the disc support 12, dynamic balance is adjusted, and meanwhile, the driving and locking mechanism is added to form a rotary positioning mechanism.
The balancing weight 8 aims to avoid the problem that the accuracy of the rotary positioning mechanism is finally affected due to uneven motor load and unbalanced rotation. The corresponding balancing weights 8 are arranged on the disc support 12, when moment is calculated, the moment in the X, Y direction on the disc support 12 is calculated, 20.3kg of the balancing weights 8 are added in the X direction of the disc support 12, 8.2kg of the balancing weights 8 are added in the Y direction of the disc support 12, and long groove mounting holes are specially formed in the mounting hole sites for fine adjustment.
The complete machine operation control system can perform complete machine rotation and movement control, fault detection, safety action detection and protection, and an alarm system, is linked with an X-ray imaging treatment system and performs motion scanning exposure integrated control.
The invention relates to an electrical design, which relates to an absolute encoder 6E-58SX/58HX (58 mm outline dimension, standard industrial outline design; photoelectric sensor technology, resolution can reach 16Bits, protection level can reach IP67, multiple circles of machines can BE realized, the maximum circle is 14Bits, the minimum data cycle period is 62.5 mu s), a gear motor VRB-090C-10-K3-19DC19, a loose motor control system (MCDLN BE, maximum output power 750W), a Germany double-Fu control system and a double-motor drive system (two motor output shafts with the same parameters are respectively connected with a small gear, the two small gears drag a large gear together to drive a load to move, the two motors are respectively driven by independent current loops, and for a common double-motor drive system, the two permanent magnet synchronous motors are selected as drive motors, and the small gears connected with the output shafts of the two motors are respectively connected with different positions of the large gears to drive the load to rotate.
The design of the software of the multifunctional X-ray imaging and treating integrated machine comprises the functions of CT data acquisition, XLCT optical projection acquisition, synchronous acquisition, X-RT, X-PDT treatment and the like. The CT data acquisition function can be realized by setting the CT projection angle, the projection pair number and the imaging condition and matching with the cooperative work of the X-ray flat panel detector, the X-ray machine and the rotary positioning mechanism module. Through setting up XLCT projection angle, projection pair number and imaging condition, the collaborative work of being furnished with EMCCD, X ray machine and rotation positioning mechanism module can realize XLCT data acquisition function. The two can also be synchronously acquired, and in the synchronous acquisition, the simultaneous acquisition of the XLCT projection and the CT projection can be ensured by reducing the CT projection angle number and setting the CT projection angle number to be the same as or the multiple of the XLCT. The X-RT and X-PDT treatment functions can be realized by cooperating with an X-ray machine, an X-ray collimator and a rotary positioning mechanism module. It should be noted that X-PDT treatment requires X-PDT material to function. X-RT may also be sensitized by radiotherapy with the aid of related materials.
Through the structure and the functional design, the invention can realize the configuration of the X-ray diagnosis and treatment integrated machine after combination, and satisfies the X-ray diagnosis and treatment function. The embodiment of the invention can realize X-ray emission with the energy within 160keV and the power within 400W, and can meet the multiple functions of X-ray CT, XLCT, X-RT and X-PDT by adjusting the energy and the power of the X-ray and assisting with a small animal translation rotation module, an X-ray and fluorescence detection part, a rotation positioning mechanism part, an X-ray protection part, a treatment platform accessory part, a complete machine shielding part and the like. Compared with an X-ray single imaging platform, the integrated machine realizes a double imaging function, not only can obtain CT structural images, but also can obtain optical molecular images, and the two images are fused to obtain more diagnostic information. Meanwhile, compared with X-RT equipment, the integrated machine can realize dual treatment of radiotherapy and X-PDT, and provides important equipment support for research and development of novel X-ray cooperative treatment technology. Compared with a simple imaging or treatment platform, the integrated machine can realize diagnosis and treatment integration, and provides an important platform for new diagnosis and treatment technology research. Because of adopting the integrated X-ray machine, the rotary positioning mechanism, the X-ray radiation protection plate, the integrated protective box, the counterweight, the castor and other auxiliary accessories and adding the design of multiple functions, the integrated machine has the advantages of integration, miniaturization, flexibility, expandability, high precision and multiple functions.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (8)
1. The utility model provides a multi-functional imaging treatment all-in-one of X line, its characterized in that, multi-functional imaging treatment all-in-one of X line includes:
The X-ray generation module adopts an integrated X-ray machine integrating high pressure and refrigeration;
the X-ray and fluorescence detection module consists of an X-ray flat panel detector, an EMCCD and a radiation protection plate and is used for realizing detection of X-rays and fluorescence;
The X-ray protection module adopts shell X-ray protection, door X-ray protection, air duct X-ray protection and connecting line interface X-ray protection; the X-ray protection of the air duct and the connecting line interface adopts a labyrinth structural design, and a non-linear protection channel in a bent shape of a fold line is used for blocking X-rays from penetrating out;
The treatment platform accessory module comprises an X-ray collimator, wherein a lead plate is arranged in the X-ray collimator and used for blocking the passing of X-rays, the X-ray collimator is provided with different apertures for passing the X-rays, the apertures are divided into imaging holes and treatment holes, wherein the treatment holes are formed by small holes with diameters, a rotating shaft is arranged on the X-ray collimator and used for selecting the different apertures, and a corresponding positioning mechanism is arranged on the X-ray collimator and used for locking the selected collimation apertures;
The whole machine accessory module comprises an electric control system of a small animal bearing mechanism, an X-ray machine control system, an X-ray machine with double functions of imaging/treatment, a whole machine static installation structure of an X-ray and fluorescence detection module, and an operation controller system of a linkage CT imaging module and an X-ray excitation optical tomography (XLCT) module;
The rotational positioning mechanism module includes: the disc support is connected with the main support through a rotary positioning mechanism module, the rotary positioning mechanism module is provided with an external tooth rotary ring bearing, the external tooth rotary ring bearing is coaxially and fixedly connected to the rear side of the disc support, two sides of the lower end of the external tooth rotary ring bearing are respectively meshed with a driving gear, the driving gear is connected with the output end of a reduction gearbox, and the input end of the reduction gearbox is connected with a servo motor; the middle of the lower end of the outer tooth rotary ring bearing is meshed with a driven gear which is connected with an absolute position encoder through a threaded rod;
The main support is fixed on the upper side of the base through bolts, the disc support is rotatably arranged at the upper end of the main support, an EMCCD camera is fixed at the upper end of the front face of the disc support, an X-ray machine mounting frame is fixed at the right end of the front face of the disc support, and an X-ray flat panel detector fixedly connected with the disc support is arranged on the left side of the X-ray machine mounting frame; the upper side of the base is fixedly provided with a small animal bearing mechanism module, the small animal bearing module is positioned at the front side of the main bracket, the inner air duct is arranged on the surface of the base, and the balancing weight is arranged on the surface of the disc bracket;
The operation control module is used for performing complete machine rotation and animal bed movement control, fault detection, safety action detection and protection, an alarm system, a linkage X-ray imaging treatment system and motion scanning exposure integrated control; the whole machine function control is divided into CT scanning, XLCT scanning, CT/XLCT scanning, radiotherapy (X-RT), X-ray excitation photodynamic therapy (X-PDT), X-RT/X-PDT combined therapy and image processing functions, and the movement control, safety action detection, protection and alarm system of the animal bed are integrated in the image scanning and therapy.
2. The X-ray multifunctional imaging and treatment integrated machine according to claim 1, wherein the small animal bearing mechanism module is provided with an animal fixing plate and a triaxial moving platform; the lower end of the animal fixing plate is fixedly connected with the upper end of the triaxial moving platform through a connecting mechanism.
3. The X-ray multifunctional imaging and therapy integrated machine according to claim 1, further provided with: a CT imaging module;
The CT imaging module comprises an X-ray machine, an X-ray flat panel detector, a radiation protection plate, a rotary positioning mechanism module and a small animal bearing mechanism module;
The X-ray excitation optical tomography module comprises an X-ray generation module, an EMCCD camera and a small animal bearing mechanism module; the X-PDT and X-RT radiotherapy module comprises an X-ray generation module, an X-ray collimator, a laser positioning device and a monitoring camera system;
An animal bed in the small animal bearing mechanism module rotates on a Y axis, a disc support rotates around the Y axis to drive an integrated X-ray machine, an X-ray collimator, an X-ray flat panel detector and an EMCCD which are arranged on the disc support to rotate around the Y axis, meanwhile, a balancing weight is added on the disc support to balance the gravity center on the disc support, dynamic balance is adjusted, and meanwhile, a driving and locking mechanism is additionally arranged to form a rotary positioning mechanism; the X-ray protection module adopts a lead plate with the thickness of 0.6 cm-1.2 cm as a shielding material;
A plurality of balancing weights are respectively fixed at the left end and the lower end of the front surface of the disc bracket, and both ends of each balancing weight are provided with strip-shaped fixing holes; adding a balancing weight in the X direction of the disc support and adding the balancing weight in the Y direction of the disc support;
The middle of an X-ray collimator body in the X-ray collimator is connected with a fixed bracket at the rear side through a rotating shaft; the X-ray machine is fixed at the rear side of the fixed bracket; the upper end of the front surface of the X-ray collimator body is provided with an imaging hole, the lower part of the front surface of the X-ray collimator body is provided with a boss, and the front surface of the boss is provided with a plurality of treatment holes; the outer edge of the X-ray collimator body is provided with a plurality of grooves, and the upper end of the front surface of the fixed bracket is fixedly provided with a positioning mechanism matched with the grooves.
4. The X-ray multifunctional imaging and therapy integrated machine according to claim 1, wherein the whole machine accessory module comprises a radiation protection whole machine case, a high-rigidity bearing platform, a 30um motion precision rotating platform, a balancing weight, an X-ray machine integrating a three-axis motion carrier, imaging/therapy dual functions, a CT imaging module, a whole machine static mounting structure of an X-ray excitation optical imaging module and an operation controller system of a linkage X-ray imaging module and an XLCT imaging module.
5. The X-ray multifunctional imaging and therapy integrated machine according to claim 4, wherein the radiation protection integrated machine case comprises a protection box, a protection door, a key switch, a caster and an air duct.
6. The X-ray multifunctional imaging and therapy integrated machine according to claim 1, wherein the X-ray multifunctional imaging and therapy integrated machine is provided with: a rotation positioning mechanism module for positioning the free rotation angle with rotation speed control;
The rotary positioning mechanism module is provided with a double-servo motor for counterinterlocking, and the double-servo motor realizes free rotation and positioning within 0-360 degrees of the rotary positioning mechanism module.
7. An X-ray diagnosis and treatment apparatus, characterized in that the X-ray diagnosis and treatment apparatus comprises the X-ray multifunctional imaging and treatment integrated machine according to any one of claims 1 to 6.
8. An integrated terminal is diagnose to X line, characterized in that, the integrated terminal is diagnose to X line contains the multi-functional imaging treatment all-in-one of X line of any one of claims 1~ 6.
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