CN117618792A

CN117618792A - Radiation therapy system

Info

Publication number: CN117618792A
Application number: CN202210999639.XA
Authority: CN
Inventors: 宋世鹏; 张千护; 朱小浪
Original assignee: Shanghai Hanstai Medical Technology Co ltd
Current assignee: Shanghai Aikrosi Medical Technology Co ltd
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2024-03-01

Abstract

The invention discloses a radiation therapy system which is used for tracking and radiotherapy on focus of a patient moving organ and comprises a multi-axis parallel robot, a radiation therapy mechanism and an image guiding system, wherein the multi-axis parallel robot is connected with the radiation therapy mechanism, and the image guiding system is used for guiding imaging of the multi-axis parallel robot. According to the invention, the multi-axis parallel robot is combined with the integrated radiotherapy mechanism, and the treatment isocenter of the radiotherapy mechanism is adjusted in real time under the guidance of the image guiding system so as to be matched with the three-dimensional real-time position of the moving focus, so that the real-time accurate radiotherapy of the moving organ focus is realized, the focal ratio is improved, the treatment effect is further improved, and the accidental injury to healthy tissues is effectively avoided.

Description

Radiation therapy system

Technical Field

The invention relates to the field of medical instruments, in particular to a radiation therapy system.

Background

At present, radiation therapy is still an effective treatment means for treating cancers, so that the focal ratio of the radiation therapy is improved, the treatment effect can be effectively improved, the accidental injury to healthy tissues is reduced, jiao Pibi is improved by accurately positioning and tracking the focal position, but the existing radiotherapy equipment is generally used for the radiation therapy of static focal points, and the focal points on moving organs, such as the focal points of the lung, are continuously changed along with the respiration of patients, so that dynamic tracking treatment is difficult, the treatment effect is influenced, and the accidental injury to the healthy tissues is easy to cause; in addition, although the application of the multi-axis parallel robot in the radiotherapy field (CN 110812711A) has been reported, the multi-axis parallel robot is mainly used for realizing flexible conversion among different focuses in the radiotherapy, improving the treatment efficiency and not realizing real-time tracking treatment of the motion focuses; on the other hand, the prior art of radiation therapy heads which are smaller in size and more compact in structure and are required for the conventional radiation therapy equipment for moving organs is also difficult to meet.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a method for

In order to solve the technical problem, the present invention provides a radiation therapy system for tracking radiation therapy on a focus of a patient's moving organ, which is characterized by comprising:

a multi-axis parallel robot comprising a plurality of telescopic arms;

the radiotherapy mechanism is used for radiotherapy of a focus, is connected with the multi-axis parallel robot and can dynamically match the position of the focus under the control of the multi-axis parallel robot;

the image guiding system is used for carrying out imaging guiding on the focus position of the patient, and the multi-axis parallel robot is used for controlling the radiotherapy mechanism to dynamically match the focus position according to the imaging guiding;

the radiation therapy mechanism and the image guidance system work alternately.

Preferably, the plurality of telescopic arms comprise a fixed end and a free end, and the free end is hinged to a platform flange; the multi-axis parallel robot drives the radiotherapy mechanism to rotate in a gyroscopic deflection mode through the platform flange;

the radiation therapy mechanism comprises a shell fixedly connected with the platform flange, and a rotary frame body, a radiation source device and a radiation source swinging mechanism which are arranged in the shell, wherein the rotary frame body drives the radiation source device and the radiation source swinging mechanism to synchronously rotate when rotating;

the image guiding system comprises a plurality of X-ray bulbs and a plurality of detectors, and rays emitted by different X-ray bulbs are crosswise incident on the corresponding detectors.

Preferably, the multi-axis parallel robot comprises a fixed top plate, wherein the fixed end of the telescopic arm is hinged to the fixed top plate, the fixed top plate is mounted on a fixed object, and the fixed object is positioned at a position opposite to the top of the shell;

preferably, the housing is provided with a first driving device for driving the rotary frame to rotate relative to the housing.

Preferably, the first driving device comprises a first motor, the first motor is mounted on the shell, and a driving wheel is mounted at the output end of the first motor;

the transmission gear ring matched with the driving wheel is connected with the rotary frame body, and the first motor drives the transmission gear ring to rotate through the driving wheel, so that the rotary frame body is driven to rotate relative to the shell.

Preferably, a bearing is arranged between the outer wall of the rotary frame body and the inner wall of the shell so as to reduce friction force during relative movement of the rotary frame body and the shell.

Preferably, the ray source swinging mechanism comprises a bearing bracket, a slide carriage and a second driving device, and the second driving device drives the slide carriage to swing on the bearing bracket.

Preferably, the bearing bracket is arranged in the rotary frame body, one side of the bearing bracket is provided with a sliding rail, a sliding block matched with the sliding rail is arranged on the sliding carriage, or a sliding groove matched with the sliding rail is arranged on the sliding carriage;

the second driving device is arranged on the bearing bracket and comprises a second motor, a screw rod and a screw rod nut, the output end of the second motor is connected with the screw rod, and the screw rod nut is fixedly arranged on the slide carriage;

the second motor drives the screw nut to move through the rotation of the screw rod, and then drives the slide carriage to swing on the bearing bracket through the sliding block or the sliding groove.

Preferably, the slide carriage comprises a bottom plate, a first side plate and a second side plate, wherein the first side plate is vertically arranged on the bottom plate, and the second side plate is connected with the first side plate through a fixing piece and is arranged in parallel with the first side plate;

when the slide carriage swings on the bearing bracket, the bearing bracket is positioned between the first side plate and the second side plate;

the sliding rail is positioned on the side surface of the bearing bracket, which faces the first side plate, and the sliding block is arranged on the side surface of the first side plate, which faces the bearing bracket, or the sliding groove is arranged on the side surface of the first side plate, which faces the bearing bracket;

the second driving device is positioned on the side surface of the bearing bracket, which faces the second side plate.

Preferably, the radiation generated by the radiation source device is emitted from the bottom of the shell, and the radiation source device comprises a magnetron, an accelerating tube, a collimator and an isolator;

the accelerating tube and the collimator are arranged on the bottom plate;

the magnetron is arranged on one side of the second side plate far away from the bearing bracket;

the isolator is arranged on one side of the first side plate, which is far away from the bearing bracket;

the bottom of the rotary frame body is provided with a rotary chassis, and the rotary chassis is provided with a ray outlet.

Preferably, a water, electricity and gas delivery slip ring is mounted on top of the housing to provide the required substances and/or signals to the radiation source device.

Preferably, the device further comprises a base and a cover body, wherein the cover body is mounted on the base;

the base is also provided with a treatment bed which is used for moving the patient into the cover body and positioning the focus of the patient at the isocenter;

preferably, the X-ray bulb is mounted on the inner wall of the cover body or mounted on the base;

the detector is arranged on the base or on the inner wall of the cover body;

preferably, the fixed end of the telescopic arm is hinged to the base.

According to the invention, the multi-axis parallel robot is combined with the integrated radiotherapy mechanism, and the treatment isocenter of the radiotherapy mechanism is adjusted in real time under the guidance of the image guiding system so as to be matched with the three-dimensional real-time position of the moving focus, so that the real-time accurate radiotherapy of the moving organ focus is realized, the focal ratio is improved, the treatment effect is further improved, and the accidental injury to healthy tissues is effectively avoided.

Drawings

In order to more clearly illustrate the technical solutions of the present invention, the following brief description of the drawings is given for the purpose of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without the need for inventive work for a person skilled in the art.

FIG. 1 is a schematic diagram of an embodiment of a radiation therapy system of the present invention in which a multi-axis parallel robot is fixed to a top fixture;

FIG. 2 is a schematic diagram of another embodiment of the radiation therapy system of the present invention in which a multi-axis parallel robot is fixed to a base;

FIG. 3 is a cross-sectional view of a radiation treatment mechanism of an embodiment of the radiation treatment system of the present invention;

FIG. 4 is a schematic view of a radiation source device and a radiation source swing mechanism integrated inside a rotating gantry in accordance with an embodiment of the radiation treatment system of the present invention;

FIG. 5 is a schematic view of a radiation source device and radiation source swing mechanism integrated within a rotating gantry at another view angle in accordance with an embodiment of the radiation treatment system of the present invention;

FIG. 6 is a schematic view of a carriage configuration of an embodiment of the radiation therapy system of the present invention;

FIG. 7 is a schematic view of a radiation exit port of an embodiment of the radiation therapy system of the present invention;

in the figure, a 1-multi-axis parallel robot; 2-a radiation therapy mechanism; 3-an image guidance system; 4-a platform flange; 5-a water, electricity and gas conveying slip ring; 6-a base; 7, a cover body; 11-telescoping arms; 12-fixing a top plate; 21-a housing; 22-rotating the frame body; 23-ray source means; 24-a source swing mechanism; 25-a first drive; 26-bearing; 31-X-ray bulb; 32-a detector; 61-treatment couch; 111-a fixed end; 112-free end; 211-heat dissipation holes; 212-top cover; 213-a main housing; 214-an upper housing; 221-a transmission gear ring; 222-an inner cover; 223-a first flange; 224-a second flange; 225-rotating the chassis; 231-magnetron; 232-accelerating tube; 233-collimator; 234-an isolator; 241—a load bearing bracket; 242-slide carriage; 243-a second drive means; 251-a first motor; 252-driving wheel; 2251-ray exit; 2411-a slide rail; 2421-a slider; 2422-a bottom plate; 2423-a first side plate; 2424-a second side plate; 2425-a fixture; 2431-a second motor; 2432-screw rod; 2433-nut mount.

Detailed Description

The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, 2 and 3, there is shown a radiation therapy system of the present invention comprising:

a multi-axis parallel robot 1 including a plurality of telescopic arms 11;

the radiotherapy mechanism 2 is used for radiotherapy of a focus, is connected with the multi-axis parallel robot 1, and can dynamically match the position of the focus under the control of the multi-axis parallel robot 1;

the image guiding system 3 is used for performing imaging guiding on the focus position of the patient, and the multi-axis parallel robot 1 controls the radiotherapy mechanism 2 to dynamically match the focus position according to the imaging guiding;

the radiation therapy device 2 and the image guidance system 3 operate alternately.

In the invention, the motion focus is dynamically tracked in three dimensions in real time through the image guiding system 3, the tracking structure is fed back to the multi-axis parallel robot 1 in real time, the multi-axis parallel robot 1 controls the radiotherapy mechanism 2 to move along with the movement of the motion focus according to the feedback signal, so that the three-dimensional real-time tracking and dynamic matching of the motion focus are realized, the matching accuracy is high, the coke-skin ratio is favorably improved, the treatment effect is further improved, and the accidental injury to healthy tissues is effectively avoided. In addition, both the radiation therapy device 2 and the image guidance system 3 emit radiation, and therefore, the radiation therapy device and the image guidance system need to alternately operate to prevent interference.

In the specific embodiment of the present application, the plurality of telescopic arms 11 include a fixed end 111 and a free end 112, and the free end 112 is hinged to a platform flange 4; the multi-axis parallel robot 1 drives the radiotherapy mechanism 2 to rotate in a gyroscopic deflection mode through the platform flange 4;

the radiotherapy mechanism 2 comprises a shell 21 fixedly connected with the platform flange 4, and a rotary frame 22, a radiation source device 23 and a radiation source swinging mechanism 24 which are arranged in the shell 21, wherein the radiation source device 23 and the radiation source swinging mechanism 24 are driven to synchronously rotate when the rotary frame 22 rotates;

the image guiding system 3 includes a plurality of X-ray tubes 31 and a plurality of detectors 32, and the rays emitted from the different X-ray tubes 31 are incident on the corresponding detectors 32 perpendicularly to each other.

In the specific embodiment, the multi-axis parallel robot 1 can be three axes, six axes or other numbers of axes, and the number of axes can be determined according to design requirements, and is preferably six axes; the fixed end 111 of the telescopic shaft refers to a relatively fixed end, the free end 112 refers to a relatively movable or movable end, and the relatively fixed and movable ends refer to a floor or wall of the room relative to the entire working environment, for example, when the radiation treatment system is located in the room, a reference object that is relatively fixed and movable relative to the room can be selected; it should be noted that, the motion of the multi-axis parallel robot 1 for controlling the radiotherapy mechanism 2 includes two motion modes, one is that the gyro yaw rotation is performed by the isocenter, and when only the motion mode is adopted, the position of the isocenter (also the treatment isocenter) is unchanged, so that the treatment of the static focus can be realized; secondly, tracking and moving according to the position of the moving focus fed back by the image guiding system 3, wherein the position of the isocenter of the movement moves along with the movement of the focus; the treatment of the sports focus can be realized by a compound prescription of two sports modes; in addition, the manner of fixedly connecting the platform flange 4 and the housing 21 is not limited, for example, the outer wall of the housing 21 forms a convex outer edge along the circumferential direction, the middle part of the platform flange 4 is provided with a hole with the same outer diameter as the housing 21, and the platform flange 4 is fixedly connected with the convex outer edge through a fastener after being sleeved on the outer wall of the housing 21.

In this embodiment, referring to fig. 3, 4 and 5, the radiotherapy mechanism 2 integrates the rotating frame 22, the radiation source device 23 and the radiation source swinging mechanism 24 into the housing 21 (generally, a cylindrical housing, i.e., a tubular structure, but not limited thereto), and the radiation source device 23 and the radiation source swinging mechanism 24 rotate synchronously with the rotation of the rotating frame 22; according to the specific embodiment, through reasonable design, the positions of all functional components are compact, so that the volume of the radiotherapy mechanism 2 is smaller, the miniaturization design is realized, and the radiotherapy mechanism can be flexibly applied to multiple diseases and occasions.

In this embodiment, two X-ray tubes 31 and two detectors 32 are generally disposed respectively, the rays emitted by different X-ray tubes 31 are alternately incident on the detectors 32 and are received to be finally imaged, and the position information of the focus in the images is fed back to the multi-axis parallel robot 1 so as to be convenient for the multi-axis parallel robot to adjust the accurate position of the treatment isocenter of the radiotherapy mechanism 2; it should be noted that, each X-ray tube 31 and its corresponding detector 32 form an image guiding system 3, and each image guiding system 3 works alternately and images; in addition, although the image guidance system 3 and the radiotherapy mechanism 2 alternately emit radiation, the time of the radiation is different from the time of the radiation, so that the treatment isocenter of the radiotherapy mechanism 2 can be synchronized with the image guidance center in real time, and the image guidance system can monitor the treatment of the focus point in real time.

Further, the housing 21 is provided with a first driving device 25, and the first driving device 25 is used for driving the rotary frame 22 to rotate relative to the housing 21;

the first driving device 25 includes a first motor 251, the first motor 251 is mounted on the housing 21, and a driving wheel 252 is mounted at an output end of the first motor 251;

the transmission gear ring 221 matched with the driving wheel 252 is connected with the rotating frame body, the first motor 251 drives the transmission gear ring 221 to rotate through the driving wheel 252, so as to drive the rotating frame body 22 to rotate relative to the casing 21, specifically, in this embodiment, an inner cover 222 is fixedly arranged at the upper end of the rotating frame body 22, the transmission gear ring 221 is fixed on the circumferential direction of the outer wall of the inner cover 222, and in other specific feasible embodiments, the transmission gear ring 221 may also be integrally formed with the inner cover 222, or the inner cover belongs to a part of the rotating frame, and the outer wall (the outer wall of the inner cover) of the rotating frame body 22 is circumferentially provided with the transmission gear ring 221 matched with the driving wheel 252.

In this embodiment, the rotation of the rotating frame 22 relative to the housing 21 is achieved through gear transmission, the housing 21 includes a main housing 213 and an upper housing 214 located on the main housing 213, the motor is mounted on the upper housing 214, and neither the main housing 213 nor the upper housing 214 rotates relative to the rotating frame 22; the motor drives the driving wheel 252 to rotate, and the driving wheel 252 drives the transmission gear ring 221 to rotate, so that the rotary frame 22 is driven to rotate; the rotation of the rotating frame 22 relative to the housing 21 (including the main housing 213 and the upper housing 214) is performed simultaneously with the isocenter gyro yaw rotation of the entire radiotherapy apparatus 2, and the rotation of the rotating frame 22 does not affect the treatment isocenter.

Further, a bearing 26 is provided between the outer wall of the rotary frame 22 and the inner wall of the housing 21 to reduce friction force during relative movement. It will be appreciated that since the rotating frame 22 is mounted on the inner wall of the housing 21, the friction force at the contact point between the rotating frame and the housing should be as small as possible when the rotating frame and the housing move relatively to each other, and thus, a bearing 26 or similar friction reducing device can be added between the rotating frame and the housing. In this embodiment, the rotary frame 22 has a first flange 223 at an upper portion and a second flange 224 at a lower portion, the bearing 26 includes an upper bearing and a lower bearing, rotating inner rings of the upper and lower bearings are fixed to the first flange 223 and the second flange 224, respectively, and outer rings of the upper and lower bearings are fixed to the housing 21, respectively. In other embodiments, the rotating frame 2 may be connected to the housing 1 by only one bearing provided in the middle thereof.

In the specific embodiment of the present application, the radiation source swinging mechanism 24 includes a carrying bracket 241, a slide carriage 242, and a second driving device 243, where the second driving device 243 drives the slide carriage 242 to swing on the carrying bracket 241.

Further, the bearing support 241 is installed in the rotating frame 22, one side of the bearing support is provided with a sliding rail 2411, and a sliding block 2421 matched with the sliding rail 2411 is installed on the slide carriage 242, so that on one hand, the bearing support 241 supports and bears the slide carriage 242 and the radiation source device 23 installed thereon, and meanwhile, can drive the slide carriage 242 and the radiation source device 23 to perform circumferential rotation and arc-shaped swing, so as to realize rotary focusing on the barrel-type radiotherapy head. In other embodiments, the panel of the slide 242 in sliding engagement with the slide 2411 is of sufficient thickness such that a chute of sufficient depth can be formed in the slide 242 on the side facing the slide 2411 such that the chute is in direct sliding engagement with the slide 2411.

The second driving device 243 is mounted on the bearing bracket 241, and includes a second motor 2431, a screw 2432, and a screw nut (not shown), wherein an output end of the second motor 2431 is connected to the screw 2432, and the screw nut is fixedly mounted on the slide carriage 242; the second motor 2431 rotates through the screw rod 2432 to drive the screw rod nut to move, so as to drive the slide carriage 242 to swing on the bearing bracket 241 through the slide block 2421.

Further, referring to fig. 6, the slide carriage 242 includes a bottom plate 2422, a first side plate 2423 and a second side plate 2424, the first side plate 2423 is vertically installed on the bottom plate 2422, and the second side plate 2424 is connected to the first side plate 2423 by a fixing member 2425 and is arranged in parallel with the first side plate 2423;

when the slide carriage 242 swings on the bearing bracket 241, the bearing bracket 241 is positioned between the first side plate 2423 and the second side plate 2424;

the sliding rail 2411 is located on a side of the bearing bracket 241 facing the first side plate 2423, the sliding rail 2411 is preferably in an arc structure, and the sliding block 2421 is mounted on a side of the first side plate 2423 facing the bearing bracket 241;

the second driving device 243 is located on a side of the bearing bracket 241 facing the second side plate 2424.

In this embodiment, in order to mount the main components of the radiation source device 23 on the slide carriage 242, the slide carriage 242 may be understood as an inverted U-shape formed by the first side plate 2423, the second side plate 2424 and the fixing member 2425, the bearing bracket 241 extends between the first side plate 2423 and the second side plate 2424 from the opening of the inverted U-shape and is respectively connected with the first side plate 2423 and the second side plate 2424 through the sliding rail 2411 and the second driving device 243, and in addition, in order to facilitate the fixation of the lead screw nut and the second side plate 2424 of the slide carriage 242, the lead screw nut is fixed with the second side plate 2424 through the nut seat 2433.

In the specific embodiment of the present application, the radiation generated by the radiation source device 23 is emitted from the bottom of the housing 21, and mainly includes a magnetron 231, an accelerating tube 232, a collimator 233 and an isolator 234;

the accelerating tube 232 and the collimator 233 are mounted on the bottom plate 2422;

the magnetron 231 is mounted on one side of the second side plate 2424 away from the carrying bracket 241;

the isolator 234 is mounted to a side of the first side plate 2423 remote from the load bearing bracket 241; the connection end of the magnetron 231 is connected to one end of the isolator 234 through a waveguide, and the other end of the isolator 234 is connected to the accelerator 232 through a waveguide (connection relationship not shown).

The bottom of the rotary frame 22 has a rotary chassis 225, and the rotary chassis 225 is provided with a radiation outlet 2251, referring to fig. 3 and 7.

In this embodiment, the components of the radiation source device 23 are integrally integrated in the rotating frame 22 through reasonable layout, so that the volume of the radiotherapy mechanism 2 is smaller, and a miniaturized design is realized. In addition, it should be noted that, the radiation source device 23 of the present invention is implemented by adopting the prior art, and the specific structure and the functions of each functional part of the radiation source device 23 are not described in detail herein; however, the installation positions of three main components of the radiation source, such as the magnetron 231, the accelerating tube 232 and the isolator 234, are reasonably arranged in the invention, and meanwhile, the cooling device of the radiation source is arranged outside the radiation therapy head, namely, an external cooling water device is adopted, so that the radiation therapy head is miniaturized, and the cooling of the radiation source system is realized by adopting the external cooling water device, and the description will be made later when the water, electricity and gas conveying slip ring 5 is introduced; in addition, the rotating chassis 225 of the rotating frame body 22 is provided with a radiation outlet 2251 at a corresponding position of the collimator 233 for radiation to be emitted; the bearing bracket 241 is mounted inside the rotary frame 22 in such a manner that both sides thereof are fixed to the side wall of the rotary frame 22, and the rotary chassis 225 also supports the bearing bracket 241. In other embodiments, a thin bottom plate (not shown) fixed to the side wall of the housing 21 may be provided below the housing 21 with a certain gap between the thin bottom plate and the rotary cover 7 so that the rotary chassis 225 is not visible in the housing 21.

Further, a water, electricity and gas transmission slip ring 5 is mounted on the top of the housing 21 to provide the required substances and/or signals to the radiation source device 23.

In this embodiment, since the radiation source device 23 is integrally formed in the rotary frame 22, cooling water, inert gas, electric energy, electric signals, and the like required for the radiation source device 23 can be supplied to the radiation source device 23 through the water/gas transfer slip ring 5; the water, electricity and gas conveying slip ring 5 is usually arranged at the top of the shell 21, so that interference to the movement of the radiotherapy mechanism 2 controlled by the multi-axis parallel robot 1 is avoided; the water, electricity and gas conveying slip ring 5 also belongs to the prior art, and the specific structure and principle of the water, electricity and gas conveying slip ring are not repeated herein.

In addition, the housing 21 is provided with an opening at the bottom for emitting radiation, that is, the bottom of the main housing 213 is provided with an opening, and radiation generated by the radiation source device 23 is emitted from the opening.

The top of the upper casing 214 of the casing 21 is provided with a top cover 212, and the top cover 212 and the inner cover 222 are provided with heat dissipation holes 211, preferably, at least part of the heat dissipation holes 211 are provided with fans (not shown in the figure), so that the heat dissipation and the temperature reduction of the whole barrel-type radiation therapy head can be realized, the heat damage caused by the overheat of equipment in the therapy process can be prevented, and the service life of the equipment can be effectively prolonged; in addition, a water, electricity and gas transmission slip ring 5 is further arranged between the top cover 212 and the inner cover 222, and can be used for transmitting cooling water, inert gas, electric energy and electric signals required by the ray source device 23 into the shell 1, so that various working mediums required by the radiation therapy mechanism 2 can be satisfied, the miniaturized design of the radiation therapy mechanism 2 is realized, and the radiation therapy mechanism can be flexibly applied to multiple diseases and occasions.

Additional specific configurations of the radiation therapy system of the present application will be described below, and in particular embodiments of the present application, further include a base 6 and a cover 7, the cover 7 being mounted to the base 6;

the base 6 is also fitted with a treatment couch 61, the treatment couch 61 being used to move the patient into the hood 7 with the patient's focus at the isocenter.

In this embodiment, it will be appreciated that the cover 7 is generally provided with at least one opening for the access of the treatment couch 61, which opening can also be used for maintenance; in other embodiments, the cover 7 is provided with at least two openings for the ingress and egress of the treatment couch 61 and for maintenance.

Further, the X-ray bulb 31 is mounted on the inner wall of the cover 7 or on the base 6;

the detector 32 is mounted on the base 6 or on the inner wall of the cover 7.

In this embodiment, the mounting positions of the X-ray tube 31 and the detector 32 may be respectively mounted on the cover 7 and the base 6, or may be both mounted on the cover 7 or the base 6, so that the radiation emitted from the X-ray tube 31 is ensured to pass through the treatment isocenter and cross-enter the detector 32 after being mounted.

Further, a fixed end 111 of the telescopic arm 11 is hinged to the base 6. Without wishing to be limited by this embodiment, in other embodiments, the multi-axis parallel robot 1 includes a fixed top plate 12, the fixed end 111 of the telescopic arm 11 is hinged to the fixed top plate 12, and the fixed top plate 12 is fixedly mounted on a fixture, which is located opposite to the top of the housing 21, and the fixture may be a roof of a machine room or a separately erected fixture.

In summary, the multi-axis parallel robot 1 is combined with the integrated radiotherapy mechanism, and the treatment isocenter of the radiotherapy mechanism is adjusted in real time by the multi-axis parallel robot 1 under the guidance of the image guiding system so as to be matched with the three-dimensional real-time position of the moving focus, so that real-time accurate radiotherapy of the moving organ focus is realized, the focal ratio is improved, the treatment effect is further improved, and the accidental injury to healthy tissues is effectively avoided.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.

Claims

1. A radiation therapy system for tracking radiation therapy of a lesion in a patient's moving organ, comprising:

a multi-axis parallel robot comprising a plurality of telescopic arms;

the radiation therapy mechanism and the image guidance system work alternately.

2. The radiation therapy system of claim 1, wherein said plurality of telescoping arms comprise a fixed end and a free end, said free end being hinged to a platform flange; the multi-axis parallel robot drives the radiotherapy mechanism to rotate in a gyroscopic deflection mode through the platform flange;

the image guiding system comprises a plurality of X-ray bulbs and a plurality of detectors, and rays emitted by different X-ray bulbs are crossly incident on the corresponding detectors;

preferably, the multi-axis parallel robot comprises a fixed top plate, the fixed end of the telescopic arm is hinged to the fixed top plate, the fixed top plate is mounted on a fixed object, and the fixed object is located at a position opposite to the top of the shell.

3. The radiation therapy system of claim 2, wherein said housing mounts a first drive means for driving rotation of said rotating frame relative to said housing.

4. The radiation therapy system of claim 3, wherein said first drive means comprises a first motor mounted to said housing, an output of said first motor having a drive wheel mounted thereto;

the first motor drives the transmission gear ring to rotate through the driving wheel, so that the rotation of the rotary frame relative to the shell is driven;

5. The radiation therapy system of claim 2, wherein said radiation source swing mechanism comprises a carrier bracket, a slide, and a second drive means for driving said slide to swing on said carrier bracket.

6. The radiation therapy system of claim 5, wherein:

the bearing bracket is arranged in the rotary frame body, one side of the bearing bracket is provided with a sliding rail, a sliding block matched with the sliding rail is arranged on the sliding carriage, or a sliding groove matched with the sliding rail is arranged on the sliding carriage;

7. The radiation therapy system of claim 6, wherein said carriage comprises a bottom plate, a first side plate and a second side plate, said first side plate being vertically mounted to said bottom plate, said second side plate being connected to said first side plate by a fastener and being disposed parallel to said first side plate;

8. The radiation therapy system of claim 7, wherein radiation generated by said radiation source device exits from a bottom of said housing, comprising a magnetron, an accelerating tube, a collimator, and an isolator;

the accelerating tube and the collimator are arranged on the bottom plate;

9. The radiation therapy system of claim 2, wherein said housing top mounts a water, gas and electricity delivery slip ring to provide a desired substance and/or signal to said radiation source device.

10. The radiation therapy system of claim 1, further comprising a base and a cover, said cover mounted to said base;

preferably, the X-ray bulb is mounted on the inner wall of the cover body or on the base; the detector is arranged on the base or on the inner wall of the cover body;

preferably, the fixed end of the telescopic arm is hinged to the base.