CN117731965A - Positioning system for radiotherapy and radiotherapy apparatus - Google Patents
Positioning system for radiotherapy and radiotherapy apparatus Download PDFInfo
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- CN117731965A CN117731965A CN202311727657.3A CN202311727657A CN117731965A CN 117731965 A CN117731965 A CN 117731965A CN 202311727657 A CN202311727657 A CN 202311727657A CN 117731965 A CN117731965 A CN 117731965A
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 127
- 230000007246 mechanism Effects 0.000 abstract description 11
- 230000006870 function Effects 0.000 description 9
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- 230000006378 damage Effects 0.000 description 5
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- 208000014674 injury Diseases 0.000 description 4
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- 230000004888 barrier function Effects 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 1
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- 238000005286 illumination Methods 0.000 description 1
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Abstract
The invention discloses a positioning system for radiotherapy and a radiotherapy device, wherein the positioning system for radiotherapy comprises: the positioning device is suitable for being arranged in a treatment room, and the mechanical arm drives the bed board to move; the three-dimensional detection device acquires the position information of the positioning device in the treatment room and the obstacles around the positioning device; the control device controls the mechanical arm to act according to the position information acquired by the three-dimensional detection device so as to enable the positioning device to avoid the obstacle, and the mechanical arm drives the bed board to move. By arranging the three-dimensional detection device, the position of the positioning device and the positions of surrounding objects or obstacles are determined in real time, so that the positioning device is controlled to automatically avoid the surrounding objects, a patient is accurately and safely positioned to the position and the posture required by treatment, the safety protection mechanism of the positioning system for radiotherapy is sound, and the positioning system is safe and reliable in operation.
Description
Technical Field
The invention relates to the field of radiotherapy, in particular to a positioning system for radiotherapy and a radiotherapy device with the positioning system for radiotherapy.
Background
In the related art, a positioning system for radiotherapy cannot detect the indoor environment of the whole treatment room, and when a positioning device of the positioning system moves for teaching or treatment, automatic obstacle avoidance cannot be realized, and the positioning device is easy to collide with surrounding obstacles, so that potential safety hazards exist.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, one purpose of the invention is to provide a positioning system for radiotherapy, which can three-dimensionally scan the whole treatment room in real time, control the positioning device to automatically avoid surrounding objects, and make the positioning system for radiotherapy work more safely and reliably by a sound safety protection mechanism.
The invention further proposes a radiation therapy device.
A positioning system for radiation therapy according to an embodiment of the present invention includes: the positioning device is suitable for being installed in a treatment room and comprises a mechanical arm and a bed plate, wherein the mechanical arm is connected with the bed plate and used for driving the bed plate to move so as to enable the bed plate to move to a target position; the three-dimensional detection device is arranged in the treatment room and is used for acquiring the positioning device in the treatment room and the position information of the obstacles around the positioning device; and the control device is in communication connection with the mechanical arm and the three-dimensional detection device, and controls the mechanical arm to act according to the position information acquired by the three-dimensional detection device so as to enable the positioning device to avoid the obstacle and enable the mechanical arm to drive the bed board to move.
According to the positioning system for radiotherapy provided by the embodiment of the invention, the three-dimensional detection device is arranged, the whole treatment room can be three-dimensionally scanned in real time, and the position of the positioning device and the positions of surrounding objects or obstacles are determined, so that the positioning device is controlled to automatically avoid the surrounding objects, a patient can be accurately and safely positioned to the position and the posture required by the treatment, the risk of injury of the patient caused by collision between the positioning device and the surrounding objects is reduced, the safety protection mechanism of the positioning system for radiotherapy is sound, the work of the positioning system is safer and more reliable, and the treatment efficiency is further improved. And moreover, the manual dragging teaching function can be realized through the mechanical arm, so that the operation is simpler and more convenient.
In some embodiments of the invention, the three-dimensional stereo detection device is adapted to be mounted to a ceiling of a treatment room.
In some embodiments of the invention, the front projection of the three-dimensional stereo detection device and the front projection of the positioning device have overlapping areas in the height direction.
In some embodiments of the invention, the three-dimensional stereo detection device is located directly above the positioning device.
In some embodiments of the invention, the three-dimensional stereo detection device is a depth camera or a three-dimensional lidar.
In some embodiments of the invention, the three-dimensional stereo detection device is mounted to the positioning device.
In some embodiments of the present invention, the three-dimensional stereo detection device is a plurality of three-dimensional stereo detection devices, and the plurality of three-dimensional stereo detection devices are all in communication connection with the control device.
In some embodiments of the invention, a portion of the three-dimensional stereo detection device is adapted to be mounted to a ceiling of a treatment room and another portion of the three-dimensional stereo detection device is mounted to a positioning device.
In some embodiments of the present invention, the positioning device is provided with a plurality of three-dimensional stereo detection devices, and the plurality of three-dimensional stereo detection devices provided on the positioning device are located on different sides of the positioning device.
In some embodiments of the present invention, the ceiling of the treatment room is provided with a plurality of three-dimensional stereo detection devices, the plurality of three-dimensional stereo detection devices arranged on the ceiling of the treatment room are sequentially arranged along the circumference of the same circle, and the orthographic projection of the positioning device is positioned in the orthographic projection range of the plurality of three-dimensional stereo detection devices arranged on the ceiling of the treatment room along the height direction.
In some embodiments of the invention, the robotic arm is configured as a multiple degree of freedom robotic arm.
The radiotherapy equipment according to the embodiment of the invention comprises the positioning system for radiotherapy.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a positioning device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a three-dimensional stereo detection device according to an embodiment of the present invention.
Reference numerals:
a positioning device 1;
a robot arm 11; a bed plate 12;
a base 111; a first swing arm 112; a second swing arm 113; a third swing arm 114; a fourth swing arm 115; a fifth swing arm 116;
a three-dimensional stereo detection device 2.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
A positioning system for radiation therapy according to an embodiment of the present invention is described below with reference to fig. 1-2.
As shown in fig. 1 and 2, a positioning system for radiation therapy according to an embodiment of the present invention includes: the positioning device 1, the positioning device 1 is suitable for being installed in a treatment room, the positioning device 1 comprises a mechanical arm 11 and a bed plate 12, the mechanical arm 11 is connected with the bed plate 12, and the mechanical arm 11 is used for driving the bed plate 12 to move so as to enable the bed plate 12 to move to a target position; the three-dimensional detection device 2 is arranged in the treatment room, and the three-dimensional detection device 2 is used for acquiring the positioning device 1 in the treatment room and the position information of the obstacles around the positioning device 1; the control device is in communication connection with the mechanical arm 11 and the three-dimensional detection device 2, and controls the mechanical arm 11 to act according to the position information acquired by the three-dimensional detection device 2 so as to enable the positioning device 1 to avoid an obstacle, and enables the mechanical arm 11 to drive the bed board 12 to move.
The positioning device 1 is arranged on the ground in the treatment room, the positioning device 1 can be composed of a mechanical arm 11 and a bed plate 12, a patient can lie on the bed plate 12 to receive radiation treatment, the mechanical arm 11 can comprise a base 111, a first swing arm 112, a second swing arm 113, a third swing arm 114, a fourth swing arm 115 and a fifth swing arm 116, the base 111 is fixedly arranged on the ground in the treatment room, the base 111 and the first swing arm 112 are rotatably connected, the first swing arm 112 can rotate around the axis of the base 111, the positioning device 1 has one degree of freedom, the first swing arm 112 and the second swing arm 113 are rotatably connected, the positioning device 1 has two degrees of freedom, the second swing arm 113 and the third swing arm 114 are rotatably connected, the positioning device 1 has four degrees of freedom, the fourth swing arm 115 and the fifth swing arm 116 are rotatably connected, the positioning device 1 has five degrees of freedom, the mechanical arm 11 and the mechanical arm 12 are movably connected, the mechanical arm 11 and the mechanical arm 112 can rotate around the axis of the base 111, the mechanical arm 11 can be driven to move to any position by the mechanical arm 11, and the mechanical arm can be driven to any position by the mechanical arm 11, the mechanical arm can be driven to achieve any position of the mechanical bed plate 11, and the mechanical bed plate can be driven by the mechanical arm 11, and the mechanical system can be driven to move to any position by the mechanical arm 11.
The three-dimensional detection device 2 is used for acquiring the position information of the positioning device 1 in the treatment room and the obstacles around the positioning device 1, and the three-dimensional detection device 2 can three-dimensionally scan the whole treatment room in real time, so that the position of the positioning device 1 and the positions of surrounding objects or obstacles are determined, and the risk of injury of a patient caused by collision of the positioning device 1 and the surrounding objects is reduced. The control device is in communication connection with the mechanical arm 11 and the three-dimensional detection device 2, the control device can control the mechanical arm 11 to act according to the position information acquired by the three-dimensional detection device 2, so that the positioning device 1 can automatically avoid obstacles, the control device can enable the mechanical arm 11 to drive the bed board 12 to move, the positioning device 1 can automatically avoid surrounding objects, a patient can be accurately and safely positioned to a position and an attitude required by treatment, the risk of injury of the patient caused by collision between the positioning device 1 and the surrounding objects is further reduced, the safety protection mechanism of the positioning system for radiotherapy is sound, the work of the positioning system is safer and more reliable, and the treatment efficiency is further improved.
Specifically, arm 11 and bed board 12 connect and form the device of putting 1 jointly, and the device of putting 1 installs in the treatment is indoor, and arm 11 can diversely remove to the target position to realize the effect of automatic putting, arm 11 is used for driving bed board 12 motion so that bed board 12 moves to the target position, is favorable to reducing medical personnel's working strength and time, and improves the accuracy of putting. The three-dimensional detection device 2 is arranged in the treatment room, and can acquire the position information of the positioning device 1 and the obstacles around the positioning device 1 in the treatment room, so that the risk of injury to a patient caused by collision between the positioning device 1 and surrounding objects is reduced. The control device is in communication connection with the mechanical arm 11 and the three-dimensional detection device 2, the three-dimensional detection device 2 acquires the position information and then transmits the position information to the control device, and the control device controls the mechanical arm 11 to act according to the position information acquired by the three-dimensional detection device 2 so as to enable the positioning device 1 to avoid an obstacle, and the mechanical arm 11 drives the bed board 12 to move to the position and the posture required by treatment.
From this, through setting up three-dimensional detection device 2, can real-time three-dimensional scanning whole treatment room, confirm the position of the device 1 of putting and surrounding object or barrier position to control the device 1 of putting and can dodge surrounding object voluntarily, with accurate and safe location of patient to treatment required position and gesture, reduced the risk that the device 1 of putting and surrounding object collision caused the patient to be injured, the safety protection mechanism of the system of putting that the sound has for the radiotherapy, the system of putting that makes the radiotherapy use has intelligent characteristics, make the work of the device 1 of putting more safe and reliable, and then improve treatment efficiency. The mechanical arm 11 kinematics can also realize the manual dragging teaching function, so that the operation is simpler and more convenient.
In some embodiments of the invention, the three-dimensional stereo detection device 2 is adapted to be mounted to the ceiling of a treatment room.
The three-dimensional detection device 2 can be installed on the ceiling of the treatment room, so that the three-dimensional detection device 2 has enough space for installation and operation, and the three-dimensional detection device 2 has wider visual angle and coverage range, is beneficial to comprehensive detection of the treatment room, and is further beneficial to providing more accurate position detection results by the three-dimensional detection device 2. The three-dimensional detection device 2 is arranged on the ceiling of the treatment room, the interference of personnel or other equipment on the three-dimensional detection device 2 can be reduced, the collision or damage risk of the three-dimensional detection device 2 is reduced, the stable operation of the three-dimensional detection device 2 is facilitated, the safety protection mechanism of the positioning system for radiotherapy is sound, and the treatment efficiency is further improved.
In some embodiments of the invention, the front projection of the three-dimensional stereo detection device 2 and the front projection of the positioning device 1 have overlapping areas in the height direction.
Along the height direction, the front projection of the three-dimensional detection device 2 and the front projection of the positioning device 1 can have a superposition area, so that the three-dimensional detection device 2 can cover the positioning device 1 in a searchlight view, thereby being beneficial to more accurately judging whether an obstacle exists around the positioning device 1 and ensuring that the safety protection mechanism of the positioning system for radiotherapy is more sound. In the moving process of the positioning device 1, the three-dimensional stereo detection device 2 can refresh shooting in real time, surrounding objects and obstacle information of the positioning device 1 are updated to the control device, and the control device controls the mechanical arm 11 to act according to the latest position information acquired by the three-dimensional stereo detection device 2, so that the positioning device 1 accurately avoids obstacles, and the automatic obstacle avoidance function of the positioning system for radiotherapy is realized.
In some embodiments of the present invention, the three-dimensional stereo detection device 2 is located directly above the positioning device 1.
The three-dimensional detection device 2 is located right above the positioning device 1, so that a searchlight view of the three-dimensional detection device 2 can further cover the positioning device 1, whether an obstacle exists around the positioning device 1 or not can be judged more accurately, and a safety protection mechanism of a positioning system for radiotherapy is more sound. In the moving process of the positioning device 1, the three-dimensional stereo detection device 2 can refresh shooting in real time, update surrounding objects and obstacle information of the positioning device 1 to the control device, and the control device controls the mechanical arm 11 to act according to the latest position information acquired by the three-dimensional stereo detection device 2 so as to enable the positioning device 1 to avoid the obstacle, and further realize the automatic obstacle avoidance function of the positioning system for radiotherapy.
In some embodiments of the invention, the three-dimensional stereo detection device 2 is a depth camera or a three-dimensional lidar.
Wherein the three-dimensional stereo detection device 2 may be configured as a depth camera or as a three-dimensional laser radar. The depth camera mainly obtains depth information of the surface of the object to realize visual perception of the three-dimensional space. The depth camera has the advantages of high data acquisition speed, high precision and strong adaptability to the environment, can stably work under different illumination conditions, and is beneficial to quickly determining the position of the positioning device 1 and surrounding objects and obstacle information of the positioning device 1. The three-dimensional laser radar scans an object by using laser, calculates the object distance by measuring the round-trip time of the laser beam, thereby obtaining the three-dimensional coordinates of the object, and can more accurately determine the position of the positioning device 1 and the surrounding objects and obstacle information of the positioning device 1. The depth camera and the three-dimensional laser radar can monitor the position information in the treatment room in real time, further realize the automatic obstacle avoidance function of the positioning system for radiotherapy, be favorable to the stable movement of the positioning device 1, and strengthen the safety protection mechanism of the positioning system for radiotherapy, thereby improving the treatment efficiency.
In some embodiments of the present invention, the three-dimensional stereo detection device 2 is mounted to the positioning device 1.
The three-dimensional detection device 2 can be mounted on the positioning device 1, can effectively and accurately detect and position obstacles or other objects around the positioning device 1, can accurately measure the distance between the positioning device 1 and the surrounding objects, and can transmit distance information to the control device in real time, and the control device controls the mechanical arm 11 to act according to the real-time information acquired by the three-dimensional detection device 2, so that the positioning device 1 can avoid the obstacles and safely move to the position and the gesture required by treatment. The three-dimensional detection device 2 is arranged on the positioning device 1, so that a worker can conveniently maintain the three-dimensional detection device 2, and when the three-dimensional detection device 2 fails, the three-dimensional detection device 2 can be overhauled in time, so that the working stability of the three-dimensional detection device 2 is improved.
In some embodiments of the present invention, as shown in fig. 2, the three-dimensional stereo detection device 2 is a plurality of three-dimensional stereo detection devices 2, and the plurality of three-dimensional stereo detection devices 2 are all in communication connection with the control device.
Wherein the three-dimensional stereo detection device 2 may be provided in plural, for example: the three-dimensional detection device 2 can be set to 2, 3 or more, a plurality of three-dimensional detection devices 2 all are connected with the control device in a communication way, so the three-dimensional detection device 2 is favorable for improving the working stability of the three-dimensional detection device 2, when one of the three-dimensional detection devices 2 breaks down, other three-dimensional detection devices 2 can continue to play a positioning role, position information is transmitted to the control device, and the control device controls the mechanical arm 11 to act according to the position information acquired by the three-dimensional detection device 2, so that the positioning device 1 automatically avoids obstacles, the work of a positioning system is safer and more reliable, and the treatment efficiency is improved.
In some embodiments of the invention, a portion of the three-dimensional stereo detection device 2 is adapted to be mounted to the ceiling of a treatment room, and another portion of the three-dimensional stereo detection device 2 is mounted to the positioning device 1.
Wherein, partial three-dimensional detection device 2 can install in the ceiling of treatment room, makes three-dimensional detection device 2 have wider visual angle and coverage, is favorable to carrying out comprehensive detection to the treatment room, and then is favorable to three-dimensional detection device 2 to provide more accurate position detection result. The other part of the three-dimensional detection device 2 can be arranged on the positioning device 1, can effectively and accurately detect and position obstacles or other objects around the positioning device 1, and can accurately measure the distance between the positioning device 1 and the surrounding objects. The three-dimensional detection devices 2 are matched with each other, position information is detected together, the position information is transmitted to the control device in real time, and the control device controls the mechanical arm 11 to act according to the real-time information acquired by the three-dimensional detection devices 2, so that the positioning device 1 further avoids obstacles and moves to the position and the gesture required by treatment further safely.
In some embodiments of the present invention, the positioning device 1 is provided with a plurality of three-dimensional stereo detection devices 2, and the plurality of three-dimensional stereo detection devices 2 provided on the positioning device 1 are located on different sides of the positioning device 1.
The positioning device 1 may be provided with a plurality of three-dimensional stereo detection devices 2, and the plurality of three-dimensional stereo detection devices 2 disposed on the positioning device 1 are located on different sides of the positioning device 1. The arrangement can realize multi-angle and omnibearing three-dimensional detection, thereby more accurately detecting the positions of the positioning device 1 and surrounding objects. By arranging the three-dimensional detection device 2 on different sides of the positioning device 1, blind areas can be reduced, the detection precision of the three-dimensional detection device 2 is improved, and the working stability of the three-dimensional detection device 2 is further improved.
In some embodiments of the present invention, the ceiling of the treatment room is provided with a plurality of three-dimensional stereo detection devices 2, the plurality of three-dimensional stereo detection devices 2 arranged on the ceiling of the treatment room are sequentially arranged along the circumference of the same circle, and the front projection of the positioning device 1 is positioned in the front projection range of the plurality of three-dimensional stereo detection devices 2 arranged on the ceiling of the treatment room along the height direction.
Wherein, the ceiling of treatment room is equipped with a plurality of three-dimensional detection device 2, further improves three-dimensional detection device 2's visual scope. The three-dimensional detection devices 2 arranged on the ceiling of the treatment room are sequentially arranged along the circumferential direction of the same circle, and the orthographic projection of the positioning device 1 is positioned in the orthographic projection range of the three-dimensional detection devices 2 arranged on the ceiling of the treatment room, so that the positioning device 1 can be further covered by the three-dimensional detection devices 2 in a searchlight view, whether barriers exist around the positioning device 1 or not can be judged more accurately, and the safety protection mechanism of the positioning system for radiotherapy is more sound. In the moving process of the positioning device 1, the three-dimensional stereo detection device 2 can refresh shooting in real time, surrounding objects and obstacle information of the positioning device 1 are updated to the control device, and the control device controls the mechanical arm 11 to act according to the latest position information acquired by the three-dimensional stereo detection device 2, so that the positioning device 1 avoids the obstacle, and the automatic obstacle avoidance function of the positioning system for radiotherapy is further realized.
In some embodiments of the present invention, as shown in FIG. 1, the robotic arm 11 is configured as a multiple degree of freedom robotic arm 11.
The mechanical arm 11 is configured as a multi-degree-of-freedom mechanical arm 11, so that flexibility of the mechanical arm 11 can be improved, the mechanical arm 11 can move the bed plate 12 more conveniently, the bed plate 12 can avoid obstacles flexibly, and safety in the moving process of the bed plate 12 is improved. Further, the flexibility and the safety of the positioning device 1 are improved, the work of the positioning system for radiotherapy is safer and more reliable, and the treatment efficiency is improved. The mechanical arm 11 kinematics method can also realize the manual dragging teaching function, so that the operation is simpler and more convenient.
The radiotherapy apparatus according to the embodiment of the present invention includes the positioning system for radiotherapy of the above-described embodiment. Through setting up three-dimensional detection device 2, can real-time three-dimensional scanning whole treatment room, confirm the position of the device 1 of putting and surrounding object or barrier position to control the device 1 of putting and can dodge surrounding object voluntarily, with accurate and safe location of patient to the required position of treatment and gesture, reduced the risk that the device 1 of putting and surrounding object collision caused the patient to be injured, the safety protection mechanism of the system of putting that the sound has radiotherapy was used makes the work of system of putting more safe and reliable, and then improves treatment efficiency. The mechanical arm 11 kinematics method can also realize the manual dragging teaching function, so that the operation is simpler and more convenient.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A positioning system for radiation therapy, comprising:
the positioning device is suitable for being installed in a treatment room and comprises a mechanical arm and a bed plate, wherein the mechanical arm is connected with the bed plate and used for driving the bed plate to move so as to enable the bed plate to move to a target position;
the three-dimensional detection device is arranged in the treatment room and is used for acquiring the position information of the positioning device and the obstacles around the positioning device in the treatment room;
the control device is in communication connection with the mechanical arm and the three-dimensional detection device, and controls the mechanical arm to act according to the position information acquired by the three-dimensional detection device so as to enable the positioning device to avoid the obstacle and enable the mechanical arm to drive the bed board to move.
2. The positioning system for radiation therapy of claim 1, wherein the three-dimensional stereo detection device is adapted to be mounted to a ceiling of the treatment room.
3. The positioning system for radiation therapy according to claim 2, wherein the front projection of the three-dimensional stereo detection device and the front projection of the positioning device have overlapping areas in a height direction.
4. The positioning system for radiation therapy according to claim 2, wherein said three-dimensional stereo detection device is located directly above said positioning device.
5. The positioning system for radiation therapy according to claim 1, wherein the three-dimensional stereo detection device is a depth camera or a three-dimensional laser radar.
6. The positioning system for radiation therapy according to claim 1, wherein said three-dimensional stereo detection device is mounted to said positioning device.
7. The positioning system for radiation therapy according to any one of claims 1-6, wherein said three-dimensional stereo detection device is a plurality of said three-dimensional stereo detection devices, each of said three-dimensional stereo detection devices being communicatively connected to said control device.
8. The positioning system for radiation therapy according to claim 7, wherein a portion of said three-dimensional stereo detection device is adapted to be mounted to a ceiling of said treatment room and another portion of said three-dimensional stereo detection device is mounted to said positioning device.
9. The positioning system for radiation therapy according to claim 8, wherein said positioning device is provided with a plurality of said three-dimensional stereo detection devices, said three-dimensional stereo detection devices provided on said positioning device being located on different sides of said positioning device.
10. The positioning system for radiation therapy according to claim 8, wherein a plurality of the three-dimensional stereo detection devices are provided on a ceiling of the treatment room, the plurality of the three-dimensional stereo detection devices provided on the ceiling of the treatment room are sequentially arranged along a circumferential direction of the same circle, and an orthographic projection of the positioning device is positioned within an orthographic projection range of the plurality of the three-dimensional stereo detection devices provided on the ceiling of the treatment room in a height direction.
11. The positioning system for radiation therapy according to any one of claims 1-6, wherein said robotic arm is configured as a multi-degree of freedom robotic arm.
12. Radiotherapy apparatus comprising a positioning system according to any of claims 1-11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311727657.3A CN117731965A (en) | 2023-12-14 | 2023-12-14 | Positioning system for radiotherapy and radiotherapy apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311727657.3A CN117731965A (en) | 2023-12-14 | 2023-12-14 | Positioning system for radiotherapy and radiotherapy apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117731965A true CN117731965A (en) | 2024-03-22 |
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ID=90250230
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311727657.3A Pending CN117731965A (en) | 2023-12-14 | 2023-12-14 | Positioning system for radiotherapy and radiotherapy apparatus |
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| CN (1) | CN117731965A (en) |
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2023
- 2023-12-14 CN CN202311727657.3A patent/CN117731965A/en active Pending
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