CN204121623U - Five degree of freedom O-arm radiotherapy system - Google Patents

Five degree of freedom O-arm radiotherapy system Download PDF

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Publication number
CN204121623U
CN204121623U CN201420605694.7U CN201420605694U CN204121623U CN 204121623 U CN204121623 U CN 204121623U CN 201420605694 U CN201420605694 U CN 201420605694U CN 204121623 U CN204121623 U CN 204121623U
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China
Prior art keywords
arm
slide
power unit
servomotor
degree
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CN201420605694.7U
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Chinese (zh)
Inventor
孙立宁
张峰峰
匡绍龙
郁树梅
冯原
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Zhangjiagang Institute of Industrial Technologies Soochow University
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Zhangjiagang Institute of Industrial Technologies Soochow University
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Abstract

This utility model relates to a kind of radiotherapy unit, particularly relates to a kind of five degree of freedom O-arm radiotherapy system; Comprise O-arm motion, linear accelerating apparatus, radiation dose checkout gear and two X-ray machine image detent mechanism, O-arm motion comprises O-arm, accelerator gearshift, swing offset device, flip bit moving device, horizontal cross gearshift and horizontal length travel device; Linear accelerating apparatus is arranged in O-arm by accelerator gearshift, and radiation dose checkout gear is arranged on the opposite side of relative rectilinear accelerator installation in O-arm; Two X-ray machine image detent mechanism comprises the X-ray emitter be arranged in O-arm and the X-ray receptor being arranged on relative X-ray emitter opposite side in O-arm, and X-ray emitter and X-ray receptor are two groups; Five degree of freedom O-arm radiotherapy system of the present utility model, can realize five degree of freedom control radiation therapy process, control accuracy is higher and degree of stability is higher.

Description

Five degree of freedom O-arm radiotherapy system
Technical field
This utility model relates to a kind of radiotherapy unit, particularly relates to a kind of five degree of freedom O-arm radiotherapy system.
Background technology
Tumor is one of principal disease of harm humans health.The Main Means of current treatment tumor has three: operation, radiation and Drug therapy, the tissue wherein using radiation to destroy pathological changes is widely used method in radiological medicine, WHO Report has the tumor of 45% to cure, and the tumor that wherein radiotherapy can be cured reaches 18%.For being employed herein the equipment utilizing high-energy electromagnetic radiation (X-radiation, gamma radiation) or particle radiation (electronics, proton, carbon ion).In radiocurable process, require accurately to locate to ensure to make body region to be illuminated tumor particularly to be illuminated be subject to sufficiently high radiation dose to patient, but damage the health tissues of patient as few as possible simultaneously, this radiation be used in kilovolt (kV) energy range generally by x-ray imaging method is carried out, undertaken by computer tomography especially, the radiation used in radiotherapy subsequently is then typically positioned at the energy range of megavolt (MV).
Chinese Patent Application No. is the utility model patent of CN200710005399.2, disclose a kind of radiotherapy system, comprise tumble drive unit, O ring, mobile gantry, head tremor pendulum device and irradiation unit, wherein, irradiation unit is irradiation treatment lonizing radiation under the control of radiotherapy equipment controller, and this radiotherapy line can utilize mobile and rotate and the center such as to be irradiated to from either direction; Tumble drive unit supports O ring in substrate support, and O ring can be rotated around rotating shaft, and radiotherapy equipment also comprises mobile driver element, and this moves driver element under the control of radiotherapy equipment controller around rotating shaft gantry in rotary moving; But this radiotherapy system, the controllable degrees of freedom of its radiation therapy process is more, but the quality of O ring is usually larger, tumble drive unit for supporting O ring is difficult to the rotation of accurately control O ring, the rotation of adding mobile gantry will cause the Mass Distribution of O ring left and right sides uneven, and control accuracy is difficult to be effectively guaranteed.
Chinese Patent Application No. is the utility model patent of CN201310115139.6, disclose a kind of Noninvasive radiotherapy system for robot, six degree of freedom G arc real-time imaging system is by G arc, G arm slide rail, the rotating shaft of G arm, G arm pitch axis is connected successively with G arm slide, x-ray source and the dynamic flat panel detector of X-ray are one group, two groups of correspondences are arranged in G arc, G arm slide is arranged in track, on the sky rail of track installation on therapeutic room's ceiling or ground, G arc can move up and down, the bootable two groups of x-ray sources of G arm slide rail and the dynamic flat panel detector of X-ray do the motion being greater than 90 degree, G arc can be rotated around G arm rotating shaft ± 90 °, can around G arm pitch axis swing ± 15 °, but in this radiotherapy system, G arc real-time imaging mass of system is but installed on the ceiling comparatively greatly usually, not only high requirement is proposed to the enabling capabilities of ceiling and installing/dismounting is comparatively inconvenient, simultaneously, what the mode of upper support made G arc easily occur going up largely in rotary course rocks, and affects radiocurable precision.
Because above-mentioned defect, the design people, actively in addition research and innovation, to founding a kind of radiotherapy system of new structure, make it have more value in industry.
Utility model content
For solving the problems of the technologies described above, the purpose of this utility model be to provide a kind of can realize five degree of freedom control radiation therapy process, control accuracy is higher and the five degree of freedom O-arm radiotherapy system that degree of stability is higher.
Five degree of freedom O-arm radiotherapy system of the present utility model, comprise O-arm motion, linear accelerating apparatus, radiation dose checkout gear and two X-ray machine image detent mechanism, described O-arm motion comprises O-arm, accelerator gearshift, swing offset device, flip bit moving device, horizontal cross gearshift and horizontal length travel device; Wherein,
Described horizontal length travel device, comprise the first power unit of the first slide rail, the first slide and driving the first slide relative sliding on the first slide rail being arranged on O-arm both sides, described first slide rail and the first slide are two groups;
Described horizontal cross gearshift, comprise the second slide rail be arranged on the first slide, the second slide and drive the second power unit of the second slide relative sliding on the second slide rail, described second slide rail and the second slide are two groups, and described second slide is mutually vertical with the glide direction of the first slide;
Described flip bit moving device, comprise and being arranged on the second slide and the 3rd power unit for overturning described swing offset device, the upset plane of described swing offset device is mutually vertical with the glide direction of described second slide;
Described swing offset device, comprise the overturning seat and the 4th power unit that are arranged on the 3rd power unit outfan, described O-arm is arranged on described in two groups between overturning seat, and described 4th power unit is for driving the relative displacement of described O-arm on described overturning seat;
Described linear accelerating apparatus is arranged in described O-arm by described accelerator gearshift, described accelerator gearshift is for driving described linear accelerating apparatus towards the relative displacement of described O-arm center, and described radiation dose checkout gear is arranged on the opposite side of relatively described linear accelerating apparatus in O-arm; Described pair of X-ray machine image detent mechanism comprises the X-ray emitter be arranged in O-arm and the X-ray receptor being arranged on relative X-ray emitter opposite side in O-arm, and described X-ray emitter and X-ray receptor are two groups.
Further, the side of described O-arm is provided with the chute of multiple annular, and the both sides of the rear and front end of described overturning seat are all fixed with limiting plate, and the inner side of described limiting plate is provided with and is installed in chute and the slide block of relative sliding.
Further, described first power unit comprises the first servomotor, the first screw mandrel and the first screw rod bushing, described first screw mandrel is arranged on the outfan of described first servomotor and is parallel to each other with described first slide rail, described first screw rod bushing is fixed on the bottom of the first slide, and described first screw rod bushing relatively rotates on the first screw mandrel.
Further, described second power unit comprises the second servomotor, the second screw mandrel and the second screw rod bushing, described second screw mandrel is arranged on the outfan of described second servomotor and is parallel to each other with described second slide rail, described second screw rod bushing is fixed on the bottom of the second slide, and described second screw rod bushing relatively rotates on the second screw mandrel.
Further, described 3rd power unit comprises the 3rd servomotor be fixed on the second slide, and described overturning seat is fixed on the outfan of described 3rd servomotor.
Further, described 4th power unit comprises the 4th servomotor be fixed on overturning seat and the driving gear being arranged on the 4th servomotor outfan, the lateral surface of described O-arm is provided with Timing Belt, described 4th servomotor by the cooperatively interacting of driving gear and Timing Belt, drive the relative displacement of described O-arm on overturning seat.
Further, described accelerator gearshift comprises the seat board be fixed in O-arm, the 5th servomotor be fixed on seat board, multiple 3rd screw rod bushings of being vertically fixed on multiple 3rd screw mandrel bottom seat board and being fixed on linear accelerating apparatus, and described 3rd screw rod bushing relatively rotates on the 3rd screw mandrel.
By such scheme, this utility model at least has the following advantages: the first power unit drives O-arm along the displacement of horizontal longitudinal direction, second power unit drives O-arm along the displacement of horizontal transverse direction, 3rd power unit drives O-arm to realize flip-flop movement, 4th power unit drives O-arm to realize the rotation of centrally position, accelerator gearshift drives linear accelerating apparatus along the relative movement towards O-arm center, like this, by the adjustment of five degree of freedom, the radiation therapy process of all-dimensional multi-angle can be realized, control accuracy is higher and degree of stability is higher, two X-ray machine image detent mechanism, the radiation be used in kilovolt (kV) energy range by x-ray imaging method is carried out, and the radiation that linear accelerating apparatus and radiation dose checkout gear use in radiotherapy is positioned at the energy range of megavolt (MV).
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, in order to better understand technological means of the present utility model, and can be implemented according to the content of description, coordinates accompanying drawing to be described in detail as follows below with preferred embodiment of the present utility model.
Accompanying drawing explanation
Fig. 1 is the front view of this utility model five degree of freedom O-arm radiotherapy system;
Fig. 2 is the rearview of this utility model five degree of freedom O-arm radiotherapy system;
Fig. 3 is the side view of this utility model five degree of freedom O-arm radiotherapy system;
Fig. 4 is the partial enlarged drawing in A portion in Fig. 1;
Fig. 5 is the partial enlarged drawing in B portion in Fig. 2;
Fig. 6 is the partial enlarged drawing in C portion in Fig. 3.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail.Following examples for illustration of this utility model, but are not used for limiting scope of the present utility model.
In description of the present utility model, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", orientation or the position relationship of the instruction such as " counterclockwise " are based on orientation shown in the drawings or position relationship, only this utility model and simplified characterization for convenience of description, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In description of the present utility model, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In this utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, the concrete meaning of above-mentioned term in this utility model can be understood as the case may be.
See Fig. 1 to Fig. 6, degree of freedom O-arm radiotherapy system described in this utility model one preferred embodiment, comprise O-arm motion, linear accelerating apparatus 101, radiation dose checkout gear 102 and two X-ray machine image detent mechanism, O-arm motion comprises O-arm 201, accelerator gearshift, swing offset device, flip bit moving device, horizontal cross gearshift and horizontal length travel device.
Horizontal length travel device, the first power unit 213, first slide rail 211 and the first slide 212 that comprise the first slide rail 211, first slide 212 and driving the first slide 212 relative sliding on the first slide rail 211 being arranged on O-arm both sides are two groups; The implementation of the first power unit is multiple, such as, 1) mode adopting hydraulic jack to promote, the first power unit is hydraulic jack, and the first slide is arranged on the outfan of hydraulic jack, is promoted the relative sliding of the first slide by hydraulic jack; 2) adopt the mode of teeth occlusion, the first power unit is motor, and the outfan of motor is provided with gear, the first slide is provided with the teeth matched with gear, is driven the relative sliding of the first slide by the rotation of gear; 3) mode of screw mandrel is adopted, first power unit comprises the first servomotor, the first screw mandrel 214 and the first screw rod bushing (not shown), first screw mandrel 214 is arranged on the outfan of the first servomotor and is parallel to each other with the first slide rail 211, first screw rod bushing is fixed on the bottom of the first slide 212, and the first screw rod bushing relatively rotates on the first screw mandrel 214.These are only the preferred implementation of the first power unit; be not limited to this utility model; it should be pointed out that every first power unit that can realize driving first slide relative sliding on the first slide rail, protection domain of the present utility model all should be fallen into.In addition, due to the horizontal length travel device of O-arm wherein side, arrange the first power unit and can realize above-mentioned functions, thus the first power unit is set to one group or two groups.
Horizontal cross gearshift, comprise the second slide rail 221, second slide 222 be arranged on the first slide 212 and the second power unit 223 driving the second slide 222 relative sliding on the second slide rail 221, second slide rail 221 and the second slide 222 are two groups, and the second slide 222 is mutually vertical with the glide direction of the second slide 212; The implementation of the second power unit is multiple, such as, 1) mode adopting hydraulic jack to promote, the second power unit is hydraulic jack, and the second slide is arranged on the outfan of hydraulic jack, is promoted the relative sliding of the second slide by hydraulic jack; 2) adopt the mode of teeth occlusion, the second power unit is motor, and the outfan of motor is provided with gear, the second slide is provided with the teeth matched with gear, is driven the relative sliding of the second slide by the rotation of gear; 3) mode of screw mandrel is adopted, second power unit comprises the second servomotor, the second screw mandrel 224 and the second screw rod bushing (not shown), second screw mandrel 224 is arranged on the outfan of the second servomotor and is parallel to each other with the second slide rail 221, second screw rod bushing is fixed on the bottom of the second slide 222, and the second screw rod bushing relatively rotates on the second screw mandrel 224.These are only the preferred implementation of the second power unit; be not limited to this utility model; it should be pointed out that every first power unit that can realize driving first slide relative sliding on the first slide rail, protection domain of the present utility model all should be fallen into.In addition, due to the horizontal cross gearshift of O-arm wherein side, arrange the second power unit and can realize above-mentioned functions, thus the second power unit is set to one group or two groups.
Flip bit moving device, comprise and being arranged on the second slide 222 and the 3rd power unit 231 for overturning swing offset device, the upset plane of swing offset device is mutually vertical with the glide direction of the second slide 222; The implementation of flip bit moving device is multiple, such as, swing offset device connects driven gear, and arranges driving gear at the outfan of the 3rd power unit, is controlled by the mode of gears meshing; Comparatively simple, controlled by the mode of electric machine rotation, that is, the 3rd power unit comprises the 3rd servomotor be fixed on the second slide, and overturning seat is fixed on the outfan of the 3rd servomotor.These are only the preferred implementation of flip bit moving device, be not limited to this utility model, it should be pointed out that every flip bit moving device that can realize driving upset swing offset device, protection domain of the present utility model all should be fallen into.In addition, due to the flip bit moving device of O-arm wherein side, arrange the 3rd power unit and can realize above-mentioned functions, thus the 3rd power unit is set to one group or two groups.
Swing offset device, comprise the overturning seat 241 and the 4th power unit 242 that are arranged on the 3rd power unit 231 outfan, O-arm 201 is arranged between two groups of overturning seats 241, and the 4th power unit 242 is for driving the relative displacement of O-arm 201 on overturning seat 241; Swing offset device is for the rotary actuation of O-arm, implementation has multiple, comparatively simple and stable, 4th power unit comprises the 4th servomotor be fixed on overturning seat 241 and the driving gear 243 being arranged on the 4th servomotor outfan, the lateral surface of O-arm 201 is provided with Timing Belt 244, the 4th servomotor by the cooperatively interacting of driving gear 243 and Timing Belt 244, drive the relative displacement of O-arm 201 on overturning seat 241.These are only the preferred implementation of swing offset device, be not limited to this utility model, it should be pointed out that every swing offset device that can realize driving O-arm to rotate, protection domain of the present utility model all should be fallen into.In order to effectively stablize the slip of O-arm 201 on overturning seat 241 accurately to control, five degree of freedom O-arm radiotherapy system of the present utility model, the side of O-arm 201 is provided with the chute 245 of multiple annular, the both sides of the rear and front end of overturning seat 241 are all fixed with limiting plate 246, and the inner side of limiting plate 246 is provided with and is installed in chute and the slide block of relative sliding.In addition, due to the swing offset device of O-arm wherein side, arrange the 4th power unit and can realize above-mentioned functions, thus the 4th power unit is set to one group or two groups.
Linear accelerating apparatus 101 is arranged in O-arm 201 by accelerator gearshift, accelerator gearshift is for driving linear accelerating apparatus 101 towards the relative displacement of O-arm 201 center, and radiation dose checkout gear 102 is arranged on the opposite side of relative rectilinear accelerator installation 101 in O-arm 201; Two X-ray machine image detent mechanism comprises the X-ray emitter 103 be arranged in O-arm 201 and the X-ray receptor 104 being arranged on relative X-ray emitter 103 opposite side in O-arm 201, and X-ray emitter 103 and X-ray receptor 104 are two groups.The implementation of accelerator gearshift has multiple, comparatively simple and stable, accelerator gearshift comprises the seat board 251 be fixed in O-arm, the 5th servomotor 252 be fixed on seat board, be vertically fixed on multiple 3rd screw mandrel 253 bottom seat board and multiple 3rd screw rod bushing the 254, three screw rod bushings 254 be fixed on linear accelerating apparatus relatively rotate on the 3rd screw mandrel 253.These are only the preferred implementation of accelerator gearshift, be not limited to this utility model, it should be pointed out that every accelerator gearshift that can realize driving the relative displacement of linear accelerating apparatus, protection domain of the present utility model all should be fallen into.
Workflow of the present utility model is: 1) data acquisition and Modling model: adjustment O-arm and radiation therapeutical bed, gathers multi-mode image by the two X-ray machine image detent mechanism x-ray of O-arm; Founding mathematical models; With the definition of location coordinate and scale, carry out the collection of radiotherapy system physical dosage parameter; 2) pretreatment before radiotherapy: registration multi-mode image and mathematical model being carried out multi-mode image, again with coordinate system in conjunction with Modling model and dynamic three-dimensional display, then formulate Radiation treatment plans in conjunction with radiotherapy system physical dosage parameter designing, carry out dynamic analog treatment overall process according to Radiation treatment plans and dynamic three-dimensional display; 3) process in radiotherapy: adjustment O-arm, the middle target area 3-D view that obtains medical treatment of combining with model and dynamic three-dimensional display, the in real time result of dosage verifying is again located and registration, carry out the intervention in therapeutic process and correction, and correction situation is returned Radiation treatment plans design construction step; Intervention in therapeutic process is treated overall process co-controlling with correction and dynamic analog and is carried out automatic track and localization irradiation.
The above is only preferred implementation of the present utility model; be not limited to this utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from this utility model know-why; can also make some improvement and modification, these improve and modification also should be considered as protection domain of the present utility model.

Claims (7)

1. a five degree of freedom O-arm radiotherapy system, it is characterized in that: comprise O-arm motion, linear accelerating apparatus, radiation dose checkout gear and two X-ray machine image detent mechanism, described O-arm motion comprises O-arm, accelerator gearshift, swing offset device, flip bit moving device, horizontal cross gearshift and horizontal length travel device; Wherein,
Described horizontal length travel device, comprise the first power unit of the first slide rail, the first slide and driving the first slide relative sliding on the first slide rail being arranged on O-arm both sides, described first slide rail and the first slide are two groups;
Described horizontal cross gearshift, comprise the second slide rail be arranged on the first slide, the second slide and drive the second power unit of the second slide relative sliding on the second slide rail, described second slide rail and the second slide are two groups, and described second slide is mutually vertical with the glide direction of the first slide;
Described flip bit moving device, comprise and being arranged on the second slide and the 3rd power unit for overturning described swing offset device, the upset plane of described swing offset device is mutually vertical with the glide direction of described second slide;
Described swing offset device, comprise the overturning seat and the 4th power unit that are arranged on the 3rd power unit outfan, described O-arm is arranged on described in two groups between overturning seat, and described 4th power unit is for driving the relative displacement of described O-arm on described overturning seat;
Described linear accelerating apparatus is arranged in described O-arm by described accelerator gearshift, described accelerator gearshift is for driving described linear accelerating apparatus towards the relative displacement of described O-arm center, and described radiation dose checkout gear is arranged on the opposite side of relatively described linear accelerating apparatus in O-arm; Described pair of X-ray machine image detent mechanism comprises the X-ray emitter be arranged in O-arm and the X-ray receptor being arranged on relative X-ray emitter opposite side in O-arm, and described X-ray emitter and X-ray receptor are two groups.
2. five degree of freedom O-arm radiotherapy system according to claim 1, it is characterized in that: the side of described O-arm is provided with the chute of multiple annular, the both sides of the rear and front end of described overturning seat are all fixed with limiting plate, and the inner side of described limiting plate is provided with and is installed in chute and the slide block of relative sliding.
3. five degree of freedom O-arm radiotherapy system according to claim 1, it is characterized in that: described first power unit comprises the first servomotor, the first screw mandrel and the first screw rod bushing, described first screw mandrel is arranged on the outfan of described first servomotor and is parallel to each other with described first slide rail, described first screw rod bushing is fixed on the bottom of the first slide, and described first screw rod bushing relatively rotates on the first screw mandrel.
4. five degree of freedom O-arm radiotherapy system according to claim 1, it is characterized in that: described second power unit comprises the second servomotor, the second screw mandrel and the second screw rod bushing, described second screw mandrel is arranged on the outfan of described second servomotor and is parallel to each other with described second slide rail, described second screw rod bushing is fixed on the bottom of the second slide, and described second screw rod bushing relatively rotates on the second screw mandrel.
5. five degree of freedom O-arm radiotherapy system according to claim 1, is characterized in that: described 3rd power unit comprises the 3rd servomotor be fixed on the second slide, and described overturning seat is fixed on the outfan of described 3rd servomotor.
6. five degree of freedom O-arm radiotherapy system according to claim 1, it is characterized in that: described 4th power unit comprises the 4th servomotor be fixed on overturning seat and the driving gear being arranged on the 4th servomotor outfan, the lateral surface of described O-arm is provided with Timing Belt, described 4th servomotor by the cooperatively interacting of driving gear and Timing Belt, drive the relative displacement of described O-arm on overturning seat.
7. five degree of freedom O-arm radiotherapy system according to claim 1, it is characterized in that: described accelerator gearshift comprises the seat board be fixed in O-arm, the 5th servomotor be fixed on seat board, multiple 3rd screw rod bushings of being vertically fixed on multiple 3rd screw mandrel bottom seat board and being fixed on linear accelerating apparatus, and described 3rd screw rod bushing relatively rotates on the 3rd screw mandrel.
CN201420605694.7U 2014-10-20 2014-10-20 Five degree of freedom O-arm radiotherapy system Withdrawn - After Issue CN204121623U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104307114A (en) * 2014-10-20 2015-01-28 苏州大学张家港工业技术研究院 Five degree of freedom O-shaped arm radiation therapy system
WO2016061877A1 (en) * 2014-10-20 2016-04-28 苏州大学张家港工业技术研究院 Radiation therapy system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104307114A (en) * 2014-10-20 2015-01-28 苏州大学张家港工业技术研究院 Five degree of freedom O-shaped arm radiation therapy system
WO2016061877A1 (en) * 2014-10-20 2016-04-28 苏州大学张家港工业技术研究院 Radiation therapy system
CN104307114B (en) * 2014-10-20 2017-04-05 苏州大学张家港工业技术研究院 Five degree of freedom O-arm radiotherapy system
US10293186B2 (en) 2014-10-20 2019-05-21 Soochow University Radiation therapy system

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