CN213220592U - Rotating frame and radiotherapy equipment - Google Patents

Abstract

The embodiment of the application provides a rotating rack and radiotherapy equipment, including rotation support frame, motion gyration dish, slewing bearing and directly drive the motor, the stator that directly drives the motor is fixed on rotation support frame, and the active cell that directly drives the motor is connected with the motion gyration dish, and directly drives motor drive motion gyration dish and rotates for rotation support frame. According to the embodiment of the application, the direct drive motor is adopted, the direct drive motor has the characteristics of low speed and large torque, the load can be directly driven to rotate, the middle transmission link is omitted, the transmission rigidity and the transmission precision are greatly improved, the transmission link is free of abrasion, and the precision retentivity is high. The torque motor is arc-shaped and sectional, the axial size is small, and the frame structure is compact. Each section of the motor can independently run, failure under a single fault mode is avoided, and shutdown maintenance time is shortened.

Description

Rotating frame and radiotherapy equipment

Technical Field

The embodiment of the application relates to the technical field of radiation medical equipment, in particular to a rotating rack and radiation therapy equipment.

Background

The rotating frame is one of the key parts of large-scale radiotherapy equipment, is used for bearing the rotation of the radiation therapy head and accessories around an isocenter and treating a patient, and has the advantages of high rotation precision, high load supporting rigidity, compact structure, stable operation and low noise. The principle of the rotating frame is as follows: if the radiation therapy is used in only one irradiation direction, normal cells between the skin and the tumor are subjected to at least 1/3 tumor radiation doses to form different degrees of damage, and the focal ratio of the treatment is increased to reduce the damage, so that one treatment process needs to irradiate from different directions, the total dose is divided into a plurality of radiation directions, and the dose of the normal tissues is greatly reduced. The rotating gantry acts as a mechanical device that supports the radiation beam of the radiotherapy from different angles to the lesion.

The conventional rotating frame adopts the traditional driving technology, and the output torque of the motor is relatively limited. When driving a large load, various mechanical transmission components are generally used, such as: reduction mechanisms such as gearboxes, gear rings, etc. lift the drive torque that is ultimately connected to the mechanical equipment. However, these mechanical transmissions, such as gearboxes, also cause backlash, mechanical losses and objectionable noise, while at the same time wear in use results in reduced machine performance, and also increases machine size and weight. Meanwhile, the transmission parts are worn in long-term use, and regular maintenance is needed to maintain the transmission performance. Typically the speed of the rotating gantry is less than 10rpm, which is a low speed motion. The traditional driving mode adopts a servo motor to drive, the servo motor runs unstably at low speed, and the running stability and running precision of the rack are influenced. The servo motor drive must promote the moment of torsion through the transmission link, adjust the rotational speed, match inertia, the accumulative error of middle transmission link, wearing and tearing influence frame transmission precision.

SUMMERY OF THE UTILITY MODEL

Accordingly, one of the technical problems to be solved by the embodiments of the present invention is to provide a rotating frame, which overcomes some or all of the above technical problems.

The embodiment of the application provides a rotating rack, including rotation support frame, motion gyration dish and directly drive the motor, the stator that directly drives the motor is fixed on rotation support frame, and the active cell that directly drives the motor is connected with the motion gyration dish, and directly drives motor drive motion gyration dish and rotates for rotation support frame.

Optionally, in an embodiment of the present application, the direct drive motor is an arc-shaped segmented torque motor, a rotor of the arc-shaped segmented torque motor is connected to the motion rotary disk, and a stator of the arc-shaped segmented torque motor is connected to the rotary support frame.

Optionally, in an embodiment of the present application, the arc-shaped segmented torque motor includes N arc-shaped linear motors, N sub-stators of the N arc-shaped linear motors form a stator, N sub-movers of the N arc-shaped linear motors form a mover, and N is a positive integer.

Optionally, in an embodiment of the present application, the apparatus further includes a rotation support assembly, the movement rotation disc is rotatably connected to the rotation support frame through the rotation support assembly, and the rotation support assembly is configured to limit the movement of the movement rotation disc 3 relative to the rotation support frame.

Optionally, in an embodiment of the present application, the slewing bearing assembly is a circular arc guide rail, and/or a bearing.

Optionally, in an embodiment of the present application, the rotating rack further includes an angle detection device, the angle detection device includes a detection ruler and at least two reading heads, the reading heads are fixed to the rotating support frame, and the detection ruler rotates along with the moving turntable.

Optionally, in one embodiment of the present application, the at least two read heads are symmetrically distributed with respect to the circumference of the moving turret disk.

Optionally, in an embodiment of the present application, the moving rotary disk includes a power disk and a rotary disk main body, the power disk is connected with the rotary disk main body, and the direct drive motor drives the rotary disk main body to rotate through the power disk.

Optionally, in an embodiment of the present application, the power disc is detachably connected to the main body of the rotary disc, and the power disc is provided with a first connecting portion connected to the main body of the rotary disc and a second connecting portion connected to the direct drive motor.

Optionally, in an embodiment of the present application, the rotating gantry further comprises an electrically conductive slip ring, and the power disc is connected with the electrically conductive slip ring.

Alternatively, in one embodiment of the present application, the detection ruler is provided on an outer circumferential surface of the power disc.

Optionally, in an embodiment of the present application, the detection ruler is one of a steel grating ruler, a magnetic grating ruler or a grating ruler.

Embodiments of the present application also provide a radiotherapy apparatus comprising a rotating gantry of any one of the above embodiments.

The rotating rack provided in the embodiment of the application comprises a rotating support frame, a moving rotary disc and a direct-drive motor, wherein a stator of the direct-drive motor is fixed on the rotating support frame, a rotor of the direct-drive motor is connected with the moving rotary disc, and the direct-drive motor drives the moving rotary disc to rotate relative to the rotating support frame. According to the embodiment of the application, the direct drive motor is adopted, the direct drive motor has the characteristics of low speed and large torque, the load can be directly driven to rotate, the middle transmission link is omitted, the transmission rigidity and the transmission precision are greatly improved, the transmission link is free of abrasion, and the precision retentivity is high. The embodiment of the application has no abrasion caused by a transmission part in the using process, and the precision retentivity is high.

Drawings

Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

FIGS. 1A-1D are schematic structural views of a rotating gantry according to embodiments of the present disclosure;

FIG. 2 is a schematic diagram of an arc-segment torque motor for a rotating gantry according to an embodiment of the present disclosure;

FIG. 3 is a schematic cross-sectional view of a rotating gantry provided by an embodiment of the present application;

FIGS. 4A-4B are enlarged partial views of FIG. 3;

FIG. 5 is a schematic structural diagram of a reading head of a rotating gantry according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a kinematic turret disk of a rotating gantry according to an embodiment of the present disclosure;

the scores in the figure indicate respectively:

the method comprises the following steps of 1-rotating a support frame, 2-rotating a support assembly, 3-moving a rotating disc, 31-power disc, 32-rotating disc main body, 4-direct drive motor, 41-stator, 411-sub-stator, 42-rotor, 421-sub-rotor, 43-arc sectional type torque motor, 44-arc linear motor, 5-angle detection device, 51-detection ruler, 52-reading head and 6-conductive slip ring.

Detailed Description

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that the terms "first," "second," and the like as used in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

The following further describes specific implementations of embodiments of the present application with reference to the drawings of the embodiments of the present application.

Example one

Referring to fig. 1A to 1D, fig. 1A to 1D are schematic structural views of a rotating rack provided in an embodiment of the present disclosure, in fig. 1A, a direct drive motor 4 is an arc-shaped sectional torque motor, in fig. 1B, the direct drive motor 4 is another frameless motor, in fig. 1C, the direct drive motor 4 is a framed direct drive motor, and in fig. 1D, the direct drive motor 4 is another framed direct drive motor, in an embodiment of the present disclosure, a rotating rack is provided, which includes a rotating support frame 1, a moving rotary disk 3, and a direct drive motor 4, a stator of the direct drive motor 4 is fixed on the rotating support frame 1 (a specific fixing structure is not shown in fig. 1B to 1D), a rotor of the direct drive motor 4 is connected with the moving rotary disk 3, and the moving rotary disk 3 is driven by the direct drive motor 4 to rotate relative to the rotating support frame 1.

As shown in fig. 1A to 1D, in the embodiment of the present application, the direct drive motor 4 is adopted, and the direct drive motor 4 has a characteristic of large transmission torque, so that the use of transmission components such as gears and belts in the conventional transmission is not required. The embodiment of the application has no abrasion caused by the transmission part in the using process, the noise generated by the use of the transmission part is not generated any more, and the precision retentivity of the direct drive motor is high. Since the transmission component is not needed in the embodiment of the application, the size and the weight of the machine caused by the transmission component can be eliminated. Meanwhile, the embodiment of the application does not need regular maintenance of a conventional transmission assembly by saving the investment of the transmission component, so that the use cost is effectively reduced, and the problem of shutdown and maintenance caused by transmission component failure is avoided.

For example, the use of transmission components such as gears and belts in the conventional transmission not only results in lower transmission performance, but also brings inconvenience to the installation, debugging and use of the system. The transmission parts such as gears and belts in the traditional transmission are worn. Therefore, these transmission components require regular maintenance and overhaul, such as: the gears need to be lubricated or replaced periodically and the belt needs to be tensioned periodically. Especially in the application of radiotherapy equipment, the radiotherapy equipment needs higher motion precision and high stability, and the influence of the defects of the transmission part on the radiotherapy equipment is more obvious compared with the common mechanical equipment.

Since these transmission components are not provided in the embodiment of the present application, since it is no longer necessary to replace belts, gears, lubricating oil, and the like, the maintenance time and cost of the direct drive motor 4 can be significantly reduced, and the energy efficiency is higher. In the process of the operation of the rotating frame, noise generated by the transmission part does not exist, and the experience of a patient in the treatment process is improved.

Alternatively, referring to fig. 1A, in an embodiment of the present application, the direct drive motor 4 may be an arc-shaped segmented torque motor 43, a rotor 42 of the arc-shaped segmented torque motor 43 is connected with the moving turntable 3, and a stator 41 of the arc-shaped segmented torque motor 43 is connected with the rotating support frame 1. The arc-shaped sectional type torque motor is small in axial size and compact in frame structure. Each section of the motor can independently run, and the normal use of other motors cannot be influenced when one section of the motor breaks down, so that the maintenance time for stopping due to faults is effectively shortened. The arc-shaped sectional type torque motor 43 can adopt a motor with a flat circular ring in the figure, a rotor 42 and a stator 41 of the arc-shaped sectional type torque motor are arranged between the rotary support frame 1 and the motion rotary disc 3, the arc-shaped sectional type torque motor 43 can be hidden, and the increase of the axial size or the size of the whole machine brought by motor equipment can be reduced, so that the carrying of the rotary rack is more convenient.

Alternatively, in an embodiment of the present application, as shown in fig. 1A and fig. 2, fig. 2 is a schematic structural diagram of an arc-shaped segmented torque motor of a rotating rack provided in an embodiment of the present application, an arc-shaped segmented torque motor 43 may include N arc-shaped linear motors 44, N sub-stators 411 of the N arc-shaped linear motors 44 form a stator 41, N sub-movers 421 of the N arc-shaped linear motors 44 form a mover 42, and N is a positive integer.

In some use scenes, in the radiation therapy process, when the motor equipment breaks down, the treatment process can only be stopped, and the equipment is overhauled, so that the treatment effect of a patient is influenced. In the embodiment of the present application, adopt the split type multistage arc linear electric motor 44 shown in fig. 2 as the source of rotary power, when a sub-stator 411 or a sub-active cell 421 breaks down among a plurality of arc linear electric motors 44, the rotating rack still can carry out the rotation work, guarantee that the treatment process is not interrupted, independent and common drive motion gyration dish 3 motion between a plurality of arc linear electric motors 44, guarantee the rotary power needs, reduce the down time because the trouble causes, guarantee the treatment quality to the patient.

Optionally, in an embodiment of the present application, as shown in fig. 3, fig. 3 is a schematic cross-sectional view of a rotating gantry provided in an embodiment of the present application, the rotating gantry further includes a revolving support assembly 2, the moving revolving disc 3 may be rotatably connected to the rotating support frame 1 through the revolving support assembly 2, and the revolving support assembly 2 is configured to limit displacement of the moving revolving disc 3 relative to the rotating support frame 1. Through the rotary supporting component 2 with high rigidity, the movement of the movement rotary disc 3 in the axial direction can be limited, and the movement of the movement rotary disc 3 along a plane vertical to the axial direction can be limited, so that the movement rotary disc 3 can only rotate relative to the rotary supporting frame 1. The rotary supporting component 2 is supported by selecting a guide rail, a bearing and other structures, and the rotary precision is improved by the high-rigidity support of the guide rail, the bearing and other structures.

In some application scenes, most of the rotating frames adopt a roller structure, the axial size of a roller is large, and the stability of the rotating process can be ensured only by supporting two ends. In this implementation, the motion gyration dish 3 can adopt the flat structure, and axial dimension is less than circumference size, through the axial position of control gyration supporting component 2, can only adopt one set of gyration supporting component 2 to satisfy the rotation of motion gyration dish 3 and connect the needs. The axial dimension of the movement rotary disc 3 is small, the rotation process is more stable, and two ends are not required to be fixed, so that the structural complexity of the rotary frame is reduced, and the axial dimension can be controlled.

For example, as shown in fig. 1A, the present embodiment provides a rotating frame, which may include a rotating support frame 1, a moving rotating disk 3, and an arc-shaped segmented torque motor 43, wherein a stator 41 of the arc-shaped segmented torque motor 43 is fixed on the rotating support frame 1, a rotor 42 of the arc-shaped segmented torque motor 43 is connected to the moving rotating disk 3, and the arc-shaped segmented torque motor 43 drives the moving rotating disk 3 to rotate relative to the rotating support frame 1; still include gyration supporting component 2, the motion gyration dish 3 can rotate with rotation support frame 1 through gyration supporting component 2 and be connected. Wherein through the gyration supporting component 2 of high rigidity, can restrict the motion gyration dish 3 and remove at its axial direction to and restriction motion gyration dish 3 takes place to remove along the plane of perpendicular axial, thereby guarantee that motion gyration dish 3 can only rotate for rotating support frame 1. By using the arc-shaped segmented torque motor 43, the moving rotary disk 3 can adopt a disk-shaped structure as shown in fig. 1A, and the axial size is small, the occupied space is small, and the whole structure of the rotating frame is more compact.

Alternatively, in an embodiment of the present application, as shown in fig. 4A-4B, fig. 4A-4B are two enlarged partial views of fig. 3, the rotary support assembly 2 may be an arc guide, and/or a bearing. In the present embodiment, the rotation support component 2 may be one or both of an arc guide rail and a bearing. In this embodiment, as shown in fig. 4A, the rotary support assembly 2 may be an arc guide rail, an arc slider matched with the arc guide rail is mounted on the moving rotary disk 3 through a bolt, and the arc guide rail is mounted on the rotary support frame 1 through a bolt. As shown in fig. 4B, the rotary support assembly 2 may also be a bearing, an outer ring of the bearing is fixedly connected to the rotary support frame 1, and an inner ring of the bearing is fixedly connected to the movable rotary disk 3. The two modes can meet the requirements of supporting and rotating the motion rotary disc 3, when the two components are used together, the installation positions are not conflicted, and the supporting function is further increased by using the two components at the same time. The arc guide rail has the advantages that the sliding block is damaged and only needs to be replaced correspondingly, the maintenance cost is low, and once the bearing is damaged, the bearing needs to be replaced integrally, so that the maintenance cost is relatively high.

Optionally, in an embodiment of the present application, as shown in fig. 5, fig. 5 is a schematic structural diagram of a reading head of a rotating rack provided in the embodiment of the present application, the rotating rack may further include an angle detection device 5, the angle detection device 5 includes a detection ruler 51 and at least two reading heads 52, the reading heads 52 are fixed to the rotating support frame 1, and the detection ruler 51 rotates along with the moving turntable 3. The detection ruler 51 can be installed on the surface of the movement rotary disc 3 or other mechanisms rotating along with the movement rotary disc 3, so long as the detection ruler 51 can correctly indicate the rotation angle of the movement rotary disc 3, and the correct reading of the reading head 52 on the detection ruler 51 can be realized.

Specifically, as shown in fig. 4A-4B, in one embodiment of the present application, a detection ruler 51 is provided on the outer peripheral surface of the power disc 31. As shown in the figure, the detection ruler 51 is arranged on the outer peripheral surface of the power disc 31, so that the detection ruler 51 is circumferentially arranged, and the installation space of the motion rotary disc 3 is not occupied. The measuring rule 51 is one of a steel grid rule, a magnetic grid rule or a grating rule. The type of the detection ruler 51 is not limited, and it can achieve the technical effects in the above embodiments, wherein a common steel grating ruler, a magnetic grating ruler or a grating ruler can be applied. In order to realize the purpose of high-precision treatment, the rotating angle of the rotary frame to the moving rotary disc 3 needs to be acquired in real time and is ensured to be accurate, so that the irradiation position of the radioactive source can be ensured to be accurate. When the rotary plate 3 rotates, the detection ruler 51 is driven to rotate relative to the reading head 52, and the reading head 52 feeds back the rotation angle of the rotary plate 3 by reading the detection ruler 51. The single head or the reading head 52 of detecting that adopts, reading head 52 is owing to receive the installation accuracy, or its live time cycle is longer, the precision and the degree of accuracy that reading head 52 measured reduce to some extent, through above-mentioned scheme, can detect measuring tape 51 simultaneously through two at least reading heads 52, compare through a plurality of detected data, acquire the most accurate numerical value, guarantee treatment quality, also can prevent that single reading head 52 from breaking down, lead to needing to shut down the maintenance, thereby influence patient's treatment. The detection ruler 51 may be a steel grating ruler, a magnetic grating ruler or a grating ruler, and the reading head 52 adopts a reading head 52 configured correspondingly.

Alternatively, in one embodiment of the present application, as shown in fig. 5, the accuracy and precision of the angle detection can be improved by providing at least two readheads 52 symmetrically distributed with respect to the circumference of the moving turret disk 3. The precision or accuracy of the reading head 52 is related to the perpendicularity between the axis of the reading head 52 and the surface of the detection ruler 51, the installation accuracy of the reading head 52 directly influences the reading accuracy, and the installation accuracy of the reading head 52 can be calibrated through devices such as gradienters through circumferential arrangement, as shown in fig. 5, the reading head is preferably installed in the horizontal and vertical directions, and the installation accuracy can be guaranteed through the devices such as the gradienters.

Alternatively, in an embodiment of the present application, the moving rotating disc 3 may include a power disc 31 and a rotating disc main body 32, the power disc 31 is connected with the rotating disc main body 32, the direct drive motor 4 drives the rotating disc main body 32 to rotate through the power disc 31, and the rotating disc main body 32 may be used for carrying the radiation device. For the type of the direct drive motor 4 in practical use, as shown in fig. 6, fig. 6 is a schematic structural diagram of a movement turning disc of the rotating rack provided in the embodiment of the present application, power discs 31 with different structures are used for connecting the direct drive motor 4, the power discs 31 are replaced according to actual needs, and effective use of the rotating rack is realized without changing other structures of the whole rotating rack. Meanwhile, the split type movement rotary disc 3 reduces the processing difficulty.

Alternatively, in an embodiment of the present application, the power disc 31 is detachably connected to the rotary disc main body 32, and the power disc 31 is provided with a first connection portion connected to the rotary disc main body 32 and a second connection portion connected to the direct drive motor 4. First connecting portion can be for adopting flange structure or threaded connection or other connection structure, can dismantle power disc 31 and gyration dish main part 32 and be connected, when guaranteeing to carry out the power disc 31 change of different grade type, and is easy and simple to handle, the installation of being convenient for. The second connecting portion may be a flange connecting structure in fig. 1D, a shaft connecting structure in fig. 1C, a cylinder nesting structure in fig. 1B, or a threaded connection structure in fig. 1A, or may be other customized structures, according to the type of the direct drive motor 4 used.

Optionally, in an embodiment of the present application, the rotating gantry further comprises an electrical slip ring 6, and the power disc 31 is connected to the electrical slip ring 6. The conductive slip ring 6 can provide multi-channel transmission of rotating power, data and signals, greatly simplifies the structure of a rotating rack system and avoids the phenomenon that a lead is sprained in the rotating process. The power and signal transmission between the stationary and rotating parts of the frame is achieved by means of conductive slip rings 6 fixed to the end faces of the power discs 31.

Embodiments of the present application also provide a radiotherapy apparatus comprising a rotating gantry of any one of the above embodiments. By adopting the rotating frame of the embodiment, the embodiment of the application has no abrasion caused by the transmission part in the using process, the noise generated by the use of the transmission part is not generated, and the precision retentivity of the direct drive motor is high. Since the transmission component is not needed in the embodiment of the application, the size and the weight of the machine caused by the transmission component can be eliminated. Meanwhile, the embodiment of the application does not need regular maintenance of a conventional transmission assembly by saving the investment of the transmission component, so that the use cost is effectively reduced, and the problem of shutdown and maintenance caused by transmission component failure is avoided.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (13)

1. The utility model provides a rotating frame, its characterized in that, includes rotating support frame (1), motion gyration dish (3) and directly drives motor (4), the stator that directly drives motor (4) is fixed on rotating support frame (1), the active cell that directly drives motor (4) with motion gyration dish (3) are connected, directly drive motor (4) drive motion gyration dish (3) rotate for rotating support frame (1).

2. A rotating gantry according to claim 1, characterized in that the direct drive motor (4) is an arc-shaped segmented torque motor (43), the mover (42) of the arc-shaped segmented torque motor (43) being connected to the moving turret plate (3), the stator (41) of the arc-shaped segmented torque motor (43) being connected to the rotating support frame (1).

3. A rotating gantry according to claim 2, wherein the arc segmented torque motor (43) comprises N arc linear motors (44), N sub-stators (411) of the N arc linear motors (44) forming the stator (41), N sub-movers (421) of the N arc linear motors (44) forming the mover (42), N being a positive integer.

4. A rotating gantry according to any of claims 1 to 3, further comprising a slewing bearing assembly (2), wherein said moving slewing disc (3) is rotatably connected to said rotating support frame (1) by said slewing bearing assembly (2), said slewing bearing assembly (2) being adapted to limit the displacement of said moving slewing disc (3) with respect to said rotating support frame (1).

5. A rotating gantry according to claim 4, characterized in that said slewing bearing assembly (2) is a circular arc guide, and/or a bearing.

6. Rotating gantry according to claim 4, characterized in that it further comprises an angle detection device (5), said angle detection device (5) comprising a detection ruler (51) and at least two reading heads (52), said reading heads (52) being fixed to said rotating support (1), said detection ruler (51) following the rotation of said kinematic turret (3).

7. Rotating gantry according to claim 6, characterized in that the at least two reading heads (52) are symmetrically distributed with respect to the circumference of the moving carousel (3).

8. The rotating frame according to claim 7, characterized in that the moving rotary disc comprises a power disc (31) and a rotary disc main body (32), the power disc (31) is connected with the rotary disc main body (32), and the direct drive motor (4) drives the rotary disc main body (32) to rotate through the power disc (31).

9. Rotating gantry according to claim 8, characterized in that the power disc (31) is detachably connected to the turn disc body (32), the power disc (31) being provided with a first connection to the turn disc body (32) and a second connection to the direct drive motor (4).

10. Rotating gantry according to claim 8, characterized in that it further comprises an electrically conductive slip ring (6), said power disc (31) being connected with said electrically conductive slip ring (6).

11. A rotating gantry according to claim 8, characterized in that said measuring ruler (51) is provided on the outer peripheral surface of said power disc (31).

12. A rotating frame according to claim 11, characterized in that said measuring ruler (51) is one of a steel grid ruler, a magnetic grid ruler or a grating ruler.

13. A radiotherapy apparatus comprising a rotating gantry according to any one of claims 1 to 12.

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