CN213941895U - Control device for rotation of radiotherapy equipment - Google Patents

Abstract

The embodiment of the utility model discloses a control device for the rotation of radiotherapy equipment, which comprises a monitor, a controller and a controller, wherein the monitor is used for monitoring the rotation of the rotation load of the radiotherapy equipment and recording the offset when the rotation load generates the rotation offset; the controller is used for generating a correction instruction according to the offset to eliminate the offset when the monitor monitors that the rotating load of the radiotherapy equipment is offset; wherein the rotating load comprises a source carrier and a collimating body; alternatively, the rotating load comprises a rotating gantry. The embodiment of the utility model provides a through the true rotation condition of monitoring radiotherapy equipment rotary part, in time rectify when its rotation takes place the skew, improve radiotherapy equipment's security and positioning accuracy.

Description

Control device for rotation of radiotherapy equipment

Technical Field

The utility model relates to an automatic control field especially relates to a controlling means for radiotherapy equipment is rotatory.

Background

The rotational accuracy of the rotational load of the radiotherapy apparatus affects the accuracy of the actual absorbed dose of radioactive rays by the patient's lesion and the control of the uniformity of the dose field.

Taking the head gamma knife as an example, the rotation load of the head gamma knife rotates synchronously or asynchronously, and a semi-closed loop feedback detection technology is mostly adopted, namely, the rotation precision of the head knife is monitored through an encoder arranged on a servo motor. However, the detection method cannot accurately reflect the real position of the cutter head during rotation, because the motor and the load are formed by a multi-stage transmission chain such as a speed reducer and a gear, the rotation error of each stage of transmission mechanism is amplified, and finally the rotation precision of the cutter head is greatly reduced.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a technical problem that solves provides a controlling means for radiotherapy equipment is rotatory, can in time rectify when its rotation takes place the skew through the true rotation condition of monitoring radiotherapy equipment rotary part, improves radiotherapy equipment's security and positioning accuracy.

In order to solve the above technical problem, an embodiment of the present invention provides a control device for rotation of radiotherapy equipment, the control device includes: the monitor is used for monitoring the rotation of the rotary load of the radiotherapy equipment and recording the offset when the rotary load generates rotary offset; the controller is used for generating a correction instruction according to the offset to eliminate the offset when the monitor monitors that the rotary load of the radiotherapy equipment is offset; wherein the rotating load comprises a source carrier and a collimating body; alternatively, the rotating load comprises a rotating gantry.

Be different from prior art, utilize the utility model discloses the rotatory controlling means of radiotherapy equipment carries out actual position monitoring to the rotation of pairing rotation load. By monitoring the real rotation condition of the rotary load of the radiotherapy equipment, the rotation of the radiotherapy equipment is corrected in time when the rotation deviates, so that the safety and the positioning precision of the radiotherapy equipment are improved.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of a control device for rotation of a radiotherapy apparatus according to the present invention;

fig. 2 is a schematic structural diagram of a second embodiment of the control device for rotation of a radiotherapy apparatus provided by the present invention;

fig. 3 is a schematic flow chart of a first embodiment of a control method for rotation of a radiotherapy apparatus according to the present invention;

fig. 4 is a schematic flow chart of a second embodiment of a control method for rotation of a radiotherapy apparatus according to the present invention;

fig. 5 is a schematic structural diagram of a third embodiment of a control device for rotation of a radiotherapy apparatus according to the present invention;

fig. 6 is a schematic structural diagram of a fourth embodiment of the control device for rotation of a radiotherapy apparatus according to the present invention;

fig. 7 is a schematic structural diagram of a fifth embodiment of the control device for rotation of a radiotherapy apparatus according to the present invention;

fig. 8 is a schematic flow chart of a third embodiment of a control method for rotation of a radiotherapy apparatus according to the present invention.

Detailed Description

The present disclosure is described in further detail below with reference to specific embodiments. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The full closed loop monitoring system and the semi closed loop monitoring system are common monitoring methods in the field of automatic control at present. Wherein, the semi-closed loop monitoring system monitors a driving link of a final execution link of the whole system, and does not monitor a final execution mechanism; the full closed loop monitoring system monitors the final execution link of the whole system and can compensate errors caused by any link of the system. For radiotherapy equipment such as a head knife, a rotating component of the head knife is used as a final actuating mechanism, the control precision of the rotating performance of the head knife is closely related to the uniformity of a dose field of the radiotherapy equipment and the accuracy of a focus on the actual absorbed dose of a reflective ray, and the radiotherapy equipment can be accurately controlled by using a full closed-loop monitoring system.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a first embodiment of a control device for rotation of a radiotherapy apparatus according to the present invention. The control apparatus 100 includes a monitor 120, a controller 130 and a drive apparatus 140, forming a fully closed loop structure with a rotational load 110 of a radiotherapy apparatus (not shown).

In this embodiment, the rotating load 110 at least includes a source carrier 111, a switch 112, and an alignment carrier 113, which are sequentially covered, where the source carrier 111, the switch 112, and the alignment carrier 113 are all bowl-shaped structures, and rotate synchronously or asynchronously along a rotating shaft vertically passing through the bottoms of the bowl-shaped structures. In the present embodiment, since the source carrier 111, the switch body 112, and the collimator body 113 are sequentially covered, it is considered that the source carrier 111, the switch body 112, and the collimator body 113 rotate along the same rotation axis. The monitor 120 is connected to the rotary load 110 for monitoring the rotation of the source carrier 111, the switch 112 and the collimator 113. Preferably, the monitor 120 uses a circular grating for monitoring. When one or more of the carrier 111, the switch 112 and the collimator 113 are rotated during the rotation, the deviation can be detected by the monitor 120. The monitor 120 transmits the amount of offset in which the carrier source body 111, the switch body 112, and the collimator body 113 are rotationally offset to the controller 130. The controller 130 calculates a correction offset amount to be corrected for restoring the offset rotational load to the normal rotation based on the offset amount, and transmits a correction command to the driving device 140, and the driving device 140 is configured to drive each component of the rotational load to rotate during the normal treatment, and to remove the offset of the component in which the rotational offset occurs and restore the normal rotation based on the correction command.

In the radiotherapy apparatus of the present embodiment, the carrier 111 is provided with a radioactive substance for radiotherapy, which is harmful to the human body. Only the rotation of the source carrier 111, the switch 112 and the collimating body 113 is precisely controlled, the effective treatment can be performed, and the medical staff and the healthy parts of the patient are not injured. First, the controller 130 sets the carrier 111, the switch 112, and the collimator 113, which rotate the load, to rotate at a constant speed and direction, so that the patient receives the radioactive ray irradiation according to the treatment plan. In the treatment process, the monitor 120 monitors the rotation of the source carrier 111, the switch 112 and the collimating body 113 in real time, the extension line of the axis along which the source carrier 111, the switch 112 and the collimating body 113 rotate vertically passes through the circular center of the monitor 120, when one or more of the source carrier 111, the switch 112 and the switch 113 rotate, the rotating shaft along which the rotation of the source carrier is rotated changes relative to the rotating shaft direction during normal rotation, it should be noted that the deviation includes direction deviation and position deviation, at this time, the monitor 120 monitors the rotating load 110 with the changed rotation, and sends the deviation to the controller 130. The controller 130 transmits a correction command to the driving device 140, the correction command being a command for removing any one or more of the carrier 110, the switch 120 and the collimator 130 from the rotation when the rotation is deviated, and the driving device 140 removes the deviation based on the correction command to restore the normal rotation.

Be different from prior art, utilize the utility model discloses rotatory controlling means of radiotherapy equipment carries out actual position monitoring to the rotation of the first sword rotating equipment carrier, the collimation body and the switch body. When the deflection of a certain rotating shaft is monitored in the synchronous or asynchronous rotating process, the real rotating condition of the rotating part of the radiotherapy equipment is monitored, and the deflection of the rotating part of the radiotherapy equipment is corrected in time, so that the safety and the positioning precision of the radiotherapy equipment are improved.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a second embodiment of a control device for rotation of a radiotherapy apparatus according to the present invention. The control apparatus 200 comprises a monitor 220, a controller 230 and a drive apparatus 240, the control apparatus 200 forming a fully closed loop configuration with a rotational load 210 of a radiotherapy apparatus (not shown).

The rotating load 210 at least comprises a source carrier 211, a switch 212 and a collimator 213 of a radiotherapy apparatus (not shown) which are sequentially covered, and all of the rotating load is of a bowl-shaped structure and rotates synchronously or asynchronously along a rotating shaft vertically passing through the bottom of each bowl-shaped structure. The three bowl-shaped source carriers 211, the switch 212 and the collimating body 213 are sequentially covered, and three rotating shafts are rotated by using a rotation control technology. The source carrier 211, the switch 212 and the collimator 213 are direct parts of the radiotherapy apparatus for emitting radiation to treat a patient, and through the relative rotation of the three, the on-source and the off-source of radioactive materials in the radiotherapy apparatus can be precisely controlled according to a predetermined treatment plan, and if the relative rotation of the source carrier 211, the switch 212 and the collimator 213 is deviated, a medical accident may be caused.

The monitor 220 is used for monitoring the rotation of the source carrier 211, the collimating body 212 and the switch body 213, and comprises a monitoring unit 221 and an alarm unit 222. The monitor unit 221 of the monitor 220 is used for monitoring the rotation of the rotating shafts of the source carrier 211, the switch body 212 and the collimating body 213, and when any one or more of the source carrier 211, the switch body 212 and the collimating body 213 is offset in rotation, the monitor unit 221 of the monitor 220 records the offset amount monitored by the monitor 220. The utility model discloses in, the skew that relates includes offset and angular deflection, and offset means that the position of carrier 211, switch body 212 and the alignment body 213 rotation axis takes place parallel translation, leaves initial position, and angular deflection means that the rotation axis of carrier 211, switch body 212 and the alignment body 213 rotation is no longer perpendicular, passes the annular surface of monitor 220, but produces an angle with the vertical direction. The alarm unit 222 records the offset amount of the offset after the offset occurs in the rotation of any 1 or several of the source carrier 211, the switch 212, and the collimator 213, and sends an alarm signal to the controller 230. The alarm signal includes an offset of the offset error monitored by the monitor 220. In this embodiment, the circular grating is used as a monitor, which can precisely feed back the rotation offset error, and digitally control the rotation axes of the carrier 211, the collimator 212, and the switch 213, so that the actual positions of the rotation axes are strictly kept fixed at any time, thereby ensuring that the rotation of the carrier 211, the switch 212, and the collimator 213 has high dynamic and steady-state precision. The carrier 211, the switch 212 or the collimator 213 may be rotated to generate a position offset or an angle offset, and the offset error value thereof can be accurately captured by the circular grating, so as to inform the controller 230 to perform a subsequent correction.

In the present embodiment, before the monitor 220 performs monitoring, a reference rotation axis 233 is set in the controller 230 so as to be parallel to or overlap with the rotation axes of the carrier 211, the switch body 212, and the collimator body 213, and the reference rotation axis 233 is virtual and cannot be observed by the human eye and its position is fixed. The reference rotation axis 233 allows the rotation axes of the source carrier 211, the switch body 212, and the collimator body 213 to be parallel to each other, and eventually, the rotation axes of the source carrier 211, the switch body 212, and the collimator body 213 are parallel to each other or overlap each other.

The controller 230 includes a receiving unit 231 and a command unit 232. The receiving unit 231 of the controller 230 receives the alarm signal, analyzes the alarm signal to obtain an offset, the command unit 232 generates a correction command according to the offset, the correction command is a command for eliminating the offset generated according to the offset included in the alarm signal, the command unit 232 calculates a correction offset required to be corrected for recovering the normal rotation according to the offset of the rotating load 210, and the command unit 232 transmits the correction command to the driving device 240 after the correction command is generated.

The driving device 240 includes a first driving unit 241, a second driving unit 242, and a third driving unit 243, wherein the first driving unit 241, the second driving unit 242, and the third driving unit 243 are respectively used for driving the carrier source body 211, the switch body 212, and the collimating body 213 to rotate, and the driving device 240 supplies power to the carrier source body 211, the switch body 212, and the collimating body 213 through a power source (not shown). Meanwhile, when receiving the calibration command transmitted from the command unit 232, the first driving unit 241, the second driving unit 242, and the third driving unit 243 simultaneously analyze the calibration command, determine whether the rotation of the corresponding source carrier 211, the collimating body 212, and the switch body 213 is shifted, and after the shift is determined, remove the shift according to the correction method in the calibration command, so as to restore the normal rotation.

Furthermore, a monitor 220 may be disposed inside each of the first driving unit 241, the second driving unit 242, and the third driving unit 243, in this embodiment, the monitor 220 uses a circular grating, the circular grating has an annular structure, and the rotation axes of the source carrier 211, the collimating body 212, and the switch body 213 when rotating are perpendicular to the circular surface of the annular structure and vertically pass through the center of the circular structure. When monitoring that the carrier 211, the collimator 212 and the switch 213 of the radiotherapy apparatus are rotated and shifted, each circular grating sends an alarm signal to the controller 230, so that the controller 230 calculates a correction offset amount by which the rotated load in which the shift occurs is restored to normal rotation according to the offset amount obtained by the monitor 220, and finally the corresponding driving unit in the driving device 240 eliminates the shift.

Be different from prior art, utilize the utility model discloses rotatory controlling means of radiotherapy equipment carries out actual position monitoring to the rotation of the first sword rotating equipment carrier, the collimation body and the switch body. When the deflection of a certain rotating shaft is monitored in the synchronous or asynchronous rotating process, the real rotating condition of the rotating part of the radiotherapy equipment is monitored, and the deflection of the rotating part of the radiotherapy equipment is corrected in time, so that the safety and the positioning precision of the radiotherapy equipment are improved.

Referring to fig. 3, fig. 3 is a schematic flowchart of a first embodiment of a control method for rotation of a radiotherapy apparatus according to the present invention. The method comprises the following steps:

s301: the rotational load of the radiotherapy device is set to rotate along the rotation axis, and the amount of offset when rotational offset occurs is monitored and recorded.

Radiotherapy equipment is at the in-process of normal work, and the carrier, the switch body and the collimation body are bowl form structure, and cover in proper order and close, and through the driving motor control of difference, the three rotates along the rotation axis that passes each bowl form structure bottom perpendicularly, can carry out relative rotation between the three simultaneously. Effective treatment can be carried out only by accurately controlling the rotation of the source carrier, the switch body and the collimating body, and the open source and the close source of radioactive substances in the radiotherapy equipment can be accurately controlled according to a preset treatment plan without causing damage to medical staff and healthy parts of patients.

In the working process of the carrier source body, the collimating body and the switch body, the rotation conditions of the carrier source body, the collimating body and the switch body are monitored through a circular grating, and the circular grating is of an annular structure. Since the source carrier, the collimating body and the switch body are sequentially covered, the rotation axes along which the respective bodies rotate are overlapped on the same straight line during rotation. The circular surface of the circular grating annular structure is perpendicular to a straight line where the carrier source body, the collimating body and the rotating shaft of the switch body rotate, and the straight line vertically penetrates through the circle center of the circular surface. The process advances to step S302.

S302: when the deviation of at least one of the rotary loads of the radiotherapy equipment is monitored, a correction instruction for eliminating the deviation is generated according to the deviation.

When the relative position of the rotating shaft of the carrier source body, the switch body or the collimating body and the circular grating is monitored to be changed, for example, when the straight line where the rotating shaft of the carrier source body, the switch body or the collimating body rotates is not perpendicular to the circular surface of the circular grating annular structure any more or the straight line does not perpendicularly penetrate through the circle center of the circular surface, the rotation of the carrier source body, the switch body or the collimating body can be determined to be deviated when the rotation is normal, and correction is needed. And after the offset is calculated by the circular grating, a correction instruction is obtained according to the offset calculation, wherein the correction instruction is an instruction for eliminating the offset and comprises a correction method determined by comparing the offset of the rotating shaft relative to the circular grating in the offset error information with the preset position of the rotating shaft relative to the circular grating. After the correction instruction is issued, the process proceeds to step S303.

S303: according to the correction instruction, the rotating load with the offset is driven to move so as to eliminate the offset.

After the correction instruction is sent out, the driving motor for driving the carrier source body, the switch body and the collimation body to rotate can eliminate the offset generated in the rotation process of the carrier source body, the switch body and the collimation body according to the correction method in the correction instruction, so that the operation of the radiotherapy equipment is recovered to be normal.

Be different from prior art, utilize the utility model discloses rotatory control method of radiotherapy equipment carries out actual position monitoring to the rotation of first sword rotating equipment carrier, the collimation body and the switch body. When the deflection of a certain rotating shaft is monitored in the synchronous or asynchronous rotating process, the real rotating condition of the rotating part of the radiotherapy equipment is monitored, and the deflection of the rotating part of the radiotherapy equipment is corrected in time, so that the safety and the positioning precision of the radiotherapy equipment are improved.

Referring to fig. 4, fig. 4 is a flowchart illustrating a second embodiment of a control method for rotation of a radiotherapy apparatus according to the present invention. The method comprises the following steps:

s401: the rotational load of the radiotherapy device is set to rotate along the rotation axis, and the amount of offset when rotational offset occurs is monitored and recorded.

The same as the previous embodiment will not be described again. After the radiotherapy apparatus enters normal operation, the process proceeds to step S402.

S402: an alarm signal is issued upon detection of a deflection of at least one of the respective rotational loads of the radiotherapy apparatus.

As in the previous embodiment, the rotation of the source carrier, the switch and the collimator of the radiotherapy apparatus is monitored by the circular grating. By monitoring the relative position of the reference rotation axis and the rotation axis along which the carrier, the collimating body and the switch body rotate, when the carrier, the collimating body and the switch body rotate and are offset, the position or the angle of the rotation axis along which the carrier, the collimating body and the switch body rotate relative to the circular grating must be changed. After the offset, the circular grating determines the offset mode, calculates the offset after the offset, sends an alarm signal to the controller, and proceeds to step S403.

S403: and generating a correction instruction for eliminating the offset according to the offset.

And after receiving the alarm signal, analyzing the alarm signal to obtain the offset contained in the alarm signal, and generating a correction instruction according to the offset. The correction command is a command for canceling the offset when the rotation of at least one of the source carrier, the switch carrier, and the collimator carrier is offset, and includes a correction offset amount to be corrected to calculate the offset rotational load from the offset amount so as to return to the normal rotation (the normal rotation may be, for example, a position parallel to or overlapping the position of the reference rotation axis), and is added to the correction command to transmit the correction command to the drive motor.

S404: according to the correction instruction, the rotating load with the offset is driven to move so as to eliminate the offset.

After the correction instruction is sent out, the driving motor for driving the carrier source body, the collimating body and the switch body to rotate can eliminate the offset generated in the rotation process of the carrier source body, the collimating body and the switch body according to the correction offset in the correction instruction, so that the operation of the radiotherapy equipment is recovered to be normal.

Be different from prior art, utilize the utility model discloses rotatory control method of radiotherapy equipment carries out actual position monitoring to the rotation of first sword rotating equipment carrier, the collimation body and the switch body. When the deflection of a certain rotating shaft is monitored in the synchronous or asynchronous rotating process, the real rotating condition of the rotating part of the radiotherapy equipment is monitored, and the deflection of the rotating part of the radiotherapy equipment is corrected in time, so that the safety and the positioning precision of the radiotherapy equipment are improved.

In the above embodiments, the source carrier, the switch body and the collimating body are all bowl-shaped structures, but of course, the source carrier, the switch body and the collimating body may also be in other shapes, such as ring shape, horn shape, etc.

In another embodiment, fig. 5 is a schematic structural diagram of a third embodiment of a control device for rotation of a radiotherapy apparatus according to the present invention. The control apparatus 500 comprises a monitor 520, a controller 530 and a drive apparatus 540, forming a fully closed loop configuration with a rotational load 510 of the radiotherapy apparatus.

Referring to fig. 5, the rotary load 510 includes a source carrier 511 and a collimating body 512 in sequence from the outside to the inside, and does not include a switching body, and the source carrier 511 and the collimating body 512 can rotate synchronously or asynchronously along a rotation axis. The monitor 520 is connected to the rotating load 510 for monitoring the rotation of the source carrier 511 and the collimating carrier 512. When one or more of the source carrier 511 and the collimating carrier 512 are misaligned during rotation, they can be detected by the detector 520. The monitor 520 sends the offset amount of the rotational offset in the source carrier 511 and the collimating body 512 to the controller 530. The controller 530 calculates a correction offset amount to be corrected for restoring the offset rotational load to the normal rotation based on the offset amount, and transmits a correction command to the driving device 540, and the driving device 540 is configured to drive each component of the rotational load to rotate during the normal treatment, and to remove the offset of the component in which the rotational offset occurs and restore the normal rotation based on the correction command.

In essence, the rotating load may also be a rotating gantry rotating around an axis of rotation. Fig. 6 is a schematic structural diagram of a fourth embodiment of a control device for rotation of a radiotherapy apparatus according to the present invention. Referring to fig. 6, the rotary load 610 includes a rotary gantry 611, the control device 600 includes a monitor 620, a controller 630 and a driving device 640, and the monitor 620, the controller 630 and the driving device form a fully closed loop structure with the rotary gantry 611, the monitor 620 directly monitors the actual rotation of the rotary gantry 611, and when the rotation of the rotary gantry 611 deviates, the monitor instructs the radiotherapy device to correct the rotary gantry 611 in time, so as to improve the safety and positioning accuracy of the radiotherapy device.

Referring to fig. 6, the rotary load 610 further includes a treatment head 612, the treatment head 612 is disposed on the rotary frame 611, and the rotary frame 611 rotates around the rotation axis a to drive the treatment head 612 to rotate together. Monitor 620 is connected to rotating load 610, directly monitors the rotation of rotating gantry 611 and records the amount of offset when rotating gantry 611 transmits a rotational offset. The controller 630 is configured to generate a correction command according to the offset when the monitor 620 detects that the rotating frame 611 is offset, and send the correction command to the driving device 640. The driving device 640 is used for driving the rotating frame 611 which has the offset to move according to a correction instruction sent by the controller 630 so as to eliminate the offset.

The rotating frame 611 may include a ring frame (also called a drum) as shown in fig. 6, and may further include a C-arm frame, etc.

The monitor may also be an encoder, which is not limited to this, and may monitor the rotational offset of the rotational load.

In order to simplify the control means for rotation of the radiotherapy apparatus, the rotational load may be moved by driving of the radiotherapy apparatus itself to remove the offset. Fig. 7 is a schematic structural diagram of a fifth embodiment of a control device for rotation of a radiotherapy apparatus according to the present invention. The control apparatus 700 includes a monitor 720, a controller 730, and a rotational load 710 of a radiotherapy apparatus (not shown) forming a fully closed loop structure. The monitor 720 is used for monitoring the rotation of the rotary load 710 of the radiotherapy apparatus and recording the offset when the rotary load 710 is rotationally offset, and the controller 730 is used for generating a correction instruction according to the offset to eliminate the offset when the monitor 720 monitors the offset of the rotary load 710 of the radiotherapy apparatus, namely, to make the rotary load 710 of the radiotherapy apparatus return to normal rotation.

The embodiment of the utility model provides an in a controlling means for radiotherapy equipment is rotatory, through the true rotation condition of monitoring radiotherapy equipment rotation load, in time instruct radiotherapy equipment to rectify rotation load when its rotation takes place to squint, improved radiotherapy equipment's security and positioning accuracy.

Referring to fig. 8, fig. 8 is a schematic flowchart of a third embodiment of a control method for rotation of a radiotherapy apparatus according to the present invention. The method comprises the following steps:

s801: the rotation of a rotary load of a radiotherapy device is monitored and the amount of offset of the rotary load at which the rotary load is rotationally offset is recorded.

The control device for the rotation of the radiotherapy equipment monitors the rotation of the rotary load of the radiotherapy equipment, and records the offset of the rotary load when the rotary load of the radiotherapy equipment generates rotary offset.

Here, the rotational load may include: a source carrier, a switch and a collimator; alternatively, the rotational load includes: a source carrier and a collimating body; alternatively, the rotational load includes: the rotating frame can be a ring frame or a C-shaped arm frame.

Here, the rotational offset includes being at least one of a positional offset or an angular offset.

S802: when the rotary load of the radiotherapy equipment is monitored to be deviated, a correction instruction is generated according to the deviation amount so as to eliminate the deviation.

When monitoring that the rotary load of the radiotherapy equipment deviates, the control device generates a correction instruction according to the deviation, and the correction instruction can instruct the radiotherapy equipment to drive the radiotherapy equipment to eliminate the deviation of the rotary load, so that the rotary load of the radiotherapy equipment is restored to be normal, and the safety and the positioning accuracy of the radiotherapy equipment are improved.

Prior to S801, the method may further include: the axis of rotation controlling the rotational load is parallel to or overlaps the reference axis of rotation. Through the reference rotation axis, the physical axes of the rotation load are respectively arranged in parallel with the reference rotation axis, and finally, the physical axes of the rotation load are parallel or even overlapped, so that the rotation of the rotation load is more accurate.

The embodiment of the utility model provides a be used for rotatory controlling means of radiotherapy equipment. The control device may include: a processor and a memory, the memory having stored therein instructions, which can be loaded and executed by the processor to implement the control method for rotation of a radiotherapy apparatus of any of the preceding embodiments.

In addition, the embodiment of the present invention provides a storage medium, in which instructions are stored, and when the storage medium runs on a processing assembly, the processing assembly can be made to execute the control method for rotation of radiotherapy equipment according to any of the foregoing embodiments.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims (9)

1. A control apparatus for rotation of a radiotherapy device, the control apparatus controlling the radiotherapy device to rotate about an axis of rotation, the control apparatus comprising:

the monitor is used for monitoring the rotation of the rotary load of the radiotherapy equipment and recording the offset when the rotary load generates rotary offset; and

the controller is used for generating a correction instruction according to the offset to eliminate the offset when the monitor monitors that the rotary load of the radiotherapy equipment is offset;

wherein the rotary load comprises a source carrier and a collimating body without a switch body, the source carrier and the collimating body rotating synchronously or asynchronously along the rotation axis; or, rotatory load includes rotating frame, the treatment head set up in rotating frame is last, rotating frame winds when the rotation axis is rotatory, drive treatment head is rotatory together, rotating frame includes: a ring gantry or a C-arm gantry.

2. The control apparatus for rotation of a radiotherapy device according to claim 1, wherein the monitor comprises:

a monitoring unit for monitoring rotation of the rotating load; and

and the alarm unit is used for sending an alarm signal according to the offset when the rotating load is monitored to be offset.

3. The control apparatus for rotation of a radiotherapy device according to claim 2, wherein the controller comprises:

the receiving unit is used for receiving the alarm signal sent by the monitor; and

a command unit for generating the correction instruction according to the alarm signal.

4. The control apparatus for rotation of a radiotherapy device of claim 3, wherein:

the alarm signal includes: an offset amount of the rotational load when the rotational load rotationally offsets; and

the correction instruction is that the controller calculates a correction offset amount for restoring the offset rotating load to normal rotation according to the offset amount.

5. The control apparatus for rotation of a radiotherapy device of claim 1, further comprising: and the driving device is used for driving the rotating load with the offset to move according to the correction command sent by the controller so as to eliminate the offset.

6. The control apparatus for rotation of a radiotherapy device according to claim 1, wherein the rotational offset is at least one of a positional offset or an angular offset.

7. The control apparatus for rotation of a radiotherapy device according to claim 1, wherein the monitor is a circular grating or an encoder.

8. The control apparatus for rotation of a radiotherapy device according to claim 1, wherein the controller is further configured to control the axis of rotation of the rotating load to be parallel to or overlap a reference axis of rotation.

9. The control apparatus for rotation of a radiotherapy device according to claim 1, wherein the rotational load comprises a plurality of rotational loads, the rotation of the plurality of rotational loads being any one of synchronous rotation or asynchronous rotation; accordingly, the method can be used for solving the problems that,

the monitor is used for monitoring the rotation of a plurality of rotary loads of the radiotherapy equipment and recording the offset when the plurality of rotary loads generate rotary offset;

the controller is used for generating a correction instruction according to the offset to eliminate the offset when the monitor monitors that at least one of the plurality of rotary loads of the radiotherapy equipment is offset.

Images