CN216629449U - Positioning mechanism for beam current blocker and radiotherapy equipment - Google Patents
Positioning mechanism for beam current blocker and radiotherapy equipment Download PDFInfo
- Publication number
- CN216629449U CN216629449U CN202120536874.4U CN202120536874U CN216629449U CN 216629449 U CN216629449 U CN 216629449U CN 202120536874 U CN202120536874 U CN 202120536874U CN 216629449 U CN216629449 U CN 216629449U
- Authority
- CN
- China
- Prior art keywords
- blocker
- beam current
- light source
- camera
- positioning mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Radiation-Therapy Devices (AREA)
Abstract
The utility model relates to a positioning mechanism for a beam blocker and radiotherapy equipment, wherein the beam blocker is applied to the radiotherapy equipment and arranged below a sickbed, the radiotherapy equipment comprises a treatment device which is arranged above the sickbed and used for emitting treatment rays, and the positioning mechanism comprises: the position measuring mechanism is used for measuring the actual position of the beam current blocker, and comprises a structural light source and image acquisition equipment, wherein the structural light source is arranged on one side of the beam current blocker, and the image acquisition equipment is arranged on the same side of the structural light source; a position adjusting mechanism for adjusting the position of the beam stopper, the position adjusting mechanism being movably disposed below the beam stopper; the control mechanism is used for adjusting the beam current blocker to a position corresponding to the emission direction of the treatment rays, and the control mechanism is electrically connected with the treatment device, the structure light source, the image acquisition equipment and the position adjusting mechanism, so that the shielding efficiency of the beam current blocker is improved, and the downstair environment radiation dose of an operating room is reduced.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to a positioning mechanism for a beam current blocker and radiotherapy equipment.
Background
In the radiotherapy process, after a surgeon uses a scalpel to cut off a tumor in a patient body, the radiotherapy doctor sets the energy and the irradiation field range of a treatment device, a tumor bed is irradiated by treatment rays (such as electron beams) for a single time, and the residual treatment rays after irradiation harm the human body, so that in order to reduce the environment radiation dose below an operating room, a beam stopper is placed below the operating room to shield the residual treatment rays penetrating through the human body. The specific placing position of the beam current blocker has direct influence on the shielding effect of the residual treatment rays, and if the placing position of the beam current blocker is far away from the passing position of a beam axis of the treatment rays, the beam current blocker cannot play a good shielding role, so that the radiation dose of the environment below the building of an operating room is increased, and the health of medical care personnel and patients is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a positioning mechanism for a beam current blocker and radiotherapy equipment, wherein the positioning mechanism for the beam current blocker and the radiotherapy equipment can adjust the position of the beam current blocker to a position corresponding to the emission direction of therapeutic rays, can improve the shielding efficiency of the beam current blocker, and reduce the downstair environmental radiation dose of an operating room.
In order to achieve the above object, the present invention provides, in one aspect, a positioning mechanism for a beam stopper applied to a radiotherapy apparatus and disposed below a patient bed, the radiotherapy apparatus including a treatment device disposed above the patient bed and emitting treatment rays, the positioning mechanism comprising:
the position measuring mechanism is used for measuring the actual position of the beam current blocker, and comprises a structural light source and image acquisition equipment, wherein the structural light source is arranged on one side of the beam current blocker, and the image acquisition equipment is arranged on the same side of the structural light source;
the position adjusting mechanism is used for adjusting the position of the beam current stopper and is movably arranged below the beam current stopper;
and the control mechanism is used for movably controlling the beam current blocker to adjust the beam current blocker to a position corresponding to the emission direction of the treatment rays, and is electrically connected with the treatment device, the structure light source, the image acquisition equipment and the position adjusting mechanism.
In the embodiment of the utility model, the image acquisition equipment comprises a first camera and a second camera which are arranged in parallel at intervals; the structural light source is arranged at the central position between the first camera and the second camera in a vertically rotating mode.
In the embodiment of the utility model, the distance between the structured light source and the beam current blocker on the horizontal plane is in the range of 0.2m-2 m.
In an embodiment of the utility model, the structured light source emits structured light in a form including at least one of laser stripes or gray codes.
In the embodiment of the utility model, the positioning mechanism further comprises a light supplementing module, the light supplementing module comprises a brightness sensor and a light supplementing lamp, and the brightness sensor is electrically connected with the control mechanism; the light supplementing lamp is movably arranged on one side of the beam current stopper and electrically connected with the control mechanism, and is used for supplementing light according to the ambient brightness and/or the images collected by the first camera and the second camera.
In an embodiment of the present invention, the position measuring mechanism further includes a spud provided at a central position of the top surface of the beam stopper.
In an embodiment of the utility model, the spud is cylindrical.
In the embodiment of the utility model, the position adjusting mechanism comprises a movable base frame, a control module and a communication module, the movable base frame is arranged below the beam current stopper, the communication module is in communication connection with the control mechanism, and the control module is electrically connected with the movable base frame and the control module.
In a second aspect, the utility model provides a radiotherapy apparatus comprising the above positioning mechanism for the beam stop.
In an embodiment of the present invention, a radiotherapy apparatus comprises:
the base is arranged on one side of the sickbed;
the mechanical arm is movably arranged above the base, and the tail end of the mechanical arm is connected with the treatment device;
and the beam limiting device is aligned with the position of the focus of the patient, and the axis of the treatment head of the treatment device is coincident with the axis of the beam limiting device.
According to the technical scheme, the position measuring mechanism is arranged on one side of the beam stopper to measure the position of the beam stopper, and the control mechanism electrically connected with the treatment device, the position adjusting mechanism and the position measuring mechanism is arranged, so that the control mechanism can obtain the actual position of the treatment device and the actual position of the beam stopper mechanism and adjust the beam stopper to the position corresponding to the emission direction of the treatment rays according to the actual positions, the shielding effect of the beam stopper on the residual treatment rays can be improved, and the dosage of environment radiation below an operating room is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the embodiments of the utility model without limiting the embodiments of the utility model. In the drawings:
fig. 1 is a schematic view of a first view position of components of a positioning mechanism for a beam stopper in an embodiment of the utility model;
fig. 2 is a schematic view of a second view position of components of a positioning mechanism for a beam blocker according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of radiotherapy equipment in an embodiment of the utility model.
Description of the reference numerals
1 beam blocker 2 therapeutic device
3 position measuring mechanism 301 structure light source
302 image capturing apparatus 3021 first camera
3022 second camera 303 spud
4 position adjustment mechanism 5 base
6 mechanical arm 7 beam limiting device
Detailed Description
The following detailed description of embodiments of the utility model refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the utility model, are given by way of illustration and explanation only, not limitation.
The embodiment of the utility model provides a novel positioning mechanism for a beam current blocker, and belongs to the technical field of medical equipment. In the present embodiment, as shown in fig. 1 to 3, a beam stopper 1 is applied to a radiotherapy apparatus including a treatment device 2 disposed above a patient bed and emitting treatment rays and disposed below the patient bed. Furthermore, the therapeutic radiation is emitted along the axial direction of the treatment head of the treatment device 2, i.e. the axis of the beam axis formed after the therapeutic radiation is emitted coincides with the axis of the treatment head of the treatment device 2, wherein the therapeutic radiation is an electron beam. The positioning mechanism for the beam stopper can shield residual treatment rays by adjusting the position of the beam stopper 1 to a position corresponding to the emission direction of the treatment rays after the radiotherapy operation is finished. The positioning mechanism comprises a position measuring mechanism 3, a position adjusting mechanism 4 and a control mechanism, wherein the position measuring mechanism 3 is used for measuring the actual position of the beam current blocker 1, the position measuring mechanism 3 comprises a structural light source 301 and an image acquisition device 302, and the structural light source 301 is arranged on one side of the beam current blocker 1 and is used for emitting structural light covering the beam current blocker 1; the image acquisition equipment 302 is arranged at the same side of the structure light source 301 and is used for acquiring an image of the beam current blocker 1 covering the structure light; the position adjusting mechanism 4 is used for adjusting the position of the beam current blocker 1, and the position adjusting mechanism 4 is movably arranged below the beam current blocker 1; the control mechanism is used for movably controlling the beam current blocker 1 so as to adjust the beam current blocker 1 to a position corresponding to the emission direction of the treatment rays, and the control mechanism is electrically connected with the treatment device 2, the structure light source 301, the image acquisition equipment 302 and the position adjusting mechanism 4. The placing position of the beam-flow blocker 1 can be adjusted according to actual conditions after the operation is completed, so that the most suitable place is placed to reduce the radiation dosage of the environment below the operating room to the maximum extent, and adverse effects on the health of medical staff and patients are avoided.
Specifically, before adjusting the position of the beam current blocker 1, the position measuring mechanism 3 measures the actual position of the beam current blocker 1, and after the actual position of the beam current blocker 1 is measured, the position measuring mechanism 3 transmits the measurement result to the control mechanism; because the treatment device 2 is electrically connected with the control mechanism, the control mechanism can acquire the actual position of the treatment device 2 according to the mechanical system where the treatment device 2 is located, on the basis, the control mechanism calculates the target position of the beam blocker 1 according to the actual position of the treatment device 2, and then calculates the moving distance of the beam blocker 1 (the moving distance includes the distance along the x-axis direction of the horizontal plane and the distance along the y-axis direction of the horizontal plane) according to the target position of the beam blocker 1 and the actual position of the beam blocker 1. Finally, the control mechanism adjusts the beam current blocker 1 to the target position according to the moving distance of the beam current blocker 1 to shield the residual treatment rays, so that the shielding effect of the beam current blocker 1 is exerted to the maximum extent, and the radiation dose of the environment under the operating room is reduced to the maximum extent to reduce the radiation injury to medical staff and patients.
In the embodiment of the present invention, the image pickup apparatus 302 includes a first camera 3021 and a second camera 3022, the first camera 3021 and the second camera 3022 being disposed in parallel at intervals; the structure light source 301 is arranged at the center position between the first camera 3021 and the second camera 3022 in a manner of rotating up and down, so that the angle of the structure light emitted by the structure light source 301 can be adjusted along the vertical direction, and further, the structure light can be irradiated onto the beam blocker 1 as much as possible, so as to enhance the accuracy of position measurement. After the structured light is covered on the beam current blocker 1, the first camera 3021 and the second camera 3022 can respectively capture and acquire a first image and a second image from respective set angles, and the control mechanism can acquire the actual position of the beam current blocker 1 by analyzing and processing the first image and the second image.
In the embodiment of the utility model, the distance range of the structural light source 301 and the beam current blocker 1 on the horizontal plane is 0.2m-2m, and the emission angle of the structural light is adjusted in the distance range, so that the structural light emitted by the structural light source 301 can completely cover the surface of the beam current blocker 1, and the accuracy of the position measurement mechanism 3 for measuring the actual position of the beam current blocker 1 is further improved.
In an embodiment of the present invention, the structured light emitted by the structured light source 301 is in the form of at least one of a laser stripe and a gray code. The control mechanism is internally provided with image processing software for processing images, the first camera 3021 and the second camera 3022 acquire images of the beam current blocker 1 of which the outer surfaces are covered with laser stripes or gray codes and then transmit the images to the image processing software of the control mechanism for processing, and the image processing software can extract image characteristics and construct a three-dimensional model according to the laser stripes or gray codes in the first image and the second image and then acquire the actual position of the beam current blocking mechanism according to the three-dimensional model. The structured light is a light source after being coded, and has a plurality of characteristic points or codes, when the structured light is completely covered on the surface of the beam current stopper 1, the first image and the second image collected by the first camera 3021 and the second camera 3022 are both images which are projected onto the beam current stopper 1 by the coded light source and are modulated by the depth of the surface of the beam current stopper 1, the characteristic points of the beam current stopper 1 are not needed to be used during image processing, the difficulty of image processing is reduced, a control mechanism can obtain a better characteristic matching result in the process of processing the first image and the second image, and the image processing results of the first image and the second image are more accurate.
In the embodiment of the present invention, the position measuring mechanism 3 further includes a spud 303, the spud 303 is provided at a central position of the top surface of the beam stopper 1, namely, the center of the positioning pile 303 is coincided with the center of the beam current stopper 1, the actual position of the positioning pile 303 represents the actual position of the beam current stopper 1, the structured light covers the beam current stopper 1 and also covers the positioning pile 303, the image processing software only constructs the three-dimensional model of the spud 303 after processing the first image and the second image, and then calculates and obtains the actual position of the spud 303 according to the three-dimensional model of the spud 303, the structure of the spud 303 is simpler than that of the beam stopper 1, so that the difficulty of image processing can be greatly reduced, the time for obtaining a calculation result (namely the actual position of the spud 303) is reduced, and the accuracy of the calculation result is improved.
In the embodiment of the utility model, the positioning pile 303 is cylindrical, compared with other prismatic structures, the cylindrical positioning pile 303 has a simple structure and a larger area of a side surface, and after the structured light is irradiated from one side of the cylindrical positioning pile 303, more laser stripes or gray codes can cover the outer surface of the cylindrical positioning pile 303, so that the actual position measurement accuracy of the positioning pile 303 is further improved; and the construction parameters of the cylindrical three-dimensional model are less, so that the image processing efficiency and the three-dimensional model construction efficiency are further improved.
In the embodiment of the utility model, the positioning mechanism further comprises a brightness sensor and a light supplement lamp, the brightness sensor is electrically connected with the control mechanism, and the brightness sensor can detect the ambient brightness and transmit the detection result to the control mechanism; the light supplement lamp is movably arranged on one side of the beam current stopper 1 and is electrically connected with the control mechanism, and is used for supplementing light according to the ambient brightness and/or images acquired by the first camera 3021 and the second camera 3022, after the control mechanism receives the detection result of the ambient brightness, the light supplement lamp can be controlled to supplement light according to the detection result of the ambient brightness, so that the first camera 3021 and the second camera 3022 can acquire clearer images of the beam current stopper 1 and the positioning pile 303 covered with structured light; or the control mechanism judges the definition of the first image and the second image after acquiring the first image and the second image, controls the light supplement lamp to supplement light under the condition that the definition of the first image and the definition of the second image are not qualified, and acquires the images again after supplementing light; the control mechanism can also synthesize the measurement result of the ambient brightness and the definition of the first image and the second image to control the light supplementing lamp to supplement light, and further controls the light supplementing intensity of the light supplementing lamp according to the synthesis result of the first image and the second image, so that the first image and the second image can be collected under the most suitable brightness, and the accuracy of the position measurement of the beam current blocker 1 can be further enhanced.
In the embodiment of the utility model, the position adjusting mechanism 4 comprises a movable base frame, a control module and a communication module, wherein the movable base frame is arranged below the beam current stopper 1, and the movable base frame can drive the beam current stopper 1 above the movable base frame to move; the communication module is in communication connection with the control mechanism, the control module is electrically connected with the movable base frame and the control module, the control mechanism can remotely control the movable base frame to move according to the calculated moving distance, the adjusting mode is simple, the accuracy of position adjustment of the beam current blocker 1 is improved, the beam current blocker 1 can accurately reach the maximum amplitude of a target position to shield residual treatment rays, and the shielding efficiency of the beam current blocker 1 is improved.
A second aspect of the present invention provides a radiotherapy apparatus, as shown in fig. 3, including the above positioning mechanism for the beam blocker, so that the radiotherapy apparatus has a function of positioning the beam blocker 1, and after the radiotherapy apparatus performs radiotherapy treatment on a wound of a patient with treatment rays, the beam blocker 1 is adjusted to an optimal position to shield residual treatment rays.
In the embodiment of the present invention, the radiotherapy apparatus comprises a base 5, a mechanical arm 6 and a beam limiting device 7, specifically, the base 5 is disposed on one side of the patient bed, in this embodiment, in order to measure the actual position of the beam blocker 1, a first camera 3021, a second camera 3022 and a structured light source 301 may be disposed on the sidewall of the base 5 facing the beam blocker 1; the mechanical arm 6 is movably arranged above the base 5, the tail end of the mechanical arm 6 is connected with the treatment device 2, the mechanical arm 6 comprises a plurality of joints, and the treatment device 2 can reach a position where treatment rays can be emitted to a patient by controlling the rotation and/or translation of the joints of the mechanical arm 6; the beam limiting device 7 is aligned with the focus position of the patient, the axis of the treatment head of the treatment device 2 is coincident with the axis of the beam limiting device 7, so that the emission direction of the treatment rays faces the beam limiting device 7 (at this time, the emission direction of the treatment rays also faces the focus position of the patient), wherein the focus position refers to the position of the body of the patient where a lesion occurs, and the beam limiting device 7 is used for adjusting the dose distribution of the treatment rays, so that the treatment device 2 can accurately emit the treatment rays with proper dose to the focus position of the patient for treatment.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the utility model, numerous simple modifications can be made to the technical solution of the utility model, including any suitable combination of specific features, and in order to avoid unnecessary repetition, the utility model will not be described in detail in relation to the various possible combinations. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments within the scope of the present invention.
Claims (10)
1. A positioning mechanism for a beam blocker, characterized in that the beam blocker (1) is applied to a radiotherapy apparatus and is arranged below a patient bed, the radiotherapy apparatus comprises a treatment device (2) arranged above the patient bed and adapted to emit treatment rays, the positioning mechanism comprises:
the beam current blocker (1) comprises a position measuring mechanism (3) and a beam current blocker, wherein the position measuring mechanism (3) is used for measuring the actual position of the beam current blocker (1), the position measuring mechanism (3) comprises a structural light source (301) and an image acquisition device (302), the structural light source (301) is arranged on one side of the beam current blocker (1), and the image acquisition device (302) is arranged on the same side of the structural light source (301);
the position adjusting mechanism (4) is used for adjusting the position of the beam current blocker (1), and the position adjusting mechanism (4) is movably arranged below the beam current blocker (1);
the control mechanism is used for movably controlling the beam current blocker (1) to adjust the beam current blocker (1) to a position corresponding to the emission direction of the treatment rays, and the control mechanism is electrically connected with the treatment device (2), the structure light source (301), the image acquisition equipment (302) and the position adjusting mechanism (4).
2. The positioning mechanism for the beam current blocker according to claim 1, wherein the image capturing apparatus (302) comprises a first camera (3021) and a second camera (3022), the first camera (3021) and the second camera (3022) being arranged in parallel and spaced apart; the structure light source (301) is arranged at the center position between the first camera (3021) and the second camera (3022) in a manner of rotating up and down.
3. The positioning mechanism for a beam blocker according to claim 2, wherein the distance between the structured light source (301) and the beam blocker (1) in a horizontal plane is in the range of 0.2m-2 m.
4. The positioning mechanism for a beam blocker according to claim 2 or 3, wherein the structured light source (301) emits structured light in a form including at least one of laser stripes or Gray codes.
5. The positioning mechanism for the beam current blocker according to claim 2, wherein the positioning mechanism further comprises a light supplement module, the light supplement module comprises a brightness sensor and a light supplement lamp, and the brightness sensor is electrically connected with the control mechanism; the supplementary lighting lamp is movably arranged on one side of the beam current blocker (1), is electrically connected with the control mechanism, and is used for supplementing lighting according to ambient brightness and/or images collected by the first camera (3021) and the second camera (3022).
6. The positioning mechanism for beam blocker according to claim 1, wherein the position measuring mechanism (3) further comprises a positioning peg (303), the positioning peg (303) being provided at a central position of the top surface of the beam blocker (1).
7. The positioning mechanism for the beam current blocker according to claim 6, wherein the positioning peg (303) is cylindrical.
8. The positioning mechanism for the beam blocker according to claim 1, wherein the position adjusting mechanism (4) comprises a mobile pedestal disposed below the beam blocker (1), a control module communicatively connected to the control mechanism, and a communication module electrically connected to the mobile pedestal and the control module.
9. Radiotherapy apparatus comprising a positioning mechanism for a beam blocker according to any one of claims 1 to 8.
10. Radiotherapy apparatus according to claim 9, characterized in that it comprises:
a base (5) arranged at one side of the sickbed;
the mechanical arm (6) is movably arranged above the base (5) and is electrically connected with the control mechanism, and the tail end of the mechanical arm (6) is connected with the treatment device (2);
a beam limiting device (7) aligned with the lesion position of the patient, wherein the axis of the treatment head of the treatment device (2) and the axis of the beam limiting device (7) are coincident.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120536874.4U CN216629449U (en) | 2021-03-15 | 2021-03-15 | Positioning mechanism for beam current blocker and radiotherapy equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120536874.4U CN216629449U (en) | 2021-03-15 | 2021-03-15 | Positioning mechanism for beam current blocker and radiotherapy equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216629449U true CN216629449U (en) | 2022-05-31 |
Family
ID=81722900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120536874.4U Active CN216629449U (en) | 2021-03-15 | 2021-03-15 | Positioning mechanism for beam current blocker and radiotherapy equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216629449U (en) |
-
2021
- 2021-03-15 CN CN202120536874.4U patent/CN216629449U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9939130B2 (en) | Marker system with light source | |
| JP5338000B1 (en) | Real-time 3D radiotherapy device | |
| CN106714905B (en) | Radiotherapy equipment and beam imaging method | |
| JP6340488B1 (en) | Radiation dose monitoring system | |
| EP1960051B1 (en) | Device and method for positioning a target volume in a radiation therapy apparatus | |
| KR20210068019A (en) | Illumination Assemblies and Methods for Mammography and Tomography Imaging Systems | |
| CN101889870A (en) | Radiotherapy locating device | |
| WO2011061827A1 (en) | Radiation therapy apparatus control method and radiation therapy apparatus control device | |
| JP3326597B2 (en) | Respiratory gating control radiotherapy equipment | |
| CN111991710B (en) | Radiotherapy position and dose real-time monitoring and positioning device and tumor radiotherapy system | |
| JP2016176948A (en) | Dose distribution measurement apparatus | |
| US7899155B2 (en) | Stand for holding a radiation detector for a radiation therapy device | |
| CN201734722U (en) | Apparatus for positioning in radiation treatment | |
| JP2010104452A (en) | Multileaf collimator and radiotherapy apparatus | |
| CN216629449U (en) | Positioning mechanism for beam current blocker and radiotherapy equipment | |
| CN115068833B (en) | Positioning device for beam stopper and radiation therapy system | |
| JP2000176029A (en) | Beam irradiating device | |
| KR101448075B1 (en) | Charged Particle Beam Dosimetry Device and Imaging Device thereof | |
| CN114699097A (en) | Radiographic imaging system and radiographic imaging method | |
| JP4418889B1 (en) | Treatment table for X-ray therapy equipment | |
| JP2007267972A (en) | Radiotherapy apparatus and controlling method of radiotherapy apparatus | |
| WO2013107472A1 (en) | Radiotherapeutic apparatus | |
| WO2018014343A1 (en) | Motion control method and therapeutic device of multileaf collimator | |
| CN220443047U (en) | Radiotherapy equipment and vision positioning system thereof | |
| CN110678225A (en) | Patient irradiation treatment plan verification system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |