CN216629451U - A butt joint system and radiotherapy equipment for radiotherapy equipment - Google Patents
A butt joint system and radiotherapy equipment for radiotherapy equipment Download PDFInfo
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- CN216629451U CN216629451U CN202120537612.XU CN202120537612U CN216629451U CN 216629451 U CN216629451 U CN 216629451U CN 202120537612 U CN202120537612 U CN 202120537612U CN 216629451 U CN216629451 U CN 216629451U
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Abstract
The utility model provides a docking system for radiotherapy equipment and radiotherapy equipment, wherein the docking system comprises: a treatment device, a beam limiting device and a docking device; the treatment device is used for releasing treatment rays; the beam limiting device is used for aligning the focus of the patient and is provided with a beam limiting hole for butting the focus with the treatment device; the docking device comprises an image control unit and at least three light-emitting pieces which are arranged on the treatment device, and at least three identification pieces which are arranged on the beam limiting device, wherein the image control unit is configured to acquire the light spot positions of the at least three light-emitting pieces on the beam limiting device and the identification positions of the at least three identification pieces, and control the treatment device to rotate and translate according to the light spot positions and the identification positions so as to dock the treatment device with the beam limiting hole. By adopting the technical scheme of the utility model, the treatment device and the beam limiting device do not need to be in a mode of 'hard connection' of physical hardware, so that the aim of eliminating the injury risk of the 'hard connection' mode to a patient is achieved.
Description
Technical Field
The utility model belongs to the technical field of medical instruments, and particularly relates to a butt joint system for radiotherapy equipment and the radiotherapy equipment.
Background
Tumor radiotherapy is a local treatment method for treating tumors by radiation. The radiation includes alpha, beta and gamma rays generated by radioactive isotopes, and x-rays, electron beams, proton beams and other particle beams generated by various x-ray therapeutic machines or accelerators. About 70% of cancer patients require radiation therapy in the course of cancer treatment, and about 40% of cancers can be cured by radiation therapy. The role and position of radiotherapy in tumor treatment are increasingly prominent, and the radiotherapy has become one of the main means for treating malignant tumors.
During radiotherapy, a treatment head for generating radiation must be docked with a light limiting cylinder placed at a lesion of a patient to protect normal tissues of the patient outside the light limiting cylinder from the radiation of the radiation. At present, the butt joint process of the treatment head and the light limiting cylinder mainly adopts a 'hard connection' mode of physical hardware, but the light limiting cylinder is simultaneously connected with a patient and the treatment head, and if the patient or the treatment head moves, the light limiting cylinder can cause injury to the patient. Furthermore, the treatment head may use high voltages or high currents, and the "hard" connection may risk a direct electrical connection between the patient and the treatment head.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned drawbacks and deficiencies of the prior art, the present invention provides a docking system for radiotherapy equipment and radiotherapy equipment, so as to avoid physical hardware connection between a therapy head and a light-limiting barrel and eliminate the risk of injury to a patient.
In order to achieve the above object, the present invention provides a docking system for a radiotherapy apparatus, comprising: a treatment device, a beam limiting device and a docking device; the treatment device is used for emitting treatment rays; the beam limiting device is used for aligning the focus of the patient and is provided with a beam limiting hole for butting the focus with the treatment device; the docking device comprises an image control unit and at least three light-emitting pieces which are arranged on the treatment device, and at least three identification pieces which are arranged on the beam limiting device, wherein the image control unit is configured to acquire the light spot positions of the at least three light-emitting pieces on the beam limiting device and the identification positions of the at least three identification pieces, and control the treatment device to rotate and translate according to the light spot positions and the identification positions so as to dock the treatment device with the beam limiting hole.
In an embodiment of the utility model, the beam limiting device comprises a beam limiting barrel forming a beam limiting hole and a positioning plate arranged on the outer side of the beam limiting barrel, and at least three identification pieces are arranged on the positioning plate.
In the embodiment of the utility model, the positioning plate is arranged around one end of the light limiting cylinder, and the at least three identification parts are arranged on the positioning plate at intervals in a circumferential array by taking the central line of the beam limiting hole as an axis.
In the embodiment of the utility model, the number of the luminous elements is equal to that of the identification elements, and at least three luminous elements are arranged on the treatment device at intervals in a circumferential array by taking a beam axis of the treatment device for releasing treatment rays as an axis.
In an embodiment of the utility model, the treatment device comprises a connecting frame, a cover plate and a treatment head for releasing treatment rays, the cover plate is arranged on the connecting frame, the treatment head is arranged in the connecting frame, the cover plate is provided with mounting holes for emitting the treatment rays, at least three light-emitting pieces are arranged on the cover plate at intervals in a circumferential array by taking a beam axis of the treatment rays emitted by the treatment head as an axis, and the image control unit is arranged on the connecting frame.
In the embodiment of the utility model, the image control unit comprises image acquisition units arranged on the connecting frame and image processing units in signal connection with the image acquisition units, the number of the image acquisition units is equal to that of the luminous pieces, each image acquisition unit respectively corresponds to a light spot image of one luminous piece and an image of one identification piece with similar acquisition positions, and the image processing units are used for determining the light spot position of each luminous piece and the identification position of the identification piece according to the light spot image acquired by each image acquisition unit and the image of the identification piece.
In an embodiment of the utility model, the treatment device further comprises a beam cylinder disposed on the cover plate around a periphery of the mounting hole.
In the embodiment of the utility model, the beam limiting device is also provided with detection grooves with the same number as the luminous pieces, the detection grooves and the luminous pieces are arranged in a one-to-one correspondence manner, and the detection grooves and the identification pieces are sequentially arranged at intervals in a staggered manner.
In an embodiment of the present invention, the beam limiting device further includes a support frame disposed on the light limiting cylinder, and the support frame is configured to be mounted on the operating table.
In addition, the utility model also provides a radiotherapy device which comprises the docking system for the radiotherapy device.
Through the technical scheme, the docking system for the radiotherapy equipment provided by the embodiment of the utility model has the following beneficial effects:
the docking device comprises an image control unit and at least three light-emitting pieces which are arranged on the treatment device, and at least three identification pieces which are arranged on the beam limiting device, in the process of controlling the docking of the treatment device and the beam limiting device, the light spot positions of the at least three light-emitting pieces on the beam limiting device and the identification positions of the at least three identification pieces can be obtained through the image control unit, the angle of the treatment device needing to be deflected and the distance of the treatment device needing to be moved are calculated, and then the mechanical arm is controlled to drive the treatment device to move to be in docking with the beam limiting hole, so that the soft docking is realized, the mode of carrying out the hard connection of physical hardware on the treatment device and the beam limiting device is not needed, and the purpose of eliminating the damage risk of the patient in the hard connection mode is achieved.
Additional features and advantages of the utility model will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide an understanding 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 utility model without limiting the utility model. In the drawings:
FIG. 1 is a schematic perspective view of a radiotherapy apparatus according to an embodiment;
figure 2 is a perspective view of a docking system for a radiotherapy device in accordance with one embodiment of the present invention;
fig. 3 is a schematic perspective view of a beam limiting device and a marker according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the calculation of the distance d according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the arrangement of three light-emitting elements and three image capturing units according to an embodiment of the present invention;
fig. 6 is a schematic view of the positional arrangement of three markers according to an embodiment of the present invention.
Description of the reference numerals
1 treatment device 11 robot arm
12 connecting frame 13 cover plate
14 beam barrel 2 beam limiting device
21 light-limiting cylinder 211 beam-limiting hole
22 positioning plate 221 detection groove
23 support 3 image acquisition unit
4 luminous element 5 identification element
6 patient 7 operating table
Detailed Description
The following detailed description of specific embodiments of the utility model refers to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory of the utility model and are not restrictive thereof.
A docking system for a radiotherapy apparatus according to the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, in an embodiment of the present invention, there is provided a docking system for a radiotherapy apparatus, including:
a treatment device 1 for emitting a treatment beam;
a beam limiting device 2, wherein the beam limiting device 2 is used for aligning the focus of the patient 6, and the beam limiting device 2 is provided with a beam limiting hole 211 for butting the focus with the treatment device 1;
the docking device comprises an image control unit and at least three luminous elements 4 which are arranged on the treatment device 1, and at least three identification elements 5 which are arranged on the beam limiting device 2, wherein the image control unit is configured to acquire the light spot positions of the at least three luminous elements 4 on the beam limiting device 2 and the identification positions of the at least three identification elements 5, and control the treatment device 1 to rotate and translate according to the light spot positions and the identification positions so as to dock the treatment device 1 with the beam limiting hole 211.
In the embodiment of the present invention, the docking device includes an image control unit and at least three light emitting members 4 disposed on the treatment device 1, and at least three identification members 5 disposed on the beam limiting device 2, so that in the process of controlling the docking of the treatment device 1 and the beam limiting device 2, the light spot positions of the at least three light emitting members 4 on the beam limiting device 2 and the identification positions of the at least three identification members 5 can be obtained by the image control unit, the angle at which the treatment device 1 needs to be deflected and the distance at which the treatment device 1 needs to be moved are calculated, and the mechanical arm 11 is further controlled to drive the treatment device 1 to move to dock with the beam limiting hole 211, so as to realize "soft docking", thereby avoiding the way of performing "hard connection" of physical hardware on the treatment device 1 and the beam limiting device 2, and achieving the purpose of eliminating the risk of injury of the patient 6 in the "hard connection" way.
Referring to fig. 2 and 3, in the embodiment of the present invention, the beam limiting device 2 includes a light limiting cylinder 21 forming a beam limiting hole 211, and a positioning plate 22 disposed outside the light limiting cylinder 21, and at least three markers 5 are disposed on the positioning plate 22. The positioning plate 22 provided with at least three markers 5 is arranged outside the light limiting cylinder 21, so that therapeutic rays can be shot into the beam limiting hole 211 without shielding, and the therapeutic effect is ensured. More specifically, the positioning plate 22 may be disposed at an end of the light-limiting barrel 21 away from the patient 6. It should be noted that, in the present invention, the identification member 5 includes, but is not limited to, a regular triangle block.
Referring to fig. 2, 3 and 6, in the embodiment of the present invention, the positioning plate 22 is disposed around one end of the light-limiting cylinder 21, and at least three identification members 5 are disposed on the positioning plate 22 at intervals in a circumferential array around the center line of the beam-limiting hole 211. Namely, at least three markers 5 are positioned on the same circumference, and the center line of the circle where the at least three markers 5 are positioned is the same as the center line of the beam limiting hole 211, so that the reasonability of the layout and the calculation of the butt joint position can be facilitated. More specifically, the light-limiting cylinder 21 and the beam-limiting hole 211 may be coaxial cylinders, and the positioning plate 22 may be circular ring-shaped, so as to facilitate uniform arrangement of the marking assemblies.
In the embodiment of the present invention, the number of the light emitting members 4 is equal to the number of the identification members 5, and at least three light emitting members 4 are arranged on the treatment device 1 at intervals in a circumferential array with the beam axis of the treatment device 1 emitting the treatment radiation as an axis. Namely, the at least three luminous elements 4 are also positioned on the same circumference, and the central line of the circle where the at least three luminous elements 4 are positioned is the same as the beam axis of the therapeutic radiation emitted by the therapeutic head, namely, when the central line of the circle where the at least three luminous elements 4 are positioned is coincident with the central line of the circle where the at least three identification elements 5 are positioned, the beam axis emitted by the therapeutic head is also coincident with the central line of the beam limiting hole 211, so that the calculation of the butt joint position can be further facilitated. In addition, the radius of the circle on which the at least three luminous elements 4 are located and the radius of the at least three marking elements 5 may be equal. It should be noted that, in the present invention, the light emitting member 4 includes, but is not limited to, a laser.
Referring to fig. 1 and 2 again, in the embodiment of the present invention, the treatment device 1 includes a connection frame 12 connected to the mechanical arm 11, a cover plate 13 disposed on the connection frame 12, and a treatment head for releasing treatment rays, the treatment head is disposed in the connection frame 12, the cover plate 13 is provided with a mounting hole for emitting treatment rays, at least three light emitting members 4 are disposed on the cover plate 13 at intervals in a circumferential array with a beam axis of the treatment rays emitted by the treatment head as an axis, and the image control unit is disposed on the connection frame 12. Namely, in the process of butting the treatment head with the beam limiting hole 211, the at least three luminous elements 4 and the at least three identification elements 5 are all positioned below the image control unit, so that the image control unit can obtain the light spot positions of the at least three luminous elements 4 and the identification positions of the at least three identification elements 5.
In the embodiment of the present invention, the image control unit includes image capturing units 3 disposed on the connecting frame 12, and an image processing unit in signal connection with the image capturing units 3, the number of the image capturing units 3 is equal to the number of the light emitting members 4, each image capturing unit 3 corresponds to a light spot image of one light emitting member 4 and an image of one identification member 5 with similar capturing positions, respectively, and the image processing unit is configured to determine a light spot position of each light emitting member 4 and an identification position of the identification member 5 according to the light spot image captured by each image capturing unit 3 and the image of the identification member 5. That is, when the number of the light-emitting members 4 and the number of the identification members 5 are three, the number of the image acquisition units 3 may also be three, and the three image acquisition units 3 may be arranged at intervals around the connection frame 12, so that each image acquisition unit 3 may correspondingly acquire the light spot image of one light-emitting member 4 and the image of one identification member 5 which are close to the position of the light-emitting member, thereby ensuring the accuracy of the light spot position of each light-emitting member 4 and the identification position of each identification member 5 determined by the image processing unit. It should be noted that, in the present invention, the image capturing unit 3 includes, but is not limited to, a camera.
In addition, the shooting direction of the image acquisition unit 3, the light emitting direction of the light emitting member 4, and the emitting direction of the treatment radiation of the treatment device 1 are arranged in parallel to each other. Thereby facilitating analysis of the image acquired by the camera 3. Of course, the present invention is not limited thereto, and it is also possible that the shooting direction of the image capturing unit 3, the light emitting direction of the light emitting member 4 and the emitting direction of the therapeutic radiation of the therapeutic apparatus 1 are not parallel to each other, because the installation positions of the image capturing unit 3, the light emitting member 4 and the therapeutic apparatus 1 can be preset, and only a series of position conversion is required when performing position analysis on the images captured by the subsequent image capturing unit 3.
In an embodiment of the utility model, the treatment apparatus 1 further comprises a beam cylinder 14 arranged on the cover plate 13 around the circumference of the mounting hole. The treatment rays emitted by the treatment head can be prevented from deflecting by the arrangement of the beam barrel 14.
Referring to fig. 2 and fig. 3 again, in the embodiment of the present invention, the beam limiting device 2 is further provided with detection grooves 221 having the same number as the light emitting members 4, the detection grooves 221 are arranged in one-to-one correspondence with the light emitting members 4, and the detection grooves 221 and the identification members 5 are arranged in a staggered manner at intervals in sequence. Specifically, the detection slot 221 may be opened on the positioning plate 22 of the beam limiting device 2. After the position of the treatment head is adjusted to the right position, the light-emitting pieces 4 and the detection grooves 221 can be arranged in a one-to-one up-and-down correspondence mode, whether the treatment head reaches the correct butt joint position or not is judged by detecting the distance between the light-emitting pieces 4 and the detection grooves 221 and comparing the detected distance with the preset distance, and when the detected distance is equal to the preset distance, the treatment head reaches the correct butt joint position, and treatment can be carried out; when the detected distance is not equal to the preset distance, the treatment head does not reach the correct butt joint position, and the treatment is stopped. Therefore, the accuracy of positioning and butting can be further ensured. The detection grooves 221 and the markers 5 are sequentially staggered at intervals, which also indicates that the light spots of the light-emitting members 4 falling on the positioning plate 22 and the markers 5 are also sequentially staggered at intervals, thereby facilitating the identification of images.
Referring to fig. 1 and 2, in the embodiment of the present invention, the beam limiting device 2 further includes a support 23 disposed on the light limiting barrel 21, and the support 23 is configured to be mounted on the operating table 7, i.e., the patient 6 can lie on the operating table 7 for radiotherapy treatment. More specifically, the support frame 23 may be detachably mounted on the operating table 7, so as to facilitate adjustment of the position of the beam limiting device 2.
The following will take the numbers of the light emitting members 4, the markers 5, the image collecting unit 3 and the detecting grooves 221 as three examples, and describe in detail the steps of acquiring the positions of light spots of at least three light emitting members 4 on the beam limiting device 2 and the markers of at least three markers 5 by using the image control unit, and calculating the required deflection angle and the required movement distance of the treatment device 1:
the first step is to calculate the angle of the treatment head to be deflected and the distance of the treatment head to move along the Z-axis direction after the treatment head is deflected to the right position by using the light spot images of the luminous element 4 acquired by the three image acquisition units 3.
The specific calculation principle is as follows: as shown in fig. 4, the distance from the exit position a of the light emitting member 4 to the positioning plate 22 is set to d, and the distance from the exit position a of the light emitting member 4 to the line connecting the center of the spot and the center of the lens B of the image pickup unit 3 along the direction parallel to the imaging plane C of the image pickup unit 3 is set to r0The coordinate of the center of the light spot on the imaging surface C of the image acquisition unit 3 is r, and the distance from the lens B to the imaging surface C is d0And then the above quantities should satisfy:
the distance value d can be calculated according to the above equation.
In particular, if it is considered that the center of the imaging plane C of the image acquisition unit 3 is uncertain, the value of r is constantly deviated, or the definition of the zero point characterizing the treatment head along the Z axis is not at the exit position of the luminous element 4, the above equation can be transformed:
the distance value d can also be calculated by this equation.
In the formula c1、c2And c3The calibration can be performed by using the least square method through more than 3 groups of data.
Thus, a total of 3 distance values d, denoted d, can be obtained from the three luminous elements 41、d2And d3。
In particular, as shown in fig. 5, E in the figure indicates the treatment head, if three luminous elements 4 are uniformly distributed on a circle with radius R, and when d2The corresponding illuminating part 4 is positioned on the Y axis of the treatment head, and then:
accordingly, the angle theta of the therapeutic head which rotates around the X axis and the Y axis respectively can be obtainedxAnd thetayAnd a distance D of movement along the Z axis.
The second step is to calculate the moving distance of the treatment head in the XY plane by using the light spot image of the luminous element 4 and the image of the identification element 5 acquired by the image acquisition unit 3.
At an angle theta of rotation of the treatment head about the X-axis and the Y-axis, respectivelyxAnd thetayAnd after the distance D moving along the Z axis, the image acquisition unit 3 acquires the light spot image of the luminous piece 4 and the image of the identification piece 5 again, and the image processing unit can acquire a new light spot position of the luminous piece 4 and the identification position of the identification piece 5 by using an image recognition algorithm.
The specific calculation principle is as follows: when the projection of the circle centers of the three identification pieces 5 and the circle center of the circle of the spot positions of the three light-emitting pieces 4 in the XY plane coincide, the following constraint condition formula exists:
because the coordinates obtained by different image processing units are not in the same coordinate system, and the coordinates obtained by each image processing unit need to be converted into a reference coordinate system of the treatment head through a rotation matrix M and a translation vector t, the following first transformation formula is obtained according to a constraint condition formula:
in particular, as shown in fig. 5, three image capturing units 3 are uniformly spaced on the same circumference, and the lens orientations are consistent, the three image capturing units 3 can reach each other by translational motion without involving rotational motion, that is, the rotation matrices M of the image capturing units 3 are equal, and then the second transformation formula can be obtained according to the first transformation formula:
therefore, according to the second transformation formula, the coordinate value calculation formula of the movement of the treatment head in the XY plane can be obtained as follows:
accordingly, the coordinate value of the movement of the treatment head in the XY plane can be obtained.
In addition, the utility model also provides a radiotherapy device which comprises the docking system for the radiotherapy device. Since the radiotherapy equipment adopts all the technical solutions of the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
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 description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A docking system for a radiotherapy device, the docking system comprising:
a treatment device (1) for emitting treatment radiation;
a beam limiting device (2), wherein the beam limiting device (2) is used for aligning the focus of a patient (6), and the beam limiting device (2) is provided with a beam limiting hole (211) for butting the focus with the treatment device (1);
the docking device comprises an image control unit and at least three luminous pieces (4) which are arranged on the treatment device (1) and at least three identification pieces (5) which are arranged on the beam limiting device (2), the image control unit is configured to acquire the light spot positions of the at least three luminous pieces (4) on the beam limiting device (2) and the identification positions of the at least three identification pieces (5), and control the treatment device to rotate and translate according to the light spot positions and the identification positions so as to dock the treatment device (1) with the beam limiting hole (211).
2. The docking system for a radiotherapy apparatus according to claim 1, wherein said beam limiting means (2) comprises a light limiting cylinder (21) forming said beam limiting hole (211), and a positioning plate (22) disposed outside said light limiting cylinder (21), at least three said markers (5) being disposed on said positioning plate (22).
3. The docking system for radiotherapy apparatus according to claim 2, wherein said positioning plate (22) is disposed around one end of said light-limiting cylinder (21), and at least three said markers (5) are disposed on said positioning plate (22) in a circumferential array at intervals around the center line of said beam-limiting hole (211).
4. The docking system for a radiotherapy apparatus according to claim 3, characterized in that the number of said light emitting members (4) is equal to the number of said markers (5), and at least three of said light emitting members (4) are arranged on said treatment device (1) at intervals of a circumferential array with the beam axis of said treatment device emitting the treatment radiation as an axis.
5. The docking system for radiotherapy apparatus according to claim 4, wherein the treatment device (1) comprises a connection frame (12), a cover plate (13) and a treatment head for emitting the treatment radiation, the cover plate (13) is disposed on the connection frame (12), the treatment head is disposed in the connection frame (12), the cover plate (13) is provided with a mounting hole for emitting the treatment radiation, at least three of the light emitting members (4) are disposed on the cover plate (13) at intervals in a circumferential array with a beam axis of the treatment head emitting the treatment radiation as an axis, and the image control unit is disposed on the connection frame (12).
6. The docking system for radiotherapy equipment according to claim 5, wherein the image control unit comprises image acquisition units (3) disposed on the connection frame (12), and image processing units in signal connection with the image acquisition units (3), the number of the image acquisition units (3) is equal to the number of the luminous members (4), and each image acquisition unit (3) corresponds to a light spot image of the luminous member (4) and an image of the identification member (5) with similar acquisition positions, respectively, and the image processing unit is configured to determine the light spot position of each luminous member (4) and the identification position of the identification member (5) according to the light spot image acquired by each image acquisition unit (3) and the image of the identification member (5).
7. The docking system for a radiotherapy apparatus according to claim 5, characterized in that said treatment device (1) further comprises a beam cylinder (14) arranged on said cover plate (13) around the periphery of said mounting hole.
8. The docking system for radiotherapy equipment according to any one of claims 1 to 7, wherein the beam limiting device (2) is further provided with detection grooves (221) with the number equal to that of the luminous members (4), the detection grooves (221) and the luminous members (4) are arranged in a one-to-one correspondence, and the detection grooves (221) and the identification members (5) are sequentially arranged in a staggered and spaced manner.
9. The docking system for a radiotherapy apparatus according to any of claims 1 to 7, characterized in that the beam limiting device (2) further comprises a support frame (23) arranged on the light limiting barrel (21), the support frame (23) being adapted to be mounted on the operating table (7).
10. Radiotherapy apparatus, characterized in that it comprises a docking system for a radiotherapy apparatus according to any one of claims 1 to 9.
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| CN202120537612.XU CN216629451U (en) | 2021-03-15 | 2021-03-15 | A butt joint system and radiotherapy equipment for radiotherapy equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116966442A (en) * | 2023-07-13 | 2023-10-31 | 湖南华创医疗科技有限公司 | Visual positioning system and method of radiotherapy equipment and radiotherapy equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116966442A (en) * | 2023-07-13 | 2023-10-31 | 湖南华创医疗科技有限公司 | Visual positioning system and method of radiotherapy equipment and radiotherapy equipment |
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