CN217067438U

CN217067438U - Radiotherapy apparatus

Info

Publication number: CN217067438U
Application number: CN202123075345.8U
Authority: CN
Inventors: 吴中华
Original assignee: Our United Corp
Current assignee: Our United Corp
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-07-29
Anticipated expiration: 2030-12-30
Also published as: CN215387079U

Abstract

The embodiment of the application provides a radiotherapy equipment, it includes the first drive mechanism who is connected with the source transmission, with second drive mechanism and the indicating mechanism that the alignment body transmission is connected, first drive mechanism and second drive mechanism transmit the motion condition of source and alignment body to indicating mechanism respectively, indicating mechanism instructs the relative position of source and alignment body according to the motion condition of source and alignment body. In this scheme, transmit the motion condition of the source body and the alignment body to indicating mechanism through first drive mechanism and second drive mechanism, indicating mechanism instructs the relative position of the alignment body and the source body in real time according to the motion condition of the source body and the alignment body, this makes radiotherapy equipment's control system can directly acquire the feedback about the relative position of the alignment body and the source body, and then aims at the body and carry out accurate motion control with the source body, simultaneously, makes the relative position of the alignment body and the source body visual, the operator of being convenient for observes.

Description

Radiotherapy apparatus

Technical Field

The embodiment of the application relates to the technical field of medical treatment, in particular to radiotherapy equipment.

Background

With the development of medical technology, radiotherapy has become an important means for tumor treatment. Radiotherapy equipment usually utilizes a collimation body and a source body to be matched to control on and off of a source and adjustment of radiation dose distribution when treating a patient, so that the motion accuracy of the collimation body and the source body has higher requirements.

In order to realize the accurate motion control of the collimation body and the source body of the radiotherapy equipment, a motor encoder is adopted in the related technology to obtain the motor motion condition of the collimation body and the source body, then the calculation and the determination of the relative position of the collimation body and the source body are carried out based on the motor motion condition of the collimation body and the source body, and then the motion of the collimation body and the source body is controlled based on the relative position of the collimation body and the source body obtained by calculation. The process of determining the relative position of the collimating body and the source body in the whole process is complicated, and the relative position of the collimating body and the source body cannot be intuitively reflected.

Disclosure of Invention

In view of the above, one of the technical problems to be solved by the embodiments of the present invention is to provide a radiotherapy apparatus for overcoming at least some of the problems in the related art.

In a first aspect, an embodiment of the present application provides a radiotherapy apparatus, including a source body and a collimating body, further including: the device comprises a source body, a first transmission mechanism, a second transmission mechanism and an indicating mechanism, wherein the first transmission mechanism is in transmission connection with the source body, the second transmission mechanism is in transmission connection with the collimating body, the first transmission mechanism and the second transmission mechanism respectively transmit the motion conditions of the source body and the collimating body to the indicating mechanism, and the indicating mechanism indicates the relative positions of the source body and the collimating body according to the motion conditions of the source body and the collimating body.

Optionally, in an embodiment of the present application, the first transmission mechanism includes: the source body nut is in threaded connection with the first transmission screw rod; the second transmission mechanism includes: the second gear is in transmission connection with a driving motor of the collimating body, the second transmission lead screw is coaxially connected with the second gear, and the collimating body nut is in threaded connection with the second transmission lead screw.

Optionally, in an embodiment of the present application, the indication mechanism includes: the device comprises a sensing piece connected with the source body nut and a position indicating switch connected with the collimation body nut, wherein when the position indicating switch senses the sensing piece, the position indicating switch is triggered.

Optionally, in an embodiment of the present application, the position indication switch includes: and the source closing position switch indicates that the radioactive source on the source body is aligned with the source closing position on the collimation body when the source closing position switch is triggered, and the radiotherapy equipment is in a source closing state.

Optionally, in an embodiment of the present application, the number of the off-source position switches is two, and when the two off-source position switches are triggered simultaneously, the radioactive source on the source body is indicated to be aligned with the off-source position on the collimating body, and the radiotherapy apparatus is in the off-source state.

Optionally, in an embodiment of the present application, the position indication switch includes: and when the collimating hole position switch is triggered, indicating that a specific collimating hole group on the collimating body is in an open state.

Optionally, in an embodiment of the present application, the indication mechanism includes: the pointer and the dial plate respectively move along with the source body nut and the collimating body nut to indicate the relative position of the source body and the collimating body.

Optionally, in an embodiment of the present application, the indication mechanism is provided with a positive limit switch and a negative limit switch, respectively, for indicating the positive movement limit of the collimation body and the source body, and the negative limit switch is respectively for indicating the negative movement limit of the collimation body and the source body.

Optionally, in an embodiment of the application, a position detection device for detecting a position of a load, the load comprising the source body and/or the collimating body.

Optionally, in an embodiment of the present application, the radiotherapy apparatus further includes: the third transmission mechanism is arranged between the load driving motor and the load, and the output end of the third transmission mechanism is fixedly connected with the load driving shaft;

the position detection device comprises a first motor encoder arranged on the load driving motor and a first redundant encoder arranged at the output end of the third transmission mechanism.

Optionally, in an embodiment of the present application, the radiotherapy apparatus further comprises a detection body connected to the load driving shaft through an insertion connection member, and a second redundant encoder provided on the detection body.

Optionally, in an embodiment of the present application, the radiotherapy apparatus further includes: the output end of the fourth transmission mechanism is fixedly connected with the load driving shaft; the load driving shaft is connected with the load driving shaft through an embedded connecting piece;

the position detection device includes a first motor encoder provided to the load drive motor and a third redundant encoder provided to the detection body.

Optionally, in an embodiment of the present application, the collimating body includes a plurality of collimating hole groups with different apertures, and a collimating hole group close to the collimation body correlation bit in the plurality of collimating hole groups is a collimating hole group with a smaller aperture.

In the embodiment of the application, the motion conditions of the source body and the collimation body are transmitted to the indicating mechanism through the first transmission mechanism and the second transmission mechanism, the indicating mechanism indicates the relative position of the collimation body and the source body in real time according to the motion conditions of the source body and the collimation body, so that a control system of the radiotherapy equipment can directly acquire feedback about the relative position of the collimation body and the source body, and then the collimation body and the source body are aligned to perform accurate motion control, and meanwhile, the relative positions of the collimation body and the source body are visualized, so that an operator can observe conveniently.

Drawings

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

fig. 1 is a block diagram of a radiotherapy apparatus according to an embodiment of the present disclosure;

fig. 2 is a schematic overall structural diagram of a radiotherapy apparatus according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an indicating mechanism according to an embodiment of the present disclosure;

fig. 4 is a schematic layout position diagram of a position indication switch provided in an embodiment of the present application;

FIG. 5 is a schematic view of another indicating mechanism provided by embodiments of the present application;

fig. 6 is a schematic layout of a position detection apparatus according to an embodiment of the present application;

fig. 7 is a schematic layout view of another position detection apparatus provided in the embodiment of the present application;

fig. 8 is a schematic layout view of another position detection apparatus provided in the embodiment of the present application;

fig. 9 is a schematic diagram illustrating an arrangement of collimation hole groups in a collimation body according to an embodiment of the present application.

Detailed Description

The following further describes specific implementation of the embodiments of the present invention with reference to the drawings.

Fig. 1 is a schematic structural diagram of a radiotherapy apparatus provided in an embodiment of the present application. As shown in fig. 1, the radiotherapy apparatus comprises a source body 10 and a collimator body 20. The source body 10 carries a radioactive source, and the collimating body 20 is provided with a plurality of groups of collimating holes with different sizes. When the source body 10 is aligned with the collimation aperture, a beam from the radiation source may illuminate the patient through the collimation aperture. Wherein the source body 10 and the collimating body 20 can be rotated by a driving mechanism, so that radiation can be emitted from different collimating holes according to the treatment plan to irradiate the target region of the patient. When the source body 10 is dislocated with the collimation hole, the source turning-off of the radiotherapy equipment can be realized.

In addition, as shown in fig. 1, the radiotherapy apparatus further comprises a first transmission mechanism 30 in transmission connection with the source body 10, a second transmission mechanism 40 in transmission connection with the collimating body 20, and an indication mechanism 50, wherein the first transmission mechanism 30 and the second transmission mechanism 40 respectively transmit the motion conditions of the source body 10 and the collimating body 20 to the indication mechanism 50, and the indication mechanism 50 indicates the relative positions of the source body 10 and the collimating body 20 according to the motion conditions of the source body 10 and the collimating body 20.

In this embodiment, the motion conditions of the source body 10 and the collimating body 20 are transmitted to the indicating mechanism 50 through the first transmission mechanism 30 and the second transmission mechanism 40, and the indicating mechanism 50 indicates the relative position of the collimating body 20 and the source body 10 in real time according to the motion conditions of the source body 10 and the collimating body 20, so that feedback about the relative position of the collimating body 20 and the source body 10 can be acquired in real time, and the collimating body 20 and the source body 10 are further subjected to precise motion control.

In this embodiment, the specific implementation manner of the first transmission mechanism 30 is not limited. For example, in one particular implementation, first transmission 30 includes: a first gear 301 in transmission connection with a driving motor of the source body 10, a first transmission screw 302 coaxially connected with the first gear 301, and a source body nut 303 in threaded connection with the first transmission screw 302; the second transmission mechanism 40 includes: a second gear 401 in transmission connection with the driving motor of the collimating body 20, a second drive screw 402 coaxially connected with the second gear 401, and a collimating body nut 403 in threaded connection with the second drive screw 402.

In the present embodiment, the first transmission mechanism 30 and the second transmission mechanism 40 are basically similar in structure and operation, and the second transmission mechanism 40 is exemplified below with reference to fig. 2 and 3.

Specifically, as shown in fig. 2 and 3, a second gear 401 in the second transmission mechanism 40 is connected to an end shaft of the driving motor of the collimating body 20 through a synchronous belt transmission, and a second lead screw 402 in the second transmission mechanism 40 is coaxially connected with the second gear 401, so that the rotational movement of the collimating body 20 drives the second lead screw 402 to rotate. The second lead screw 402 is in threaded connection with the collimator nut 403, which allows a rotational movement of the second lead screw 402 to be converted into a linear movement of the collimator nut 403, thereby enabling a conversion of a rotational movement of the collimator 20 into a linear movement of the collimator nut 403.

Similarly, the first transmission mechanism 30 adopts substantially the same structure and operation principle as the second transmission mechanism 40 to convert the rotary motion of the source body 10 into the linear motion of the source body nut 303.

In this implementation, the rotational motion of the source body 10 and the collimating body 20 is converted into the linear motion of the source body nut 303 and the collimating body nut 403 by the first transmission mechanism 30 and the second transmission mechanism 40, so that the indicating mechanism 50 can indicate the relative position of the source body 10 and the collimating body 20 based on the linear motion of the source body nut 303 and the collimating body nut 403 only, thereby the overall design of the indicating mechanism 50 can be simplified accordingly.

In one embodiment of the present application, as shown in fig. 3, the indicating mechanism 50 may include a sensing plate 501 connected to the source nut 303 and a position indicating switch 502 connected to the collimating body nut 403, the position indicating switch 502 being activated when the position indicating switch 502 senses the sensing plate 501.

The position indication switch 502 may be a normally open proximity switch, for example, a normally open proximity switch of M8 may be selected. The number of the position indicating switches 502 may be plural, and as shown in fig. 3, the plural position indicating switches 502 may be arranged on one carrier plate in a semi-annular or arc-shaped manner. The carrier plate is fixedly connected to the collimator nut 403, for example, by a connecting rod, so as to follow the collimator nut 403 to perform a linear movement. The sensing plate 501 of the indicating mechanism 50 is fixedly connected with the source nut 303, for example, fixedly connected to the source nut 303 through a connecting rod, so as to follow the linear motion of the source nut 303. The surface of the carrier plate is parallel to the surface of the sensing piece 501. With the linear movement of the collimating body nut 403 and the source body nut 303, when the position indication switch 502 on the carrying plate senses the sensing piece 501, the position indication switch 502 is triggered to indicate the current relative position of the source body 10 and the collimating body 20.

For example, in one embodiment of the present application, as shown in FIG. 4, the position indication switch 502 comprises an off position switch 5021, which when activated indicates that the radiation source on the source body 10 is aligned with the off position on the collimating body 20 and the radiotherapy device is in the off state.

Where the number of off-position switches 5021 may be one, the off-position switches 5021 may be in the middle of the position indicating switches 502 in a clockwise or counterclockwise arrangement. When the source-off position switch 5021 senses the sensing piece 501 fixedly connected with the source nut 303, the source-off position switch 5021 is triggered to indicate that the radioactive source on the source body 10 is aligned with the source-off position on the collimating body 20, and at this time, according to the source-off position switch 5021 being triggered, the control system of the radiotherapy equipment can determine that the radiotherapy equipment is currently in the source-off state.

However, to provide accuracy of the off-source position detection, the number of off-source position switches 5021 may be set to more than one. For example, as shown in fig. 4, two off-source position switches 5021 are provided, and when the two off-source position switches 5021a and 5021b are simultaneously activated, the radioactive source on the source body 10 is indicated to be aligned with the off-source position on the collimator body 20, and the radiotherapy apparatus is in an off-source state.

Specifically, since the sensing slice 501 generally has a certain width, in the case that only one off-source position switch 5021 is provided, when the off-source position switch 5021 senses the edge of the sensing slice 501, the off-source position switch 5021 is activated. However, at this time, the radiation source on the source body 10 may not be completely aligned with the off-source position on the collimating body 20, resulting in inaccurate off-source position detection. By arranging the two off-source position switches 5021, the width occupied by the two off-source position switches 5021 is substantially consistent with the width of the sensing strip 501, so that if the two off-source position switches 5021 sense the sensing strip 501 simultaneously and are triggered, the radioactive source on the source body 10 can be accurately indicated to be substantially completely aligned with the off-source position on the collimating body 20, and the accuracy of off-source position detection is improved.

It should be understood that fig. 4 is only an example of the number of the off-source position switches 5021, and in other embodiments, the number of the off-source position switches 5021 may be three or more, depending on design requirements, which is not limited by the embodiment.

In one embodiment of the present application, as shown in fig. 3 and 4, the position indicating switch 502 includes: the collimating hole position switch 5022, which corresponds to the collimating hole groups with different apertures on the collimating body 20, indicates that a particular collimating hole group on the collimating body 20 is in an on state when the collimating hole position switch 5022 is triggered.

Wherein the number of collimating aperture position switches 5022 depends on the number of collimating aperture sets on the collimating body 20. As shown in fig. 3 and 4, the collimating body 20 is provided with four collimating hole sets with different apertures, and the indicating mechanism 50 is provided with four collimating hole position switches 5022. Based on the particular switch logic of the collimating aperture position switches 5022, a particular one or more of the collimating aperture position switches 5022 of the four collimating aperture position switches 5022 are triggered to indicate that a particular one of the four collimating aperture groups is in an on state, respectively. Therefore, in the working process of the radiotherapy apparatus, according to the triggered collimating hole position switch 5022 indicated by the indication mechanism 50, the control system of the radiotherapy apparatus can determine which collimating hole group on the current collimating body 20 is in the open state, and further determine the current relative position of the source body 10 and the collimating body 20, thereby monitoring the relative position of the source body 10 and the collimating body 20.

For convenience of description, the arrangement positions of the four collimator hole position switches 5022 and the switch logic of the collimator hole position switches 5022 when the four collimator hole groups and the four collimator hole position switches 5022 are provided are described in detail below with reference to fig. 3 and 4.

As shown in fig. 4, a first collimating hole position switch 1# and a second collimating hole position switch 2# are provided in a clockwise direction from the off-source position switch 5021 by a predetermined arc. With the central line a-a' of the carrier plate shown in fig. 4 as a symmetric line, a third collimating hole position switch 3# and a fourth collimating hole position switch 4# are arranged from the source-closing position switch 5021 in the counterclockwise direction along a preset arc. And the distance between the first collimating hole position switch 1# and the third collimating hole position switch 3# and the center line is a first distance. The second collimating hole position switch 2# and the fourth collimating hole position switch 4# are at a second distance from the center line A-A', and the second distance is greater than the first distance.

As shown in fig. 3 and 4, the sensing plate 501 and the carrier plate respectively follow the source nut 303 and the collimating body nut 403 to perform linear motion, and if the sensing plate 501 moves to the right relative to the carrier plate, first the first collimating hole position switch 1# senses the sensing plate 501. When the first collimating hole position switch 1# senses the sensing plate 501, the first collimating hole position switch 1# is triggered. At this time, the radioactive source of the indicating source body is aligned with the alignment hole group corresponding to the position of the first alignment hole position switch 1#, that is, the alignment hole group corresponding to the position of the first alignment hole position switch 1# is in an open state.

When the sensing plate 501 moves to the right relative to the loading plate, the second alignment hole position switch 2# also senses the sensing plate 501. Since the sensing plate 501 has a certain width, at this time, the first collimating hole position switch 1# and the second collimating hole position switch 2# both sense the sensing plate 501. Thus, both the first collimating aperture position switch 1# and the second collimating aperture position switch 2# are triggered. At this time, the radioactive source of the indicating source body is aligned with the collimation hole group corresponding to the position of the second collimation hole position switch 2#, that is, the collimation hole group corresponding to the position of the second collimation hole position switch 2# is in an opening state.

Similarly, when the sensing plate 501 moves leftwards relative to the loading plate, the third collimating hole position switch 3# senses the sensing plate 501 first. When the third collimating hole position switch 3# senses the sensing plate 501, the third collimating hole position switch 3# is triggered. At this time, the radioactive source of the indication source body is aligned with the collimation hole group corresponding to the position of the third collimation hole position switch 3#, namely, the collimation hole group corresponding to the position of the third collimation hole position switch 3# is in an opening state. When the third collimating hole position switch 3# and the fourth collimating hole position switch 4# are triggered simultaneously, indicating that the collimating hole group corresponding to the position of the fourth collimating hole position switch 4# is in an opening state. The switching logic of the fourth collimating aperture position switch 4# is similar to the switching logic of the second collimating aperture position switch 2# and will not be described again here.

It should be understood that the number, arrangement positions and switch logic of the alignment hole position switches shown in fig. 3 and 4 are an example, and the number, arrangement positions and switch logic of the alignment hole position switches may be set as required in practical application, which is not limited in this embodiment.

In one embodiment of the present application, as shown in fig. 5, the indication mechanism 50 includes: a pointer 503 connected with the source nut 303 and a dial 504 connected with the collimating body nut 403, the pointer 503 and the dial 504 move along with the source nut 303 and the collimating body nut 403 respectively to indicate the relative position of the source 10 and the collimating body 20.

Wherein the dial 504 of the indication mechanism 50 is fixedly connected with the collimator nut 403, for example by means of a connecting rod, to follow the movement of the collimator nut 403. The pointer 503 of the indicating mechanism 50 is fixedly connected to the source nut 303 to move in accordance with the movement of the source nut 303. The dial 504 is provided with scale marks for marking the position of the closed source and the collimating hole group on the collimating body. The source nut 303 and the collimating body nut 403 respectively drive the pointer 503 and the dial 504 to perform linear motion, so that the pointer 503 points to different scale marks on the dial 504, thereby indicating the current relative positions of the source and the collimating body.

In this embodiment, the indicating mechanism 50 displays the relative positions of the source body and the collimating body through the pointer 503 and the dial 504, so that an operator or a treating physician can visually observe the positions of the collimating body and the source body in real time to know the actual operation condition of the radiotherapy apparatus, so as to timely perform corresponding control operation according to the actual operation condition of the radiotherapy apparatus.

In one embodiment of the present application, as shown in FIG. 5, the indicating mechanism 50 is further provided with

positive limit switches

505a and 505b for indicating the positive limits of motion of the collimating body and the source body, respectively, and

negative limit switches

506a and 506b for indicating the negative limits of motion of the collimating body and the source body, respectively.

For example, when the source moves to its forward limit of motion, the forward limit switch 505a for the source is triggered. When the source moves to its negative limit of motion, the negative limit switch 506a for the source is triggered. Similarly, the positive limit switch 505b and the negative limit switch 506b of the collimating body are also triggered when the collimating body moves to its positive and negative limits of motion, respectively.

Specifically, in the present embodiment, the

positive limit switches

505a and 505b and the

negative limit switches

506a and 506b may each be a normally closed proximity switch, for example, the normally closed proximity switch of M12. The dial 504 and the pointer 503 of the indicating mechanism 50 can be fixedly connected with the source nut 303 and the collimating body nut 403 respectively through connecting rods. The triggering occurs when the

positive limit switches

505a and 505b and the

negative limit switches

506a and 506b sense the respective tie bars.

It should be understood that the indication of the movement of the source or collimating body to the positive and negative movement limits by the

positive limit switches

505a and 505b and the

negative limit switches

506a and 506b being triggered by the connecting rods connected to the source nut 303 and collimating body nut 403 is only an example and is not limited in this embodiment. In other embodiments, the

positive limit switches

505a and 505b and the

negative limit switches

506a and 506b may sense whether the source nut 303 and the alignment body nut 403 move to the positive or negative limit, and then determine whether the alignment body and the source body move to the positive or negative limit.

In one embodiment of the present application, the radiotherapy apparatus further comprises a position detection device for detecting a position of the load. Wherein the load comprises the source body 10 and/or the collimating body 20, namely: the load can be a source body, a collimating body, a source body and a collimating body. For ease of description hereinafter, the load is designated 80 and correspondingly the load drive shaft is designated 801.

In this embodiment, a position detection device may be provided only for the source body 10 to detect the movement of the source body 10. It is also possible to provide position detection means only for the collimating body 20 to detect the movement of the collimating body 20. Or simultaneously position detection means are provided for the source body 10 and the collimating body 20, respectively, to detect the movement of the source body 10 and the collimating body 20, respectively. By arranging the position detection device, the current position of the source body 10 and/or the collimating body 20 can be acquired in time, so that the source body 10 and/or the collimating body 20 can be precisely controlled in motion.

Fig. 6 is a schematic diagram illustrating an arrangement position of a position detecting device in a radiotherapy apparatus according to an embodiment of the present application. Specifically, as shown in fig. 6, the radiotherapy apparatus further comprises: and the third transmission mechanism 60 is arranged between the load driving motor and the load, and the output end of the third transmission mechanism 60 is fixedly connected with the load driving shaft. The position detecting device includes a first motor encoder 701 provided at the load driving motor and a first redundant encoder 702 provided at the output end of the third transmission mechanism 60.

The first redundant encoder 702 may employ a relative value encoder and an absolute value encoder. Since the absolute value encoder is provided with the zero point, forward and reverse 360-degree rotation can be realized, and therefore, in this embodiment, the absolute value encoder is preferred.

In this embodiment, the first motor encoder 701 may detect a motion condition of the load driving motor, and obtain load driving data. Through the first redundant encoder 702, the motion of the output end of the third transmission mechanism 60 can be detected, and the actual motion of the load can be obtained as the load feedback data. The motion condition of the load can be accurately determined according to the load driving data and the load feedback data, and the accurate motion control of the load is realized.

In addition, whether a transmission chain between a driving motor of the load and the load breaks down or not can be determined by comparing the load driving data with the load feedback data, so that the faults can be found in time, and medical accidents are avoided. For example, when the load driving data and the load feedback data do not coincide, it indicates that the third transmission 60 between the load driving motor and the load is malfunctioning. When the driving third transmission mechanism 60 is in failure, an alarm is given in time, so that medical accidents can be avoided.

In one embodiment of the present application, the third gear train 60 may be a gear train. For example, in a specific implementation, the third transmission mechanism 60 may include an output gear 601 in transmission connection with the load driving motor, and a driving gear 602 in transmission connection with the output gear 601, wherein the driving gear 602 is fixedly connected with the load driving shaft 801 as an output end of the third transmission mechanism 60.

Specifically, the load driving motor is engaged with the output gear 601 through the reducer, the output gear 601 is engaged with the driving gear 602, and the driving gear 602 is fixedly connected with the load 80 and the load driving shaft 801, so that the load driving shaft 801 is driven by the rotational motion of the load driving motor, thereby controlling the motion of the load 80.

In this embodiment, the fixed connection between the output end of the third transmission mechanism 60 and the load driving shaft 801 may be that the output end of the third transmission mechanism 60 is connected through an embedded connector that can be embedded in the output end of the third transmission mechanism 60 and the load driving shaft 801, and for convenience of description, the embedded connector connection is hereinafter referred to simply as an embedded connector connection, and the embedded connector connection may include, for example, a key connection, a screw connection, and the like. The output end of the third transmission mechanism 60 may be fixedly connected to the load drive shaft 801, for example, by being connected to the load drive shaft 801 by expansion by an expansion sleeve or the like at the output end of the third transmission mechanism 60.

For example, in one example, a first key portion is provided on the output end (e.g., the driving gear 602) of the third transmission mechanism 60, a first key groove portion is provided on the load driving shaft 801, and the driving gear 602 and the load driving shaft 801 are connected by inserting the first key portion into the first key groove portion, so that the third transmission mechanism 60 can transmit the rotation motion of the load driving motor to the load driving shaft 801 to rotate the load 80.

For another example, in another specific implementation, the output end (e.g., the driving gear 602) of the third transmission mechanism 60 is connected to the load driving shaft 801 by a screw, for example, so that the third transmission mechanism 60 can transmit the rotation motion of the load driving motor to the load driving shaft 801 to rotate the load 80.

For another example, in another specific implementation, an expansion sleeve is disposed between the output end (e.g., the driving gear 602) of the third transmission mechanism 60 and the load driving shaft 801, and the driving gear 602 and the load driving shaft 801 are fixedly connected through the expansion sleeve, so that the third transmission mechanism 60 can transmit the rotation motion of the load driving motor to the load driving shaft 801, and further, the load 80 is driven to rotate. Therefore, the characteristics of no stress concentration, strong bearing capacity, good stability and the like during connection of the expansion sleeve are fully utilized to improve the stability and the bearing capacity of the transmission process between the driving gear 602 and the loaded driving shaft.

In this embodiment, if the output end of the first transmission mechanism 30 is connected to the load driving shaft 801 by an embedded connection member (e.g., a key connection, a screw connection, etc.), the rotational motion of the output end of the first transmission mechanism 30 (i.e., the driving gear 602) and the rotational motion of the load driving shaft 801 are always synchronized, so that the motion of the load can be accurately determined based on the load driving data acquired by the first motor encoder 701 and the load feedback data acquired by the first redundant encoder 702, and the accurate motion control of the load can be realized.

However, when the output end of the first transmission mechanism 30 and the load drive shaft 801 are connected by the expansion sleeve 90, a slip problem may occur between the output end of the first transmission mechanism 30 (i.e., the drive gear 602) and the load drive shaft 801, which may result in the rotational motion of the drive gear 602 not being efficiently transmitted to the load drive shaft 801. Thus, the motion profile of the drive gear 602 acquired by the first redundant encoder 702 may not properly reflect the motion profile of the load drive shaft 801 (i.e., the load 80), which in turn may cause the motion profile of the load to be inaccurately determined based on the load feedback data acquired by the first redundant encoder 702 and the load drive data acquired by the first motor encoder 701.

To this end, as shown in fig. 7, in one embodiment of the present application, the position detecting apparatus further includes a detecting body 100 connected to the load driving shaft 801 through an insertion connector 90, and a second redundant encoder 703 provided on the detecting body 100.

For example, the detecting body 100 may be a monitoring gear that may be keyed, screwed, or the like with the load driving shaft 801 such that the rotational motion of the monitoring gear is always synchronized with the rotational motion of the load driving shaft 801. Thus, the motion profile of the monitor gear detected by the second redundant encoder 703 may be indicative of the actual motion profile of the load drive shaft 801 (i.e., the load 80). Furthermore, the motion condition of the load can be accurately determined based on the load driving data acquired by the first motor encoder 701 and the load feedback data acquired by the second redundant encoder 703, so that accurate motion control of the load can be realized.

Furthermore, since the output of the third gear 60 is provided with the first redundant encoder 702, the movement of the output of the third gear 60 can be detected. By comparing the motion of the output end of the third transmission mechanism 60 obtained by the first redundant encoder 702 with the motion of the detecting body 100 obtained by the second redundant encoder 703, it can be determined whether there is a slip problem between the output end of the third transmission mechanism and the load driving shaft 801, so as to avoid a medical accident caused by a failure in transmission between the output end of the third transmission mechanism and the load driving shaft due to the slip problem.

Fig. 8 is a schematic structural diagram of a position detection apparatus in another radiotherapy device provided in the embodiment of the present application. In the radiotherapy device, the radiotherapy device comprises a fourth transmission mechanism 110 disposed between a load driving motor and a load, and an output end of the fourth transmission mechanism 110 is fixedly connected with a load driving shaft 801. The fixed connection between the output end of the fourth transmission mechanism 110 and the load driving shaft 801 may be at least one of a connection manner of an embedded connection element (such as a key connection, a screw connection) or an expansion connection.

In this embodiment, the fourth transmission mechanism 110 is similar to the third transmission mechanism 60 in the embodiment shown in fig. 3, for example, the fourth transmission mechanism 110 may include an output gear 1101 in transmission connection with the load driving motor, and a driving gear 1102 in transmission connection with the output gear 1101, and the driving gear 1102 is fixedly connected to the load driving shaft 801 as an output end of the fourth transmission mechanism 110, and will not be described again here.

As shown in fig. 8, the position detecting device of the radiotherapy apparatus includes a first motor encoder 701 provided on the load driving motor, a detection body 100 connected to the load driving shaft 801 via the fitting connector 90, and a third redundant encoder 704 provided on the detection body.

In this embodiment, the detector and third redundant encoder 704 may be similar in structure and function to the detector and second redundant encoder 703 of the embodiment shown in fig. 3. For example, the detection body may be a monitoring gear that can be keyed, screwed, or the like to the load drive shaft 801 so that the rotational motion of the monitoring gear is always synchronized with the rotational motion of the load drive shaft 801. The third redundant encoder 704 detects the motion of the monitoring gear (i.e., the detection body), and thus can indicate the actual motion of the load driving shaft 801 (i.e., the load 80). Furthermore, the motion of the load can be accurately determined based on the load driving data obtained by the first motor encoder 701 and the load feedback data obtained by the third redundant encoder 704, thereby realizing accurate motion control of the load. Further, based on a comparison of the load drive data acquired by the first motor encoder 701 and the load feedback data acquired by the third redundant encoder 703, it can be determined whether the entire drive train between the load drive motor and the load drive shaft 801 is malfunctioning. And alarming is carried out when the fault is determined, so that the occurrence of medical accidents is avoided.

In an embodiment of the present application, the collimating body 20 includes a plurality of collimating hole sets 201 with different apertures, and a collimating hole set near a collimation body's position of interest in the plurality of collimating hole sets 201 is a collimating hole set with a smaller aperture. As shown in fig. 9, the collimating body is provided with four collimating hole sets 2011#, 2012#, 2013#, 2014#, in total. The aperture of 2011# collimation hole group and 2013# collimation hole group near the collimation body source closing position are phi 4 and phi 8 respectively. Starting with 2011# collimation hole set, the aperture of 2012# collimation hole set in the clockwise direction is phi 18. Starting with 2013# collimation hole set, the aperture of 2014# collimation hole set in the counterclockwise direction is φ 14. As can be seen from fig. 9, the apertures of the set of collimation holes close to the collimation volume's off-source bit are phi 4 and phi 8, respectively, which are small compared to the apertures of the other sets of collimation holes. Because the collimation hole group close to the collimation body source closing position is adjacent to the collimation body source closing position, the aperture of the collimation hole close to the collimation body source closing position is set to be smaller, so that when the source is closed, the collimation body rotates, ray bundles pass through the collimation hole group with the smaller aperture, and radiation leakage is reduced.

It should be noted that, for convenience of illustration, each collimation hole group in fig. 9 is only shown as one collimation hole to schematically illustrate the aperture size of each collimation hole in the collimation hole group, and in practical applications, each collimation hole group may include a plurality of collimation holes with the same aperture.

It should be noted that the number and the aperture size of the collimation hole groups in fig. 9 are only examples for illustrating that the collimation holes close to the collimation body correlation position on the collimation body have relatively small apertures, and in this embodiment, different numbers of collimation hole groups and different apertures may be set according to actual needs.

It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

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

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

Claims

1. A radiotherapy apparatus comprising a source body and a collimating body, further comprising:

a drive mechanism for driving the load to rotate;

the driving mechanism comprises a load driving motor and a load driving shaft in transmission connection with the load driving motor;

and position detection means for detecting a position of the load;

the load comprises the source body and/or the collimating body.

2. Radiotherapy apparatus according to claim 1, characterized in that it further comprises: the third transmission mechanism is arranged between the load driving motor and the load, and the output end of the third transmission mechanism is fixedly connected with the load driving shaft;

3. The radiotherapy apparatus of claim 2, wherein the output end of the third transmission mechanism is fixedly connected to the load driving shaft, and comprises:

the output end of the third transmission mechanism is connected with the embedded connecting piece embedded in the load driving shaft; or

The output end of the third transmission mechanism is connected with the load driving shaft in an expanding manner through the expanding sleeve.

4. Radiotherapy apparatus according to claim 2, characterized in that the third transmission is a gear transmission.

5. The radiotherapy apparatus of claim 4, wherein the position detecting device further comprises a detecting body connected to the load driving shaft by a fitting connector and a second redundant encoder provided on the detecting body.

6. Radiotherapy apparatus according to claim 5, in which the detection body is a monitoring gear.

7. Radiotherapy apparatus according to claim 1, characterized in that it further comprises: the output end of the fourth transmission mechanism is fixedly connected with the load driving shaft;

the position detecting device includes a detecting body connected to the load driving shaft by an insertion connector, a first motor encoder provided to the load driving motor, and a third redundant encoder provided to the detecting body.

8. Radiotherapy apparatus according to claim 7,

the output end of the fourth transmission mechanism is connected with the load driving shaft through an embedded connecting piece and/or expansion connection.

9. Radiotherapy apparatus according to claim 7, characterized in that the fourth transmission is a gear transmission.

10. Radiotherapy apparatus according to claim 7, in which the detection body is a monitoring gear.