CN217246283U

CN217246283U - Mobile radiotherapy system

Info

Publication number: CN217246283U
Application number: CN202120536911.1U
Authority: CN
Inventors: 杨建昆; 李浪; 高强; 颜文杰
Original assignee: Hunan Huachuang Medical Technology Co ltd
Current assignee: Hunan Huachuang Medical Technology Co ltd
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2022-08-23
Anticipated expiration: 2031-03-15

Abstract

The utility model provides a portable radiotherapy system, portable radiotherapy system includes: the device comprises a frame, a treatment device and a beam current blocking device; the bottom of the frame is provided with a first travelling mechanism for moving; the treatment device is arranged on the frame and used for releasing treatment rays; the beam current blocking device comprises a second travelling mechanism used for moving and a shielding device arranged on the second travelling mechanism, the shielding device is arranged below the operating table and can move to be aligned with the treatment device along the direction of the treatment rays through the second travelling mechanism so as to block the treatment rays from transmitting outwards. Through the technical scheme of the utility model, can avoid appearing needing to transport the patient in the art to dedicated shielding radiotherapy computer lab from the operating room and carry out radiotherapy's phenomenon, reach and save some loaded down with trivial details operations that go on in order to ensure that patient is in sterile environment all the time in the transportation to and reduce the purpose of patient's risk of infecting.

Description

Mobile radiotherapy system

Technical Field

The utility model belongs to the technical field of medical instrument, especially, relate to a portable radiotherapy system.

Background

Tumor radiotherapy is a local treatment for tumors using 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.

The existing intraoperative radiotherapy equipment is usually fixed, a patient needs to be transported to a special shielding radiotherapy machine room for radiotherapy after completing a tumor resection operation in an operating room, and in order to ensure that the patient is always in a sterile environment in the transportation process, the operation process is very complicated and the risk of infection of the patient is increased.

SUMMERY OF THE UTILITY MODEL

To prior art's above-mentioned defect or not enough, the utility model provides a portable radiotherapy system to avoid the patient in need with the art to transport dedicated shielding radiotherapy computer lab from the operating room, thereby can save some in order to ensure that patient is in sterile environment and the loaded down with trivial details operation of going on all the time in the transportation, and reduced the risk that patient infects.

In order to achieve the above object, the utility model provides a portable radiotherapy system, portable radiotherapy system includes: the device comprises a frame, a treatment device and a beam current blocking device; the bottom of the frame is provided with a first travelling mechanism for moving; the treatment device is arranged on the frame and used for releasing treatment rays; the beam current blocking device comprises a second travelling mechanism used for moving and a shielding device arranged on the second travelling mechanism, the shielding device is arranged below the operating table and can move to be aligned with the treatment device along the direction of the treatment rays through the second travelling mechanism so as to block the treatment rays from transmitting outwards.

In an embodiment of the present invention, the movable radiotherapy system further comprises a beam limiting device aligned with the focus of the patient, and the beam limiting device is formed with a beam limiting hole for butting the focus with the treatment device.

In an embodiment of the present invention, the beam limiting device comprises a light limiting cylinder forming the beam limiting hole and an applicator having a hollow capsule structure, one end of the applicator forms an opening, the periphery of the opening is butted with one end of the light limiting cylinder, the light limiting cylinder is used for being butted with the treatment device, and the applicator is used for being aligned with the focus.

The utility model discloses an in the embodiment, portable radiotherapy system still includes positioner, positioner including set up image control unit and at least three illuminating part on treatment device and set up the at least three identification piece on the device is restrainted to the limit, image control unit is configured to acquire the facula position of at least three illuminating part on the device is restrainted to the limit and the identification position of at least three identification piece to rotate and the translation so that treatment device and limit and restraint the butt joint of hole according to facula position and identification position control treatment device.

The utility model discloses an in the embodiment, the outside of beam limiting device still is provided with the locating plate, and at least three marker uses the central line in limit bundle hole to be the circumference array interval and sets up on the locating plate as the axis.

In the embodiment of the present invention, the number of the illuminating members is equal to the number of the marking members, and the at least three illuminating members are disposed on the therapeutic device at intervals in a circumferential array with the beam axis of the therapeutic device releasing the therapeutic radiation as the axis.

The utility model discloses an in the embodiment, treatment device includes the arm, the connecting frame, the apron and be used for liberating the treatment head of treatment ray, the arm sets up in the frame, the connecting frame is connected with the arm, the apron sets up on the connecting frame, the treatment head sets up in the connecting frame, set up the mounting hole that supplies the treatment ray to jet out on the apron, at least three illuminating part uses the beam axle that the treatment head jetted out treatment ray to be the circumference array interval and sets up on the apron as the axis, image control unit sets up on the connecting frame, image control unit is used for controlling the arm and drives the treatment head and rotate and the translation so that the butt joint in treatment head and limit beam hole.

The utility model discloses an in the embodiment, still set up the detection groove that equals with luminous piece quantity on the beam limiting device, detect the groove be used for with luminous piece one-to-one setting, detect the groove and set up with the crisscross interval in proper order of identification member.

The utility model discloses an in the embodiment, the beam stop device still includes position acquisition unit and two spuds of interval setting on the second running gear, and position acquisition unit is used for gathering the position of two spuds respectively to position control second running gear according to two spuds drives the shielding ware and docks with treatment device.

The utility model discloses an in the embodiment, the position acquisition unit sets up in the frame, and beam current stop device still includes two location lines of difference hookup location acquisition unit and two spuds, and the position acquisition unit is used for confirming the position of two spuds according to the length of two location lines.

Through the technical scheme, the embodiment of the utility model provides a portable radiotherapy system has following beneficial effect:

the treatment device sets up in the frame, and the bottom of frame is provided with the first running gear who is used for moving, can drive frame and the treatment device who is used for liberating treatment ray in the frame through first running gear and move between the operating rooms of difference, and simultaneously, beam current blocking device is including the second running gear who is used for moving, and set up the shielding ware on second running gear, can drive the shielding ware that is used for shielding treatment ray through second running gear and move between the operating rooms of difference, thereby can avoid appearing transporting the patient in the art from the operating room to the phenomenon that special shielding radiotherapy computer lab carries out radiotherapy, reach and save some loaded down with trivial details operations of going on in order to ensure that patient is in sterile environment all the time in the transfer process, and reduce the purpose of the risk of patient infection.

Other features and advantages of the present invention will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention, but do not constitute a limitation of the invention. In the drawings:

FIG. 1 is a schematic perspective view of a mobile radiotherapy system in accordance with an embodiment of the present invention;

fig. 2 is a schematic perspective view of a beam current blocking device according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a treatment device, a beam limiting device and a positioning device according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a beam limiting device and a marking member according to an embodiment of the present invention;

fig. 5 is another schematic perspective view of a beam limiting device according to an embodiment of the present invention;

fig. 6 is a schematic diagram of the principle of calculating the distance d according to an embodiment of the present invention;

fig. 7 is a schematic diagram of the position arrangement of three light-emitting elements and three image capturing units according to an embodiment of the present invention;

fig. 8 is a schematic diagram of the position 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 beam-limiting cylinder 211 beam-limiting hole

22 positioning plate 221 detection groove

23 support frame 24 applicator

3 image acquisition unit 4 luminous element

5 identification part 6 frame

61 first running gear 62 support

7 second running gear of beam current blocking device 71

72 shield 73 spud

74 positioning line 8 operating table

9 patients

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.

A mobile radiotherapy system according to the present invention is described below with reference to the accompanying drawings.

As shown in fig. 1, in an embodiment of the present invention, a mobile radiotherapy system is provided, which includes:

the device comprises a frame 6, wherein a first travelling mechanism 61 for moving is arranged at the bottom of the frame 6;

the treatment device 1 is arranged on the frame 6 and used for emitting treatment rays;

the beam current blocking device 7, the beam current blocking device 7 comprises a second walking mechanism 71 used for moving and a shielding device 72 arranged on the second walking mechanism 71, the shielding device 72 is arranged below the operating table 8 and can move to be aligned with the treatment device 1 along the direction of the treatment rays through the second walking mechanism 71 so as to block the treatment rays from being transmitted outwards.

In the embodiment of the present invention, the treatment device 1 is disposed on the frame 6, and the bottom of the frame 6 is provided with the first traveling mechanism 61 for moving, i.e. the frame 6 and the treatment device 1 for releasing treatment rays on the frame 6 can be driven by the first traveling mechanism 61 to move between different operating rooms, and at the same time, the beam blocking device 7 comprises the second traveling mechanism 71 for moving and the shielding device 72 disposed on the second traveling mechanism 71, i.e. the shielding device 72 for shielding treatment rays can be driven by the second traveling mechanism 71 to move between different operating rooms, so as to avoid the phenomenon that the patient 9 in operation needs to be transported from the operating room to a special shielding radiotherapy machine room for radiotherapy, thereby eliminating some tedious operations performed to ensure that the patient 9 is always in a sterile environment during transportation, and to reduce the risk of infection of the patient 9.

In the embodiment of the present invention, the first traveling mechanism 61 may be a roller, and in order to ensure the stability of the frame 6 in the moving process, the number of the roller may be no less than three, and at least one of the rollers has a steering function. Of course, the present invention is not limited thereto, and the first traveling mechanism 61 may be a crawler belt or other suitable traveling mechanism. In addition, a plurality of supporting members 62 may be disposed at intervals at the bottom of the rack 6, and the plurality of supporting members 62 may be disposed in a liftable manner, and the plurality of supporting members 62 are configured to fixedly support the rack 6 and keep the roller away from the ground. Namely, when the frame 6 needs to be moved, the supporting member 62 performs a lifting motion to be away from the ground, so that the roller is in contact with the ground, and the moving effect of the roller is realized; when the frame 6 needs to be fixed, the support 62 moves downward to contact the ground, so that the roller moves away from the ground, and the support 62 is fixed and supported. Of course, the present invention may be provided without the supporting member 62, and the movement of the roller may be limited when the position of the frame 6 needs to be fixed.

In the embodiment of the present invention, the second traveling mechanism 71 may be a moving cart, and the shielding device 72 may be a shielding plate or a shielding block made of a shielding material, for example: lead plates, concrete walls or cement piers, etc. The thickness of the shielding element 72 may be set according to the shielding material, for example, a concrete wall of 20cm to 30cm is selected.

Referring to fig. 1 and 3, in an embodiment of the present invention, the mobile radiotherapy system further includes a beam limiting device 2 for aligning with the focus of the patient 9, the beam limiting device 2 is formed with a beam limiting hole 211 for interfacing the focus with the treatment device 1, so that a treatment position of the treatment radiation can be defined by the beam limiting device 2 to avoid radiation influence of the treatment radiation on normal tissues of the patient 9 to cause damage.

Referring to fig. 5, 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 an applicator 24 having a hollow capsule structure, an opening is formed at one end of the applicator 24, the periphery of the opening is connected to one end of the light limiting cylinder 21, the light limiting cylinder 21 is used for docking with the treatment device 1, and the applicator 24 is used for aligning with the lesion. The light limiting cylinder 21 can be used for limiting the direction of the treatment rays, and the applicator 24 can form a curved field at the tail end, so that the radiation treatment device can be used for the radiation treatment of saccular tumors or tubular tumors, such as breast cancer, oral cancer and the like. The utility model discloses in, light limiting cylinder 21 and applicator 24 can be solitary structure to connect through buckle connection structure, the two can make up promptly, also can separate. When superficial tumors in planar distribution need to be subjected to radiotherapy, the superficial tumors and the superficial tumors can be separated, a straight cylindrical light limiting cylinder 21 is selected, and a planar radiation field can be obtained at the tail end of the straight cylindrical light limiting cylinder 21; when it is desired to deliver radiation therapy to a capsule tumor that is distributed in a curved manner, the two may be combined to obtain a curved field of view at the distal end by applicator 24. More specifically, applicator 24 may be a spherical applicator 24.

In an embodiment of the present invention, the applicator 24 comprises a housing having a hollow capsule-like structure, a scattering foil disposed in the beam limiting hole 211, and a modulator disposed on the surface of the housing, wherein the housing is formed with an opening that is butted against the beam limiting hole 211. The first modulation can be carried out on the treatment rays through the scattering foil so as to improve the divergence angle of the treatment rays and enable the treatment rays to cover the whole modulator, and the modulator has the function of adjusting the dose distribution of the treatment rays, so that the treatment rays can be uniformly distributed on the inner surface of the shell, and the effect of radiotherapy is improved.

Referring to fig. 1 and fig. 3 again, in an embodiment of the present invention, the mobile radiotherapy system further includes a positioning device, the positioning device includes an image control unit and at least three light-emitting members 4 disposed on the treatment device 1, and at least three markers 5 disposed on the beam limiting device 2, the image control unit is configured to obtain the light spot positions of the at least three light-emitting members 4 on the beam limiting device 2 and the marker positions of the at least three markers 5, and control the treatment device 1 to rotate and translate according to the light spot positions and the marker positions so as to make the treatment device 1 interface with the beam limiting hole 211. Namely, in order to realize accurate butt joint of the treatment device 1 and the beam limiting device 2, the light spot positions of at least three light emitting members 4 on the beam limiting device 2 and the identification positions of at least three identification members 5 can be obtained through the image control unit, the angle of the treatment device 1 required to deflect and the distance of the treatment device 1 required to move are calculated, the treatment device 1 is controlled to move to be in butt joint with the beam limiting hole 211 on the beam limiting device 2 according to the obtained deflection angle and the obtained moving distance, soft butt joint between the treatment device 1 and the beam limiting device 2 is realized, and hard connection of physical hardware is not required to be carried out on the treatment device 1 and the beam limiting device 2, so that the purpose of eliminating the damage risk of a patient 9 in a hard connection mode is achieved. It should be noted that, in order to avoid collision, a gap may be left between the treatment device 1 and the beam limiting device 2 after the treatment device 1 is adjusted.

Referring to fig. 1, 3 and 8, in an embodiment of the present invention, a positioning plate 22 is further disposed outside the beam limiting device 2, and at least three markers 5 are disposed on the positioning plate 22 at intervals in a circumferential array with a center line of the beam limiting hole 211 as an axis. Specifically, the positioning plate 22 may be disposed at an end of the light-limiting cylinder 21 of the beam-limiting device 2 away from the patient 9, and the positioning plate 22 provided with at least three markers 5 is disposed at an outer side of the light-limiting cylinder 21, so that the therapeutic rays can be injected into the beam-limiting hole 211 without shielding, and the therapeutic effect is ensured. And at least three markers 5 are arranged on the positioning plate 22 at intervals in a circumferential array by taking the central line of the beam limiting hole 211 as an axis, so that the calculation of the butt joint position of the treatment device 1 is facilitated. It should be noted that, in the present invention, the identification member 5 includes, but is not limited to, a regular triangle block.

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 the at least three light emitting members 4 are disposed on the treatment device 1 at intervals in the circumferential array with the beam axis of the treatment device 1 releasing the treatment radiation as the 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 butting position can be further facilitated. In addition, the radius of the circle where the at least three luminous elements 4 are located and the radius of the at least three identification elements 5 may be equal or unequal. It should be noted that, in the present invention, the light emitting element 4 includes, but is not limited to, a laser.

The utility model discloses an in the embodiment, treatment device 1 is including setting up arm 11 in frame 6, the connection frame 12 of being connected with arm 11, set up apron 13 on connection frame 12 and be used for the therapeutic head who releases the treatment ray, the therapeutic head sets up in connection frame 12, set up the mounting hole that supplies the treatment ray to jet out on the apron 13, at least three illuminating part 4 is circumference array interval setting as the axis with the beam axle that the therapeutic head jetted out the treatment ray, image control unit sets up on connection frame 12, image control unit is used for controlling arm 11 to drive the therapeutic head and rotates and the translation is in order to realize the butt joint of therapeutic head and limit beam hole 211. 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 particular, the robotic arm 11 may have six axes, each of which is rotatable about its centre of rotation to enable the treatment head to rotate within a sphere of arm length radius.

The utility model discloses an in the embodiment, the image control unit is including setting up image acquisition unit 3 on the carriage 12, and the image processing unit with 3 signal connection of image acquisition unit, the quantity of image acquisition unit 3 equals with illuminating part 4's quantity, and every image acquisition unit 3 corresponds respectively and gathers the facula image of illuminating part 4 and the identification image of an identification piece 5 that the position is close, the image processing unit is used for confirming the facula position of every illuminating part 4 and the identification position of identification piece 5 according to the facula image that every image acquisition unit 3 gathered and the identification image of identification piece 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 uniformly spaced 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 identification image of one identification member 5 which are close to the light spot image, 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 image acquisition unit 3. Of course, the utility model discloses be not limited to this, the light of image acquisition unit 3's shooting direction, illuminating part 4 jets out the direction and therapeutic device 1's treatment ray's the direction of liberation not mutual parallel arrangement also can, because image acquisition unit 3, illuminating part 4 and therapeutic device 1's mounted position all can set up in advance, only need carry out a series of position conversions when carrying out position analysis to the image of follow-up image acquisition unit 3 collection.

In the embodiment of the present invention, the treatment apparatus 1 further comprises a beam cylinder 14 disposed on the cover plate 13 around the periphery of the mounting hole. The treatment radiation emitted by the treatment head can be prevented from deflecting by the arrangement of the beam barrel 14.

Referring to fig. 3 and 4, in the embodiment of the present invention, the beam limiting device 2 is further provided with detection grooves 221 equal to the number of the light emitting members 4, the detection grooves 221 are arranged corresponding to the light emitting members 4 one by one, and the detection grooves 221 and the identification members 5 are arranged in a staggered manner. Specifically, the detection slot 221 may be opened on the positioning plate 22. 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 manner, whether the treatment head reaches the correct butt joint position can be 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 can be used for treatment; 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 again, in the embodiment of the present invention, the beam limiting device 2 further includes a supporting frame 23 disposed on the light limiting cylinder 21, the supporting frame 23 is used for being mounted on the operating table 8, that is, the patient 9 can lie flat on the operating table 8 for radiotherapy treatment. More specifically, the support frame 23 may be detachably mounted on the operating table 8, so as to facilitate adjustment of the position of the beam limiting device 2.

Referring to fig. 1 and 2, in the embodiment of the present invention, the beam blocking device 7 further includes a position collecting unit and two positioning piles 73 disposed on the second traveling mechanism 71 at intervals, the position collecting unit is used for collecting the positions of the two positioning piles 73 respectively, and the second traveling mechanism 71 is controlled according to the positions of the two positioning piles 73 to drive the shielding device 72 to dock with the treatment device 1. Therefore, the beam blocking device 7 can be butted with the treatment device 1 through the position acquisition unit and the two positioning piles 73, so that the shielding effect on treatment rays can be improved.

The utility model discloses an in the embodiment, the position acquisition unit sets up in frame 6, and beam stop device 7 still includes two location lines 74 of connecting position acquisition unit and two spuds 73 respectively, and the position acquisition unit is used for confirming according to the length of two location lines 74 the position of spud 73. Specifically, the position acquisition unit is disposed at one end of the frame 6 close to the beam blocking device 7, and the two positioning piles 73 are both disposed at one end of the second traveling mechanism 71 close to the frame 6, that is, the position acquisition unit can obtain the distance between the position acquisition unit and each of the two positioning piles 73 by measuring the length of the two positioning lines 74, and the distance between the two positioning piles 73 is known, so that the positions of the two positioning piles 73 relative to the treatment device 1 can be determined, and the positions between the two positioning piles 73 and the shielding device 72 can be determined, so that the position of the shielding device 72 can be adjusted according to the positions of the two positioning piles 73, so that the shielding device 72 is butted with the treatment device 1.

The utility model discloses an in the embodiment, beam stop device 7 can also be including the light source spare that is used for to two spud 73 emission light sources, and the position acquisition unit can be the camera, gathers two spud 73's image through the position acquisition unit to the position of two spud 73 also can be confirmed in the analysis.

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 the light spots of at least three light-emitting members 4 on the beam limiting device 2 and the positions of the markers 5 by using the image control unit, and calculating the angle at which the treatment device 1 needs to deflect and the distance at which the treatment device 1 needs to move:

the first step is to calculate the angle of the treatment head which needs to be deflected and the distance of the treatment head which moves 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. 6, the exit position a of the light emitting member 4 to the positioning plate 22 is set to d, and the distance r between the exit position a of the light emitting member 4 and the line connecting the center of the light 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 ₀ The 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 d ₀ Then the above amounts should satisfy:

the distance value d can be calculated according to the above equation.

In particular, if the r value is deviated by a constant amount, taking into account the uncertainty of the center of the imaging plane C of the image acquisition unit 3, or the definition of the zero point along the Z axis characterizing the treatment head is not at the exit position of the luminous element 4, the above equation can be transformed into:

the distance value d can also be calculated by this equation.

In the formula c ₁ 、c ₂ And c ₃ The calibration can be carried out by using a 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 4 ₁ 、d ₂ And d ₃ 。

In particular, as shown in FIG. 7, E in the figure shows the treatment head, if three luminous elements 4 are uniformly distributed on a circle with radius R, and when d ₂ The corresponding illuminating part 4 is positioned on the Y axis of the treatment head, and comprises:

accordingly, the angle theta of the therapeutic head which rotates around the X axis and the Y axis respectively can be obtained _x And theta _y And 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, respectively _x And theta _y And after a distance D of movement along the Z axis, image acquisitionThe collection unit 3 collects the light spot image of the luminous element 4 and the image of the identification element 5 again, and the image processing unit can acquire the new light spot position of the luminous element 4 and the identification position of the identification element 5 by using an image recognition algorithm.

The specific calculation principle is as follows: when the center of a circle where the centers of the three markers 5 are located and the projection of the center of a circle where the spot positions of the three light-emitting members 4 are located on 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. 7, three image capturing units 3 are uniformly spaced on the same circumference, and the lens orientations are the same, and the three image capturing units 3 can arrive at each other through a translational motion without involving a rotational motion, that is, the rotation matrices M of the image capturing units 3 are equal, so that a 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 the description of the present invention, it is to be understood that the terms "first", "second" and "first" 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 explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; 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 meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

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 invention. 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, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. A portable radiotherapy system, comprising:

the device comprises a rack (6), wherein a first travelling mechanism (61) used for moving is arranged at the bottom of the rack (6);

the treatment device (1) is arranged on the frame (6) and is used for emitting treatment rays;

beam current blocking device (7), beam current blocking device (7) are including being used for the second running gear (71) that remove and setting up and are in shielding ware (72) on second running gear (71), below of operating table (8) is arranged in and can pass through in shielding ware (72) second running gear (71) move to with treatment device (1) is followed the direction alignment of treatment ray is in order to block the outside transmission of treatment ray.

2. Mobile radiotherapy system according to claim 1, characterized in that it further comprises beam limiting means (2) for aligning with a lesion of a patient (9), said beam limiting means (2) being formed with a beam limiting aperture (211) for docking said lesion with said treatment means (1).

3. The mobile radiotherapy system of claim 2, wherein the beam limiting device (2) comprises a light limiting cylinder (21) forming the beam limiting hole (211), and an applicator (24) having a hollow capsule structure, one end of the applicator (24) forms an opening, the periphery of the opening is connected with one end of the light limiting cylinder (21), the light limiting cylinder (21) is used for being docked with the treatment device (1), and the applicator (24) is used for being aligned with the lesion.

4. The mobile radiotherapy system of claim 2, further comprising a positioning device, wherein the positioning device comprises an image control unit and at least three light emitting members (4) disposed on the treatment device (1), and at least three markers (5) disposed on the beam limiting device (2), the image control unit is configured to acquire the spot positions of the at least three light emitting members (4) on the beam limiting device (2) and the marker positions of the at least three markers (5), and control the treatment device (1) to rotate and translate according to the spot positions and the marker positions to enable the treatment device (1) to be docked with the beam limiting hole (211).

5. The mobile radiotherapy system of claim 4, wherein a positioning plate (22) is further disposed outside the beam limiting device (2), and at least three of the markers (5) are disposed on the positioning plate (22) at intervals in a circumferential array around the central line of the beam limiting hole (211).

6. Mobile radiotherapy system according to claim 5, characterized in that the number of said light emitters (4) is equal to the number of said markers (5), at least three of said light emitters (4) being arranged on said treatment device (1) in a circumferential array spaced apart from each other about the axis of the beam of said therapeutic radiation emitted by said treatment device (1).

7. The mobile radiotherapy system of claim 4, wherein the treatment device (1) comprises a mechanical arm (11), a connecting frame (12), a cover plate (13) and a treatment head for emitting the treatment radiation, the mechanical arm (11) is disposed on the frame (6), the connecting frame (12) is connected to the mechanical arm (11), the cover plate (13) is disposed on the connecting frame (12), the treatment head is disposed in the connecting frame (12), a mounting hole for emitting the treatment radiation is formed in the cover plate (13), at least three of the light-emitting members (4) are disposed on the cover plate (13) at intervals in a circumferential array by taking a beam axis of the treatment radiation emitted from the treatment head as an axis, the image control unit is disposed on the connecting frame (12), and the image control unit is configured to control the mechanical arm (11) to drive the treatment head to rotate and translate so that the treatment head and the treatment head are rotated and translated And the beam limiting holes (211) are butted.

8. The mobile radiotherapy system of claim 5, wherein the beam limiting device (2) further comprises detection grooves (221) with the number equal to that of the light emitting members (4), the detection grooves (221) are arranged corresponding to the light emitting members (4) one by one, and the detection grooves (221) and the identification members (5) are arranged in a staggered and spaced manner in sequence.

9. The mobile radiotherapy system of any one of claims 1 to 8, wherein the beam current blocking device (7) further comprises a position acquisition unit and two positioning posts (73) spaced apart from each other on the second traveling mechanism (71), the position acquisition unit is configured to acquire the positions of the two positioning posts (73), respectively, and control the second traveling mechanism (71) to bring the shielding device (72) into docking with the treatment device (1) according to the positions of the two positioning posts (73).

10. The mobile radiotherapy system of claim 9, wherein said position acquisition unit is disposed on said gantry (6), and said beam current blocking device (7) further comprises two positioning lines (74) connecting said position acquisition unit and two said positioning posts (73), respectively, said position acquisition unit being configured to determine the positions of said two positioning posts (73) according to the lengths of said two positioning lines (74).