WO2016061877A1 - 放射治疗系统 - Google Patents
放射治疗系统 Download PDFInfo
- Publication number
- WO2016061877A1 WO2016061877A1 PCT/CN2014/093215 CN2014093215W WO2016061877A1 WO 2016061877 A1 WO2016061877 A1 WO 2016061877A1 CN 2014093215 W CN2014093215 W CN 2014093215W WO 2016061877 A1 WO2016061877 A1 WO 2016061877A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- radiation therapy
- arm
- sliding
- disposed
- power unit
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1077—Beam delivery systems
- A61N5/1081—Rotating beam systems with a specific mechanical construction, e.g. gantries
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
- A61N5/1069—Target adjustment, e.g. moving the patient support
Definitions
- the present invention relates to a radiation therapy medical device, and more particularly to a radiation therapy system.
- Tumors are one of the major diseases that endanger human health. At present, there are three main methods for treating tumors: surgery, radiation and drug therapy. Among them, the use of radiation to destroy the lesions is a widely used method in radiology. The World Health Organization reports that 45% of tumors can be cured, of which radiation therapy can be cured. The tumor reached 18%. Equipment using high-energy electromagnetic radiation (X-radiation, gamma radiation) or particle radiation (electrons, protons, carbon ions) is used for this purpose.
- X-radiation, gamma radiation high-energy electromagnetic radiation
- particle radiation electros, protons, carbon ions
- Cida Patent Application No. CN200710005399.2 discloses a radiation therapy system including a flip drive unit, an O-ring, a mobile gantry, a head sway device, and an illuminating device, wherein the illuminating device is in radiotherapy
- the therapeutic radiation is irradiated under the control of the device controller, and the therapeutic radiation can be irradiated to the isocenter from any direction by movement and rotation;
- the inversion driving unit supports the 0 ring on the base support, so that the 0 ring can rotate around the rotating axis, and the radiation
- the treatment device further includes a mobile drive unit that rotates the mobile gantry about the axis of rotation under the control of the radiation therapy device controller; however, such a radiation therapy system has more controllable degrees of freedom in the radiotherapy process, but The quality of the ring is usually large.
- the G-arm slide is installed in the track, the track is installed on the sky rail or the ground on the ceiling of the treatment room, the G-arm can be used for lifting movement, and the G-arm slide can guide the two groups of X.
- the ray source and the X-ray dynamic flat panel detector do more than 90 degrees of motion.
- the G-shaped arm can rotate ⁇ 90° around the G-arm axis and can swing ⁇ 15° back and forth around the G-arm pitch axis.
- G The image of the arm-shaped image system is usually large but installed on the ceiling. It not only imposes high requirements on the support capacity of the ceiling, but also is inconvenient to install and disassemble. At the same time, the upper support makes the G-arm easy to appear during the rotation process. A large degree of shaking affects the accuracy of radiotherapy.
- the range of the field is limited, and the maximum field range is usually 40cm. Actually, some patients need radiotherapy to have a long strip shape with a length of 60 cm (such as spinal cord cancer). For lesions that exceed the maximum field range of the device, It can be treated step by step by means of field segmentation, but inevitably there will be overlapping areas of the field or some areas of the disease are not irradiated, affecting the efficacy, and the efficiency is very low, the existing radiotherapy bed is difficult to achieve large
- the location of the tumor is randomly distributed, and it is very likely to be blocked by other organs. It is necessary to adjust the posture of the treatment bed to match the treatment of the treatment head to achieve the best. Therapeutic effect, to avoid damage to healthy tissue, and the existing radiotherapy bed is difficult to achieve a wide range of angles, posture adjustment
- the technical problem to be solved by the present invention is to solve the problem that no instrument in the prior art can realize the five-degree-of-freedom control radiotherapy process, the control precision is high and the stability is high, and the space posture of the radiotherapy bed is flexible. The problem of high positioning accuracy.
- the present invention provides a radiation therapy system including a five-degree-of-freedom 0-arm radiation therapy system and a six-degree-of-freedom parallel radiation therapy bed, wherein
- the five-degree-of-freedom 0-arm radiation therapy system includes a 0-arm motion mechanism, a linear accelerator device, a radiation dose detecting device, and a dual X-ray image positioning mechanism
- the 0-arm motion mechanism includes a 0-arm , an accelerator displacement device, a rotational displacement device, a reverse displacement device, a horizontal lateral displacement device, and a horizontal longitudinal displacement device
- the horizontal longitudinal displacement device includes a first sliding rail disposed on both sides of the 0-shaped arm, a first sliding seat, And a first power unit that drives the first sliding seat to slide relative to each other on the first sliding rail, the first sliding rail and the first sliding seat are two groups
- the horizontal lateral displacement device comprises a first sliding seat a second sliding rail, a second sliding seat, and a second power unit that drives the second sliding seat to slide relative to each other on the second sliding rail, wherein the second sliding rail and the second sliding bracket are two groups, the second The sliding seat and the sliding direction of the first sliding seat are perpendicular to each other;
- the six-degree-of-freedom parallel radiation therapy bed includes a base assembly, a link assembly, and a bed assembly, wherein the base assembly includes a base, a plurality of slide rails disposed side by side on the base, and is fixed on the base a power unit; a connecting rod assembly, comprising a sliding seat and a connecting rod, wherein the sliding seat is relatively slid on the sliding rail under the driving of the power unit, and the bottom end of the connecting rod is connected to the sliding seat
- the bed board assembly includes a main bed board, and a top end of the connecting rod is rotatably connected to the main bed board.
- a side surface of the 0-shaped arm is provided with a plurality of annular sliding slots, and both sides of the front and rear ends of the flipping seat are fixed with a limiting plate, and the inner side of the limiting plate is provided with a card.
- a slider that slides in the chute and slides relative to each other.
- the first power unit includes a first servo motor, a first screw rod and a first screw sleeve, and the first screw rod is disposed at an output end of the first servo motor, and
- the first sliding rails are parallel to each other, the first screw sleeve is fixed at the bottom of the first sliding seat, and the first screw sleeve is relatively rotated on the first screw.
- the second power unit includes a second servo motor, a second screw rod and a second screw sleeve, and the second screw rod is disposed at an output end of the second servo motor, and
- the second sliding rails are parallel to each other, the second screw sleeve is fixed at the bottom of the second sliding seat, and the second screw sleeve is relatively rotated on the second screw.
- the third power unit includes a third servo motor fixed on the second sliding seat, and the turning seat is fixed at an output end of the third servo motor.
- the fourth power unit includes a fourth servo motor fixed on the flip seat, and a driving gear disposed at the output end of the fourth servo motor, and the outer side of the 0-arm is provided with a timing belt.
- the fourth servo motor drives the relative displacement of the 0-shaped arm on the flip seat by the cooperation of the driving gear and the timing belt.
- the accelerator displacement device includes a seat plate fixed on the 0-shaped arm, a fifth servo motor fixed on the seat plate, a plurality of third screw rods vertically fixed at the bottom of the seat plate, and fixed to the linear accelerator a plurality of third screw sleeves on the device, the third screw sleeves relatively rotating on the third screw rods.
- the slide rails are six, wherein three slide rails are disposed in parallel on the front side top surface of the base, and the other three slide rails are disposed in parallel on the rear side top surface of the base, and the connecting rod assembly
- the six sets, and the six sets of the sliders of the link assembly slide relative to each other on the corresponding slide rails.
- the base assembly further includes a bearing support disposed on the front side and the rear top surface of the base, and a screw disposed parallel to the slide rail, wherein the top surface of the base is located at the slide rail end Set between the parts a power unit, one end of the screw rod is disposed on the bearing support through a bearing, and the other end of the screw rod is connected to the power unit; the bottom of the sliding seat is provided with a silk sleeve, the wire The female sleeve rotates relative to the lead screw.
- the bottom of the connecting rod is rotatably connected to the sliding seat through a first cross shaft, and the bottom of the connecting rod is rotatably connected to the bottom of the main bed board through a second cross shaft.
- first cross shaft and the bottom of the connecting rod, between the first cross shaft and the sliding seat, between the second cross shaft and the top of the connecting rod, and the second cross shaft and the main bed board Bearings are provided between the bottom Hook hinges.
- the connecting rod includes an upper link and a lower link, a thrust bearing is disposed between a top end of the lower link and a bottom end of the upper link, and a bottom end of the lower link is further disposed There is an end cover for limiting the relative position of the upper link and the lower link, and a copper sleeve matching the bottom of the upper link is further disposed outside the top end of the lower link.
- the bed assembly further includes an intermediate bed plate, the intermediate bed plate is fixedly connected to the main bed plate, the main bed plate is a metal main bed plate, and the intermediate bed plate is a carbon fiber intermediate bed plate.
- the bed board assembly further includes an additional bed board, and the additional bed board is fixed to an end of the intermediate bed board by a suspension fixing member.
- the present invention has at least the following advantages: In the five-degree-of-freedom 0-arm radiotherapy system, the first power unit drives the displacement of the 0-arm in the horizontal longitudinal direction, and the second power unit drives the 0-arm along the horizontal level.
- the omnidirectional multi-angle radiation therapy process can be realized, and the control precision is high and the stability is high; the double X-ray image positioning mechanism is used in the kilovolt (kV) by the X-ray imaging method.
- the radiation in the energy range is performed, and the radiation used in the radiation therapy by the linear accelerator device and the radiation dose detecting device is in the energy range of megavolts (MV).
- the six-degree-of-freedom parallel radiotherapy bed overcomes the defects of the inflexible spatial position, low positioning accuracy and poor carrying capacity of the existing radiotherapy bed, and the radiation therapy system of the invention has flexible posture, high positioning precision and bearing Strong ability to meet the requirements of precision radiotherapy. .
- FIG. 1 is a front elevational view of a radiation therapy system of the present invention
- FIG. 2 is a rear elevational view of the radiation therapy system of the present invention
- Figure 3 is a side elevational view of the radiation therapy system of the present invention.
- Figure 4 is a partial enlarged view of a portion A of Figure 1;
- Figure 5 is a partial enlarged view of a portion B of Figure 2;
- FIG. 6 is a partial enlarged view of a portion C of FIG. 3; [0030] FIG.
- FIG. 7 is a schematic structural view of a six-degree-of-freedom parallel radiotherapy bed in the radiation therapy system of the present invention.
- Figure 8 is a side elevational view of a six degree of freedom parallel radiotherapy bed in a radiation therapy system of the present invention.
- FIG. 9 is a schematic structural view of a link assembly in a radiation therapy system of the present invention.
- FIG. 10 is a schematic structural view of a connection between an upper link and a lower link in the radiation therapy system of the present invention.
- FIG. 11 is a schematic structural view of a junction between an intermediate bed plate and an additional bed plate in the radiation therapy system of the present invention.
- first and second are used for descriptive purposes only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- features defining “first” and “second” may explicitly or implicitly include one or more of the features.
- the meaning of “plurality” is two or more, unless specifically defined otherwise.
- the "first" or “under” of the second feature may include direct contact of the first and second features, and may also include the first sum, unless otherwise specifically defined and defined.
- the second feature is not in direct contact but through additional features between them.
- the first feature “above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
- the first feature “below”, “below” and “below” the second feature includes the first feature directly below and below the second feature, or merely indicates that the first feature level is less than the second feature
- the radiation therapy system of the present invention comprises a five-degree-of-freedom 0-arm radiation therapy system and a six-degree-of-freedom parallel radiation therapy bed, wherein the five-degree-of-freedom 0-arm radiation therapy system includes 0 Arm movement mechanism, linear accelerator device 101, radiation dose detecting device 102 and dual X-ray image positioning mechanism, 0-arm movement mechanism including 0-arm 201, accelerator displacement device, rotational displacement device, flipping displacement device, horizontal lateral displacement The device, and the horizontal longitudinal displacement device.
- the horizontal longitudinal displacement device includes a first sliding rail 211 disposed on both sides of the 0-shaped arm, a first sliding seat 212, and a first power unit that drives the first sliding seat 212 to slide relative to each other on the first sliding rail 211 213, the first sliding rail 21 1 and the first sliding seat 212 are two groups;
- the first power unit is implemented in various manners, for example, 1) using a hydraulic cylinder pushing manner, the first power unit is a hydraulic cylinder, the first sliding The seat is arranged at the output end of the hydraulic cylinder, and the relative sliding of the first sliding seat is pushed by the hydraulic cylinder; 2) the tooth is engaged by the tooth, the first power unit is a motor, and the output end of the motor is provided with a gear, the first sliding seat a tooth that cooperates with the gear is provided, and the relative sliding of the first sliding seat is driven by the rotation of the gear; 3) the first power unit comprises a first servo motor, a first screw rod 214 and a first wire by means of a screw rod rod
- the above is only a preferred embodiment of the first power unit, and is not intended to limit the present invention. It should be noted that The first power unit that drives the first sliding seat to slide relative to each other on the first sliding rail should fall within the protection scope of the present invention. In addition, since the first power unit is provided by the horizontal longitudinal displacement device on one side of the 0-arm, the first power unit is set to one or two groups.
- the horizontal lateral displacement device includes a second sliding rail 221 disposed on the first sliding seat 212, a second sliding seat 222, and a second power driving the second sliding seat 222 to slide relative to each other on the second sliding rail 221
- the unit 223, the second sliding rail 221 and the second sliding seat 222 are two groups, and the sliding directions of the second sliding seat 222 and the second sliding seat 212 are perpendicular to each other;
- the second power unit is implemented in various ways, for example, 1)
- the hydraulic cylinder is driven by the second power unit being a hydraulic cylinder, the second sliding seat is disposed at the output end of the hydraulic cylinder, and the second sliding seat is driven by the hydraulic cylinder; 2) the tooth is engaged, the second power is
- the unit is a motor, the output end of the motor is provided with a gear, the second sliding seat is provided with a tooth that cooperates with the gear, and the relative sliding of the second sliding seat is driven by the rotation of the gear; 3) the method of using the screw rod, the second The power
- the second lead screw 224 is disposed at an output end of the second servo motor and parallel to the second slide rail 221
- the second lead screw sleeve is fixed to the bottom of the second sliding seat 222, and the second screw sleeve is relatively rotated on the second screw rod 224.
- the above is only a preferred embodiment of the second power unit, and is not intended to limit the present invention. It should be noted that any first power unit capable of driving the first sliding seat to slide relative to the first sliding rail should fall. The scope of protection of the present invention.
- the second power unit is provided by the horizontal lateral displacement means of one side of the 0-arm, the second power unit is set to one or two groups.
- the inversion displacement device includes a third power unit 231 disposed on the second sliding seat 222 and used to invert the rotational displacement device, and the turning plane of the rotating displacement device and the sliding direction of the second sliding seat 222 are perpendicular to each other;
- the implementation manner is various, for example, connecting the driven gear on the rotary displacement device, and setting the driving gear at the output end of the third power unit, and controlling by gear meshing; relatively simple, controlling by rotating the motor
- the third power unit includes a third servo motor fixed to the second carriage, and the flip seat is fixed to the output end of the third servo motor.
- the third power unit is provided by the reverse power displacement device on one side of the 0-arm, the third power unit is set to one or two groups.
- the rotational displacement device includes a flip seat 241 disposed at an output end of the third power unit 231, and a fourth power unit 242, the 0-arm 201 is disposed between the two sets of flip seats 241, and the fourth power unit 242 is used for driving The relative displacement of the 0-arm 201 on the flipping seat 241; the rotational displacement device has a plurality of implementations for the rotational driving of the 0-arm, which is relatively simple and stable, and the fourth power unit includes a fourth servo fixed to the flipping seat 241.
- the motor, and the driving gear 243 disposed at the output end of the fourth servo motor, the outer side of the 0-arm 201 is provided with a timing belt 244.
- the fourth servo motor cooperates with the timing belt 244 by the driving gear 243 to drive the 0-arm 201.
- the relative displacement on the flip 241 is reversed.
- the above is only a preferred embodiment of the rotational displacement device, and is not intended to limit the present invention. It should be noted that any rotational displacement device capable of driving the rotation of the 0-arm is intended to fall within the scope of the present invention.
- the five-degree-of-freedom 0-arm radiotherapy system of the present invention has a plurality of annular chutes 245 disposed on the side of the 0-arm 201, and the flip seat
- the limiting plate 246 is fixed on both sides of the front and rear ends of the 241, and the inner side of the limiting plate 246 is provided with a slider that is fitted in the sliding groove and relatively slid.
- the fourth power unit since the fourth power unit is provided by the rotational displacement device on one side of the 0-arm, the fourth power unit can be set to one or two groups.
- the linear accelerator device 101 is mounted on the 0-arm 201 by an accelerator displacement device for driving the relative displacement of the linear accelerator device 101 toward the center position of the 0-arm 201, and the radiation dose detecting device 102 is disposed at the 0-arm.
- the dual X-ray image positioning mechanism includes an X-ray emitter 103 disposed on the 0-arm 201, and an X-ray emitter 103 disposed on the 0-arm 201
- the side X-ray receiver 104, the X-ray emitter 103 and the X-ray receiver 104 are two groups.
- the accelerator displacement device has various implementations and is relatively simple and stable.
- the accelerator displacement device includes a seat plate 251 fixed on the 0-shaped arm, a fifth servo motor 252 fixed on the seat plate, and a plurality of first fixed vertically on the bottom of the seat plate.
- the above is only a preferred embodiment of the accelerator displacement device, and is not intended to limit the present invention. It should be noted that any accelerator displacement device capable of driving the relative displacement of the linear accelerator device should fall within the scope of the present invention.
- a six-degree-of-freedom parallel radiotherapy bed in a radiation therapy system of the present invention includes a base assembly 3, a link assembly 4, and a bed assembly 5, wherein the base assembly 3 includes a base 301, side by side. a plurality of slide rails 302 disposed on the base, and a power unit 303 fixed to the base; the linkage assembly 4 includes The sliding block 401 and the connecting rod 402, the sliding block 401 are relatively slid on the sliding rail 302 under the driving of the power unit 303, and the bottom end of the connecting rod 402 is rotatably connected with the sliding seat 401; the bed board assembly 5 includes a main bed board 501, and the connecting rod 402 The top end is rotatably connected to the main bed 501; in order to achieve six degrees of freedom and multiple postures, the slide rails 302 are six, three of the slide rails 302 are arranged in parallel on the front side of the base 301, and the other three slides 302 are arranged in parallel. On the rear side top surface
- the base assembly has various implementations, and any base assembly capable of driving the sliding slide relative to the sliding rail should fall within the protection scope of the present invention; for example, the power unit is set to be a cylinder or a hydraulic pressure. a cylinder, and connecting the output end of the cylinder and the hydraulic cylinder to the sliding seat; for the stability and precision of the control, the radiotherapy system of the present invention, the base assembly 3 further includes bearings disposed on the front side and the rear side of the base 301 The support 304 and the screw 305 disposed parallel to the slide rail 302, the slide rail 302 and the bearing support 304 are mounted on the boss of the top surface of the base 301, and the top surface of the base 301 is located at the middle of the top surface of the base 301 and is disposed between the ends of the slide rail 302.
- the power unit 303 has one end of the lead screw 305 disposed on the bearing support through a bearing, and the other end of the lead screw 305 is drivingly connected to the power unit 303.
- the power unit is relatively simply set as a servo motor; the bottom of the slide base 401 is provided with a silk mother a sleeve (not shown), the thread sleeve and the screw rod 305 are relatively rotated, and the servo motor is controlled to rotate forward or reverse by a computer system, and the control wire is controlled. Rotation, movement of the moving link and the hoist.
- the bottom of the link 402 is rotatably connected to the slide 401 via the first cross shaft 403, and the bottom of the link 402 is passed.
- the second cross shaft 404 is rotatably connected with the Hooke hinge 407 at the bottom of the main bed 501; at the same time, between the first cross shaft 403 and the bottom of the connecting rod 402, between the first cross shaft 403 and the sliding seat 401, and the second cross A bearing 408 is disposed between the shaft 404 and the top of the link 402, and between the second cross shaft 404 and the bottom hinge of the main bed 501.
- the link 402 includes an upper link 405 and a lower link 406, and a thrust bearing 409 is disposed between the top end of the lower link 406 and the bottom end of the upper link 405, and the lower link 405
- the bottom end of the lower link 405 is further provided with an end cover 410 for restricting the relative position of the upper link 405 and the lower link 406.
- the outer side of the top end of the lower link 405 is further provided with a copper sleeve 411 matched with the bottom of the upper link 405; The circumferential position of the upper link is used to realize the axial positioning of the upper link by the thrust bearing, and the fastening of the upper link and the lower link by the end cover.
- the bed assembly 5 further includes an intermediate bed plate 502 and an additional bed plate 503.
- the intermediate bed plate is fixedly connected to the main bed plate, and the additional bed plate is fixed to the end of the intermediate bed plate by a suspension fixing member.
- the bed plate is a metal main bed plate, and the middle bed plate is a carbon fiber intermediate bed plate; after the treatment head is irradiated, there is no metal material between the treatment head and the receiver below it, and the metal material affects the imaging in the receiver, in order to save carbon fiber material.
- the bed plate is designed as a three-stage structure.
- the main bed board is made of metal material
- the middle bed board is made of carbon fiber material. The first two sections of the bed are connected by screws.
- the workflow of the present invention is: 1) data acquisition and modeling: adjusting the 0-arm and the radiation therapy bed, acquiring multi-mode images through the X-ray double X-ray image positioning mechanism X-ray; establishing a mathematical model; The definition and scale of the positioning coordinate system are used to collect the physical dose parameters of the radiotherapy system; 2) Pre-treatment before radiotherapy: Multi-mode images and mathematical models are registered for multi-mode images, and then combined with the coordinate system to establish the model and Three-dimensional dynamic display, and then combined with the physical dose parameters of the radiotherapy system to design a radiotherapy program, according to the radiotherapy program and three-dimensional dynamic display to dynamically simulate the whole process of treatment; 3) treatment in radiotherapy: adjust the 0-arm, and then with the model and 3D dynamics The results of the display and the actual dose verification are combined to obtain the three-dimensional image localization and registration of the target in the treatment, intervention and correction during the treatment, and the correction is returned to the design of the radiotherapy plan; the intervention and correction during the treatment The whole process of dynamic simulation
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2014409423A AU2014409423B2 (en) | 2014-10-20 | 2014-12-08 | Radiation therapy system |
US15/519,425 US10293186B2 (en) | 2014-10-20 | 2014-12-08 | Radiation therapy system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410557823.4 | 2014-10-20 | ||
CN201410557823.4A CN104307113B (zh) | 2014-10-20 | 2014-10-20 | 放射治疗系统 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016061877A1 true WO2016061877A1 (zh) | 2016-04-28 |
Family
ID=52362510
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2014/093215 WO2016061877A1 (zh) | 2014-10-20 | 2014-12-08 | 放射治疗系统 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10293186B2 (zh) |
CN (1) | CN104307113B (zh) |
AU (1) | AU2014409423B2 (zh) |
WO (1) | WO2016061877A1 (zh) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106512235A (zh) * | 2016-11-23 | 2017-03-22 | 江苏超敏仪器有限公司 | 机械治疗椅及其控制系统 |
CN107617168A (zh) * | 2016-07-13 | 2018-01-23 | 瑞地玛医学科技有限公司 | 一种治疗床移载装置 |
CN109303983A (zh) * | 2018-10-29 | 2019-02-05 | 苏州雷泰医疗科技有限公司 | 一种医用加速器治疗床 |
CN109908496A (zh) * | 2019-03-27 | 2019-06-21 | 陕西华明普泰医疗设备有限公司 | 一种六自由度放射治疗床的控制方法 |
CN110248604A (zh) * | 2016-11-15 | 2019-09-17 | 反射医疗公司 | 放射治疗患者平台 |
CN111986822A (zh) * | 2020-07-27 | 2020-11-24 | 哈尔滨工业大学 | 一种x射线表征探测器精密调整搭载机构 |
US11801398B2 (en) | 2018-02-13 | 2023-10-31 | Reflexion Medical, Inc. | Beam station treatment planning and radiation delivery methods |
US11975220B2 (en) | 2016-11-15 | 2024-05-07 | Reflexion Medical, Inc. | System for emission-guided high-energy photon delivery |
Families Citing this family (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104622658A (zh) * | 2015-03-09 | 2015-05-20 | 北京大基康明医疗设备有限公司 | 一种医疗病床运输机器人的伸缩爪及其伸缩抓取床板方法 |
CN104784831B (zh) * | 2015-04-21 | 2018-09-07 | 苏州爱因智能设备有限公司 | 一种可实现全轨迹放射治疗设备 |
CN106267573B (zh) * | 2015-05-21 | 2019-03-29 | 苏州爱因智能设备有限公司 | 一种精确摆位治疗床 |
CN104932538B (zh) * | 2015-07-03 | 2018-02-23 | 中国计量科学研究院 | 光机旋转装置 |
CN105079986B (zh) * | 2015-09-07 | 2017-12-12 | 四川大学 | 一种非共面放射治疗系统 |
CN105327458A (zh) * | 2015-12-04 | 2016-02-17 | 深圳先进技术研究院 | 多自由度放射治疗床 |
CN105597235B (zh) * | 2016-03-14 | 2019-05-10 | 高燕飞 | 一种新型肿瘤放疗装置 |
WO2018082139A1 (zh) * | 2016-11-02 | 2018-05-11 | 江苏超敏科技有限公司 | 机械治疗椅及其控制系统 |
WO2018090267A1 (zh) * | 2016-11-17 | 2018-05-24 | 中国科学院深圳先进技术研究院 | 放射治疗装置 |
CN108372935B (zh) * | 2016-12-21 | 2021-09-10 | 中国航空制造技术研究院 | 一种大范围移动和自动导航的调姿对接系统及方法 |
CN107137103A (zh) * | 2017-06-23 | 2017-09-08 | 合肥中科离子医学技术装备有限公司 | 一种用于质子医疗系统cbct三维成像机构 |
CN110152203A (zh) * | 2018-03-27 | 2019-08-23 | 张欣 | 一种肿瘤内科临床用的放疗定位装置 |
CN108478942A (zh) * | 2018-05-10 | 2018-09-04 | 江南大学附属医院 | 一种肿瘤科用放疗定位装置 |
CN108837323B (zh) * | 2018-06-28 | 2024-04-26 | 苏州国科盈睿医疗科技有限公司 | 一种光学治疗仪 |
CN108686309B (zh) * | 2018-06-29 | 2023-04-07 | 合肥中科离子医学技术装备有限公司 | 一种用于质子/重离子医疗设备系统中的图像引导系统 |
GB2576342A (en) | 2018-08-15 | 2020-02-19 | Elekta ltd | Adjustable support |
CN109200485B (zh) * | 2018-09-20 | 2024-02-02 | 成都真实维度科技有限公司 | 一种用于多点共面激光引导照射的角度偏移装置 |
WO2020088381A1 (zh) * | 2018-10-29 | 2020-05-07 | 苏州雷泰医疗科技有限公司 | 一种医用加速器治疗床 |
CN109481854B (zh) * | 2018-12-25 | 2020-11-03 | 南阳市中心医院 | 肿瘤放射治疗架 |
CN109646028A (zh) * | 2018-12-29 | 2019-04-19 | 佛山瑞加图医疗科技有限公司 | 一种用于有限空间设备内的直线加速器等中心照射系统 |
CN109646820A (zh) * | 2018-12-29 | 2019-04-19 | 佛山瑞加图医疗科技有限公司 | 加速器机头可升降调节装置、放疗设备及控制方法 |
CN109819574B (zh) * | 2019-01-22 | 2019-11-26 | 深圳中广核沃尔辐照技术有限公司 | 一种加速器辐照用束流输出系统 |
CN109847203B (zh) * | 2019-04-18 | 2020-09-29 | 广州医科大学附属肿瘤医院 | 一种放疗用下肢固定装置 |
CN110201314B (zh) * | 2019-05-14 | 2021-06-29 | 沈阳东软智睿放疗技术有限公司 | 放疗装置 |
CN110393856B (zh) * | 2019-08-16 | 2024-03-19 | 山东新华医疗器械股份有限公司 | 一种放射治疗的治疗床 |
CN110585610B (zh) * | 2019-10-22 | 2021-07-06 | 河南科技大学第一附属医院 | 翻转式颈部肿瘤放疗装置 |
CN111420298B (zh) * | 2020-05-04 | 2022-11-22 | 宁波大桔科技有限公司 | 一种新型低频远红外养生康复理疗设备 |
CN111631739B (zh) * | 2020-05-20 | 2023-07-21 | 北京唯迈医疗设备有限公司 | 一种用于c形臂的水平滑动机构、c形臂及具有其的设备 |
CN112121316B (zh) * | 2020-09-29 | 2023-12-12 | 太和县人民医院 | 一种放射治疗设备 |
CN112274177B (zh) * | 2020-10-29 | 2021-04-02 | 青岛市妇女儿童医院 | 一种自动b超检查装置 |
CN112870559B (zh) * | 2020-12-30 | 2022-08-30 | 兰州科近泰基新技术有限责任公司 | 一种紧凑型质子肿瘤治疗装置 |
CN112604188A (zh) * | 2020-12-31 | 2021-04-06 | 陈文俊 | 一种肿瘤中放疗设备用托举装置及放疗设备 |
CN112657071A (zh) * | 2020-12-31 | 2021-04-16 | 陈涛 | 一种肿瘤放疗设备用自动调节支撑装置及放疗设备 |
CN112933434A (zh) * | 2021-01-28 | 2021-06-11 | 郑志水 | 一种妇产科临床超声波治疗仪 |
CN113101549B (zh) * | 2021-05-19 | 2023-07-14 | 深圳市鹰眼在线电子科技有限公司 | 放疗系统和放疗3d视觉实时监测姿态保持方法 |
CN117980036A (zh) * | 2021-07-20 | 2024-05-03 | 美国迈胜医疗系统有限公司 | 具有可缩回盖的机架 |
CN113491844B (zh) | 2021-07-30 | 2022-04-29 | 北京瑞尔世维医学研究有限公司 | 一种全球面放射治疗系统 |
CN113521570B (zh) * | 2021-08-18 | 2023-09-05 | 浙江省人民医院 | 一种便于固定患者体位的放射治疗设备 |
CN114053589B (zh) * | 2021-11-17 | 2022-07-19 | 北京中成康富科技股份有限公司 | 一种多探头集成式毫米波治疗仪 |
CN114404818B (zh) * | 2022-03-31 | 2022-09-02 | 湖南索迦医疗科技有限公司 | 一种利用聚焦光斑的激光医疗美容装置 |
CN115177477B (zh) * | 2022-08-31 | 2022-12-13 | 张家港市德仁科教仪器设备有限公司 | 一种具有鉴定监控的不锈钢解剖台 |
CN116159253B (zh) * | 2023-04-21 | 2023-06-27 | 智维精准(北京)医疗科技有限公司 | 一种加速器 |
CN116899121A (zh) * | 2023-06-30 | 2023-10-20 | 迈胜医疗设备有限公司 | 放射治疗的转运抓取系统、转运抓取方法及放射治疗系统 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1537656A (zh) * | 2003-10-22 | 2004-10-20 | 高春平 | 多维运动床术中放射治疗装置 |
CN101244317A (zh) * | 2007-02-16 | 2008-08-20 | 三菱重工业株式会社 | 医疗装置 |
CN102019041A (zh) * | 2009-09-17 | 2011-04-20 | 衣海燕 | 立体定向放射治疗装置 |
CN103071241A (zh) * | 2011-10-25 | 2013-05-01 | 苏州雷泰医疗科技有限公司 | 立体定位放射治疗装置 |
CN103143124A (zh) * | 2013-04-06 | 2013-06-12 | 成都威铭科技有限公司 | 机器人无创放射治疗系统 |
CN203280909U (zh) * | 2012-08-20 | 2013-11-13 | 梁军 | 一种放射治疗系统 |
CN104307114A (zh) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | 五自由度o型臂放射治疗系统 |
CN204121623U (zh) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | 五自由度o型臂放射治疗系统 |
CN204170301U (zh) * | 2014-10-20 | 2015-02-25 | 苏州大学张家港工业技术研究院 | 放射治疗系统 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1043320A (ja) * | 1996-07-31 | 1998-02-17 | Shimadzu Corp | 放射線治療計画用シュミレータシステム |
US7239684B2 (en) * | 2005-02-28 | 2007-07-03 | Mitsubishi Heavy Industries, Ltd. | Radiotherapy apparatus monitoring therapeutic field in real-time during treatment |
DE102005041606B4 (de) * | 2005-09-01 | 2007-09-27 | Siemens Ag | Patientenpositioniervorrichtung für die Strahlentherapie |
CN2841062Y (zh) * | 2005-11-01 | 2006-11-29 | 武汉世纪金桥数据系统有限公司 | 数控适形治疗床 |
US9687200B2 (en) * | 2010-06-08 | 2017-06-27 | Accuray Incorporated | Radiation treatment delivery system with translatable ring gantry |
EP2861148B1 (en) * | 2012-06-14 | 2020-08-19 | Mobius Imaging, LLC | Vertical scan imaging system |
US9839400B2 (en) * | 2014-05-09 | 2017-12-12 | Toshiba Medical Systems Corporation | X-ray CT apparatus including air inlet and air outlet connected by a path including a controller |
CN204219617U (zh) * | 2014-10-20 | 2015-03-25 | 苏州大学张家港工业技术研究院 | 六自由度并联放射治疗床 |
US9974496B2 (en) * | 2015-12-31 | 2018-05-22 | Shanghai United Imaging Healthcare Co., Ltd. | Radiation therapy positioning system |
-
2014
- 2014-10-20 CN CN201410557823.4A patent/CN104307113B/zh active Active
- 2014-12-08 US US15/519,425 patent/US10293186B2/en active Active
- 2014-12-08 AU AU2014409423A patent/AU2014409423B2/en active Active
- 2014-12-08 WO PCT/CN2014/093215 patent/WO2016061877A1/zh active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1537656A (zh) * | 2003-10-22 | 2004-10-20 | 高春平 | 多维运动床术中放射治疗装置 |
CN101244317A (zh) * | 2007-02-16 | 2008-08-20 | 三菱重工业株式会社 | 医疗装置 |
CN102019041A (zh) * | 2009-09-17 | 2011-04-20 | 衣海燕 | 立体定向放射治疗装置 |
CN103071241A (zh) * | 2011-10-25 | 2013-05-01 | 苏州雷泰医疗科技有限公司 | 立体定位放射治疗装置 |
CN203280909U (zh) * | 2012-08-20 | 2013-11-13 | 梁军 | 一种放射治疗系统 |
CN103143124A (zh) * | 2013-04-06 | 2013-06-12 | 成都威铭科技有限公司 | 机器人无创放射治疗系统 |
CN104307114A (zh) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | 五自由度o型臂放射治疗系统 |
CN204121623U (zh) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | 五自由度o型臂放射治疗系统 |
CN204170301U (zh) * | 2014-10-20 | 2015-02-25 | 苏州大学张家港工业技术研究院 | 放射治疗系统 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107617168A (zh) * | 2016-07-13 | 2018-01-23 | 瑞地玛医学科技有限公司 | 一种治疗床移载装置 |
US11794036B2 (en) | 2016-11-15 | 2023-10-24 | Reflexion Medical, Inc. | Radiation therapy patient platform |
CN110248604A (zh) * | 2016-11-15 | 2019-09-17 | 反射医疗公司 | 放射治疗患者平台 |
US11975220B2 (en) | 2016-11-15 | 2024-05-07 | Reflexion Medical, Inc. | System for emission-guided high-energy photon delivery |
CN110248604B (zh) * | 2016-11-15 | 2023-07-21 | 反射医疗公司 | 放射治疗患者平台 |
CN106512235A (zh) * | 2016-11-23 | 2017-03-22 | 江苏超敏仪器有限公司 | 机械治疗椅及其控制系统 |
US11801398B2 (en) | 2018-02-13 | 2023-10-31 | Reflexion Medical, Inc. | Beam station treatment planning and radiation delivery methods |
CN109303983A (zh) * | 2018-10-29 | 2019-02-05 | 苏州雷泰医疗科技有限公司 | 一种医用加速器治疗床 |
CN109303983B (zh) * | 2018-10-29 | 2024-04-09 | 苏州雷泰医疗科技有限公司 | 一种医用加速器治疗床 |
CN109908496A (zh) * | 2019-03-27 | 2019-06-21 | 陕西华明普泰医疗设备有限公司 | 一种六自由度放射治疗床的控制方法 |
CN109908496B (zh) * | 2019-03-27 | 2020-09-15 | 陕西华明普泰医疗设备有限公司 | 一种六自由度放射治疗床的控制方法 |
CN111986822B (zh) * | 2020-07-27 | 2022-11-29 | 哈尔滨工业大学 | 一种x射线表征探测器精密调整搭载机构 |
CN111986822A (zh) * | 2020-07-27 | 2020-11-24 | 哈尔滨工业大学 | 一种x射线表征探测器精密调整搭载机构 |
Also Published As
Publication number | Publication date |
---|---|
US10293186B2 (en) | 2019-05-21 |
US20170239496A1 (en) | 2017-08-24 |
AU2014409423A1 (en) | 2017-06-08 |
CN104307113A (zh) | 2015-01-28 |
AU2014409423B2 (en) | 2019-01-17 |
CN104307113B (zh) | 2017-01-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2016061877A1 (zh) | 放射治疗系统 | |
US10709903B2 (en) | Gantry image guided radiotherapy system and related treatment delivery methods | |
JP6548665B2 (ja) | 定位式強度変調回転放射線療法の方法およびシステム | |
Remouchamps et al. | Initial clinical experience with moderate deep-inspiration breath hold using an active breathing control device in the treatment of patients with left-sided breast cancer using external beam radiation therapy | |
CN105079986B (zh) | 一种非共面放射治疗系统 | |
US8989846B2 (en) | Radiation treatment delivery system with outwardly movable radiation treatment head extending from ring gantry | |
WO2013060220A1 (zh) | 4d立体定位放射治疗装置 | |
CN204951972U (zh) | 一种非共面放射治疗系统 | |
Wu et al. | Electromagnetic detection and real-time DMLC adaptation to target rotation during radiotherapy | |
CN203379504U (zh) | 一种适用于固定式强子束的360度治疗装置 | |
US10617885B2 (en) | System and method for an intensity modulated radiation therapy device | |
CN104307114A (zh) | 五自由度o型臂放射治疗系统 | |
CN203379503U (zh) | 适用于固定式强子束的360度治疗装置 | |
CN204170301U (zh) | 放射治疗系统 | |
CN204121623U (zh) | 五自由度o型臂放射治疗系统 | |
US11179578B2 (en) | Patient positioning apparatus and method | |
US20240058624A1 (en) | Medical devices, radiation assemblies thereof, and control methods thereof | |
EP4342527A1 (en) | Image-guided radiotherapy system and method thereof | |
Gillin | Special Procedures |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14904593 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15519425 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 2014409423 Country of ref document: AU Date of ref document: 20141208 Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 14904593 Country of ref document: EP Kind code of ref document: A1 |