WO2017025067A1 - Radiotherapy device based on mechanical hand moving radiation therapy head - Google Patents

Abstract

A radiotherapy device (100) based on a mechanical hand (120) moving a radiation therapy head (110), said radiotherapy device (100) comprising: the radiation therapy head (110), comprising a shielding body (111), a source-carrying body (112) and a collimation body (113), the shielding body (111) covering the source-carrying body (112) and the collimation body (113), the collimation body (113) fitting with the source-carrying body (112); the mechanical hand (120), comprising an execution mechanism (121), a drive mechanism (122) and a control mechanism (123), the execution mechanism (121) being detachably connected to the shielding body (111), the control mechanism (123) controlling movement of the execution mechanism (121), the drive mechanism (122) driving the execution mechanism (121) so as to drive the radiation therapy head (110) to rotate or move in any direction; a therapy bed (130), arranged below the radiation therapy head (110); a source storage apparatus (140), accommodating the radiation therapy head (110) when the radiotherapy device (100) is in a completed operation state. The radiotherapy device (100) uses the mechanical hand (120) to control the radiation therapy head (110) to move accurately to a lesion position according to a therapy plan. Therapy is more flexible and the service life of the radiotherapy device (100) is extended.

Description

Radiotherapy device based on robotic mobile radiotherapy head Technical field

The invention relates to the field of radiation therapy, in particular to a radiotherapy device based on a robot moving a radiotherapy head.

Background technique

Radiation therapy is an important means of cancer treatment, and its intelligence is getting higher and higher. With the acceleration of the intelligent process, the existing traditional structure can no longer meet the positioning requirements of the treatment head during the treatment.

Among the existing treatment methods, the drum type or the bracket type is used to support and drive the treatment head to complete the treatment process. The above-mentioned radiotherapy equipment works with a large radius of gyration, and the corresponding whole device is bulky, which makes the positioning flexibility poor. Moreover, in the early development, designers need to spend a large part of their energy on the design of peripheral structures, such as the weight of the radiotherapy head. There is also a way to use a robot as a drive to control the treatment of the radiation therapy head, but this method is also difficult to achieve because the weight of the radiation therapy head is too large to exceed the weight of the grasping weight of the robot.

Summary of the invention

The technical problem to be solved by the present invention is to provide a radiotherapy apparatus based on a robot to move a radiotherapy head, which can be controlled by a robot to control a radiotherapy head, can be positioned to a designated position in any space, and is convenient for storing a radiotherapy head and a robot. Precision.

In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a radiotherapy apparatus based on a robot moving a radiotherapy head, which includes a radiotherapy head, a robot, a treatment bed, and a storage device, and the radiotherapy head includes a shield. The body, the carrier body and the collimator body, the shielding body covers the carrier body and the collimating body, and the collimating body is attached to the carrier body; the manipulator comprises an actuator, a driving mechanism and a control mechanism, and the detachable connecting shield of the actuator Control agency The movement of the driving mechanism is controlled such that the actuator drives the radiotherapy head to rotate or move in any direction; the treatment bed is disposed below the radiotherapy head; and the storage device receives the radiotherapy head when the radiotherapy device is in an inoperative state.

Wherein, the first through hole is disposed on the source body, the radio source body is disposed in the first through hole, and the second through hole is disposed on the collimating body, the first through hole is aligned with the second through hole; the shielding body includes the upper shielding hemisphere And the lower shielding hemisphere, wherein the lower shielding hemisphere is an inner hollow truncated cone structure, and the hollow portion provides a receiving space for placing the source body and the collimating body.

Wherein, the distance between the adjacent two second through holes on the surface of the collimating body away from the carrier body approaches 0, and the angle between the axes of the adjacent two second through holes approaches 0°.

The extension line aligned with the first through hole and the second through hole converge on the center of the carrier body.

Wherein, the carrier of the radiotherapy head is a spherical structure, and the curvature of the spherical structure is less than or equal to 120°.

Wherein, the radiotherapy apparatus comprises an image positioning device, the robot further comprises a driving device, and the image positioning device is connected to the driving device to control the movement of the radiotherapy head by the robot.

Wherein, the radiotherapy device comprises a control device connected to the image positioning device, so that the robot drives the radiotherapy head to move according to a predetermined treatment plan setting.

Among them, the robot and the radiotherapy head are connected by any one of clamping, holding, adsorption and hinge.

Wherein, the storage device is a sealed box body.

Different from the prior art, the radiotherapy device based on the robot mobile radiotherapy head of the invention has a close order of radioactive sources inside the radiotherapy head, reduces the volume and weight of the radiotherapy head, and enables the robot to control the radiotherapy head to the space. Designated position movement, improve the flexibility of radiotherapy equipment, and use the storage device to properly preserve the radiotherapy head when the radiotherapy equipment is not working, prolong the service life of the radiotherapy head and the manipulator, without the need to develop the robot, so that the radiotherapy equipment Developers focus on research and development of radiotherapy heads.

DRAWINGS

1 is a schematic structural view of a first embodiment of a radiotherapy apparatus based on a robotic mobile radiotherapy head provided by the present invention;

2 is a top plan view of a carrier body in a radiotherapy head of a radiotherapy apparatus based on a robotic mobile radiotherapy head provided by the present invention;

3 is a schematic cross-sectional view of a carrier in a radiotherapy head of a radiotherapy apparatus based on a robotic mobile radiotherapy head provided by the present invention;

4 is a schematic structural view of a second embodiment of a radiotherapy apparatus based on a robotic mobile radiotherapy head provided by the present invention.

detailed description

The technical solution of the present invention will be further described in detail below in conjunction with specific embodiments. It is apparent that the described embodiments are only a part of the embodiments of the invention, and not all of them. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of the present invention.

A robot is an automatic operating device that mimics certain movement functions of the human arm and grabs, transports, or manipulates tools according to a fixed procedure. However, when the robot grabs the item, there is a limit to the quality of the item being grabbed. Applying the robot to the radiotherapy device, using the robot to control the radiotherapy head of the radiotherapy device, the radiotherapy head can be moved to a designated position according to the treatment plan without the need to send the patient to the focus position of the radiotherapy head like a conventional radiotherapy device. Can improve the agility of radiotherapy. However, the existing radiotherapy head has a complicated structure, a large weight and a large volume, which exceeds the quality limit that the robot can grasp. Therefore, it is necessary to provide a radiotherapy head with a quality within the limits of the robot's grasping to cooperate with the robot.

Referring to FIG. 1 , FIG. 2 and FIG. 3 , FIG. 1 is a schematic structural diagram of a radiotherapy apparatus based on a robot moving radiotherapy head according to the present invention, and FIG. 2 is a radiotherapy apparatus based on a robot mobile radiotherapy head provided by the present invention. A top view of a carrier body in a radiotherapy head, and FIG. 3 is a schematic cross-sectional view of a radiotherapy head of a radiotherapy apparatus of the present invention. The radiotherapy apparatus 100 includes a radiotherapy head 110, a robot 120, a treatment bed 130, and a storage device 140. Wherein, the radiotherapy head 110 is connected to the robot 120, and the treatment bed 130 is placed. Below the radiotherapy head 110, the source device 140 is placed anywhere below or on the side of the bed of the treatment bed 130.

More specifically, the radiotherapy head 110 is a device that emits radiation to radiotherapy a patient, and includes a shield 111, a carrier 112, and a collimator 113. In the present invention, in order to make the weight of the radiotherapy head 110 within the weight range in which the robot 120 can grasp the article, it is necessary to reduce the weight of the shield 111, the carrier 112, and the collimator 113. The mass of the radiation treatment head 110 can be reduced to reduce its mass.

A plurality of first through holes 1121 are disposed on the carrier body 112. The first through holes 1121 are arranged in a spiral shape, and the shape is configured as shown in FIG. The carrier body 112 of the present invention has a spherical surface and a certain thickness, and the spherical structure has a curvature value of less than or equal to 120°. The carrier body 112 has a first surface 1122 and a second surface 1123. The first surface 1122 has an area larger than the second surface 1123. A plurality of first through holes 1121 are arranged in the spiral shape in the carrier body 112. As shown in FIG. 2, the first through holes 1121 penetrate the source body 112.

The collimator 113 is attached to the second surface 1123 of the source body 112, and the carrier body 112 and the collimator 113 are relatively rotatable. A second through hole 1131 penetrating through the collimating body 113 is disposed, and the second through hole 1131 is also spirally arranged on the collimating body 113. To ensure that the weight of the radiotherapy head 110 is within the weight range of the graspable article of the robot 120, the edge spacing of any two adjacent second through holes 1131 disposed on the collimating body 113 should be as small as possible. In the present invention, the edge spacing of any two adjacent second through holes 1131 approaches zero, that is, the adjacent two second through holes 1131 are tangent on the surface of 1132, thereby reducing the collimating body 113. Volume and quality. The second through hole 1131 is arranged in a cylindrical shape, and the angle between the straight lines of the adjacent second through holes 1131 is set to be close to 0°, ensuring the volume and quality of the carrier body 112 and the collimator 113. As small as possible. The first through hole 1121 and the second through hole 1131 are disposed at the same angle. When the carrier body 112 and the collimating body 113 are relatively rotated, the first through hole 1121 and the second through hole 1131 can be aligned. The first through hole 1121 and the second through hole 1131 are in phase error. A radioactive source body is placed in the first through hole 1121 of the carrier 112. When the first through hole 1121 and the second through hole 1131 are aligned, the first through hole 1121 and the second through hole 1131 are connected to a channel through which the radiation can be emitted, and finally irradiated to the patient's lesion according to the treatment plan for treatment; When the first through hole 1121 and the second through hole 1131 are in phase error, the propagation path of the radiation is collimated 113 Blocking and shielding.

Further, the second through holes arranged in the spiral arrangement on the collimating body 113 are set as the second through hole group (not shown), and the plurality of groups and the second through hole groups may be disposed on the collimating body 113. The second through hole groups are arranged in the same manner, and the second through hole groups have different aperture sizes. When the carrier body 112 and the collimating body 113 are relatively rotated, the first through holes 1121 of the carrier body 112 may be different from the second ones due to the different apertures of the second through holes included in the different second through hole groups. When the through hole groups are aligned, the dose of the emitted radiation will also be different. The collimator 113 can be switched to change the dose of the radiation irradiation by aligning the first through hole 1121 on the carrier 112 and the second through hole group on the collimator 113 in accordance with the treatment plan established by the medical staff.

The shield body 111 covers the carrier body 112 and the collimator 113, and the surface on which the radiation is emitted close to the collimator 113 is opened, so that the radiation can be emitted from the shield. When all the first through holes 1121 are aligned with the second through holes 1131, all the through holes extend to the center of the carrier body 112, and when the radiation source is placed in the first through hole 1121, the radiation source emits radiation from the source. All of the first through holes 1121 are emitted to the center of the carrier body 112 via the corresponding second through holes 1131.

The robot 120 includes an actuator 121, a drive mechanism 122, and a control mechanism 123, wherein the actuator 121 is detachably coupled to the shield 113 of the radiotherapy head 110; the drive mechanism 122 controls the movement of the radiotherapy head 110 by controlling the movement of the actuator 121. The specified position moves; the control mechanism 123 specifies the movement or direction and distance of the drive mechanism 122 by programming or the like.

The treatment couch 130 is placed below the radiotherapy head 110 and the robot 120 for carrying the patient for radiotherapy.

The energy storage device 140 is placed under or on the side of the treatment bed and can be placed at any designated location. The energy storage device 140 is a sealed case made of a shielding material, including a cover 141 and a case 142. When the radiotherapy apparatus 100 is not in operation, the radiotherapy head 110 is separated from the robot 120 and placed in the energy storage device 140. The radiation overflow of the radioactive source body can be avoided, and at the same time, the robot 120 can be liberated to protect the precision of the robot 120.

The shielding body 111 includes an upper shielding hemisphere 1111 and a lower shielding hemisphere 1112. The lower shielding hemisphere 1112 is a truncated cone structure. The inside of the truncated cone structure is hollow and the upper shielding hemisphere is disposed. The first side (not labeled) of the shielding hemisphere 1111 is closed by 1111. In the present embodiment, the hollow portion is a circular table having a structure similar to or even the same as that of the lower shielding hemisphere 1112 and having a smaller volume than the lower shielding hemisphere 1112. The hollow portion penetrates the lower shield hemisphere 1112. The source body 112 and the collimator 113 are placed in the aforementioned hollow portion.

Thus, the first through hole 1121 of the carrier body 112 and the second through hole 1131 of the collimating body 113 are densely arranged, which is advantageous for reducing the volume and quality of the carrier 112 and the collimator 113. The entire radiotherapy head 200 can be reduced in weight to the weight limit of the robot (not shown).

Referring to FIG. 4, FIG. 4 is a schematic structural view of a second embodiment of a radiotherapy apparatus according to the present invention. The radiotherapy apparatus 300 includes a radiotherapy head 310, a robot 320, a treatment bed 330, a source 340, and an image locating device 350.

The structures, functions, and interconnections of the radiotherapy head 310, the robot 320, the treatment bed 330, and the storage device 340 are the same as those of the foregoing embodiment, and are not described again.

In the present embodiment, the image positioning device 350 includes an imaging device 351, an analysis device 352, and an image generation device 353. The imaging device 351 is disposed above the treatment bed 330, and generally two or more are provided. The imaging device 351 acquires the position and shape of the lesion in the patient by taking an X-ray photograph. The analysis device 352 and the image generation device 353 are connected to the medical staff computer, analyzed and processed by the analysis device 352, and the image generation device 353 synthesizes the image and displays it on the medical staff computer for observation by the doctor to formulate a treatment plan. After the image generating device 353 generates a picture of the lesion of the patient, the control unit 323 of the robot 320 controls the actuator 321 to drive the radiotherapy head 310 to accurately move to the lesion site for treatment.

The actuator 321 of the robot 320 is connected to the upper shielding hemisphere (not shown) of the carrier 311, and the connection mode is any one of clamping, holding, absorbing and bonding, or may be connected by screws or pins. . In the present embodiment, in order to make the radiotherapy head 310 firmly connected to the robot 320 during operation, and to be quickly separated from the robot 320 when the work is completed, the radiotherapy head 310 and the robot 320 are connected by screw connection.

Different from the prior art, the radiotherapy device of the invention improves the order of the radioactive sources inside the radiotherapy head by improving the internal structure of the treatment head, reduces the volume and weight of the radiotherapy head, and enables the robot to control the radiotherapy head to any designation. Position movement, improve the flexibility of radiotherapy equipment, and properly preserve the radiotherapy head when the radiotherapy equipment is not working, extend the release The life and accuracy of the illuminating treatment head and the manipulator, without the need to develop the robot, so that the developers of the radiotherapy equipment concentrate on the research and development of the radiotherapy head.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (11)

A radiotherapy apparatus based on a robot moving a radiotherapy head, comprising: a radiotherapy head comprising a shield, a carrier and a collimator, the shield encapsulating the carrier and the collimator, the collimator conforming to the carrier; a robot comprising an actuator, a drive mechanism and a control mechanism, the actuator being detachably coupled to the shield, the control mechanism controlling movement of the actuator, the drive mechanism driving the actuator to drive The radiotherapy head rotates or moves in any direction; a treatment bed disposed below the radiotherapy head; The source storage device houses the radiotherapy head when the radiotherapy device ends the working state. The radiotherapy apparatus for moving a radiotherapy head based on a robot according to claim 1, wherein a plurality of first through holes are disposed in the carrier, and a source body is disposed in the first through holes, Providing a plurality of second through holes in a straight body, the second through holes being aligned with the first through holes; the shielding body comprising an upper shielding hemisphere and a lower shielding hemisphere, wherein the lower shielding hemisphere is an inner hollow The circular table structure provides a receiving space for placing the carrier and the collimating body. The radiotherapy apparatus for removing a radiotherapy head based on a robot according to claim 2, wherein a distance between two adjacent second through holes on the surface of the collimator away from the carrier is closer to zero. The angle between the axes of the two adjacent second through holes approaches 0°. The radiotherapy apparatus for moving a radiotherapy head based on a robot according to claim 2, wherein an extension line aligned with the first through hole and the second through hole converges on a center of the carrier body position. The radiotherapy apparatus for moving a radiotherapy head based on a robot according to claim 2, wherein the second through hole arranged in a spiral shape disposed on the collimating body is a second through hole group, the collimating body A plurality of sets of the second through hole groups having different aperture sizes are disposed on the plurality of sets. The radiotherapy apparatus for removing a radiotherapy head based on a robot according to claim 1, wherein the carrier of the radiotherapy head is a spherical structure, and the curvature of the spherical structure is less than or equal to 120°. A radiotherapy apparatus based on a robotic mobile radiotherapy head according to claim 1, wherein said radiotherapy apparatus comprises an image positioning device coupled to a control mechanism of said robot, said robot being obtained according to said image positioning device The lesion location moves the radiotherapy head. The radiotherapy apparatus for moving a radiotherapy head based on a robot according to claim 7, wherein the image positioning device comprises an image pickup device, an analysis device, and an image generation device, and the image pickup device emits an X-ray photograph to obtain a position and a shape of a lesion in the patient. The analysis device and the image generation device are connected to the medical staff computer, and after analysis and processing by the analysis device, the image generation device synthesizes the image and displays it on the medical staff computer for observation by the doctor to formulate a treatment plan, and the control mechanism of the robot is based on the image The lesion image generated by the device is generated, and the control actuator drives the radiotherapy head to move to the lesion site for treatment. The radiotherapy apparatus for removing a radiotherapy head based on a robot according to claim 1, wherein the robot and the radiotherapy head are connected by any one of clamping, holding, suction, hinge, and screwing. Kind. A radiotherapy apparatus based on a robotic mobile radiotherapy head according to claim 1, wherein said source storage means is a sealed casing. A radiotherapy apparatus based on a robotic mobile radiotherapy head according to claim 10, wherein said energy storage device is made of a shielding material, including a lid and a case.

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