WO2019091269A1

WO2019091269A1 - Rack structure and radiotherapy equipment

Info

Publication number: WO2019091269A1
Application number: PCT/CN2018/110665
Authority: WO
Inventors: 刘仁庆
Original assignee: 深圳市奥沃医学新技术发展有限公司
Priority date: 2017-11-09
Filing date: 2018-10-17
Publication date: 2019-05-16
Also published as: CN107789741A

Abstract

Provided are a rack structure and a piece of radiotherapy equipment, belonging to the field of radiotherapy equipment. The rack structure comprises: a rotatable rack (1), and a therapy head (3) which is arranged on the rotatable rack (1) and can swing in an axial direction of the rotatable rack (1). The rack structure further comprises: an anti-collision detection mechanism (4) arranged on the rotatable rack (1) and located below the therapy head (3). The anti-collision detection mechanism (4) is used for forming multiple signal links that can be physically blocked; the multiple signal links are arranged along a swing trajectory of the therapy head (3) in the axial direction of the rotatable rack (1); and each of the signal links extends in a direction perpendicular to the axial direction of the rotatable rack (1) so as to cover the therapy head (3). Anti-collision detection can be performed by detecting whether a signal link is physically blocked.

Description

Rack structure and radiotherapy equipment

The present application claims priority to Chinese Patent Application Serial No. No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No.

Technical field

The present disclosure relates to the field of radiotherapy technology, and in particular to a rack structure and a radiotherapy apparatus.

Background technique

The radiotherapy apparatus is an implementation tool of the widely used radiotherapy technology, including a control mechanism, a frame structure, and FIG. 1 shows a type of rack structure, which in turn includes: a rotating rack 1 An arcuate guide rail 2a disposed on the rotating frame 1 in the axial direction; a treatment head 3 disposed on the curved rail 2a; the treatment head 3 is movable along the curved guide rail 2a, that is, the treatment head 3 is rotatable The frame 1 swings in the axial direction and can stay at any position of the curved guide rail 2a under the control of the control mechanism. At the same time, the rotating gantry 1 can also be rotated about its axis under the control of the control mechanism to drive the treatment head 3 to rotate about the treatment isocenter located on the central axis of the rotating gantry 1. In this way, the treatment head can perform non-coplanar illumination of the lesion from each non-coplanar angle position, that is, when the treatment head 3 is located at different positions on the curved guide rail 2a, the different illumination planes formed by the rotation of the rotating frame 1 are not coplanar. .

Before the patient is treated, the patient lying on the treatment bed needs to be placed, so that the patient's lesion coincides with the treatment center point, and after the position is completed, anti-collision detection is needed to avoid treatment during the treatment. The head collides with the treatment bed or the patient. The prior art performs anti-collision detection by moving the treatment head along the guide rail to different non-coplanar angle positions, and rotating the rotating frame for one non-coplanar angle for collision detection. Anti-collision detection at all non-coplanar angular positions until the treatment head is completed.

The inventors have found that the prior art has at least the following problems:

The prior art requires an anti-collision detection for each non-coplanar angular position of the treatment head, which is cumbersome, time consuming and laborious, and is not conducive to the health of the operator in a radiation environment.

Summary of the invention

Embodiments of the present disclosure provide a rack structure and a radiotherapy apparatus that can solve the above technical problems. The specific technical solutions are as follows:

In one aspect, a rack structure is provided, comprising: a rotating gantry, a treatment head disposed on the rotating gantry and capable of swinging in an axial direction of the rotating gantry, wherein the rack The structure further includes: an anti-collision detecting mechanism disposed on the rotating frame and located under the treatment head;

The anti-collision detecting mechanism is configured to form a plurality of signal links that can be physically separated;

a plurality of the signal links are arranged along a swinging trajectory of the treatment head in the axial direction of the rotating frame;

Each of the signal links extends in a direction perpendicular to the axial direction of the rotating gantry to cover the treatment head.

In a possible design, the anti-collision detecting mechanism and the lower edge of the treatment head are disposed with a preset spacing;

The preset spacing is used to prevent false detections and is used to perform pre-detection before a collision event occurs.

In a possible design, the anti-collision detecting mechanism includes: a signal generating member and a signal receiving member disposed opposite to the rotating frame;

The signal generating member is configured to form a signal source arranged along a swinging track of the treatment head in an axial direction of the rotating frame;

The signal receiving member is configured to form a signal receiving point arranged along a swinging track of the treatment head in an axial direction of the rotating frame;

A signal source is formed between the opposite signal source and the signal receiving point.

In a possible design, the signal generating component comprises: a plurality of signal generators, wherein the plurality of signal generators are arranged along a swinging trajectory of the treatment head in the axial direction of the rotating frame;

Correspondingly, the signal receiving member comprises: a plurality of signal receivers, the plurality of signal receivers being arranged along a swinging trajectory of the treatment head in the axial direction of the rotating frame.

In a possible design, the signal generating component comprises: a signal generator, a plurality of transmitting points on the signal generator, and a plurality of the transmitting points along the therapeutic head in the rotating frame Arranging the oscillating trajectory in the axial direction;

Correspondingly, the signal receiving component comprises: a signal receiver, wherein the signal receiver is provided with a plurality of receiving points, and the plurality of receiving points are located along the treatment head in the axial direction of the rotating frame The swinging track is arranged.

In a possible design, the signal generator is an ultrasonic generator, an electromagnetic wave generator, a laser generator, an infrared generator or a visible light generator;

Correspondingly, the signal receiver is an ultrasonic receiver, an electromagnetic wave receiver, a laser receiver, an infrared receiver or a visible light receiver.

In a possible design, the anti-collision detecting mechanism includes: a plurality of signals disposed on the rotating frame and arranged along a swinging track of the treatment head in the axial direction of the rotating frame And receiving parts;

Each of the signal generating and receiving means is for forming one of the signal links.

In one possible design, the signal generating and receiving member is an ultrasonic probe.

In a possible design, the rotating frame is provided with an arc-shaped guide rail extending axially along the rotating frame, and the treatment head is movably disposed on the curved rail to follow the The curved guide rail swings in the axial direction of the rotating frame.

In a possible design, the rotating frame is provided with a linear guide extending axially along the rotating frame, the treatment head is movably disposed on the linear guide, and the treatment head and the linear guide pivot Connected to swing in the axial direction of the rotating frame.

In a possible design, the rack structure further includes: an anti-collision control module; the anti-collision control module is electrically connected to the anti-collision detecting mechanism for controlling the operation of the anti-collision detecting mechanism, And acquiring information on whether the signal link formed by the collision avoidance detecting mechanism is blocked.

In a possible design, the anti-collision control module includes: a control unit electrically connected to the signal generating component and the signal receiving component, or electrically connected to the signal generating and receiving component, Sending an on/off command;

a detecting unit, electrically connected to the signal receiving component, or electrically connected to the signal generating and receiving component, configured to detect whether the signal link is blocked;

a processing unit, electrically connected to the detecting unit, configured to receive a detection result of the detecting unit, and perform an analysis process on the detection result;

a display unit electrically connected to the processing unit for receiving a processing result of the processing unit and displaying the same.

In a possible design, the rack structure further includes: an alarm module electrically connected to the processing unit, configured to receive a processing result of the processing unit, and when the processing result indicates that a collision event is about to When it occurs, the alarm module sends an alarm signal.

In a possible design, the frame structure further includes: a protection mechanism disposed on a lower end surface of the treatment head;

When the protection mechanism is collided, the rotating gantry and/or the treatment head are stopped.

In a possible design, the protection mechanism comprises: a micro switch disposed on the treatment head;

a protective cover that is disposed up and down on the lower end surface of the treatment head;

When the protective cover is collided, the micro switch is touched to stop the rotating frame and/or the treatment head.

In one possible design, the rotating frame is a roller or a C-arm.

In a second aspect, there is provided a radiotherapy apparatus comprising any of the rack structures mentioned in the first aspect.

The beneficial effects brought by the technical solutions provided by the embodiments of the present disclosure are:

The rack structure provided by the embodiment of the present disclosure is provided with an anti-collision detecting mechanism, and anti-collision detection can be performed by detecting whether a signal link extending in a direction perpendicular to the axial direction of the rotating rack is blocked. Since the plurality of signal links are arranged along the oscillating trajectory of the treatment head in the axial direction of the rotating gantry so that the signal covers all non-coplanar angular positions of the treatment head in the axial direction of the rotating gantry, it is only necessary to rotate the gantry After one rotation, the anti-collision detection of the treatment head at all non-coplanar angle positions can be completed at one time, the operation is simple, the operation time is significantly shortened, and the time and labor are saved.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present disclosure. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic view showing a first type of structure of a frame structure when the rotating frame is a roller structure and the guide rail is an arc-shaped guide rail according to an embodiment of the present disclosure;

2 is a partial structural schematic diagram of the guide frame, the treatment head, and the anti-collision detection mechanism abstracted from the frame structure of FIG. 1 according to an embodiment of the present disclosure;

3 is a schematic view showing a second type of structure of the frame structure when the rotating frame is a roller structure and the guide rail is an arc-shaped guide rail according to an embodiment of the present disclosure;

4 is a schematic structural view of a frame structure when the rotating frame is a roller structure, the guide rail is a linear guide rail, and the treatment head is pivotally connected to the guide rail according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a protection mechanism according to an embodiment of the present disclosure.

1 , 3 and 4 each show a state in which the treatment head is swung in the axial direction of the rotating gantry to two non-coplanar angular positions, and 4a (4b) in FIG. 1 and FIG. Both represent that the signal generating member 4a is opposed to the signal receiving member 4b one by one.

The reference numerals indicate:

1-rotating the rack,

2a-arc guide, 2b-linear guide, 201-drive motor, 202-drive gear,

3-treatment head, 301-curved rack,

4-anti-collision detection mechanism, 4a-signal generating part, 4b-signal receiving part, 4c-signal generating and receiving part,

5-protection mechanism,

5a-micro switch,

5b-protective cover,

M-patient,

X-treatment bed.

Detailed ways

Unless otherwise defined, all technical terms used in the embodiments of the present disclosure have the same meaning as commonly understood by those skilled in the art. The embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

An embodiment of the present disclosure provides a rack structure, as shown in FIG. 1, the rack structure includes: a rotating rack 1 disposed on the rotating rack 1 and capable of swinging in the axial direction of the rotating rack 1 Treatment head 3. Further, the rack structure further includes an anti-collision detecting mechanism 4 disposed on the rotating gantry 1 and located below the treatment head 3.

The collision avoidance detecting mechanism 4 is configured to form a plurality of signal links that can be physically separated;

a plurality of said signal links are arranged along the oscillating track of the treatment head 3 in the axial direction of the rotating gantry 1;

Each of the signal links extends in a direction perpendicular to the axial direction of the rotating gantry 1 to cover the treatment head 3.

Wherein, for the treatment head 3 to swing in the axial direction of the rotating frame 1, the frame structure shown in FIG. 1 can be referred to, and the rotating frame 1 is provided with an arc-shaped guide rail 2a extending along the axial direction thereof, and the treatment head 3 is disposed at On the curved guide rail 2a, and the treatment head 3 can be moved along the curved guide rail 2a, so that the treatment head 3 can swing in the axial direction of the rotary gantry 1.

The rack structure provided by the embodiment of the present disclosure can perform anti-collision detection on the patient M or the treatment bed X, and the anti-collision detection principle is as follows:

By providing an anti-collision detection mechanism 4 below the treatment head 3, it is possible to form a plurality of signal links that can be physically blocked, i.e., when a collision event occurs, the patient M or the treatment bed X can block the signal link. Since the plurality of signal links are arranged along the oscillating path of the treatment head 3 in the axial direction of the rotating gantry 1 so that the signal covers all the swing positions of the treatment head 3 in the axial direction of the rotating gantry 1, the disposable treatment head is facilitated. 3 Anti-collision detection is performed at all non-coplanar angular positions in the axial direction of the rotating gantry 1. Since each signal link extends in a direction perpendicular to the axial direction of the rotating gantry 1 to cover the treatment head 3, such that the treatment head 3 is at or corresponding to a collision with the patient M or the treatment bed X, at a corresponding position The signal link can be blocked by the patient M or the treatment bed X, and in the normal state in which no collision event occurs, each signal link is not blocked by the patient M or the treatment bed X. It can be seen that the embodiment of the present disclosure can detect whether a collision event occurs by detecting whether the signal link is blocked by setting the anti-collision detecting mechanism 4 as above. Moreover, when the signal link is blocked, the position at which the collision event occurs can be obtained by acquiring the position where the signal link is blocked.

Specifically, when anti-collision detection is performed, the treatment head 3 can be fixed at any position in the axial direction of the rotating gantry 1 to rotate the rotating gantry 1 about its axis, in the process, if collision detection is performed The multiple signal links formed by the mechanism 4 are not blocked, indicating that the treatment head 3 does not collide with the patient M or the treatment bed X at all non-coplanar angle positions during the treatment, and vice versa if the collision detection is performed. The presence of a blocked signal link in the plurality of signal links formed by the mechanism 4 indicates that during the treatment, the treatment head 3 will be at the non-coplanar angular position where the blocked signal link is located, and will be associated with the patient M or The treatment bed X collides.

In summary, the rack structure provided by the embodiment of the present disclosure is provided with an anti-collision detecting mechanism 4, which can be prevented by detecting whether the signal link extending in the direction perpendicular to the axial direction of the rotating rack 1 is blocked. Impact checking. Since a plurality of signal links are arranged along the oscillating path of the treatment head 3 in the axial direction of the rotating gantry 1 so that the signal covers all non-coplanar angular positions of the treatment head 3 in the axial direction of the rotating gantry 1, The collision detecting mechanism 4 simulates all non-coplanar angular positions of the treatment head 3 in the axial direction of the rotating frame 1, so that only one rotation of the rotating frame 1 is required, that is, the treatment head 3 can be completed at all non-coplanar angle positions at one time. The anti-collision detection does not need to rotate the frame 1 for one rotation every time the treatment head moves to a non-coplanar angle position for anti-collision detection. The technical solution of the present application is simple in operation, significantly shortens the operation time, and saves time and labor.

It can be understood that, in the anti-collision detection before the treatment, the patient M is located on the treatment bed X, and at the same time, the treatment bed X is located in the rotating gantry 1, that is, the patient M is located below the treatment head 3, and the collision avoidance detecting mechanism 4 Also disposed below the treatment head 3, but above the patient M and the treatment bed X, when the patient M or the treatment bed X does not collide with the treatment head 3, the signal link formed by the collision avoidance detecting mechanism 4 will not be blocked. On the contrary, it is blocked by the patient M or the treatment bed X. Based on the above, the embodiment of the present disclosure sets the collision prevention detecting mechanism 4 and the lower edge of the treatment head 3 with a preset pitch for preventing erroneous detection and for performing pre-detection before a collision event occurs.

For "preventing false detection", it means that the signal link formed by the collision avoidance detecting mechanism 4 cannot be used by the patient M when the patient M and the treatment bed X are in a normal state when they do not collide with the treatment head 3. Separated from the treatment bed X, in order to prevent false detection and improve the reliability of collision detection;

For "pre-detection before a collision event occurs", it means that when the patient M and the treatment bed X are in a collision state in which a collision event actually occurs, the collision prevention detecting mechanism 4 is formed before the collision event is about to occur. The signal link can be blocked by the patient M or the treatment bed X. This setting not only ensures accurate detection of the occurrence of a collision event, but also enables pre-detection before the collision event, facilitating early warning operations or manual intervention. To avoid the collision event actually happening.

It can be seen that the preset spacing between the anti-collision detecting mechanism 4 and the lower edge of the treatment head 3 is only required to satisfy the above two conditions.

As mentioned above, the signal link formed by the collision avoidance detecting mechanism 4 must be perpendicular to the axial direction of the rotating gantry 1, thereby ensuring that the patient M or the treatment bed X located under the treatment head 3 can block the collision event when the collision event actually occurs. Signal link. Based on this, several examples are given below regarding the structure of the collision avoidance detecting mechanism 4:

(1) As an example:

As shown in FIG. 2, the collision avoidance detecting mechanism 4 includes: a signal generating member 4a and a signal receiving member 4b disposed opposite to the rotating frame 1;

The signal generating member 4a is for forming a signal source arranged along the swinging track of the treatment head 3 in the axial direction of the rotating gantry 1;

The signal receiving member 4b is configured to form a signal receiving point arranged along the oscillating trajectory of the treatment head 3 in the axial direction of the rotating gantry 1;

By relatively arranging the signal generating member 4a and the signal receiving member 4b on the rotating gantry 1, the signal source formed by the signal generating member 4a can transmit a signal and is received by a signal receiving point formed by the signal receiving member 4b, that is, one-to-one relative The signal link described above can be formed between the signal source and the signal receiving point. Moreover, both the signal source and the signal receiving point are arranged along the oscillating trajectory of the treatment head 3 in the axial direction of the rotating gantry 1 so that the signal covers all non-coplanar angular positions of the treatment head 3 in the axial direction of the rotating gantry 1. To ensure the reliability of anti-collision detection.

Based on the above example (1), as shown in FIG. 1, the rotating frame 1 is provided as a drum structure. For example, in the frame structure shown in FIG. 1, before and after the rotating frame 1 of the drum structure The inner wall is provided with an arc-shaped guide rail 2 extending along the axial direction thereof, the treatment head 3 is disposed on the curved guide rail 2a, and the treatment head 3 is movable along the curved guide rail 2a, so that the treatment head can be axially located in the drum 1 Perform an arc swing on the top. That is, the oscillating trajectory of the treatment head 3 in the left and right directions (i.e., the axial direction) of the rotating gantry 1 of the drum structure is curved, and therefore, the signal generating member 4a can be formed under the treatment head 3 along the same side. a signal source arranged in the curved guide rail 2a; the signal receiving member 4b forms a signal receiving point arranged under the treatment head 3 along the curved guide rail 2a on the same side, and the signal generating member 4a and the signal receiving member 4b may be disposed on the roller The structure is rotated on the inner wall of the frame 1.

As mentioned above, the signal generating member 4a and the signal receiving member 4b may be disposed on the inner wall of the rotating frame 1 of the drum structure, and the two may be opposite each other, in order to facilitate understanding of the positional relationship between the two and the curved rail 2a, the drum structure may be The axial direction of the rotating gantry 1 is defined as the left-right direction, and at this time, the rotation of the rotating gantry 1 will proceed in the front-rear direction. At this time, it can be understood that the two curved guide rails 2a are respectively disposed on the front and rear inner walls of the rotating gantry 1 in the left-right direction, and the signal generating member 4a and the signal receiving member 4b are also respectively disposed before and after the rotating gantry 1. On the inner wall, the signal generating member 4a on the front side is located below the curved guide rail 2a on the front side, and the signal receiving member 4b on the rear side is located below the curved guide rail 2a on the rear side.

At this time, the above-mentioned "each signal link covers the treatment head 3" can be understood as that each signal link extends from the front side inner wall of the rotating gantry 1 to the rear side inner wall at least from front to back, so that It has at least the width of the treatment head 3 in the front-rear direction to ensure the reliability of the collision avoidance detection.

On the basis of the above example (1), the following describes the arrangement of the signal generating member 4a and the signal receiving member 4b:

In one embodiment, the signal generating member 4a includes: a plurality of signal generators arranged along a swinging trajectory of the treatment head 3 in the axial direction of the rotating gantry 1;

Correspondingly, the signal receiving member 4b includes a plurality of signal receivers which are arranged along the oscillating trajectory of the treatment head 3 in the axial direction of the rotary gantry 1.

It can be understood that the signal generator is the above-mentioned signal source, and the signal receiver is the above-mentioned signal receiving point. By setting a plurality of signal generators and a plurality of signal receivers as above, in a normal state in which a collision event does not occur, a signal from the signal generator is received by a signal receiver opposite thereto, that is, a signal is formed therebetween link. Since both the signal generator and the signal receiver are arranged along the oscillating path of the treatment head 3 in the axial direction of the rotary gantry 1, the signal covers the oscillating position of the treatment head 3 in the axial direction of the rotary gantry 1.

When the rotating gantry 1 rotates, if the signal receiving member 4b at the first non-coplanar angular position can normally receive the signal transmitted by the signal generating member 4a, it is determined that the treatment head 3 is in the first non-common during the treatment. The face angle position does not collide with the patient M or the treatment bed X. If the signal receiving member 4b at the second non-coplanar angle position cannot normally receive the signal transmitted by the signal generating member 4a, it is determined that the treatment head 3 will be in contact with the patient M at the second non-coplanar angle position during the treatment. Or the treatment bed X collides.

It can be understood that the treatment head 3 has a signal emitted by the signal generator at all non-coplanar angular positions in the axial direction of the rotating gantry 1 at this time, by judging whether the signal receiver at the corresponding position is Upon receipt of this signal, it can be determined whether the treatment head 3 will collide with the patient M or the treatment bed X at different non-coplanar angular positions.

For example, as shown in FIG. 1, when two curved guide rails 2a are oppositely disposed on the front and rear inner walls of the rotating frame 1 of the drum structure, the plurality of signal generators may be curved along the inner wall of the front side. The extending direction of the guide rail 2a is provided on the front inner wall of the rotary gantry 1; at the same time, a plurality of signal receivers may be disposed on the rear inner wall of the rotary gantry 1 along the extending direction of the curved guide rail 2 on the rear inner wall.

For example, when the predetermined treatment position of the treatment head 3 in the axial direction of the rotating gantry 1 corresponds to five non-coplanar angular positions, it may be before the rotating gantry 1 corresponds to the five non-coplanar angular positions. Five signal generators and five signal receivers are respectively mounted on the rear inner wall, and each of the signal generators is in one-to-one correspondence with one signal receiver, that is, between the first signal generator and the first signal receiver Forming a first signal link, a second signal link can be formed between the second signal generator and the second signal receiver, and a fifth signal link can be formed between the fifth signal generator and the fifth signal receiver .

Of course, on the basis of the above solution, not only the installation of five signal generators and five signal receivers, but also the range of the anti-collision detection area can be further improved between any two adjacent signal generators. One or more signal generators are installed, and correspondingly one or more signal receivers are installed between any two adjacent signal receivers.

The signal generator and signal receiver can be mounted in the same way on the rotating frame 1. The following is an example of the installation of the signal generator:

The signal generator may be fixed to the rotating frame 1 by welding or the like, or may be detachably disposed on the rotating frame 1. For example, a plurality of mounting slots adapted to the outer contour of the signal generator can be arranged on the rotating frame 1 , for example, on the inner wall thereof, and the signal generator can be interference-fitted with the corresponding mounting slot by means of a heat jacket. A detachable connection between the two can be achieved.

Alternatively, a plurality of clips may be provided on the rotating frame 1, for example, on the inner wall thereof, and the detachable connection of the two may be achieved by snapping the signal generator into the corresponding clip. The clip can be an elastic clamp or the like.

Alternatively, an internally threaded hole may be provided on the rotating frame 1, for example, an inner wall thereof, and a connecting screw is provided at the connecting end of the signal generator, and the detachable connection of the connecting screw is achieved by screwing the connecting screw with the internally threaded hole.

The above description has been made on the manner in which the signal generating member 4a and the signal receiving member 4b are each provided as a plurality of independent elements. Further, the signal generating member 4a and the signal receiving member 4b may be provided as an integral element, that is, the two are separately set. Into one.

In another embodiment, the signal generating component 4a may include: a signal generator, the signal generator is provided with a plurality of transmitting points, and the plurality of transmitting points are located along the treatment head 3 in the rotating frame 1 axial direction. The upper swing track is arranged;

Correspondingly, the signal receiving member 4b comprises: a signal receiver, the signal receiver is provided with a plurality of receiving points, and the plurality of receiving points are arranged along the oscillating track of the treatment head 3 in the axial direction of the rotating gantry 1.

For example, as shown in FIG. 1, when two curved guide rails 2a are oppositely disposed on the front and rear inner walls of the rotating frame 1 of the drum structure, the signal generator is provided with a plurality of portions along the front side inner wall. The emission point of the curved guide rail 2a is arranged, and the emission potential is the signal source; at the same time, the signal receiver is provided with a plurality of extending directions along the curved inner rail 2a on the inner wall of the rear side. The receiving point of the cloth, at this time, the receiving point is the above-mentioned signal receiving point.

The signal generating member 4a has a plurality of transmitting points to simultaneously transmit a plurality of signals along the swinging locus of the treatment head 3 in the axial direction of the rotating gantry 1, and the signal receiving member 4b may have a plurality of receiving points for corresponding receiving A signal from a relative transmit point. The plurality of transmitting points are in one-to-one correspondence with the receiving points, and the working principle is the same as that of the above multiple signal generators and multiple signal receivers, and the embodiments of the present disclosure are not described in detail herein.

Since the signal link between the signal generating component 4a and the signal receiving component 4b can be physically blocked, that is to say at least can be blocked by the patient M and the treatment bed X, based on this, the signal generator provided by the embodiment of the present disclosure may be Ultrasonic generator, electromagnetic wave generator, laser generator, infrared generator or visible light generator. Correspondingly, the signal receiver can be an ultrasonic receiver, an electromagnetic wave receiver, a laser receiver, an infrared receiver or a visible light receiver.

(2) as another example

As shown in Figure 3, the anti-collision detection mechanism 4 includes: a plurality of signal generating and receiving members 4c disposed on the rotating gantry 1 and arranged along the oscillating trajectory of the treatment head 3 in the axial direction of the rotating gantry 1;

Each signal generating and receiving unit 4c is used to form a signal link.

For example, when the rotating gantry 1 is provided in a drum structure, and the front and rear inner walls are provided with two opposite curved guide rails 2a, the treatment head 3 is disposed on the curved guide rail 2a, and along the curved guide rail 2a Rotating in the axial direction of the rotating gantry 1 at this time, the oscillating trajectory of the treatment head 3 in the axial direction of the rotating gantry 1 is curved, so that a plurality of signal generating and receiving members 4c can be set in the rotating machine One of the front and rear sides of the frame 1 is disposed on one of the inner walls, and is arranged along the curved guide rail 2a on the side.

The embodiment is suitable for generating a signal by itself, and when the signal encounters an obstacle, the signal can be returned by the original path and the receiving component 4c, that is, each signal generating and receiving component 4c is used to form a signal link. . Under normal conditions when a collision event does not occur, and a signal generating member receiving signals emitted 4c, encounter the inner wall of the drum 1 on its propagation path, it will be returned, and the receiving signal generating member 4c received at time T ₁ Returning the signal, that is, forming a signal link; in the collision state in which a collision event occurs or is about to occur, once the signal link is blocked by the patient M or the treatment bed X, the signal generation and receiving member 4c will be in the T after the signal is sent. _{At 2} o'clock, a return signal is received, where T ₂ <T ₁ . That is, by detecting the return timing of the signal, collision avoidance detection can be performed.

Specifically, the signal generating and receiving member 4c may be an ultrasonic probe.

It will be understood by those skilled in the art that for the radiotherapy apparatus, the treatment head 3 can be realized by providing a guide rail extending along the axial direction thereof on the rotating gantry 1 and movably disposing the treatment head 3 on the guide rail. The swinging of the rotating frame 1 in the axial direction; the rotating frame 1 itself can also be swung in its axial direction by the deflecting mechanism, thereby driving the treatment head 3 disposed thereon to swing in its axial direction.

A guide rail may be disposed on the rotating frame 1, or two guide rails may be oppositely disposed. Also, the guide rail may be an arc guide rail 2a or a linear guide rail 2b.

As an example, in the embodiment of the present disclosure, two guide rails may be oppositely disposed on the rotating gantry 1, and the treatment head 3 is movably disposed on the two guide rails to move in the axial direction of the rotary gantry 1.

(1) When the guide rail is the curved guide rail 2a, it may be disposed on the opposite front and rear inner walls of the rotary gantry 1 along the axial direction of the rotary gantry 1. The treatment head 3 is curved in the axial direction of the rotary gantry 1 by moving on the curved guide rail 2a, see Fig. 1.

(2) When the guide rail is the linear guide 2b, it is disposed on the front and rear inner walls of the rotary gantry 1 along the axial direction of the rotary gantry 1.

Further, when the guide rail is the linear guide 2b, the treatment head 3 and the linear guide 2b are directly connected or pivoted.

When the treatment head 3 is directly connected to the linear guide 2b, the treatment head 3 will linearly oscillate along the axial direction of the rotary gantry 1.

When the treatment head 3 is pivotally connected to the linear guide 2b, the treatment head 3 can perform a curve swing synthesized by the linear motion and the pivotal motion in the axial direction of the rotary gantry 1, see FIG.

For the person skilled in the art, the rotating frame 1 of the radiation therapy device may be a roller or a C-shaped arm, and the rotating frame 1 involved in the frame structure provided by the embodiment of the present disclosure may be a roller or a C. The arm, wherein Fig. 1 shows the case where two curved guide rails 2a are provided on the rotating frame 1 of the drum structure.

The rotating frame 1 can also be provided as a C-shaped arm. In this case, in order to make the anti-collision detecting mechanism 4 form the above-mentioned plurality of signal links, the rotating head frame 1 of the C-arm structure can be disposed along the treatment head 3 in the C A bracket extending in the direction of the oscillating trajectory of the arm 1 in the axial direction is provided with an anti-collision detecting mechanism 4 on the bracket to form the plurality of signal links described above.

For example, an arcuate guide rail 2a may be disposed on the rotating frame 1 of the C-arm structure for mounting the treatment head. In this case, one or two of the above may be provided on the rotating frame 1 of the C-arm structure. The bracket is provided with an anti-collision detecting mechanism 4 on the bracket.

In order to achieve the real-time control of the above-mentioned anti-collision detection, and improve the detection efficiency and accuracy, the embodiment of the present disclosure may further improve the control mechanism included in the radiotherapy apparatus itself, so that the control mechanism further includes an anti-collision detection mechanism 4 An anti-collision control module that controls the operation process.

The anti-collision control module is electrically connected to the anti-collision detecting mechanism 4 for controlling the operation of the anti-collision detecting mechanism 4 and acquiring information on whether or not the signal link formed by the anti-collision detecting mechanism 4 is blocked.

As an example, the anti-collision control module may include: a control unit electrically connected to the signal generating component 4a and the signal receiving component 4b, or electrically connected to the signal generating and receiving component 4c for generating multiple signals. And a plurality of signal receivers, or send an on/off command to the signal generating and receiving unit 4c to control their switches;

The detecting unit is electrically connected to the signal receiving component 4b or electrically connected to the signal generating and receiving component 4c for detecting whether the signal link is blocked;

The processing unit is electrically connected to the detecting unit, configured to receive the detection result of the detecting unit, and analyze and process the detection result;

The display unit is electrically connected to the processing unit and configured to receive the processing result of the processing unit and display the same.

It can be understood that the processing result of the processing unit includes two types: first, a collision event does not occur, and second, a collision event is about to occur or has occurred.

For example, if five-to-one corresponding signal generators and signal receivers are respectively disposed on the front and rear inner walls of the rotating gantry 1, respectively, corresponding to the five presets of the treatment head 3 in the axial direction of the rotating gantry 1 respectively. The non-coplanar angle position is when the detecting unit detects that the third signal receiver has not received the signal from the third signal generator and sends the detection result to the processing unit. After the processing unit analyzes the detection result, the processing result that the collision event has occurred or is about to occur is acquired and sent to the display unit for display. At this time, the medical staff or the operator can know that the collision of the treatment head 3 in the axial direction of the rotating frame 1 to the third non-coplanar angle position occurs.

Further, once the processing unit determines that a collision event occurs, in order to quickly acquire the non-coplanar angle position at which the treatment head 3 is located, the anti-collision control module may further include: a position acquisition unit, configured to acquire a signal that cannot normally receive the signal. The position information of the signal receiver is sent to the display unit for display.

The rack structure provided by the embodiment of the present disclosure may further include: an alarm module, the alarm module and the processing unit, in order to prevent the collision event of the treatment head 3 and the patient M and the treatment bed X from occurring. The connection is used to receive the processing result of the processing unit, and when the processing result indicates that the collision event is about to occur, the alarm module sends an alarm signal, such as an alarm sound or an alarm light, to facilitate intervention of the operation of the rack structure.

The intervention can be either manual or automated. Considering that the automatic intervention has the advantage of quick response, it can be carried out by means of automatic intervention. Based on this, the alarm module can also be electrically connected to the control mechanism of the radiation therapy device, and the alarm module sends an alarm signal to the control mechanism, and the control mechanism sends the alarm signal to the rotating frame 1 and/or the treatment head 3 according to the alarm signal. The instruction to stop the job stops the operation by both, so as to avoid the actual occurrence of the collision event.

Further, as shown in FIG. 5, the rack structure provided by the embodiment of the present disclosure further includes: a protection mechanism 5 disposed at a lower end surface of the treatment head 3, when the protection mechanism 5 is collided, the rotating frame 1 and/or The treatment head 3 stops working.

By providing the protection mechanism 5, when the treatment head 3 is about to collide with the patient M or the treatment bed X, the protection mechanism 5 first collides with the patient M or the treatment bed X. At this time, the protection mechanism 5 stops the frame structure. This avoids a real collision between the patient M or the treatment bed X and the treatment head 3.

As an example, as shown in Figure 5, the protection mechanism 5 includes: a micro switch 5a disposed on the treatment head 3;

a protective cover 5b which is arranged up and down on the lower end surface of the treatment head 3;

When the protective cover 5b is collided, the micro switch 5a is touched to stop the rotating gantry 1 and/or the treatment head 3.

By providing the protective cover 5b on the lower end surface of the treatment head 3 so as to be up and down, when the treatment head 3 is about to collide with the patient M or the treatment bed X, the protective cover 5b first collides with the patient M or the treatment bed X. When a collision occurs, the protective cover 5b can move upward and touch the micro switch 5a inside thereof, thereby stopping the rotation of the rotating frame 1 and/or stopping the treatment head 3.

The micro switch 5a may also be disposed on the lower end surface of the treatment head 3, and the micro switch 5a may be housed inside the protective cover 5b.

The following is an explanation of how the micro switch 5a stops the rotating frame 1 and the treatment head 3: the micro switch 5a is electrically connected to the control mechanism of the radiation therapy device, and when the micro switch 5a is touched, Sending a collision signal to the control mechanism, after receiving the collision signal, the control mechanism will issue a command to stop the rotation of the rotating gantry 1 and/or the treatment head 3, thereby stopping the rotation of the rotating gantry 1 and/or stopping the treatment head 3. operation.

There is a certain distance between the protective cover 5b and the micro switch 5a, and the spacing must satisfy the following two conditions: First, the protective cover 5b does not contact the micro switch 5a when it is not collided; When the protective cover 5b is collided, it immediately collides with the micro switch 5a.

In addition, the micro switch 5a can be connected to the treatment head 3 through the switch holder for stable mounting. In summary, the rack structure and the protection mechanism provided by the embodiments of the present disclosure can perform double anti-collision protection for the radiotherapy apparatus: first, when the patient M or the treatment bed X is about to collide with the treatment head 3, the patient M or the treatment The bed X will first trigger the alarm module, and the alarm module will send out an alarm signal to facilitate intervention. For example, the alarm signal is used to inform the therapist that a collision event is about to occur, and the treating physician can observe whether it is necessary to take measures to avoid or reduce the collision event. The probability of occurrence; secondly, once the patient M or the treatment bed X collides with the protection mechanism 5 on the treatment head 3, the radiation therapy device will stop running, that is, stop the rotation and the beam, avoid damage to the radiation therapy device or collide with the patient M .

It will be understood by those skilled in the art that the manner in which the treatment head 3 is disposed on the rotating gantry 1, the manner in which the guide rails are disposed on the rotating gantry 1, and the manner in which the treatment head 3 is disposed on the guide rail are all common in the art. The embodiment of the present disclosure herein combines the rotating frame 1 of the drum structure, the curved guide rail 2a and the treatment head 3, and gives an exemplary explanation of the arrangement of the three:

A receiving groove is formed in the wall of the rotating frame 1 of the drum structure for accommodating the treatment head 3, and the curved guide rail 2a is disposed in the axial direction on the front and rear ends of the receiving groove, that is, the front and rear inner walls of the drum. As shown in Fig. 2, the treatment head 3 is disposed on the curved guide rail 2a by a rail bracket. The inner wall of the rotating frame 1 is further provided with a driving motor 201 and a transmission gear 202 coaxially connected with the driving motor 201. The treatment head 3 is provided with an arc-shaped rack 301 meshing with the transmission gear 202, the curved tooth The strip 301 is adapted to the curved guide rail 2a.

When the driving motor 201 rotates, the transmission gear 202 rotates in the home direction, and drives the curved rack 301 to move along the axial direction of the rotating frame 1, thereby driving the treatment head 3 to move along the curved guide 2a. Here, the movement distance of the treatment head 3 on the curved guide rail 2a is controlled by controlling the drive motor so that it can stay at any position on the curved guide rail 2a.

It will be understood by those skilled in the art that the rotation of the drum is also achieved by a drive motor corresponding thereto, and the embodiments of the present disclosure will not be described in detail herein.

In a second aspect, an embodiment of the present disclosure provides a radiotherapy apparatus comprising any of the rack structures mentioned in the first aspect.

Based on the above-mentioned rack structure, the radiotherapy apparatus can perform anti-collision detection before treatment efficiently, and can also alarm and stop before the collision event actually occurs, thereby realizing protection for itself.

The above description is only illustrative of the present disclosure, and is not intended to limit the disclosure. Any modifications, equivalents, improvements, etc. made within the spirit and principles of the present disclosure are intended to be included in the scope of the present disclosure. within.

Claims

A frame structure comprising: a rotating frame (1), a treatment head (3) disposed on the rotating frame (1) and capable of swinging in the axial direction of the rotating frame (1), The frame structure further includes: an anti-collision detecting mechanism (4) disposed on the rotating frame (1) and located under the treatment head (3);

The anti-collision detecting mechanism (4) is configured to form a plurality of signal links that can be physically separated;

a plurality of said signal links are arranged along a swinging trajectory of said treatment head (3) in the axial direction of said rotating gantry (1);

Each of the signal links extends in a direction perpendicular to the axial direction of the rotating gantry (1) to cover the treatment head (3).
The frame structure according to claim 1, wherein the collision avoidance detecting mechanism (4) and the lower edge of the treatment head (3) are disposed with a preset spacing;

The preset spacing is used to prevent false detections and is used to perform pre-detection before a collision event occurs.
The frame structure according to claim 1, wherein the collision avoidance detecting mechanism (4) comprises: a signal generating member (4a) and a signal receiving member (relatively disposed on the rotating frame (1)) 4b);

The signal generating member (4a) is configured to form a signal source arranged along a swinging trajectory of the treatment head (3) in the axial direction of the rotating gantry (1);

The signal receiving member (4b) is configured to form a signal receiving point arranged along a swinging track of the treatment head (3) in the axial direction of the rotating frame (1);

The signal source is formed between the opposite signal source and the signal receiving point.
The frame structure according to claim 3, wherein said signal generating member (4a) comprises: a plurality of signal generators, said plurality of said signal generators rotating along said treatment head (3) Arrangement of the oscillating track in the axial direction of the frame (1);

Correspondingly, the signal receiving member (4b) comprises: a plurality of signal receivers along which the plurality of signal receivers are arranged along the axis of the rotation of the treatment head (3) in the axial direction of the rotating frame (1) cloth.
The frame structure according to claim 3, wherein the signal generating member (4a) comprises: a signal generator, wherein the signal generator is provided with a plurality of transmitting points, and the plurality of transmitting points Positioned along the oscillating trajectory of the treatment head (3) in the axial direction of the rotating gantry (1);

Correspondingly, the signal receiving component (4b) comprises: a signal receiver, the signal receiver is provided with a plurality of receiving points, and the plurality of receiving points are along the treatment head (3) The oscillating track of the rotating frame (1) in the axial direction is arranged.
The frame structure according to claim 4 or 5, wherein the signal generator is an ultrasonic generator, an electromagnetic wave generator, a laser generator, an infrared generator or a visible light generator;

Correspondingly, the signal receiver is an ultrasonic receiver, an electromagnetic wave receiver, a laser receiver, an infrared receiver or a visible light receiver.
The frame structure according to claim 1, wherein the collision avoidance detecting mechanism (4) comprises: disposed on the rotating frame (1), and along the treatment head (3) a plurality of signal generating and receiving members (4c) arranged in a swinging track in the axial direction of the rotating frame (1);

Each of said signal generating and receiving members (4c) is used to form one of said signal links.
The frame structure according to claim 7, wherein said signal generating and receiving member (4c) is an ultrasonic probe.
The frame structure according to any one of claims 1-8, characterized in that the rotating frame (1) is provided with an arc-shaped guide rail (2a) extending axially along the rotating frame (1) The treatment head (3) is movably disposed on the curved rail (2a) to oscillate axially along the curved rail (2a) in the rotating frame (1).
The frame structure according to any one of claims 1-8, characterized in that the rotating frame (1) is provided with a linear guide (2b) extending axially along the rotating frame (1), The treatment head (3) is movably disposed on a linear guide (2b) that is pivotally coupled to the linear guide (2b) to swing in the axial direction of the rotary gantry (1).
The rack structure according to any one of claims 1 to 10, wherein the rack structure further comprises: an anti-collision control module;

The anti-collision control module is electrically connected to the anti-collision detecting mechanism (4) for controlling the operation of the anti-collision detecting mechanism (4), and acquiring a signal chain formed by the anti-collision detecting mechanism (4) Whether the road is blocked or not.
The rack structure according to claim 11, wherein the anti-collision control module comprises: a control unit electrically connected to the signal generating component (4a) and the signal receiving component (4b), or Electrically connected to the signal generating and receiving component (4c) for transmitting an on/off command;

a detecting unit electrically connected to the signal receiving component (4b) or electrically connected to the signal generating and receiving component (4c) for detecting whether the signal link is blocked;

a processing unit, electrically connected to the detecting unit, configured to receive a detection result of the detecting unit, and perform an analysis process on the detection result;

a display unit electrically connected to the processing unit for receiving a processing result of the processing unit and displaying the same.
The rack structure according to claim 12, wherein the rack structure further comprises: an alarm module electrically connected to the processing unit, configured to receive a processing result of the processing unit, and The alarm module sends an alarm signal when the result of the processing indicates that a collision event is about to occur.
The frame structure according to any one of claims 1 to 13, characterized in that the frame structure further comprises: a protection mechanism (5) disposed on a lower end surface of the treatment head (3);

When the protection mechanism (5) is collided, the rotating gantry (1) and/or the treatment head (3) are stopped.
The frame structure according to claim 14, wherein the protection mechanism (5) comprises: a micro switch (5a) disposed on the treatment head (3);

a protective cover (5b) which is arranged up and down on the lower end surface of the treatment head (3);

When the protective cover (5b) is collided, the micro switch (5a) is touched to stop the rotating frame (1) and/or the treatment head (3).
A frame structure according to any one of claims 1 to 15, characterized in that the rotating frame (1) is a drum or a C-arm.
A radiotherapy apparatus comprising the frame structure of any of claims 1-16.