Multi-mechanical arm intra-operative radiation treatment device

Abstract

The invention relates to a multi-mechanical arm intra-operative radiation treatment device. The device comprises a substrate, a main mechanical arm, a first mechanical arm and a second mechanical arm. The main mechanical arm is installed on the substrate and is movably installed on a radiation head on the tail end. The first mechanical arm is installed on the substrate and comprises a first mechanical arm tail end clamp used for clamping an imaging device or a treatment light limiting cylinder. The second mechanical arm is installed on the substrate and comprises a second mechanical arm tail end clamp used for clamping a simulation light limiting cylinder. According to the invention, before the intra-operative radiation treatment, the mechanical arms are used for driving an imaging device to carry out three-dimensional imaging on a tumor bed; on this basis, a target position and the relation between a target and surrounding normal tissues and important organs are precisely determined; radiation dose and time are quite precisely determined; reduction of radiotherapy side effects and toxic and side effects caused by radioactivity are facilitated; and through cooperative work of multiple mechanical arms, by use of the automatic control technology, workload of clinic doctors can be greatly reduced, position ordering precision is improved and achieving of the intra-operative radiotherapy is achieved.

Description

technical field [0001] The present invention generally relates to the field of radiotherapy medicine, and more particularly relates to a multi-manipulator type intraoperative radiotherapy device. Background technique [0002] Intraoperative radiotherapy (intraoperative radiotherapy for short) is one of tumor radiotherapy techniques, which refers to surgical exposure of unresectable lesions after surgical resection of tumor lesions, and treatment of postoperative tumor beds, residual lesions, lymphatic drainage areas or original tumors. For the lesion, a large dose of high-energy electron beam radiation is applied through the surgical field of view. This treatment method can be used to replace traditional external radiation therapy, and can be widely used in the combined treatment of head and neck, chest, abdomen, and pelvic tumors. Early intraoperative radiotherapy was treated with conventional accelerators, which required patients who had been surgically exposed to be move...

AI Technical Summary

Problems solved by technology

[0007] Nevertheless, the above-mentioned technologies still have the following defects. First, there is a lack of three-dimensional stereotaxic technology and devices in clinical applications, and the position of the tumor bed is determined only by visual observation by clinical surgeons and radiologists, or by CT or MRI images before surgery. Unable to accurately determine the position, angle, direction of the lesion, and its relationship with the surrounding normal tissues and vital organs under the condition of the tumor bed exposure, and thus unable to set the optimal path and direction of the electron beam incident, as well as the emission power and irradiation time of the electron beam Wait

Secondly, during clinical treatment, radiotherapy doctors first need to manually place the light-limiting tube on the part of the patient to be irradiated, and then fix it on the operating bed through a fixing device, and then observe the laser positioning mark while moving the radiation head of the accelerator remotely. , so that the central axis of the beam is aligned with the central axis of the light-limiting tube, and finally the treatment is performed. The above steps are complicated and cumbersome, with a large workload and a long time-consuming, which increases the risk of intraoperative radiotherapy, and the positioning accuracy of the radiation head is difficult to guarantee, which is not conducive to Realizing Precise Intraoperative Radiation Therapy

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