A radiotherapy transport system and radiotherapy method based on digital twin

Abstract

This invention provides a digital twin-based radiotherapy transport system and radiotherapy method, including a proton radiotherapy site, a proton radiotherapy device, a sensor system, a digital twin model, a data monitoring system, and an operating system. The proton radiotherapy site includes at least one treatment room, multiple medical preparation rooms, and a medical operation room. The proton radiotherapy device includes transport equipment and a proton therapy system. The sensor system includes multiple sensors. The digital twin model is used to convert the physical model of the proton radiotherapy site and the proton radiotherapy device, along with the sensors, into a digital twin. The data monitoring system reflects the deviation between the digital twin and the actual proton radiotherapy device. The operating system controls the operation of the transport equipment. This invention optimizes the proton radiotherapy process, achieving stable and high-precision patient transport and treatment using high-precision sensors combined with a digital twin model, and improving treatment efficiency through a multi-room transport system.

Description

Technical Field

[0001] The present invention relates to the field of radiotherapy technology, and in particular to a proton radiotherapy transport system and a radiotherapy method based on digital twins. Background Art

[0002] Proton radiotherapy is one of the important methods for treating malignant tumors. At present, proton radiotherapy equipment occupies a large area and has many processes due to its large size and complex system. At the same time, the completion of proton radiotherapy also needs to be completed together with multiple other detection processes, such as patient positioning and positioning before treatment. Based on the above characteristics, the process of proton radiotherapy not only requires multiple processes to be carried out in series, which increases the proportion of non-working time and reduces treatment efficiency, but also requires medical staff to complete patient transfer and testing in a larger treatment space and between multiple detection instruments, increasing the risk of secondary radiation for patients and medical staff during treatment.

[0003] Existing improvements to proton therapy are mainly focused on proton radiotherapy instruments, optimizing the functions of treatment instruments, and reducing the size of instruments to reduce the scope of medical sites. However, the existing methods still have certain shortcomings, mainly the following problems: ① The treatment process requires patient fixation, pre-treatment testing, and proton radiotherapy procedures in a single treatment room. The actual treatment time is 3 to 5 minutes, which accounts for a small proportion and is inefficient and cannot meet the needs of continuous treatment of multiple patients; ② The current treatment process still requires the assistance of on-site staff, and a complete set of automated medical processes has not yet been formed, and there is a lack of monitoring and control of patient spatial information and instrument health information during the treatment process; ③ Patients need to be transported and placed during the treatment process. The stability of the transportation process and the accuracy of placement under the proton radiotherapy treatment head affect the patient's comfort and the accuracy of treatment position identification during the treatment process. The current common method of transportation by medical staff cannot meet such needs. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a radiotherapy transport system and method based on digital twins, optimize the proton radiotherapy process, improve the treatment efficiency through a multi-chamber transport system, and reduce the safety risks of the medical process; use high-precision sensors combined with digital twin models to achieve stable and high-precision transport and treatment of patients; use the digital twin system to monitor the treatment process and equipment health in real time to increase the service life of the equipment.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A radiotherapy transport system based on digital twin, comprising:

[0007] A proton radiotherapy site, comprising at least one treatment room, a plurality of medical preparation rooms and a medical operation room, wherein the treatment room is used for patients to undergo proton radiotherapy, the medical preparation room is used for patient fixation and pre-treatment examination, and the medical operation room is used for medical operations;

[0008] A proton radiotherapy device, comprising a transport device and a proton therapy system arranged in a treatment room, wherein the transport device is used to continuously transport a plurality of patients between at least one of the treatment rooms and a plurality of the medical preparation rooms, so that the plurality of patients can continuously undergo a proton radiotherapy process;

[0009] The sensor system includes a plurality of sensors respectively arranged in at least one treatment room, a plurality of medical preparation rooms, and a plurality of transport equipment;

[0010] Digital twin model, which is used to convert the physical model of the proton radiotherapy site and proton radiotherapy device into a digital twin in combination with the data collected by sensors;

[0011] The data monitoring system is used to receive the data fed back by each sensor and transmit it to the digital twin model to reflect the deviation between the digital twin and the actual proton radiotherapy device;

[0012] Operating system, used to control the operation of transfer equipment.

[0013] Furthermore, the method for establishing the digital twin model is:

[0014] Establishing a physical model based on the spatial physical parameters of the proton radiotherapy site and the proton radiotherapy device;

[0015] Real-time feedback of key parameter data in interconnected proton radiotherapy sites and proton radiotherapy devices based on sensor systems;

[0016] Import the physical model and monitoring parameters into the visualization software to establish a digital twin, and establish the coupling between key parameters and physical model nodes based on sensor data to realize the monitoring parameters driving the operation of the physical model in the software;

[0017] Create two-way transmission between the physical model and the real object, control the physical model through software operation, remotely transmit information to the physical device, and realize the regulation of the digital twin model on the real object.

[0018] Furthermore, the treatment room and the medical preparation room are each provided with two doors, which are respectively used for transferring equipment in and out.

[0019] Furthermore, the transfer equipment is provided with an equipment chassis, a horizontal moving mechanism, a vertical lifting mechanism, a robot arm I, a robot arm II, a medical bed and a fixed structure. A moving wheel is provided at the bottom of the equipment base plate. The horizontal moving mechanism is arranged on the equipment base plate. The vertical lifting mechanism is arranged on the horizontal moving mechanism and is driven to move horizontally by the horizontal moving mechanism. The vertical lifting mechanism is limited by a fixed structure. The robot arm I is arranged on the vertical lifting mechanism and is driven to move vertically by the vertical lifting mechanism. The robot arm I is driven to rotate by a first driving member installed on the vertical lifting mechanism. The robot arm II is arranged on the robot arm I and is driven to rotate by a second driving member installed on the robot arm I. The medical bed is arranged on the robot arm II and is driven to rotate by a third driving member installed on the robot arm II.

[0020] Furthermore, multiple sensors arranged on the transfer equipment are used to cooperate with the digital twin and the physical model to monitor the operating posture of the transfer equipment. Specifically, the transfer equipment is assisted in positioning by multiple displacement sensors respectively arranged on the front side and left and right sides of the equipment chassis, and the position, direction and speed of the transfer equipment are positioned by the gyroscope I and accelerometer I arranged at the bottom of the equipment chassis. The front end accelerometer II installed at the robotic arm I reflects the lifting height of the lifting device and locates the spatial position of the front end of the robotic arm I. The accelerometer III installed at the end of the robotic arm I locates the spatial position of the end of the robotic arm I and the front end of the robotic arm II. The accelerometer IV installed at the end of the robotic arm II locates the spatial position of the end of the robotic arm II and the front end of the medical bed.

[0021] Furthermore, the multiple sensors arranged on the transfer equipment are used to cooperate with the digital twin and the physical model to provide feedback and alarm on the abnormal values ​​of the transfer equipment. Specifically, the transfer equipment monitors the bending moment of the robot arm I during operation through the bending moment sensor installed on the robot arm I; monitors the bending moment of the robot arm II during operation through the bending moment sensor II installed on the robot arm II; monitors the bending moment of the medical bed during operation through the bending moment sensor III installed on the medical bed, monitors the strain generated by the robot arm I during operation through the strain sensor I installed in the middle of the robot arm I, monitors the strain generated by the robot arm II during operation through the strain sensor II installed in the middle of the robot arm II, and monitors the strain generated by the medical bed during operation through the strain sensor III installed in the middle of the medical bed.

[0022] A radiotherapy method based on digital twins, characterized by comprising the following steps:

[0023] Determine the key features of at least one treatment room, multiple medical preparation rooms, one medical operation room, at least one proton therapy system, and multiple transport devices, establish a physical model based on the key features, and build a digital twin model of the proton radiotherapy site and proton radiotherapy device in combination with sensor data;

[0024] Conduct two-way communication between the sensor system and the physical model, write the transport equipment operation program, remotely control the transport equipment to complete the transportation of patients, put in and release the proton therapy system, and adjust the position and posture of the transport equipment;

[0025] Based on the data obtained by the sensors, the data is fed back to the digital twin model to monitor the transportation and medical process in real time, reflecting the real-time status of the proton radiotherapy site and proton radiotherapy device;

[0026] Based on the written transfer equipment operation program or manually input instructions, feedback is given to the transfer equipment to perform transfer work;

[0027] The data obtained by the sensor is compared with the physical model to obtain the difference data, which is fed back to the operating system as the equipment operation error data. The transfer equipment is further adjusted in position until the data obtained by the sensor on the transfer equipment and the data of the digital twin operation are below a certain threshold.

[0028] Based on the data fed back by the sensors, the status of the transfer equipment is monitored to implement emergency stop and alarm in case of abnormal status.

[0029] Further, the transfer work includes:

[0030] Obtain the number of multiple medical preparation rooms and their distribution relative to the treatment room, and plan the path of the transfer equipment from each medical preparation room to and from the treatment room;

[0031] Determine the treatment sequence for multiple patients in multiple medical preparation rooms, and determine the transfer time for each patient based on the number of transfer devices to ensure uninterrupted surgery in the treatment rooms; adjust transfer devices so that patients can be placed on the transfer devices in parallel from the medical preparation rooms.

[0032] Furthermore, in the process of writing the operation program of the transfer equipment, path planning is performed with one treatment room, multiple medical preparation rooms, and multiple transfer equipment as objects, wherein one treatment room is located in the middle of multiple medical preparation rooms, and multiple medical preparation rooms are symmetrically or staggered relative to one treatment room, and patients are transferred through multiple transfer equipment.

[0033] Furthermore, in the process of path planning, a transfer-in route and a transfer-out route are set for each medical room, wherein the transfer-in route and the transfer-out route of each medical room do not intersect, the transfer-in routes of multiple medical preparation rooms partially overlap, and the transfer-out routes of multiple medical preparation rooms partially overlap.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] (1) In order to address the problem that the preparation phase of proton radiotherapy takes too long and multiple patients cannot be treated continuously, a multi-room treatment system is designed. Multiple medical preparation rooms are configured in the medical field to complete the preparation work. Then, intelligent transfer equipment is used to cross-transport patients to the treatment room for treatment, thereby optimizing the treatment process and improving medical efficiency.

[0036] (2) Aiming at the functions of automated transport, stable operation, and precise positioning, a dedicated radiotherapy transport device is designed, which integrates the driving function, lifting function, and patient transport function into one device, and cooperates with high-precision sensors to achieve stable, accurate, and safe transportation of patients.

[0037] (3) In order to monitor the treatment process and the accuracy of the transfer equipment, a digital twin model of the radiotherapy transfer system is established. By combining high-precision sensors and physical models to establish a visual interface, the spatial status of each device in the medical room can be accurately monitored.

[0038] (4) In view of the possible interference between equipment during the transfer process and the requirement of simultaneous operation of multiple transfer equipment, a control system with negative feedback function is established. Through program control combined with the digital twin model, high-speed control and planning of the operation of the transfer equipment are carried out.

[0039] (5) In response to possible instrument failures during the transport process, an alarm function is built, and sensors are used to alarm when the transport equipment is abnormal, thereby ensuring the health of the patient during treatment and increasing the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the key technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 This is a top view of a medical room according to an embodiment of the present invention.

[0042] Figure 2It is a schematic diagram of the structure of the transfer equipment according to an embodiment of the present invention.

[0043] Figure 3 The figure is a schematic diagram of the operation of the CT indoor equipment according to an embodiment of the present invention.

[0044] Figure 4 4 is a flowchart of the proton radiotherapy transport system in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] The embodiment of the present invention provides a radiotherapy transport system based on digital twins, such as Figure 1-Figure 3 As shown, the specific implementation content of the system includes:

[0048] The present invention provides a radiotherapy transport system based on digital twins, including a proton radiotherapy site, a proton radiotherapy device, a sensor system, a digital twin model, a data monitoring system and an operating system.

[0049] like Figure 1 As shown, this specific embodiment provides a top view of a proton radiotherapy site, which specifically includes a treatment room 1, a medical preparation room I2, a medical preparation room II3, a medical preparation room III4, a medical transfer equipment 5, and a medical operation room 6. The treatment room is used for patients to undergo proton radiotherapy, the medical preparation room is used for patient fixation and pre-treatment examinations, and the medical operation room 6 is used for medical operations.

[0050] The proton radiotherapy device includes a transport device 5 and a treatment device arranged in a treatment room 1. The transport device 5 is used to continuously transport multiple patients between at least one treatment room 1 and multiple medical preparation rooms, so that multiple patients can continuously undergo proton radiotherapy. The treatment room 1 includes the proton radiotherapy device, and the medical preparation rooms I2, II3, and III4 include a CT instrument 27, the transport device 5 in the preparation stage, and corresponding equipment to assist in patient fixation.

[0051] The sensor system includes a plurality of sensors which are respectively arranged in at least one treatment room 1 , a plurality of medical preparation rooms, and a plurality of transport devices 5 .

[0052] The digital twin model is used to convert the physical model and sensor data of the proton radiotherapy site and proton radiotherapy device into a digital twin, monitor and process the sensor data, and obtain predictions of the proton radiotherapy and transport equipment 5 process.

[0053] The data monitoring system is used to receive data feedback from each sensor and transmit it to the digital twin model to reflect the deviation between the digital twin and the actual proton radiotherapy device.

[0054] The operating system is used to control the operation of the transfer device 5 .

[0055] The data monitoring system and the operating system are arranged in the medical operation room.

[0056] The digital twin-based proton radiotherapy transport system provided by the present invention can optimize the proton radiotherapy process, improve the treatment efficiency through a multi-chamber transport system, and reduce the safety risks of the medical process; use high-precision sensors combined with digital twin models to achieve stable and high-precision transport and treatment of patients; use the digital twin system to monitor the treatment process and equipment health in real time to increase the service life of the equipment.

[0057] In order to solve the problem that the preparation phase in proton radiotherapy takes too long and multiple patients cannot be treated continuously, the present invention designs a multi-room treatment system, configures multiple medical preparation rooms in the medical field to complete the preparation work, and then uses intelligent transport equipment to cross-transport patients to the treatment room for treatment, thereby optimizing the treatment process and improving medical efficiency. Multiple patients can be treated in parallel, avoiding the waste of equipment use time caused by the preparation time being too long and the actual treatment time being too short, and also avoiding the expensive cost of preparing multiple proton radiotherapy instruments; the proton therapy system may generate potential radiation, avoiding the harm caused by patients or medical staff staying in the treatment room for a long time.

[0058] The present invention designs a special radiotherapy transport device with the functions of automated transport, stable operation and precise positioning. The driving function, lifting function and patient transport function are integrated into one device, and high-precision sensors are used to achieve stable, accurate and safe transport of patients.

[0059] In order to solve the problems of monitoring the treatment process and the accuracy of the transport equipment, the present invention establishes a digital twin model of the radiotherapy transport system. By combining high-precision sensors and physical models to establish a visual interface, the spatial status of each device in the medical room can be accurately monitored.

[0060] In view of the possible interference between equipment during the transfer process and the requirement of simultaneous operation of multiple transfer equipment, the present invention establishes a control system with a negative feedback function, and performs high-speed control and planning of the operation of the transfer equipment through program control combined with a digital twin model.

[0061] The present invention aims at the possible failure of the instrument during the transport process, constructs an alarm function, combines sensors to alarm the abnormal confidence of the transport equipment, ensures the health of the patient during the treatment process, and increases the service life of the equipment. The medical operation room is also equipped with an alarm system for alarming when the deviation between the digital twin and the actual proton radiotherapy device is greater than a certain threshold.

[0062] In the present invention, a data monitoring system, an operating system and an alarm system are provided in the medical operation room 6 .

[0063] In the present invention, the transfer equipment 5 is provided with an equipment chassis 7, a horizontal moving mechanism, a vertical lifting mechanism 8, a robot arm I 9, a robot arm II 10, a medical bed 11 and a fixed structure 25. A moving wheel is provided at the bottom of the equipment bottom plate. The horizontal moving mechanism is arranged on the equipment bottom plate. The vertical lifting mechanism 8 is arranged on the horizontal moving mechanism and is driven to move horizontally by the horizontal moving mechanism. The vertical lifting mechanism 8 is limited by the fixed structure 25. The robot arm I is arranged on the vertical lifting mechanism 8 and is driven to move vertically by the vertical lifting mechanism 8. The robot arm I is driven to rotate by a first driving member installed on the vertical lifting mechanism 8. The robot arm II is arranged on the robot arm I and is driven to rotate by a second driving member installed on the robot arm I. The medical bed 11 is arranged on the robot arm II and is driven to rotate by a third driving member installed on the robot arm II.

[0064] In the operating system, by controlling the rotation of the horizontal moving mechanism, the vertical lifting mechanism 8, the first driving member, the second driving member and the third driving member, the horizontal movement and vertical lifting of the robot arm I are realized, and the rotation of the robot arm II and the rotation of the robot arm III are realized.

[0065] In the present invention, there is a treatment room 1 and multiple medical preparation rooms. The medical room is used for patients to undergo proton radiotherapy, and the medical preparation room is used for patient fixation and pre-treatment examinations. The medical preparation room contains two doors, which are used for the transfer of transfer equipment 5 in and out respectively. The entry and exit of patients and medical staff and the transportation of transfer equipment 5 are all achieved by these two doors. The treatment room 1 and multiple medical preparation rooms are arranged according to the area of ​​the operating room and the apartment type. Usually, one treatment room 1 is located in the middle of multiple medical preparation rooms, and multiple medical preparation rooms are symmetrically or staggered relative to one treatment room 1. Patients are transferred by multiple transfer equipment 5 to reduce transfer time.

[0066] In the present invention, the transfer equipment 5 specifically includes:

[0067] Equipment moving part: including a complete driving system and a signal receiving system, which can realize high-precision operation of the transport equipment 5 in the treatment room 1 through remote control;

[0068] Patient moving part: including horizontal moving mechanism, vertical lifting mechanism 8, mechanical arm, medical bed 11 connected to the mechanical arm, fixed structure 25 and matching auxiliary fixed structure 26, which can realize high-precision control and stopping of the patient's spatial position;

[0069] Sensor part: includes a variety of sensors, including displacement sensors 12, gyroscopes and accelerometers, bending moment sensors and strain sensors. The sensors measure the real spatial position and status of the equipment and feed them back to the digital twin to monitor the equipment in real time.

[0070] Remote control part: including data receiving, processing and generating devices, which can realize remote control of the transfer equipment 5 and intelligent operating system for sensor data transmission.

[0071] In the present invention, multiple sensors provided on the transfer equipment 5 are used to monitor the operating posture of the transfer equipment 5 in coordination with the digital twin and the physical model.

[0072] Among them, the infrared displacement sensor 12: when installed at the front end and both sides of the transfer device 5, is used to measure the relative displacement between the transfer device 5 and other devices to avoid interference;

[0073] Gyroscope and accelerometer: installed at the bottom of the transfer device 5 to monitor the position and direction of the transfer device 5; installed on the vertical lifting mechanism 8 to monitor the lifting height; installed on the mechanical arm and the medical bed 11 to monitor the position of the mechanical arm;

[0074] Bending moment sensor: installed at a fixed position on the robotic arm to ensure that the robotic arm is within the safe bending moment value during operation and to monitor the health status of the robotic arm;

[0075] Strain sensor: installed in the robotic arm and the medical bed 11, used to ensure that the strain value is within the safe range during operation and to monitor the health status of the robotic arm and the medical bed 11.

[0076] like Figure 2 As shown, the sensors installed in the transfer equipment 5 are specifically a displacement sensor 12, a gyroscope Ⅰ13, an accelerometer Ⅰ14, an accelerometer Ⅱ15, a bending moment sensor Ⅰ16, an accelerometer Ⅲ17, a bending moment sensor Ⅱ18, an accelerometer Ⅳ19, a bending moment sensor Ⅲ20, an accelerometer Ⅴ21, a strain sensor Ⅰ22, a strain sensor Ⅱ23, and a strain sensor Ⅲ24. Among them, the transfer equipment 5 is assisted in positioning by a plurality of displacement sensors 12 respectively arranged on the front side and left and right sides of the equipment chassis 7; the position, direction and speed of the transfer equipment 5 are positioned by the gyroscope Ⅰ13 and the accelerometer 114 arranged at the bottom of the equipment chassis 7; the lifting height of the vertical lifting mechanism 8 and the spatial position of the front end of the robot I are reflected by the front end accelerometer Ⅱ15 installed on the robot arm Ⅰ9; the spatial position of the end of the robot arm Ⅰ9 and the front end of the robot arm Ⅱ10 are positioned by the accelerometer Ⅲ17 installed at the end of the robot arm Ⅰ9; the spatial position of the end of the robot arm Ⅱ10 and the front end of the medical bed 11 are positioned by the accelerometer Ⅳ19 installed at the end of the robot arm Ⅱ10; and the spatial position of the end of the medical bed is positioned by the accelerometer Ⅴ21 located at the end of the medical bed.

[0077] The multiple sensors arranged on the transfer equipment 5 are used to cooperate with the digital twin and the physical model to provide feedback and alarm on the abnormal values ​​of the transfer equipment 5, specifically: the transfer equipment 5 monitors the bending moment of the robot arm I9 during operation through the bending moment sensor installed on the robot arm I; monitors the bending moment of the robot arm II10 during operation through the bending moment sensor II18 installed on the robot arm II10; monitors the bending moment of the medical bed 11 during operation through the bending moment sensor III20 installed on the medical bed 11, monitors the strain generated by the robot arm I9 during operation through the strain sensor I22 installed in the middle of the robot arm I9, monitors the strain generated by the robot arm II10 during operation through the strain sensor II23 installed in the middle of the robot arm II10, and monitors the strain generated by the medical bed 11 during operation through the strain sensor III24 installed in the middle of the medical bed 11.

[0078] In the present invention, multiple medical transport devices 5 can be operated simultaneously, and when multiple medical transport devices 5 operate together, the time interval for entering the operating system should be between 3 and 5 minutes.

[0079] In the present invention, the method for establishing the digital twin model is:

[0080] A physical model is established based on the spatial physical parameters of the proton radiotherapy site and the proton radiotherapy device, and the model can accurately reflect the real appearance of the treatment room;

[0081] Based on the sensor system, the key parameter data of the interconnected proton radiotherapy site and the proton radiotherapy device are fed back in real time, such as the spatial position of the equipment chassis 7, the robotic arm I 9, the robotic arm II 10, the medical bed 11 in the transport equipment, and the spatial position and speed of the transport equipment;

[0082] Import the physical model and monitoring parameters into the visualization software to establish a digital twin, and establish the coupling between key parameters and physical model nodes based on sensor data to realize the monitoring parameters driving the operation of the physical model in the software;

[0083] Create two-way transmission between the physical model and the real object, control the physical model through software operation, remotely transmit information to the physical device, and realize the regulation of the digital twin model on the real object.

[0084] The actual objects include the transport device 5 in the proton radiotherapy apparatus and the treatment equipment installed in the treatment room 1 .

[0085] The present invention also provides a radiotherapy method based on digital twins, such as Figure 4 As shown, the following steps are included:

[0086] Determine the key features of at least one treatment room 1, multiple medical preparation rooms, one medical operation room 6, at least one treatment device, and multiple transport devices 5, establish a physical model based on the key features, and build a digital twin model of the proton radiotherapy site and the proton radiotherapy device in combination with sensor data;

[0087] Carry out two-way communication between the sensor system and the physical model, compile the operating program of the transport device 5, remotely control the transport device 5 to complete the transportation of patients, put in and take out treatment equipment, and adjust the position and posture of the transport device 5;

[0088] Based on the data obtained by the sensor, it is fed back to the digital twin model to monitor the transportation and medical process in real time, reflecting the real-time status of the proton radiotherapy site and the proton radiotherapy device; based on the written transport equipment 5 running program or manually input instructions, it is fed back to the proton therapy system for operation;

[0089] The data obtained by the sensor is compared with the physical model to obtain the phase difference data, which is fed back to the operating system as the equipment operation error data. The transfer device 5 performs further position control until the data obtained by the sensor on the transfer device 5 and the data of the digital twin operation are below a certain threshold;

[0090] Based on the data fed back by the sensors, the status of the transfer equipment 5 is monitored to realize emergency stop and alarm in case of abnormal status.

[0091] In the present invention, the transport work includes:

[0092] Obtain the number of multiple medical preparation rooms and their distribution relative to the treatment room 1, and plan the path of the transfer equipment 5 from each medical preparation room to and from the treatment room 1;

[0093] Determine the treatment sequence of multiple patients in multiple medical preparation rooms, and determine the transfer time of each patient based on the number of transfer equipment 5 to ensure that the surgery in the treatment room is carried out uninterruptedly;

[0094] Adjust the transport device so that the patient can be placed parallel to the transport device from the medical preparation room.

[0095] In the present invention, in the process of writing the operating program of the transfer equipment 5, path planning is performed with one treatment room 1, multiple medical preparation rooms, and multiple transfer equipment 5 as objects, wherein one treatment room 1 is located in the middle of multiple medical preparation rooms, and multiple medical preparation rooms are symmetrically or staggered relative to one treatment room 1, and patients are transferred through multiple transfer equipment 5.

[0096] During the path planning process, a transfer-in treatment room 1 route and a transfer-out treatment room 1 route are set for each medical room, wherein the transfer-in treatment room 1 route and the transfer-out treatment room 1 route of each medical room do not intersect, the transfer-in treatment room 1 routes of multiple medical preparation rooms overlap, and the transfer-out treatment room 1 routes of multiple medical preparation rooms overlap.

[0097] The digital twin in the digital twin model is constructed based on the data collected by the sensors installed on the proton radiotherapy transport device 5 and the physical parameters of the various parts of the site and equipment in the radiotherapy room, which can reflect the real space information and motion status between the various devices in the medical system; the physical model is constructed based on the preset program information of proton radiotherapy and the three-dimensional models of the various parts of the proton radiotherapy room 1 and the medical preparation room, which can reflect the target space information of each device in the preset medical system. The difference between the data monitored by the sensor on the transport device 5 and the operating data of the physical model of the transport device 5 can be regarded as the deviation of the device during the actual operation of the proton radiotherapy transport device 5.

[0098] The steps of controlling the operation of the transfer device 5 by an automated program further include:

[0099] According to the spatial information of the treatment room 1, the spatial information of the equipment and the transport function of the transport equipment 5, an automatic control system is compiled to control the transport track, start and stop time of the transport equipment and the operation of the lifting, mechanical arm and other devices on the transport equipment;

[0100] When the transport device reaches a position with certain accuracy requirements, the operating system receives the deviation data fed back by the digital twin model. The position accuracy can be improved through automatic or manual adjustments by the program. This feedback can be continued until the deviation value is reduced to a certain range.

[0101] The information fed back by the sensors in the medical system is specifically the health status information of the equipment, including the bending moment at the fixing point of the robotic arm of the transfer equipment 5, the strain value of the robotic arm and the medical bed 11, etc. When this type of information is large, a corresponding alarm will be triggered to provide an abnormal status prompt.

[0102] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A radiotherapy transport system based on digital twins, characterized in that: include: A proton radiotherapy site, comprising at least one treatment room, a plurality of medical preparation rooms and a medical operation room, wherein the treatment room is used for patients to undergo proton radiotherapy, the medical preparation room is used for patient fixation and pre-treatment examination, and the medical operation room is used for medical operations; A proton radiotherapy device, comprising a transport device and a proton therapy system arranged in a treatment room, wherein the transport device is used to continuously transport multiple patients between at least one of the treatment rooms and multiple medical preparation rooms, so that the multiple patients can continuously undergo proton radiotherapy; wherein the transport time of each patient is determined according to the treatment sequence of the multiple patients in the multiple medical preparation rooms and the number of transport devices; The sensor system includes a plurality of sensors respectively arranged in at least one treatment room, a plurality of medical preparation rooms, and a plurality of transport devices; the sensors include displacement sensors installed at the front end and both sides of the transport device, and the displacement sensors are used to measure the relative displacement between the transport device and other devices to avoid interference; Digital twin model, which is used to convert the physical model of the proton radiotherapy site and proton radiotherapy device into a digital twin in combination with the data collected by sensors; The data monitoring system is used to receive the data fed back by each sensor and transmit it to the digital twin model to reflect the deviation between the digital twin and the actual proton radiotherapy device; Operating system, used to control the operation of the transfer equipment; The transfer equipment is provided with an equipment chassis, a horizontal moving mechanism, a vertical lifting mechanism, a mechanical arm I, a mechanical arm II, a medical bed and a fixed structure. The bottom of the equipment chassis is provided with moving wheels. The horizontal moving mechanism is arranged on the equipment chassis. The vertical lifting mechanism is arranged on the horizontal moving mechanism and driven to move horizontally by the horizontal moving mechanism. The vertical lifting mechanism is limited by a fixed structure. The mechanical arm I is arranged on the vertical lifting mechanism and driven to lift vertically by the vertical lifting mechanism. The mechanical arm I is driven to rotate by a first driving member installed on the vertical lifting mechanism. The mechanical arm II is arranged on the mechanical arm I and driven to rotate by a second driving member installed on the mechanical arm I. The medical bed is arranged on the mechanical arm II and driven to rotate by a third driving member installed on the mechanical arm II. The multiple sensors arranged on the transfer equipment are used to cooperate with the digital twin and the physical model to monitor the operation posture of the transfer equipment. Specifically, the transfer equipment is assisted in positioning by multiple displacement sensors respectively arranged on the front side and left and right sides of the equipment chassis. The position, direction and speed of the transfer equipment are located by the gyroscope I and the accelerometer I arranged at the bottom of the equipment chassis. The front end accelerometer II installed on the robotic arm I reflects the lifting height of the lifting device and locates the spatial position of the front end of the robotic arm I. The accelerometer III installed at the end of the robotic arm I locates the spatial position of the end of the robotic arm I and the front end of the robotic arm II. The accelerometer IV installed at the end of the robotic arm II locates the spatial position of the end of the robotic arm II and the front end of the medical bed.

2. The radiotherapy transport system based on digital twin according to claim 1, characterized in that: The method for establishing the digital twin model is: Establishing a physical model based on the spatial physical parameters of the proton radiotherapy site and the proton radiotherapy device; Real-time feedback of key parameter data in interconnected proton radiotherapy sites and proton radiotherapy devices based on sensor systems; Import the physical model and monitoring parameters into the visualization software to establish a digital twin, and establish the coupling between key parameters and physical model nodes based on sensor data to realize the monitoring parameters driving the operation of the physical model in the software; Create two-way transmission between the physical model and the real object, control the physical model through software operation, remotely transmit information to the physical device, and realize the regulation of the digital twin model on the real object.

3. The radiotherapy transport system based on digital twin according to claim 1, characterized in that: The treatment room and the medical preparation room are both provided with two doors, which are respectively used for transferring equipment in and out.

4. The radiotherapy transport system based on digital twin according to claim 1, characterized in that: The multiple sensors provided on the transfer equipment are used to cooperate with the digital twin and the physical model to provide feedback and alarm on the abnormal values ​​of the transfer equipment. Specifically, the transfer equipment monitors the bending moment of the mechanical arm I during operation through the bending moment sensor installed on the mechanical arm I; and monitors the bending moment of the mechanical arm II during operation through the bending moment sensor II installed on the mechanical arm II; The bending moment applied to the medical bed during operation is monitored by the bending moment sensor III installed on the medical bed, the strain generated by the robotic arm I during operation is monitored by the strain sensor I installed in the middle of the robotic arm I, the strain generated by the robotic arm II during operation is monitored by the strain sensor II installed in the middle of the robotic arm II, and the strain generated by the medical bed during operation is monitored by the strain sensor III installed in the middle of the medical bed.

5. A radiotherapy method based on digital twins, using the radiotherapy transport system based on digital twins according to any one of claims 1 to 4, characterized in that: The following steps are involved: Determine the key features of at least one treatment room, multiple medical preparation rooms, one medical operation room, at least one proton therapy system, and multiple transport devices, establish a physical model based on the key features, and build a digital twin model of the proton radiotherapy site and proton radiotherapy device in combination with sensor data; Conduct two-way communication between the sensor system and the physical model, write the transport equipment operation program, remotely control the transport equipment to complete the transportation of patients, put in and release the proton therapy system, and adjust the position and posture of the transport equipment; Based on the data obtained by the sensors, the data is fed back to the digital twin model to monitor the transportation and medical process in real time, reflecting the real-time status of the proton radiotherapy site and proton radiotherapy device; Based on the written transfer equipment operation program or manually input instructions, feedback is given to the transfer equipment to perform transfer work; The data obtained by the sensor is compared with the physical model to obtain the difference data, which is fed back to the operating system as the equipment operation error data. The transfer equipment is further adjusted in position until the data obtained by the sensor on the transfer equipment and the data of the digital twin operation are below a certain threshold. Based on the data fed back by the sensors, the status of the transfer equipment is monitored to implement emergency stop and alarm in case of abnormal status.

6. The radiotherapy method based on digital twin according to claim 5, characterized in that: The transfer work includes: Obtain the number of multiple medical preparation rooms and their distribution relative to the treatment room, and plan the path of the transfer equipment from each medical preparation room to and from the treatment room; Determine the treatment sequence for multiple patients in multiple medical preparation rooms, and determine the transfer time for each patient based on the number of transfer devices to ensure uninterrupted surgery in the treatment rooms; adjust transfer devices so that patients can be placed on the transfer devices in parallel from the medical preparation rooms.

7. The radiotherapy method based on digital twin according to claim 6, characterized in that: In the process of writing the operation program of the transfer equipment, path planning is performed with one treatment room, multiple medical preparation rooms, and multiple transfer equipment as objects, wherein one treatment room is located in the middle of multiple medical preparation rooms, and multiple medical preparation rooms are symmetrically or staggered relative to one treatment room, and patients are transferred through multiple transfer equipment.

8. The radiotherapy method based on digital twin according to claim 6, characterized in that: During the path planning process, the transfer-in route and the transfer-out route of the treatment room are set for each medical room, wherein the transfer-in route and the transfer-out route of each medical room do not intersect, the transfer-in routes of multiple medical preparation rooms partially overlap, and the transfer-out routes of multiple medical preparation rooms partially overlap.

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