Anti-collision control method and system of radiotherapy system, and electronic equipment

Abstract

The invention relates to the technical field of anti-collision control scheme design of a radiotherapy system, in particular to an anti-collision control method and system of a radiotherapy system and electronic equipment. According to the invention, the complex three-dimensional space relation of the anti-collision control algorithm of the existing radiotherapy system is converted into the two-dimensional plane for calculation, so that an accurate calculation result can be obtained with low calculation power; the position relation in the space does not need to be calculated in real time, the requirement for the performance of a controller is not high, the motion range of the current axis can be obtained before motion, it is guaranteed that the calculation result is not distorted, control is flexible, all points which can be moved in the space can be moved, and the motion speed is high. The intelligent degree and the usability of the anti-collision control of the radiotherapy system are improved to a great extent, and the application cost of the anti-collision control scheme of the radiotherapy system is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-collision control scheme design for radiotherapy systems, and particularly relates to an anti-collision control method and system for a radiotherapy system, and an electronic device. Background Art

[0002] In a radiotherapy system, the treatment head and the treatment couch plate interfere with each other in space, which limits their movement ranges. Moreover, the ranges change in real time with the variation of each axis. However, at each moment, the current position of each axis can be obtained from the encoder that records the axis position. Therefore, based on the current positions of each axis, the movement ranges of the axes to be calculated can be planned to avoid collisions. Conventional methods include: 1. List relatively special points to form a table, and preset a range of the table. During the control process, restrict the movement of each axis according to the table. The advantage of this method is that it does not require real-time calculation of the position relationship in space, so the performance requirements for the controller are not high, and the movement range of the current axis can be obtained before movement. The disadvantages are that accurate models need to be verified and tested in advance for recording, and during use, the position restrictions are not flexible enough, and there will be situations where positions that do not interfere cannot be reached.

[0003] 2. Place the entire system in a coordinate system, with the isocenter in space as the origin. According to the known mechanical hardware, obtain the coordinates of the treatment head in space. Abstract the treatment head as a cuboid, obtain the position values of 12 edges, divide them into sufficiently small segments, project them onto the 8 edges of the treatment couch plate, and calculate whether the projections overlap. At the same time, it is also necessary to project the treatment couch plate onto the plane of the treatment head to calculate whether the projections overlap to determine whether interference occurs. The advantages of this method are that the calculation results will not be distorted, and if interference is calculated, it will definitely occur. The control is flexible and can reach all points that can be reached in space. The disadvantages are that the calculation amount is very large, the requirements for the controller are relatively high, and due to a large amount of calculation, the loop time of program execution will be significantly increased, and at the same time, the movement range of the current axis cannot be obtained in advance.

[0004] Therefore, the prior art still needs to be further developed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide an anti-collision control method and system for a radiotherapy system, and an electronic device, so as to solve the problems existing in the prior art.

[0006] To achieve the above technical purpose, according to the first aspect of the present invention, the method provided by the present invention includes: S1. Obtain the current positions of the treatment head and the treatment couch, and the preset motion states, where the preset motion states include a first motion state in which the treatment couch is stationary when the treatment head moves in a single dimension, or a second motion state in which the treatment couch moves in a single dimension when the treatment head is stationary; S2. Determine the position data of the collision position based on the current positions of the treatment head and the treatment couch and the preset motion states. The collision position is the position where the treatment head and the treatment couch will be located when they collide in the future after moving with the current positions and the preset motion states; S3. Set the limit positions according to the position data. The limit positions are the positions where the treatment head and the treatment couch stop moving with the current positions and the preset motion states, and the limit positions are between the current positions and the collision positions; S4. When the treatment couch or the treatment head reaches the limit position, control the treatment couch or the treatment head to stop moving.

[0007] Preferably, determining the position data of the collision position based on the current positions of the treatment head and the treatment couch and the preset motion states includes obtaining the single - dimension collision position of the treatment head or the treatment couch according to the multi - dimension position data of the treatment head and / or the treatment couch.

[0008] Preferably, the treatment couch is a four - dimensional treatment couch.

[0009] Preferably, the position data of the collision position determined according to the current positions of the treatment head and the treatment couch and the preset motion states includes: determining the rotation angle θ of the treatment head, or the maximum translation distance X of the treatment couch, or the maximum extension length Y of the treatment couch board, or the maximum revolution angle β of the treatment couch board, or the maximum height H from the upper surface of the treatment couch board to the isocenter according to the current positions of the treatment head and the treatment couch and the preset motion states.

[0010] Preferably, determining the rotation angle θ of the treatment head according to the current positions of the treatment head and the treatment couch and the preset motion states includes determining the rotation angle θ of the treatment head according to the length - size relationship data of a first distance, a second distance, and a third distance. The first distance is the radius of the treatment head rotating around the isocenter, the second distance is the distance from the isocenter to the edge of the treatment couch, and the third distance is the distance from the isocenter to the edge of the treatment head.

[0011] Preferably, determining the maximum translation distance X of the treatment couch according to the current positions of the treatment head and the treatment couch and the preset motion states includes determining the maximum translation distance X of the treatment couch according to the maximum height H from the upper surface of the treatment couch board at the collision position to the isocenter.

[0012] Preferably, determining the maximum extended distance Y of the treatment couch board according to the treatment head, the current position of the treatment couch, and the preset motion state includes determining the maximum extended distance Y of the treatment couch board according to the maximum height H from the upper surface of the treatment couch board at the collision position to the isocenter.

[0013] Preferably, determining the maximum revolution angle β of the treatment couch board according to the treatment head, the current position of the treatment couch, and the preset motion state includes determining the maximum revolution angle β of the treatment couch board according to the maximum height H from the upper surface of the treatment couch board at the collision position to the isocenter.

[0014] Preferably, determining the maximum height H from the upper surface of the treatment couch board to the isocenter according to the treatment head, the current position of the treatment couch, and the preset motion state includes determining the maximum height H from the upper surface of the treatment couch board to the isocenter according to the maximum horizontal expansion width W of the treatment couch board at the collision position.

[0015] According to a second aspect of the present invention, there is provided an anti-collision control system for a radiotherapy system, including: An acquisition module, configured to acquire the current positions and preset motion states of the treatment head and the treatment couch, wherein the preset motion state includes a first motion state in which the treatment couch is stationary when the treatment head moves in a single dimension or a second motion state in which the treatment couch moves in a single dimension when the treatment head is stationary; A first calculation module, configured to determine the position data of the collision position according to the treatment head, the current position of the treatment couch, and the preset motion state, where the collision position is the position where the treatment head and the treatment couch are located after moving with the current position and the preset motion state and when a collision occurs in the future; A second calculation module, configured to set a limit position according to the position data, where the limit position is the position where the treatment head and the treatment couch are located when they stop moving with the current position and the preset motion state, and the limit position is between the current position and the collision position; A control module, configured to control the treatment couch or the treatment head to stop moving when the treatment couch or the treatment head reaches the limit position.

[0016] According to a third aspect of the present invention, there is provided an electronic device, including: a memory; and a processor, where computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the anti-collision control method of the radiotherapy system described above is implemented.

[0017] Preferably, the electronic device further includes a display, the display includes a first graphical interface, the first graphical interface displays start and stop buttons for at least one motion dimension of the treatment head or the treatment couch, and the display includes a second graphical interface, and the second graphical interface real-time displays the limit positions of at least one motion dimension of the current position of the treatment head or the treatment couch.

[0018] Beneficial effects: In the present invention, by converting complex three-dimensional spatial relationships into two-dimensional plane calculations, the collision position is determined based on the current positions and preset motion states of the treatment head and the treatment couch. An extreme position is set between the collision position and the current position, and when the treatment head and the treatment couch reach the extreme position, the movement of the treatment head and the treatment couch is controlled to stop, thereby avoiding collision between the two. Compared with determining the movement ranges of each axis of the treatment head and the treatment couch through the traditional list method, a more accurate movement range can be obtained. Compared with the line segment projection method that requires traversing points, the present invention has a lower computing power requirement and can adjust the extreme positions of each dimension of the treatment head and the treatment couch in real time according to the current position, effectively avoiding collision between the treatment head and the treatment couch. Description of the drawings

[0019] Figure 1 is a schematic flowchart of the anti-collision control method for a radiotherapy system provided in a specific embodiment of the present invention; Figure 2 is a schematic diagram of the system composition of the anti-collision control system for a radiotherapy system provided in a specific embodiment of the present invention; Figure 3 is a schematic diagram of the state of a radiotherapy system when the second distance < the first distance in a specific embodiment of the present invention; Figure 4 is a schematic diagram of the state of a radiotherapy system when the first distance < the second distance < the third distance in a specific embodiment of the present invention; Figure 5 is a schematic diagram of the state of a radiotherapy system when the second distance > the third distance in a specific embodiment of the present invention; Figure 6 is a schematic diagram of the layout position of the treatment couch in the northeast-southwest direction in the top view plane in a specific embodiment of the present invention; Figure 7 is a schematic diagram of the layout position of the treatment couch in the southeast-northwest direction in the top view plane in a specific embodiment of the present invention; Figure 8 is a schematic diagram of the state of a radiotherapy system when the treatment head and the treatment couch collide in the first quadrant and H3 < H1 in a specific embodiment of the present invention; Figure 9 is a schematic diagram of the state of a radiotherapy system when the treatment head and the treatment couch collide in the first quadrant and H3 < H1 < H2 in a specific embodiment of the present invention; Figure 10 A schematic diagram of the state of a radiotherapy system when the treatment head and the treatment couch collide in the first quadrant and W1 < W < W2 in a specific embodiment of the present invention; Figure 11It is a schematic diagram of the state of the radiotherapy system when the treatment head and the treatment couch collide in the fourth quadrant and H4 < H3 < H1 in a specific embodiment of the present invention; Figure 12 It is a schematic diagram of the state of the radiotherapy system when the treatment head and the treatment couch collide in the fourth quadrant and H3 > H1 in a specific embodiment of the present invention; Figure 13 It is a schematic diagram of the state of the radiotherapy system when the treatment head and the treatment couch collide in the fourth quadrant and W > W3 in a specific embodiment of the present invention; Figure 14 It is a schematic diagram of the display interface of the electronic device display in a specific embodiment of the present invention.

[0020] The following reference numerals exist in the above-mentioned drawings: 1. Treatment couch; 11. Translation component; 12. Lifting component; 13. Rotating platform; 2. Treatment head; 3. Extension shaft; 4. Isocenter; 5. Rotation angle of the treatment head. Detailed implementation manners

[0021] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the scope of protection of this application. In addition, the directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only with reference to the directions of the drawings. Therefore, the directional terms used are for illustration rather than limiting the present invention.

[0022] The present invention will be further described below in conjunction with the drawings and preferred embodiments.

[0023] In a radiotherapy system, there is mutual interference between the treatment head and the couch plate of the treatment couch in space, which limits the movement range of each other, and the range changes in real time with the change of each axis. However, the current position of each axis at each moment can be obtained according to the encoder that records the axis position. Therefore, the movement range of the required axis can be planned based on the current position of each axis to avoid collision. It should be noted that in the actual process of the technical solution provided in this application, dynamic adjustment is performed for any movement state of the treatment head and the treatment couch. This includes the movement state where the treatment couch is stationary and the treatment head moves, the movement state where the treatment couch moves and the treatment head is stationary, and the movement state where both the treatment couch and the treatment head move.

[0024] Please refer to Figure 1 , the present invention provides an anti-collision control method for a radiotherapy system, including: S1. Obtain the current positions and preset motion states of the treatment head and the treatment table, where the preset motion states include a first motion state in which the treatment table is stationary when the treatment head moves in a single dimension, or a second motion state in which the treatment table moves in a single dimension when the treatment head is stationary.

[0025] S2. Determine the position data of the collision position according to the current positions and preset motion states of the treatment head and the treatment table. The collision position is the position where the treatment head and the treatment table are located when they collide in the future after moving with the current positions and preset motion states. S3. Set the limit position according to the position data. The limit position is the position where the treatment head and the treatment table stop moving with the current positions and preset motion states, and the limit position is between the current position and the collision position. S4. When the treatment table or the treatment head reaches the limit position, control the treatment table or the treatment head to stop moving.

[0026] The setting of the limit position can be achieved by setting a certain buffer interval before the collision position. For example, a buffer distance of 5 mm is set before the collision position of the X-axis of the treatment table, and the treatment table stops moving when it reaches the position 5 mm before the collision position. The setting of the 5 mm buffer distance avoids the collision between the two. When the treatment head rotates, a buffer angle of 6° can be set before the collision position, and the treatment head stops rotating when it reaches the position 6° before the collision position.

[0027] The current positions of the treatment head and the treatment table can be directly read by devices such as encoders. The preset motion states include a first motion state in which the treatment table is stationary when the treatment head moves in a single dimension, or a second motion state in which the treatment table moves in a single dimension when the treatment head is stationary. When it is necessary to determine the limit position of the treatment head, the preset motion state is the first motion state in which the treatment table is stationary and the treatment head moves. When it is necessary to determine the limit position of the treatment table, the preset motion state is the second motion state in which the treatment head is stationary and the treatment table moves.

[0028] It should be noted that the preset motion state is not necessarily the actual motion state of the treatment head and the treatment table. The preset motion state is the first motion state or the second motion state, and the current motion state can be only the first motion state or the second motion state or a combination of the first motion state and the second motion state. For example, the current motion state is that the treatment table rotates around the Z-axis and moves along the X-axis while the treatment head rotates. At this time, the preset motion state is the first motion state in which the treatment table is stationary when the treatment head rotates; and the second motion state in which the treatment table rotates around the Z-axis when the treatment head is stationary; and the second motion state in which the treatment table moves along the X-axis when the treatment head is stationary, which is a combination of the three motion states.

[0029] Further, for the four-dimensional treatment couch and the treatment head, the first motion state includes the motion state in which the treatment couch is stationary while the treatment head rotates. The second motion state includes the motion states in which the treatment couch offsets along the X-axis, the Y-axis, and the Z-axis, and the treatment couch deflects around the Z-axis when the treatment head is stationary.

[0030] In other embodiments, a five-dimensional or six-dimensional treatment couch may be employed. When a six-dimensional treatment couch is used, the first motion state includes the motion state in which the treatment head rotates when the treatment couch is stationary. The second motion state includes the motion states in which the treatment couch offsets along the X-axis, the Y-axis, and the Z-axis, and the treatment couch rotates around the X-axis, the Y-axis, and the Z-axis when the treatment head is stationary.

[0031] The collision position is the position where the treatment head and the treatment couch collide after moving in a preset motion state. Since the collision position changes at each moment, and the present invention adjusts the limit positions of the treatment head and the treatment couch in real time at any moment, it can effectively avoid the collision between the treatment head and the treatment couch.

[0032] It should be noted that the four-dimensional treatment couch includes a bottom lifting component 12 and a top translation component 11. The bottom component is arranged on a rotating platform 13, and the rotating platform can rotate around an isocenter. The lifting component can adjust the height of the treatment couch in the vertical direction, and the translation component can move in the positive and negative directions of the X-axis and can also move in the positive and negative directions of the Y-axis.

[0033] The position data of the collision position determined according to the current positions of the treatment head and the treatment couch and the preset motion state includes obtaining the single-dimensional collision position of the treatment head or the treatment couch based on the multi-dimensional position data of the treatment head and / or the treatment couch.

[0034] Taking the four-dimensional treatment couch involved in the present application as an example, when the position quantities of each dimension on the treatment couch are known, the rotation angle of the treatment head can be calculated. When the maximum distance X of the transverse movement of the treatment couch, the maximum distance Y of the extension of the treatment couch board, and the maximum angle β of the revolution of the treatment couch board are known position quantities, the maximum height H from the upper surface of the treatment couch board to the isocenter can be calculated. For example, when the treatment couch and the treatment head involve a total of six-dimensional position quantities, the remaining single-dimensional position quantity can be calculated when five of the six-dimensional position quantities are known.

[0035] The position data for determining the collision position based on the current positions of the treatment head and treatment couch and the preset motion state includes: the rotation angle θ of the treatment head, the maximum distance X of the transverse movement of the treatment couch, the maximum distance Y of the extension of the treatment couch board, the maximum angle β of the revolution of the treatment couch board, and the maximum height H from the upper surface of the treatment couch board to the isocenter determined according to the current positions of the treatment head and treatment couch and the preset motion state.

[0036] Further, to determine the rotation angle θ of the treatment head based on the current positions of the treatment head and treatment couch and the preset motion state, it is necessary to first determine the three length size relationships of the first distance, the second distance, and the third distance. The three length size relationships include three cases: the second distance is less than the first distance, the second distance is greater than the first distance and less than the third distance, and the second distance is greater than the third distance. The first distance is the radius RB of the treatment head rotating around the isocenter, the second distance is the distance from the isocenter to the edge of the treatment couch, and the third distance is the distance from the isocenter to the edge of the treatment head. The first distance is equal to RB, the second distance is equal to , and the third distance is equal to .

[0037] Further, the radius RB of the treatment head rotating around the isocenter, the distance H from the upper surface of the treatment couch board at the collision position to the isocenter, the maximum horizontal expansion width W of the treatment couch board at the collision position, and the width TW of the treatment head can be obtained first, and determined according to the obtained position data.

[0038] Exemplarily, taking the determination of the rotation angle of the treatment head as an example, the following description is given: Please refer to Figure 3 , specifically, the determination of the rotation angle of the treatment head includes: When the second distance is less than the first distance, obtain the width TW of the treatment head and the maximum horizontal expansion width W of the treatment couch board at the collision position, obtain the radius RB of the treatment head rotating around the isocenter, and calculate the rotation angle using the following relational expression: (TW / 2) * COS(π - θ) + W = RB * SIN(π - θ); ).

[0039] Please refer to Figure 4 , specifically, the determination of the rotation angle of the treatment head includes: when the second distance is greater than the first distance and less than the third distance, obtain the maximum height H from the upper surface of the treatment couch board at the collision position to the isocenter, the maximum horizontal expansion width W of the treatment couch board, obtain the radius RB of the treatment head rotating around the isocenter, and calculate the rotation angle using the following relational expression: W * SINθ + H * COSθ = RB; 。

[0040] Please refer to Figure 5 , specifically, the determination of the rotation angle of the treatment head includes: when the second distance is greater than the third distance, obtaining the width TW of the treatment head, obtaining the radius RB of the treatment head rotating around the isocenter, and the maximum height H from the upper surface of the treatment couch board at the collision position to the isocenter point. The rotation angle is calculated using the following relationship: (TW / 2)* SINθ+H = RB * COSθ; 。

[0041] The collision situations in the above three positions are all determined based on the preset motion state where the treatment couch is stationary and the treatment head rotates. At this time, the treatment couch is stationary and located at the collision position.

[0042] Please refer to Figure 6 , when the treatment couch is arranged in the northeast - southwest position in the top - down plane, the collision point between the treatment couch and the treatment head is located at the right - most vertex of the treatment couch. Now, to calculate the limit position of any dimension of the treatment couch, it is only necessary to ensure that the positions of any dimension other than the dimension to be determined of the treatment couch are known and determined. In Figures 3 - 5 the three - position cases, it should be noted that when calculating the limit position of the treatment head, the position quantities of the treatment couch are known. The position of the treatment couch is the position quantity of the current position of the treatment couch, which can be directly obtained through the encoder or the self - size parameters of the treatment couch. The obtaining of the maximum horizontal expansion width W of the treatment couch board at the collision position includes: obtaining the longest distance Y that the treatment couch board extends at the collision position, the maximum revolution angle β of the treatment couch board at the collision position, the distance Y' between the position of the extension axis 3 of the treatment couch at the collision position and the isocenter point 4, the width K of the treatment couch board, and the farthest lateral movement distance X of the treatment couch board at the collision position. The above several quantities regarding the treatment couch are known and determined when the treatment couch is stationary. Therefore, the maximum horizontal expansion width W of the treatment couch board at the collision position is calculated using the following relationship: W=( Y - Y')*SINβ + (X + K / 2)*COSβ.

[0043] Therefore, according to when the treatment couch is arranged in the northeast - southwest position in the top - down plane, substituting W=( Y - Y')*SINβ + (X + K / 2)*COSβ into Figures 3 - 5 the three cases to solve for the rotation angle 5 of the treatment head.

[0044] Similarly, please refer to Figure 7, when the treatment couch is arranged in the southeast-northwest position in the top view plane, the collision position between the treatment couch and the treatment head is on the right side of the treatment couch. It is necessary to obtain the distance TD between the collision position of the treatment head and the isocenter in the top view. TD is a fixed constant determined by the length of the treatment head itself. In the scenario shown in the figure, when the treatment couch is translated in the positive X-axis direction, the top translation component of the treatment couch will first collide with the treatment head. Therefore, it is necessary to consider the displacement of the top translation component, that is, the maximum distance X of the transverse movement of the treatment couch board. From the geometric relationship in the figure, it can be known that W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ.

[0045] Therefore, when the treatment couch is arranged in the northeast-southwest position in the top view plane, W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ can be substituted into Figures 3 - 5 Three cases to solve the rotation angle of the treatment head.

[0046] It should be noted that in Figures 3 - 5 , the rotation angle of the treatment head takes the dividing line between the first and second quadrants as the reference axis. When the treatment head rotates clockwise from the reference axis, the rotation angle of the treatment head is positive. When the treatment head rotates counterclockwise from the reference axis, the rotation angle of the treatment head is negative. In Figure 6 and Figure 7 , the maximum common rotation angle of the treatment couch takes the dividing line between the third and fourth quadrants as the reference axis. When the center of the treatment couch board is located on this reference axis, the revolution angle of the treatment couch is 0 degrees. Rotating clockwise from this reference axis is positive, and rotating counterclockwise is negative. The longest distance Y that the treatment couch board extends refers to the displacement of the translation component relative to the lifting component on the Y-axis. The maximum distance X of the transverse movement of the treatment couch refers to the displacement of the translation component relative to the lifting component on the X-axis.

[0047] Here it should be noted that by transforming the complex three-dimensional space relationship into a two-dimensional plane for calculation, the present invention can obtain accurate calculation results with relatively low computing power. While not requiring real-time calculation of the position relationship in space, having low requirements for the performance of the controller, and being able to obtain the movement range of the current axis before movement, it ensures that the calculation results will not be distorted, and interference will definitely occur when the calculation reaches interference. It has flexible control and can move to all points that can be reached in space. While greatly improving the intelligent level and usability of the anti-collision control of the radiotherapy system, it significantly reduces the application cost of the anti-collision control scheme of the radiotherapy system.

[0048] To obtain the maximum horizontal translation distance X of the treatment couch, the maximum extended length Y of the treatment couch board, the maximum revolution angle β of the treatment couch board, and the maximum height H from the upper surface of the treatment couch board to the isocenter, it is necessary to classify and discuss according to the quadrant where the collision position between the treatment head and the treatment couch is located. When the treatment head collides with the treatment couch in the first quadrant, three cases need to be discussed. Please refer to Figure 8 , where H1 is the height from the vertex D of the treatment head to the horizontal plane where the isocenter is located, H2 is the height from the vertex A of the treatment head to the horizontal plane where the isocenter is located, H3 is the height from the current position of the treatment couch to the plane where the isocenter is located, and H3 can be directly obtained through the encoder and is a known quantity.

[0049] As Figure 8 shown, when H3 < H1, H1 = RB * COSθ - (TW / 2) * SINθ. It can be seen from the figure that regardless of whether the treatment couch rotates or translates along the X-axis or Y-axis, the treatment couch will not collide with the treatment head. Therefore, the maximum horizontal translation distance X of the treatment couch board, the maximum extended length Y of the treatment couch board, and the maximum revolution angle β of the treatment couch board are not restricted, and the travel of the treatment couch is the maximum travel that the mechanical structure can move.

[0050] Please refer to Figure 9 , when H1 < H3 < H2, from the geometric relationship in the figure, we know that: H1 = RB * COSθ - (TW / 2) * SINθ; H2 = RB * COSθ + (TW / 2) * SINθ; RB = W * SINθ + H3 * COSθ; W = (RB - H3 * COSθ) / SINθ.

[0051] Now continue to classify and discuss the treatment couch. When the treatment couch is arranged in the northeast-southwest position in the top view plane, from Figure 6 and Figure 9 it can be seen that at this time, the collision point between the treatment couch and the treatment head is located at the rightmost vertex of the treatment couch. Now, to calculate the limit position of any dimension of the treatment couch, it is only necessary to ensure that the position of any dimension other than the dimension to be determined between the treatment head and the treatment couch is known and determined. Therefore, further, in Figure 6 and Figure 9In the shown scenario, when the treatment couch is translated in the positive X-axis direction, the top translation component of the treatment couch will first collide with the treatment head. Therefore, it is necessary to consider the displacement of the top translation component, that is, the maximum distance X of the transverse movement of the treatment couch board. For example, if the rotation angle θ of the treatment head, the maximum extended distance Y of the treatment couch board, the distance Y' between the extended axis position of the treatment couch at the collision position and the isocenter, and the maximum height H from the upper surface of the treatment couch board to the isocenter are known, where H = H3, and the maximum rotation angle β of the treatment couch board around its axis, the maximum distance X of the transverse movement of the treatment couch board can be calculated. From the geometric relationship, we know that: W = (Y - Y') * SINβ + (X + K / 2) * COSβ; X = (W - (Y - Y') * SINβ) / COSβ - K / 2; Substitute W = (RB - H3 * COSθ) / SINθ into the above formula to obtain X.

[0052] For the treatment couch translated in the negative X-axis direction, the maximum distance X of the transverse movement of the treatment couch board can be unrestricted. Similarly, to calculate the maximum extended distance Y of the treatment couch board, it is only necessary to ensure that the remaining quantities can be obtained. Similarly, from Figure 6 and Figure 9 it can be known that when the treatment couch is translated in the positive Y-axis direction, Y = ((W - (X + K / 2) * COSβ) / SINβ) + Y'. Just substitute the equation W = (RB - H3 * COSθ) / SINθ into it to obtain Y. For the treatment couch translated in the negative Y-axis direction, the maximum extended distance Y of the treatment couch board can be unrestricted. Similarly, from Figure 6 and Figure 9 it can be known that from the geometric relationship: For the treatment couch translated in the positive X-axis direction, ; For the treatment couch translated in the negative X-axis direction, .

[0053] In the above, the positive direction of the X-axis of the treatment couch is the right side direction of the isocenter in the top view plane of the treatment couch, the left side direction of the isocenter is the negative direction of the X-axis, the positive direction of the Y-axis of the treatment couch is the upper side direction of the isocenter in the top view plane of the treatment couch, and the lower side direction of the isocenter is the negative direction of the Y-axis.

[0054] When the treatment couch is arranged in the southeast-northwest position in the top view plane, from Figure 7 and Figure 9 it can be known that the collision position between the treatment couch and the treatment head is on the right side edge of the treatment couch. It is necessary to obtain the distance TD between the collision position of the treatment head and the isocenter in the top view. TD is a fixed constant determined by the length of the treatment head itself. In Figure 7 and Figure 9In the shown scenario, when the treatment couch translates in the positive X-axis direction, the top translation component of the treatment couch will collide with the treatment head first. Therefore, it is necessary to consider the displacement of the top translation component, that is, the maximum distance X that the treatment couch board can traverse horizontally. From Figure 7 and Figure 9 the geometric relationships in, W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ; W * SINθ + H3 * COSθ = RB.

[0055] When the treatment couch translates in the positive X-axis direction, X = (W * COSβ + TD * SINβ) - K / 2; Substituting the equation W = (RB - H3 * COSθ) / SINθ can obtain X.

[0056] When the treatment couch translates in the negative X-axis direction, the maximum distance X that the treatment couch board can traverse horizontally can be unrestricted.

[0057] The maximum distance Y that the treatment couch board can traverse in the positive or negative Y-axis direction can be unrestricted.

[0058] For the case when the treatment couch translates in the positive X-axis direction, ; For the case when the treatment couch translates in the negative X-axis direction, .

[0059] It should be noted that when H3 > H2, since the treatment couch needs to be below the treatment head to ensure that the patient receives radiotherapy, when H3 > H2, since the treatment couch is already on top of the treatment head, the patient cannot receive radiotherapy. Therefore, this situation is not considered.

[0060] Please refer to Figure 10 , TW is the width of the treatment head, θ is the current angle of the treatment head, RB is the radius of the treatment head rotating around the isocenter, W1 is the shortest horizontal width inside the treatment head, W2 is the longest horizontal width inside the treatment head, W is the maximum horizontal expansion width of the treatment couch board, W1 = RB * SINθ - (TW / 2) * COSθ, W2 = RB * SINθ + (TW / 2) * COSθ, It should be noted that when the treatment couch is arranged in the northeast-southwest direction, W = (Y - Y') * SINβ + (X + K / 2) * COSβ.

[0061] When the treatment couch is arranged in the southeast-northwest direction, W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ. Therefore, W can be calculated based on the layout direction of the treatment couch, and then the magnitude relationship among W, W1, and W2 can be compared. Furthermore, calculations can be carried out according to the following situations.

[0062] When W < W1, the treatment couch will never collide with the treatment head during movement along the Z-axis, and the maximum height H from the upper surface of the treatment couch board to the isocenter is not restricted.

[0063] When W1 < W < W2, from the geometric relationship in Figure 4 it can be known that RB = W * SINθ + H * COSθ. At this time, the maximum height H from the upper surface of the treatment couch board to the isocenter can be obtained as H = (RB - W * SINθ) / COSθ.

[0064] When W > W2, the treatment couch rises to the lowest position of the treatment head at most. From the geometric relationship in Figure 5 it can be known that the maximum height H from the upper surface of the treatment couch board to the isocenter is H = RB * COSθ - (TW / 2) * SINθ.

[0065] When the treatment head collides with the treatment couch in the fourth quadrant, it needs to be discussed in different cases. Please refer to Figure 11 , where TW is the width of the treatment head, TH is the thickness of the treatment head, θ is the current angle of the treatment head, RB is the radius of the treatment head rotating around the isocenter, H4 is the height from the vertex C of the treatment head to the horizontal plane where the isocenter is located, H2 is the height from the vertex A of the treatment head to the horizontal plane where the isocenter is located, H3 is the height from the current position of the treatment couch to the plane where the isocenter is located, H1 is the height from the vertex D of the treatment head to the horizontal plane where the isocenter is located, and W is the maximum horizontal expansion width of the treatment couch board.

[0066] When H3 < H4, it can be seen from the figure that whether the treatment couch rotates or translates along the X-axis or Y-axis, the treatment couch will not collide with the treatment head. Therefore, the farthest horizontal movement distance X of the treatment couch board, the longest extension distance Y of the treatment couch board, and the maximum rotation angle β of the treatment couch board are not restricted, and the travel of the treatment couch is the maximum travel that the mechanical structure can move.

[0067] When H4 < H3 < H1, now the treatment couch is classified and discussed. When the treatment couch is arranged in the northeast - southwest position in the top view plane, please refer to Figure 6 and Figure 11 it can be known that W1 is the shortest horizontal width inside the treatment head, and W7 is the horizontal distance from the inner side of the treatment head to the right side of the treatment couch. From the geometric relationship in the figure: W1 = RB * SINθ + (TW / 2) * COSθ, W7 = (H1 - H3) * (-TANθ), W = W1 + W7, W = RB * SINθ + (TW / 2) * COSθ + (RB * COSθ - (TW / 2) * SINθ - H3) * (-TANθ), H3 is the position quantity directly readable by the encoder.

[0068] From the geometric relationship, when the treatment couch is translated in the positive direction of the X-axis, at this time X = (W - (Y - Y') * SINβ) / COSβ - K / 2. When the treatment couch is translated in the negative direction of the X-axis, the maximum distance X of the transverse movement of the treatment couch board can be unrestricted.

[0069] Similarly, to calculate the maximum extended distance Y of the treatment couch board, it is only necessary to ensure that the remaining quantities can be obtained.

[0070] Similarly, from Figure 6 and Figure 11 it can be known that when the treatment couch is translated in the positive direction of the Y-axis, Y = ((W - (X + K / 2) * COSβ) / SINβ) + Y'. When the treatment couch is translated in the negative direction of the Y-axis, the maximum extended distance Y of the treatment couch board can be unrestricted.

[0071] For the treatment couch translated in the positive direction of the X-axis, X = (W - (Y - Y') * SINβ) / COSβ - K / 2, When the treatment couch is translated in the positive direction of the X-axis, ; When the treatment couch is translated in the negative direction of the X-axis, .

[0072] Please refer to Figure 7 and Figure 11 , when the treatment couch is arranged in the southeast-northwest position in the top view plane, the collision position between the treatment couch and the treatment head is on the right side edge of the treatment couch. It is necessary to obtain the distance TD between the collision position of the treatment head and the isocenter in the top view. TD is a fixed constant determined by the length of the treatment head itself, and RR is the radius of the rotating platform, which is a constant. In Figure 7 and Figure 11 In the scenario shown, when the treatment couch is translated in the positive direction of the X-axis, the top translation component of the treatment couch will first collide with the treatment head. Therefore, it is necessary to consider the displacement of the top translation component, that is, the maximum distance X of the transverse movement of the treatment couch board. From the geometric relationship in Figure 7 and Figure 11 it can be known that W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ, For the treatment couch translated in the positive direction of the X-axis, the maximum distance X of the transverse movement of the treatment couch board is X = (W * COSβ + TD * SINβ) - K / 2; For the treatment couch to translate in the negative direction along the X-axis, the maximum distance X of the transverse movement of the couch board can be unrestricted.

[0073] The maximum distance Y of the couch board along the positive or negative direction of the Y-axis can be unrestricted.

[0074] When the treatment couch translates in the negative direction along the X-axis, ; When the treatment couch translates in the negative direction along the X-axis, .

[0075] Please refer to Figure 6 and Figure 12 , if H1 < H3 < H2 + HB, where HB is the thickness of the couch board, W5 is the maximum distance where the top surface of the couch interferes with the treatment head, W6 is the distance by which the bottom surface of the couch interferes beyond the treatment head, W1 and the height H3 have the following relationship: RB = W5 * SINθ + H3 * COSθ, W = W5 - W6, W5 = (RB - H3 * COSθ) / SINθ, W6 = -HB / SINθ * COSθ, W = RB / SINθ - (H3 - HB) / TANθ.

[0076] From the geometric relationship, when the treatment couch translates in the positive direction along the X-axis, at this time X = (W - (Y - Y') * SINβ) / COSβ - K / 2, When the treatment couch translates in the negative direction along the X-axis, the maximum distance X of the transverse movement of the couch board can be unrestricted.

[0077] Similarly, to calculate the maximum distance Y that the couch board extends, it is only necessary to ensure that the remaining quantities can be obtained.

[0078] Similarly, from Figure 6 and Figure 12 it can be known that when the treatment couch translates in the positive direction along the Y-axis, Y = ((W - (X + K / 2) * COSβ) / SINβ) + Y'.

[0079] When the treatment couch translates in the negative direction along the Y-axis, the maximum distance Y that the couch board extends can be unrestricted.

[0080] When the treatment couch translates in the positive direction along the X-axis, ; When the treatment couch translates in the negative direction along the X-axis, .

[0081] Please refer toFigure 7 and Figure 12 W = -TD * SINβ / COSβ + (K / 2 + X) / COSβ, For the treatment couch to translate in the positive direction of the X-axis, the maximum distance X for the transverse translation of the treatment couch board is X = (W * COSβ + TD * SINβ) - K / 2; For the treatment couch to translate in the negative direction of the X-axis, the maximum distance X for the transverse translation of the treatment couch board can be unrestricted.

[0082] The maximum distance Y for the treatment couch board to translate in the positive or negative direction of the Y-axis can be unrestricted.

[0083] When the treatment couch translates in the negative direction of the X-axis, ; When the treatment couch translates in the negative direction of the X-axis, .

[0084] It should be noted that when H3 > H2 + HB, since the treatment couch needs to be below the treatment head to ensure that the patient receives radiotherapy, and since the treatment couch is already at the top of the treatment head, the patient cannot receive radiotherapy, so this situation is not considered.

[0085] Please refer to Figure 13 , where TW in the figure is the width of the treatment head, TH is the thickness of the treatment head, θ is the current angle of the treatment head, RB is the radius of rotation of the treatment head around the isocenter, W1 is the shortest horizontal distance inside the treatment head, W2 is the longest horizontal distance inside the treatment head, W3 is the shortest horizontal distance outside the treatment couch, W4 is the longest horizontal distance outside the treatment couch, and W is the maximum horizontal expansion width of the treatment couch board, where: W1 = RB * SINθ + (TW / 2) * COSθ, W2 = RB * SINθ - TW / 2 * COSθ, W3 = (RB + TH) * SINθ + TW / 2 * COSθ, W4 = (RB + TH) * SINθ - TW / 2 * COSθ, H1 is the height from the vertex D of the treatment head to the horizontal plane where the isocenter is located, H2 is the height from the vertex A of the treatment head to the horizontal plane where the isocenter is located, H4 is the height from the vertex C of the treatment head to the horizontal plane where the isocenter is located, H3 is the current height of the treatment couch, H1 = RB * COSθ - TW / 2 * SINθ, H2 = RB * COSθ + TW / 2 * SINθ, H4 = (RB + TH) * COSθ - TW / 2 * SINθ, It should be noted that when the treatment couch is arranged in the northeast-southwest direction, W = (Y - Y') * SINβ + (X + K / 2) * COSβ.

[0086] When the treatment couch is arranged in the southeast-northwest direction, W = -TD*SINβ / COSβ+(K / 2+X) / COSβ, so it can be solved by substituting into the following equation according to the arrangement direction of the treatment couch.

[0087] When W < W1, the vertical position of the upper surface of the treatment couch is not restricted and can be raised and lowered arbitrarily, and the maximum height H from the upper surface of the treatment couch board to the isocenter is not restricted.

[0088] When W > W3, the treatment couch rises to the lowest point position of the treatment head at most. At this time H = H4 = (RB + TH)*COSθ - TW / 2*SINθ.

[0089] When W3 > W > W1 and H3 < H1, the maximum height H from the upper surface of the treatment couch board to the isocenter is H = H1+(W - W1) / TANθ, that is, H = RB*COSθ - TW / 2*SINθ+(W - RB*SINθ + TW / 2*COSθ) / TANθ, When H3 > H1 and W < W2, H = (RB - W*SINθ) / COSθ, When H3 > H1 and W > W2, H = RB*COSθ + TW / 2*SINθ.

[0090] It should be noted that this application only describes the situation where the treatment couch and the treatment head collide in the first quadrant and the fourth quadrant for the limit positions of the treatment couch and the treatment head. Considering that the first quadrant and the second quadrant are symmetric, and the fourth quadrant and the third quadrant are symmetric, this application will not elaborate on the collision situations in the second quadrant and the third quadrant.

[0091] It can be understood that by transforming the complex three-dimensional space relationship into two-dimensional plane calculation, the present invention can obtain accurate calculation results with relatively low computing power. Without the need to calculate the position relationship in space in real time, with low requirements for the performance of the controller, and being able to obtain the movement range of the current axis before movement, while ensuring that the calculation results will not be distorted, and interference will definitely occur when calculating interference, the control is flexible and can move to all points that can be reached in space. While greatly improving the intelligent level and usability of the anti-collision control of the radiotherapy system, the application cost of the anti-collision control scheme of the radiotherapy system is greatly reduced.

[0092] Please refer to Figure 2 , this application also provides an anti-collision control system for a radiotherapy system, which system includes an acquisition module S5, configured to acquire the current positions and preset motion states of the treatment head and the treatment couch, wherein the preset motion states include a first motion state in which the treatment couch is stationary when the treatment head moves in a single dimension, or a second motion state in which the treatment couch moves in a single dimension when the treatment head is stationary; a first calculation module S6, configured to determine position data of a collision position according to the current positions of the treatment head and the treatment couch and the preset motion states, where the collision position is the position where the treatment head and the treatment couch are located when a future collision occurs after the treatment head and the treatment couch move with the current positions and the preset motion states; a second calculation module S7, configured to set a limit position according to the position data, where the limit position is the position where the treatment head and the treatment couch are located when they stop moving with the current positions and the preset motion states, and the limit position is between the current position and the collision position; a control module S8, configured to control the treatment couch or the treatment head to stop moving when the treatment couch or the treatment head reaches the limit position.

[0093] In a preferred embodiment, this application also provides an electronic device, which electronic device includes: a memory; and a processor, where computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the anti-collision control method of the radiotherapy system in any one of the above is implemented.

[0094] As Figure 14 shown, the electronic device further includes a display, the display includes a first graphical interface, the first graphical interface displays start / stop buttons for at least one motion dimension of the treatment head or the treatment couch, the display includes a second graphical interface, the second graphical interface real-time displays the limit positions of at least one motion dimension of the current position of the treatment head or the treatment couch. On the right side of the figure is the first graphical interface, the X-axis represents the start / stop button for the treatment couch to offset along the X-axis, the Y-axis represents the start / stop button for the treatment couch to offset along the Y-axis, the Z-axis represents the start / stop button for the treatment couch to offset along the Z-axis, A corresponds to the start / stop button for the rotation of the treatment head, and B corresponds to the start / stop button for the revolution of the treatment couch. On the left side of the figure is the second graphical interface, 138.00mm corresponds to the limit position of the treatment couch on the X-axis, 1000.00mm corresponds to the limit position of the treatment couch on the Y-axis, 5.10mm corresponds to the limit position of the treatment couch on the Z-axis at the current position, 36.8° corresponds to the rotation angle of the treatment head, and -74.6° corresponds to the maximum revolution angle of the treatment couch.

[0095] A memory; and a processor, wherein computer-readable instructions are stored on the memory, and when the computer-readable instructions are executed by the processor, the anti-collision control method of the radiotherapy system is implemented. This computer device can be generally a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the computer device can be used to provide necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are executed.

[0096] The present invention can be implemented as a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the embodiments of the present invention are caused to be executed. In one embodiment, the computer program is distributed on a plurality of network-coupled computer devices or processors, so that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, can be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations can be executed by one or more computer devices or processors, and one or more other method steps / operations can be executed by one or more other computer devices or processors. One or more computer devices or processors can execute a single method step / operation, or execute two or more method steps / operations.

[0097] Those of ordinary skill in the art can understand that the method steps of the present invention can be completed by a computer program instructing relevant hardware such as a computer device or a processor. The computer program can be stored in a non-transitory computer-readable storage medium, and when the computer program is executed, the steps of the present invention are caused to be executed. Depending on the situation, any reference to a memory, storage, database, or other medium herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0098] It can be understood that by converting complex three-dimensional spatial relationships into two-dimensional plane calculations, the present invention can obtain accurate calculation results with relatively low computing power. Without the need for real-time calculation of the positional relationship in space, having low requirements for the performance of the controller, and being able to obtain the movement range of the current axis before movement, while ensuring that the calculation results are not distorted, and that interference will definitely occur if interference is calculated, the control is flexible, and it can move to all points that can be reached in space. While greatly improving the intelligence and usability of the anti-collision control of the radiotherapy system, it significantly reduces the application cost of the anti-collision control solution of the radiotherapy system.

[0099] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features have been described, any combination of these technical features should be considered to be covered by this specification as long as such a combination does not exist in contradiction.

[0100] The specific embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A collision prevention control method for a radiotherapy system, characterized in that: The method comprises: S1. Acquire the current position and preset motion state of the treatment head and the treatment bed, wherein the preset motion state includes a first motion state in which the treatment bed is stationary when the treatment head moves in one dimension or a second motion state in which the treatment bed moves in one dimension when the treatment head is stationary; S2. Determine the position data of the collision position according to the current position and preset motion state of the treatment head and the treatment bed, wherein the collision position is the position of the treatment head and the treatment bed when a collision occurs in the future after the treatment head and the treatment bed move at the current position and the preset motion state; S3, setting a limit position according to the position data, wherein the limit position is the position where the treatment head and the treatment bed stop moving at the current position and the preset motion state, and the limit position is between the current position and the collision position; S4. When the treatment bed or the treatment head reaches the limit position, the treatment bed or the treatment head is controlled to stop moving.

2. The anti-collision control method of the radiotherapy system according to claim 1, characterized in that: Determining the position data of the collision position according to the current position of the treatment head and the treatment bed and the preset motion state includes acquiring a single-dimensional collision position of the treatment head or the treatment bed according to the multi-dimensional position data of the treatment head and / or the treatment bed.

3. The anti-collision control method of the radiotherapy system according to claim 2, characterized in that: The treatment bed is a four-dimensional treatment bed.

4. The anti-collision control method of the radiotherapy system according to claim 3, characterized in that: The position data of the collision position determined according to the current position of the treatment head and the treatment bed and the preset motion state includes determining, according to the current position of the treatment head and the treatment bed and the preset motion state, the rotation angle θ of the treatment head or the maximum lateral displacement distance X of the treatment bed or the longest extension distance Y of the treatment bed board or the maximum angle β of the revolution of the treatment bed board or the maximum height H from the upper surface of the treatment bed board to the isocenter.

5. The anti-collision control method for a radiotherapy system according to claim 4, characterized in that: Determining the rotation angle θ of the treatment head according to the current position of the treatment head and the treatment bed and the preset motion state includes determining the rotation angle θ of the treatment head according to the length size relationship data of the first distance, the second distance and the third distance, wherein the first distance is the radius of rotation of the treatment head around the isocenter, the second distance is the distance from the isocenter to the edge of the treatment bed, and the third distance is the distance from the isocenter to the edge of the treatment head.

6. The anti-collision control method for a radiotherapy system according to claim 4, characterized in that: Determining the maximum lateral distance X of the treatment couch according to the treatment head, the current position of the treatment couch and the preset motion state includes determining the maximum lateral distance X of the treatment couch according to the maximum height H from the upper surface of the treatment couch board at the collision position to the isocenter.

7. The anti-collision control method for a radiotherapy system according to claim 4, characterized in that: Determining the longest distance Y that the treatment couch board extends out according to the treatment head, the current position of the treatment couch, and the preset motion state includes determining the longest distance Y that the treatment couch board extends out according to the maximum height H from the upper surface of the treatment couch board at the collision position to the isocenter.

8. The anti-collision control method for a radiotherapy system according to claim 4, characterized in that: Determining the maximum angle β of the revolution of the treatment couch bed plate according to the current position of the treatment head and the treatment couch and the preset motion state includes determining the maximum angle β of the revolution of the treatment couch bed plate according to the maximum height H from the upper surface of the treatment couch bed plate at the collision position to the isocenter point.

9. The anti-collision control method for a radiotherapy system according to claim 4, characterized in that: Determining the maximum height H from the upper surface of the treatment couch board to the isocenter according to the current position of the treatment head and the treatment couch and the preset motion state includes determining the maximum height H from the upper surface of the treatment couch board to the isocenter according to the maximum horizontal expansion width W of the treatment couch board at the collision position.

10. An anti-collision control system for a radiotherapy system, characterized in that: include: an acquisition module, used to acquire the current position and preset motion state of the treatment head and the treatment bed, wherein the preset motion state includes a first motion state in which the treatment bed is stationary when the treatment head moves in one dimension or a second motion state in which the treatment bed moves in one dimension when the treatment head is stationary; a first calculation module, for determining position data of a collision position according to a current position and a preset motion state of the treatment head and the treatment bed, wherein the collision position is the position of the treatment head and the treatment bed when a collision occurs in the future after the treatment head and the treatment bed move at the current position and the preset motion state; a second calculation module, configured to set a limit position according to the position data, wherein the limit position is a position where the treatment head and the treatment bed stop moving at a current position and a preset motion state, and the limit position is between the current position and the collision position; The control module is used to control the treatment bed or the treatment head to stop moving when the treatment bed or the treatment head reaches the limit position.

11. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the anti-collision control method for the radiotherapy system according to any one of claims 1 to 9 is implemented.

12. The electronic device according to claim 11, characterized in that: The device further includes a display, wherein the display includes a first graphic interface, wherein the first graphic interface displays a start / stop button of at least one motion dimension of the treatment head or the treatment bed, and the display includes a second graphic interface, wherein the second graphic interface displays in real time the extreme position of at least one motion dimension of the current position of the treatment head or the treatment bed.

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