Radiotherapy system, application method and CT scanning device control method

Abstract

The invention discloses a radiotherapy system, an application method and a CT scanning device control method, and belongs to the technical field of medical equipment. The terminal realizes integration of positioning and dynamic treatment through a cooperative control system of the CT scanning device, the patient positioning mechanism and the radiotherapy device. A scanning ring assembly of the CT scanning device supports sitting posture imaging, prone posture imaging and standing posture imaging through a horizontal / vertical displacement and around-axis rotating mechanism. The patient positioning mechanism is integrated with a multi-level telescopic supporting body and a centering adjusting system, pitching, rolling and rotating three-dimensional posture adjustment can be achieved, and the patient positioning mechanism is suitable for lying, standing and inclined body positions. The device breaks through the body position limitation of a traditional radiotherapy device, is suitable for an ion radiotherapy system, can replace a high-cost rotating rack beam system through the combination of the fixed beam treatment head and the multi-body-position patient positioning technology, achieves multi-angle irradiation and arc-shaped treatment while guaranteeing the treatment precision, reduces the equipment complexity and manufacturing cost, and is suitable for popularization and application. And the clinical accessibility of ion radiotherapy is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a radiotherapy system integrating a CT scanning device, a patient positioning mechanism and a radiotherapy device, and an application method thereof in precise radiotherapy, which is applicable to tumor radiotherapy, image-guided radiotherapy (IGRT) and multi-position adaptive diagnosis and treatment scenarios. Background Art

[0002] Radiotherapy is an important method for treating cancer and certain other malignant tumors of tissues. It destroys cancer cells by precisely applied radiation beams and plays an active role in cancer treatment. However, the success of radiotherapy highly depends on the accuracy of patient positioning, that is, it is necessary to align the center of the irradiated target area with the isocenter of the radiotherapy device to ensure that the radiation beam accurately hits the target area. Traditional patient positioning devices have many limitations in achieving this goal.

[0003] In the field of modern medicine, radiotherapy, as an important cancer treatment method, its accuracy and safety have always been the core goals of clinical research and equipment development. With the rapid development of medical imaging technology, especially computer tomography (CT) technology, radiotherapy devices are also constantly innovating to achieve more precise tumor localization, more effective dose distribution and lower side effect risks.

[0004] Traditional radiotherapy devices usually adopt fixed scanning and treatment positions, and patients need to maintain a specific body position during the treatment process, which not only increases the discomfort of patients, but also may lead to a decrease in treatment accuracy due to body position changes. In addition, traditional CT scanning devices and radiotherapy devices are often set independently. After undergoing CT scanning, patients need to move to the treatment room for radiotherapy, and the patient's body position may change during this process, further affecting the accuracy of treatment.

[0005] In order to overcome the above problems, in recent years, multifunctional treatment terminals integrating CT scanning and radiotherapy have emerged. However, there are still many deficiencies in the structural design and function realization of existing multifunctional treatment terminals. For example, although some devices have achieved the integration of CT scanning and radiotherapy, during the scanning and treatment processes, the patient's body position adjustment ability is limited and it is difficult to meet the personalized treatment needs of different patients and different conditions. At the same time, there is still room for improvement in aspects such as the drive control of the scanning ring assembly, the adjustment accuracy of the patient positioning mechanism, and the linkage between the CT scanning device and the radiotherapy device of existing devices.

[0006] Specifically, the scanning ring components in the prior art often can only achieve movement in a single direction and cannot meet the requirements of complex scanning and treatment paths; although the patient positioning mechanism can adjust the target scanning position, there is still room for improvement in terms of adjustment accuracy, stability, and flexibility; moreover, the linkage between the CT scanning device and the radiotherapy device is insufficient, resulting in the inability to dynamically adjust treatment parameters according to real-time image data during the treatment process, which affects the treatment effect.

[0007] Therefore, developing a radiotherapy system with higher adjustment accuracy, stronger flexibility, and better linkage is of great significance for improving the accuracy and safety of radiotherapy. Summary of the Invention

[0008] One aspect of the present invention is to provide a highly integrated radiotherapy system, which realizes the rapid switching of the target scanning position, high-precision positioning, and real-time dynamic treatment through the coordinated control of the multi-directional scanning ring adjustment unit of the scanning ring, the patient positioning mechanism, and the radiotherapy device.

[0009] To solve the above technical problems, the present invention provides a radiotherapy system, including a simulation planning room and a radiotherapy terminal, and the radiotherapy terminal is arranged in the treatment room.

[0010] The simulation planning room includes a CT scanning device and a scanning bed assembly; the simulation planning room is used for performing scans in a sitting position, a standing position, or a lying position to obtain images. The radiotherapy terminal includes a CT scanning device, a patient positioning mechanism, and a radiotherapy device, and is used to realize radiotherapy in a sitting position, a standing position, or a lying position.

[0011] The CT scanning device includes a frame, a scanning ring assembly, a scanning bed assembly, a patient positioning mechanism, and a scanning ring adjustment unit; the scanning ring adjustment unit is connected to the frame and is used to drive the scanning ring assembly to translate horizontally, lift vertically, and rotate around a predetermined axis.

[0012] The patient positioning mechanism includes a support body, a rotating body, and multiple groups of driving mechanisms; the multiple groups of driving mechanisms drive the support body to perform multi-angle adjustment in a sitting position, a lying position, and an inclined state, and cooperate with the rotating body to achieve circumferential rotation. Among them, the scanning bed assembly and the patient positioning mechanism are respectively adapted to the support body, and through the coordinated control of the scanning ring adjustment unit and the multiple groups of driving mechanisms; The CT scanning device is linked with the patient positioning mechanism and the radiotherapy device to achieve multi-plane imaging, synchronous positioning, or radiotherapy.

[0013] By adopting the above technical solutions: In addition to the above technical features, the present application has also made improvements in the following aspects: As a preferred technical solution of the present application, the radiotherapy terminal can perform planned image acquisition, positioning verification, and radiotherapy in the same position, and supports multi-position switching of sitting, standing, and lying postures; wherein, the patient positioning mechanism can perform six-degree-of-freedom decoupled movement, and the three rotation axes thereof intersect at the beam line of the radiotherapy device; When the target center is positioned at the isocenter of the radiotherapy device, during the rotation of the patient positioning mechanism around any axis, the target center always coincides with the isocenter of the radiotherapy device.

[0014] When the radiotherapy device is fixed, the patient positioning mechanism can rotate around a single axis to perform multi-angle irradiation or arc therapy, so as to optimize the target area dose distribution and avoid danger.

[0015] As a preferred technical solution of the present application, the six-degree-of-freedom decoupled movement includes three translational degrees of freedom and three rotational degrees of freedom, wherein the intersection point of the axes of the rotational degrees of freedom coincides with the isocenter of the radiotherapy device, so that the position of the isocenter remains constant during the adjustment of the target scanning position.

[0016] As a preferred technical solution of the present application, the scanning ring assembly includes a scanning ring, a transverse movement frame, a telescopic bracket, and a scanning ring adjustment unit; the scanning ring adjustment unit drives the scanning ring to move horizontally, vertically, and rotate around a predetermined axis.

[0017] As a preferred technical solution of the present application, the scanning ring adjustment unit includes a transverse movement component, a telescopic unit, and a rotation unit; the transverse movement component is used to drive the scanning ring to move horizontally; the telescopic unit is used to drive the scanning ring to move vertically; the rotation unit is used to drive the scanning ring to rotate around the horizontal line passing through its central axis, and the rotation angle range is greater than 90°, so that the central axis of the scanning ring can be switched to a horizontal or vertical state.

[0018] As a preferred technical solution of the present application, the transverse movement component includes a transverse movement motor, a transverse movement main shaft, and a transverse movement slider; the transverse movement main shaft is coupled with the transverse movement motor, and the transverse movement slider is threadedly connected to the transverse movement main shaft to drive the scanning ring to move along the horizontal guide rail.

[0019] As a preferred technical solution of the present application, the support body includes an upper support plate and a lower support plate; the lower support plate is hinged to the upper support plate through a connection component and can rotate circumferentially around the hinge point by 90°-180°; the upper support plate is a multi-level telescopic structure for adapting to the support of the lying position, standing position, and inclined position.

[0020] As a preferred technical solution of the present application, the multiple groups of driving mechanisms include a lifting mechanism and a sliding driving assembly; the lifting mechanism is composed of a first lifting mechanism, a second lifting mechanism and an angle adjusting assembly, and is used to adjust the height of the support body; the sliding driving assembly drives the lifting mechanism to act through a slider and a sliding connecting rod.

[0021] As a preferred technical solution of the present application, the rotating body includes a turntable, a turntable lifting mechanism and a centering adjusting mechanism; the turntable realizes vertical lifting through the turntable lifting mechanism, and adjusts the left-right and front-back offset amounts of the support body through the centering adjusting mechanism to adapt to the centering adjustment of CT scanning.

[0022] As a preferred technical solution of the present application, the centering adjusting mechanism includes an upper centering adjusting plate, a lower centering adjusting plate and a centering driving assembly; the upper centering adjusting plate and the lower centering adjusting plate are engaged with the transmission teeth through arc-shaped racks to respectively control the left-right swing and the front-back swing of the support body.

[0023] As a preferred technical solution of the present application, it further includes a transverse main driving mechanism; the transverse main driving mechanism moves following the centering adjusting mechanism and is used to drive the movable bottom plate to translate along with the patient positioning mechanism.

[0024] As a preferred technical solution of the present application, the scanning bed assembly and the patient positioning mechanism are respectively provided with driving devices; under the drive of the driving mechanism, the bed board main body of the scanning bed assembly can rotate horizontally, and the support body main body of the patient positioning mechanism can move along a direction perpendicular to the transverse movement of the scanning ring to switch between the lying position and the standing position for examination.

[0025] On the other hand, the present invention also provides an application method of a radiotherapy system, including the following steps: Confirm the target scanning position of the patient; Adjust the posture of the scanning device according to the target scanning position; Fix the target scanning position, perform scanning and generate a treatment plan; Perform patient positioning at the treatment terminal according to the treatment plan to ensure that the target scanning position is consistent with the planned position; Perform positioning scanning, compare the positioning scanning image with the planned scanning image through a computer, and calculate the positioning error; Adjust the patient positioning mechanism based on the positioning error, correct the isocenter from the tumor center to the radiotherapy device, and complete the irradiation according to the plan.

[0026] As a preferred technical solution of the present application, the step of adjusting the posture of the scanning device according to the target scanning position includes the following sub-steps: For lying - position scanning, move the support of the scanning device to the side, rotate the scanning bed so that the axis of its bed board is parallel to the translation direction of the scanning ring, and adjust the axis of the scanning ring to be parallel to the axis of the bed board. For sitting - or standing - position scanning, rotate the scanning bed so that the axis of its bed board is perpendicular to the translation direction of the scanning ring, move the support to below the scanning ring, adjust the plane of the scanning ring to be perpendicular to the telescopic column, and adjust the angle of the telescopic column so that its axis is parallel to the backrest of the support.

[0027] As a preferred technical solution of the present application, the angle adjustment range of the telescopic column is ±15° to ensure the parallelism with the backrest of the support.

[0028] The third aspect of the present invention also provides a CT scanning device control method, including the following steps: S1. Select the corresponding detection station according to the patient's detection posture. When the lying - position detection is selected, enter step S2; when the standing - position detection is selected, enter step S3. S2. Control the scanning - ring adjustment unit to execute the first adjustment sequence: Drive the scanning ring to horizontally traverse to the corresponding position of the scanning - bed assembly; Adjust the lifting of the scanning ring to align with the patient in the horizontal direction; Control the scanning ring to rotate around a predetermined axis until the central axis is horizontal; Drive the scanning ring to traverse through the patient on the scanning - bed assembly along the traverse track to complete the scan; S3. Control the scanning - ring adjustment unit to execute the second adjustment sequence: Drive the scanning ring to horizontally traverse to the corresponding position of the patient positioning mechanism; Adjust the lifting of the scanning ring to align with the patient longitudinally; Control the scanning ring to rotate around a predetermined axis until the central axis is perpendicular to the ground; Drive the scanning ring to traverse through the patient on the patient positioning mechanism along the lifting track to complete the scan.

[0029] As a preferred technical solution of the present application, the predetermined axis is a horizontal axis passing through the geometric center of the scanning ring, the rotation angle range is greater than 90°, and the angle self - locking is realized through the meshing transmission of the semi - gear part and the driven lead screw.

[0030] As a preferred technical solution of the present application, it also includes a station avoidance step: When performing lying - position detection, control the seat drive assembly to drive the patient positioning mechanism to horizontally move out of the traverse track of the scanning ring; When performing standing - position detection, control the bed drive assembly to drive the bed board main body to rotate to be perpendicular to the traverse direction of the scanning ring.

[0031] As a preferred technical solution of the present application, when the scanning ring adjustment unit performs adjustment, a three-level joint control mechanism is adopted: Drive the double transverse movement main shafts to rotate synchronously through the transverse movement motor, and drive the transverse movement slider to move along the linear guide rail to achieve horizontal transverse movement; Drive the lifting shaft to rotate through the telescopic drive motor, and drive the telescopic swing arm to move axially to achieve lifting adjustment; Drive the driven lead screw to rotate through the rotation drive motor, and drive the semi-gear part to rotate to achieve the angle adjustment of the scanning ring.

[0032] As a preferred technical solution of the present application, during the lifting adjustment process, the torque of the drive shaft is monitored in real time, and when abnormal torque is detected, a fail-safe mechanism is activated: Trigger the limiter of the electromagnetic pawl ratchet structure to lock the linkage drive shaft; Activate the brake to lock the lifting movement.

[0033] As a preferred technical solution of the present application, it further includes a body position adaptability yaw control method: S41. Obtain the actual body position angle of the patient through the yaw angle sensing device; S42. Calculate the angle deviation Δθ between the central axis of the scanning ring and the anatomical axis of the patient; S43. When Δθ>0.1°, control the yaw drive assembly to drive the telescopic bracket to yaw and compensate the angle: Δθ’=k·Δθ where k is the compensation coefficient; S44. Synchronously adjust the rotation angle of the scanning ring so that the central axis is perpendicular to the axis of the telescopic column.

[0034] As a preferred technical solution of the present application, the yaw compensation is achieved through the coordinated control of the double yaw drive shafts: Control the yaw motor to drive the yaw transmission belt to drive the two yaw drive shafts to rotate synchronously; Convert the rotational motion into a linear displacement through the transverse movement screw block; Utilize the sliding table to slide along the sliding guide rail to achieve angle compensation, and the yaw range is ±15°.

[0035] As a preferred technical solution of the present application, when the system fails or power is cut off, the safety of the patient is ensured through an emergency process, and the emergency treatment steps are executed: Trigger the power-off self-locking device to limit the extension movement of the telescopic swing arm; Lift the scanning ring through the manual device to release the patient.

[0036] By adopting the above technical solutions, the present invention has at least one of the following beneficial effects: 1. Multi-modal body position adaptation and precise positioning Through the coordinated action of multiple drive mechanisms of the patient positioning mechanism and the rotating body, the free switching of the patient's sitting, lying, and tilting postures is achieved. Combined with the multi-level telescopic structure of the upper support plate, precise support for the flat, standing, and tilted positions can be adapted. The drive devices of the scanning bed assembly and the seat assembly further expand the compatibility of the target scanning positions.

[0037] The centering adjustment mechanism meshes the arc rack with the transmission gear to achieve fine adjustment of the left-right and front-back offset of the support body, ensuring the precise alignment of the target scanning position with the CT scanning central axis, and reducing image distortion and treatment errors.

[0038] 2. Dynamic Space Coordination and Efficient Treatment The scanning ring adjustment unit of the scanning ring assembly supports horizontal translation, vertical lifting, and rotation around the horizontal axis > 90°, enabling the scanning ring of the CT scanning device to switch between horizontal / vertical working modes. Combined with the large-stroke movement of the transverse main drive mechanism, the spatial coverage range of scanning and treatment is expanded.

[0039] The real-time linkage between the radiotherapy device and the CT scanning device uses multi-plane imaging data to synchronously update the treatment positioning, realizing the integrated process of "scanning - positioning - treatment", reducing the patient's repeated positioning time, and improving the treatment efficiency.

[0040] 3. Structural Innovation and Function Integration The articulated design of the turntable lifting mechanism of the rotating body and the support body enables the support mechanism to rotate circumferentially by 90° - 180°. Combined with the multi-directional adjustment of the scanning ring assembly, it supports the irradiation of radiation doses at complex angles.

[0041] The horizontal rotation ability of the scanning bed assembly and the vertical movement function of the seat assembly allow for the rapid switching between the lying / standing detection states, meeting the requirements of different treatment scenarios.

[0042] 4. Dynamic Stability and Operational Safety The connecting rod structure of the lifting mechanism is optimized through mechanical design to maintain load balance during the height adjustment of the support body, avoiding changes in the target scanning position.

[0043] The threaded transmission structure of the transverse movement assembly combined with the slide rail guidance ensures the smoothness of the horizontal movement of the scanning ring and reduces the impact of mechanical vibration on the imaging quality.

[0044] 5. Clinical Application Value The multi-degree-of-freedom coordinated control significantly reduces the positioning errors caused by patient movement or equipment switching in traditional radiotherapy, especially suitable for high-precision scenarios such as stereotactic radiotherapy.

[0045] 4. Dynamic Multimodal Imaging and Treatment Coordination Seamless switching between vertical CT scanning and coronal plane imaging: By rotating the scanning ring assembly to the vertical state, multi-plane imaging such as coronal plane and sagittal plane is achieved. Combined with the real-time dose and angle dynamic adjustment of the radiotherapy device, it enhances the imaging coverage of complex structures and the dose conformability ability, and reduces the risk of normal tissue irradiation.

[0046] Large-stroke adjustment of the transverse main drive mechanism: By adjusting the overall position to adapt to different treatment areas, it avoids the multiple bed moving operations caused by the limited scanning range of traditional equipment, and shortens the treatment preparation time by about 30%.

[0047] 5. Sub-millimeter positioning accuracy and dynamic stability Swing limit control of the centering adjustment mechanism: Precise constraints on the left-right and front-back swing amplitudes ≤ ±15°, combined with the vertical fine adjustment of the turntable lifting mechanism, achieve sub-millimeter alignment accuracy between the patient's treatment site and the radiation focus, meeting the high-precision requirements such as stereotactic radiosurgery.

[0048] Linkage adjustment of the lifting mechanism and the sliding drive assembly: Synchronous control of the height and angle of the support body, avoiding the body position deviation caused by step-by-step adjustment through mechanical coupling design, and improving the body position adaptation efficiency and the patient support stability.

[0049] 6. Full-process automation and safety protection Intelligent reset mechanism of the failure self-locking device: Automatically locks the terminal position after the treatment is over to prevent the accidental movement of the support body, and combines with the real-time feedback of the position sensor to ensure the equipment reset accuracy.

[0050] Coordinated control of the scanning ring assembly and multiple groups of drive mechanisms: Multi-degree-of-freedom dynamic matching of horizontal translation, lifting and rotation, and real-time calibration of the spatial trajectory of CT imaging and the treatment device through closed-loop control algorithms, reducing the error accumulation caused by manual intervention.

[0051] 7. Improvement of clinical operation efficiency and adaptability "Scanning - positioning - treatment" integrated process: Based on the real-time guidance of vertical CT imaging data, the radiotherapy device can complete image acquisition, target delineation and dose delivery within the same terminal, avoiding the cross-device transfer of patients and shortening the overall treatment time.

[0052] 8. Full-posture rapid adaptation ability Through the multi-level telescopic and articulated structure of the support body, the switching between lying flat, standing upright or inclined body positions can be completed, compatible with the complex scenario requirements such as intraoperative radiotherapy and intraoperative image verification.

[0053] 9. Multi-posture adaptability and precise positioning Lying / standing dual-mode automatic switching: Through the differential control of the first adjustment sequence and the second adjustment sequence, multi-dimensional adaptation of the horizontal translation, lifting, and rotation of the scanning ring is achieved.

[0054] Workstation avoidance mechanism: The main body of the bedplate rotates or the patient positioning mechanism moves horizontally out of the scanning ring path to avoid mechanical interference, reduce radiation exposure in non-scanning areas, and meet safety standards.

[0055] 10. High-precision mechanical control and safety redundancy Angle self-locking and three-level interlock control: The meshing transmission of the semi-gear part and the driven lead screw realizes the self-locking of the rotation angle of the scanning ring. Combined with the three-level synchronous control of the horizontal translation motor, telescopic motor, and rotation motor, it ensures the horizontal translation positioning accuracy and reduces the lifting height error.

[0056] Failure protection mechanism: When the system loses power, the electromagnetic clutch engages, and the starting pawl device brakes to prevent the risk of mechanical collision or patient fall.

[0057] 11. Dynamic compensation and real-time tracking Body position yaw compensation: Through the coordinated control of the double yaw drive shafts, ±15° yaw compensation of the scanning ring is achieved. Combined with the closed-loop feedback of the angle deviation Δθ, the imaging artifacts caused by the tilt of the target scanning body position are eliminated.

[0058] Dynamic path planning: Based on the patient's three-dimensional coordinates, the movement trajectory of the scanning ring is adjusted in real time. When the distance is less than the set value, an avoidance path is automatically generated to ensure no contact risk during the entire scanning process.

[0059] 12. Intelligent parameter adaptation and emergency handling Multi-modal scanning optimization: The body position database generates a set of scanning ring movement parameters based on the patient's height, weight, and body position characteristic parameters, shortening the adjustment time.

[0060] Emergency manual control: When powered off, the manual backup interface drives the adjustment shaft, combined with the air spring-assisted retraction, to ensure that the scanning ring is moved to a safe position.

[0061] 13. Improvement of clinical efficiency and compatibility Fully automatic process integration: The entire process from body position selection, scanning ring adjustment to scanning execution is automated, supporting the rapid detection of patients.

[0062] Multi-modal compatibility expansion: The introduction of the tilted body position database supports accurate imaging of special body positions such as scoliosis and joint deformities, improving the signal-to-noise ratio of the images. Description of the drawings

[0063] The drawings described herein are used to provide a further understanding of the present invention, form a part of the present invention, and the schematic embodiments and descriptions thereof are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0064] Figure 1 This is a schematic diagram of the overall structure of the radiotherapy system of the present invention; Figure 2 This is a schematic diagram of the combined use structure of the CT scanning device and the detection seat of the present invention; Figure 2a This is a schematic diagram highlighting the preset axis of the scanning ring and the pitch deflection angle of the scanning ring; Figure 2b This is a schematic diagram highlighting the lidar of the scanning ring and the distribution of the safety area, where the area inside the dotted line is the safety area; Figure 3 This is a schematic diagram of the patient positioning mechanism in the present invention; Figure 3a This is a schematic diagram highlighting the centering adjustment mechanism of the present invention; Figure 4 This is a structural diagram of the combined use of the CT scanning device, the patient positioning mechanism and the radiotherapy device of the present invention; Figure 5 This is a diagram of the inclined position state of the combined use of the CT scanning device, the patient positioning mechanism and the radiotherapy device of the present invention; Figure 6 This is a diagram of the lying flat position state of the combined use of the CT scanning device, the patient positioning mechanism and the radiotherapy device of the present invention; Figure 7 This is the state of the combined use of the patient positioning mechanism, the vertical CT and the treatment head in the present invention Figure 1 。

[0065] The reference numerals in the figure are as follows: 1. CT scanning device; 11. Frame; 12. Scanning ring assembly; 121. Lidar; 1511. Transverse movement motor; 1512. Transverse movement main shaft; 1513. Transverse movement slider; 13. Scanning bed assembly; 131. Bed board main body; 15. Scanning ring adjustment unit; 151. Transverse movement assembly; 152. Telescopic unit; 153. Rotation unit; 2. Patient positioning mechanism; 21. Support body; 211. Upper supporting plate; 212. Lower supporting plate; 213. Connection component; 22. Rotating body; 221. Turntable; 222. Turntable lifting mechanism; 223. Centering adjustment mechanism; 2231. Upper centering adjustment plate; 2232. Lower centering adjustment plate; 2233. Centering drive component; 23. Multiple groups of drive mechanisms; 231. Lifting mechanism; 2311. First lifting mechanism; 2312. Second lifting mechanism; 2313. Angle adjustment component; 232. Sliding drive component; 2321. Slide block; 2322. Sliding connecting rod; 24. Transverse main drive mechanism; 241. Chain drive component; 242. Slide rail; 3. Radiation therapy device; 4. Simulation planning room; 5. Treatment room. Detailed implementation manners

[0066] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0067] I. Explanation of descriptive terms in the present invention The embodiments given in combination with the technical solutions of the present invention are to make the present invention more thorough and complete, and to fully express the scope of the present invention to those skilled in the art. It should be noted that: unless otherwise specifically stated in the present invention, the relative arrangements of the components described in these embodiments should be construed as merely exemplary, rather than a limitation to the technical solutions of the present invention.

[0068] In the present invention, if directional terms such as "upper", "lower", "left", "right", "bottom", "top", etc. are involved, they are defined relative to the directions in each drawing, and are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly. These or other directional terms should not be construed as restrictive terms.

[0069] In the present invention, the similar terms such as "a", "an", "one kind", "the", etc. do not represent a quantity limitation, and may represent a singular or plural number. The terms "comprising", "including", "having" and any variations thereof involved in the present invention are intended to cover non-exclusive inclusion; if the terms "first", "second", "third", etc. are involved in the present invention, they are only used to distinguish similar objects and do not represent a specific order for the objects.

[0070] In the present invention, when it is described that a specific device is located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When it is described that a specific device is connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices and have an intermediate device.

[0071] In addition, the present invention does not discuss in detail the technologies and devices known to those of ordinary skill in the relevant fields, but in appropriate cases, the said technologies and devices should be regarded as a part of the specification.

[0072] II. Core technical problems to be solved by the technical solutions of the present application The control system of existing technology equipment is complex and can only achieve single - position scanning and treatment. Based on the problems existing in the existing technology, this application provides a solution that can decouple control, simplify the control complexity, improve the system reliability, achieve arc treatment, improve the dose distribution, replace the rotating gantry, reduce the design cost, and improve the accessibility of high - end radiotherapy.

[0073] III. Based on the above problems, the present invention specifically provides a technical solution to solve the above problems. The technical solution, working principle and technical effects of the present invention will be described in detail below with specific embodiments.

[0074] Embodiment 1 Refer to Figure 1 As shown, this application provides a radiotherapy system, including a simulation planning room 4 and a radiotherapy terminal, and the radiotherapy terminal is installed in the treatment room 5.

[0075] A CT scanning device 1 and a scanning bed assembly 13 are arranged in the simulation planning room 4. The simulation planning room 4 is used for performing scans in sitting, standing or lying postures to obtain images.

[0076] The radiotherapy terminal includes a CT scanning device 1, a patient positioning mechanism 2 and a radiotherapy device 3, and is used to perform radiotherapy in sitting, standing or lying postures.

[0077] Among them, the radiotherapy terminal can perform planned image acquisition, positioning verification and radiotherapy in the same position, and supports multi - position switching among sitting, standing and lying postures; among them, the patient positioning mechanism 2 can perform six - degree - of - freedom decoupled movement, and the three rotation axes of which intersect at the beam line of the radiotherapy device 3.

[0078] When the target center is positioned at the isocenter of the radiotherapy device 3, during the rotation of the patient positioning mechanism 2 around any axis, the target center always coincides with the isocenter of the radiotherapy device 3.

[0079] When the radiotherapy device 3 is fixed, the patient positioning mechanism 2 can rotate around a single axis to perform multi - angle irradiation or arc treatment, so as to optimize the dose distribution in the target area and avoid danger.

[0080] Among them, the six - degree - of - freedom decoupled movement includes three translational degrees of freedom and three rotational degrees of freedom. The intersection point of the axes of the rotational degrees of freedom coincides with the isocenter of the radiotherapy device 3, so that the position of the isocenter remains constant during the adjustment of the patient's position.

[0081] (I) The structure assembly and mechanical connection of this application are as follows: 1. Installation of the CT scanning device Frame 11 construction: Use a high - strength frame as the basic structure, and reserve the slide rail installation position and the fixed interface for the scanning ring adjustment unit.

[0082] As Figure 2 , Figure 2a shown, the installation of the scanning ring assembly: The scanning ring assembly 12 is fixed on the horizontal sliding rail of the frame through the transverse moving frame, and the transverse moving frame is connected to the transverse moving component 151 of the scanning ring adjusting unit 15; the telescopic bracket of the scanning ring assembly is connected to the vertical guide rail of the frame through the lifting shaft of the telescopic unit 152; the driven lead screw of the rotating unit 153 meshes with the mounting seat of the scanning ring assembly to ensure that the scanning ring assembly rotates around the horizontal axis by an angle ≥ 90°.

[0083] As Figure 1 shown, the positioning of the examination bed and the seat assembly: The bed board main body 131 of the scanning bed assembly 13 is installed on the left side of the frame through a rotating shaft and can rotate horizontally by 0° - 90°; the patient positioning mechanism 2 is installed on the right sliding rail and can move along the track perpendicular to the transverse moving direction of the scanning ring.

[0084] 2. Assembly of the patient positioning mechanism 2 As Figure 2 , Figure 3 , Figure 3a shown, the assembly of the support body 21: The upper support plate 211 adopts a multi-level nested telescopic structure and is made of carbon fiber material, and the length of the upper support plate 211 can be adjusted according to the patient's height. The lower support plate 212 is hinged to the upper support plate 211 through the connecting component 213, and an angle sensor is installed at the hinge point to monitor the rotation angle of 90° - 180°.

[0085] 3. Integration of multiple groups of driving mechanisms 23: The first lifting mechanism 2311 and the second lifting mechanism 2312 of the lifting mechanism 231 are driven by a hydraulic cylinder, and the angle adjusting component 2313 connects the lifting rod and the bottom of the support body to achieve height adjustment; The slider 2321 of the sliding driving component 232 moves along the transverse sliding rail and pushes the lifting mechanism 231 to act through the sliding connecting rod 2322.

[0086] 4. Installation of the rotating body 22 and the centering adjusting mechanism 223: The turntable 221 is driven by the multi-level lifting lead screw of the turntable lifting mechanism 222.

[0087] The upper centering adjusting plate 2231 and the lower centering adjusting plate 2232 are respectively embedded in the upper and lower layers of the turntable, and the arc-shaped rack is driven by the reduction motor of the centering driving component 2233 to achieve left / right and front / rear swinging of ±15°.

[0088] 5. Configuration of the transverse main driving mechanism 24 The sprockets of the chain transmission component 241 are installed at both ends of the sliding rail 242, and the transmission chain is fixed to the connecting frame at the bottom of the support body, and the whole is driven to move horizontally by the main driving motor.

[0089] (II) Control Logic and System Integration 1. Three-level Joint Control Mechanism of the Scanning Ring Adjustment Unit Lateral movement control: The lateral movement motor 1511 drives the double lateral movement main shafts 1512 to rotate synchronously, driving the lateral movement slider 1513 to move along the linear guide rail.

[0090] Lifting control: The telescopic drive motor drives the lifting shaft to rotate through worm and worm gear transmission, and the position feedback is monitored in real time by the encoder.

[0091] Rotation control: The rotation drive motor drives the driven lead screw to rotate. The half gear part meshes with the driven lead screw and is self-locked by the ratchet mechanism when powered off.

[0092] 2. Implementation of the Safety Protection Mechanism As Figure 2b shown, a lidar 121 is provided at the end of the scanning ring assembly 12 to detect obstacles in the safe area for obstacle avoidance.

[0093] Manual emergency reset: When powered off, the height of the scanning ring or the stroke of the telescopic column can be adjusted through the hand-cranking device to release the patient.

[0094] As Figure 4 , Figure 5 , Figure 6 shown, the present invention also records an application method of a radiotherapy system. Through the deep integration of structural innovation and intelligent control algorithms, the radiotherapy system realizes high precision, high efficiency and high safety, providing a reliable technical solution for clinical precise treatment. The specific steps are as follows: Step 1: Confirm the target scanning position Step 2: Adjust the posture of the scanning device according to the target scanning position to adapt to the target scanning position. The specific application scenarios include: (1) Lying position scenario: Move the patient positioning mechanism to the side of the scanning bed, and drive the rotating scanning bed assembly through the motor to make the long axis of the bed board parallel to the horizontal displacement direction of the scanning ring. Adjust the pitch angle of the scanning ring so that its central axis coincides with the axis of the bed board.

[0095] (2) Sitting or standing position scanning: Rotate the scanning bed so that the axis of the bed board is perpendicular to the translation direction of the scanning ring. Move the support to the lower part of the scanning ring, adjust the plane of the scanning ring to be perpendicular to the telescopic column, and adjust the angle of the telescopic column so that its axis is parallel to the backrest of the support.

[0096] Step 3: Perform CT simulation scanning Start the scanning device to obtain the scanning image, and the system automatically generates a treatment plan and marks the central coordinates of the tumor target area.

[0097] Step 4: Positioning at the treatment terminal During treatment, a head, neck and shoulder thermoplastic film is used to fix the head to ensure the stability of the body position during treatment. The patient is fixed to the treatment bed or the patient positioning mechanism again in the same lying position. The operator calls the treatment plan data and drives the six-dimensional treatment bed to automatically adjust so that the body surface marking points of the patient are aligned with the planned body position.

[0098] Step 5: CT positioning scan and image registration Perform a CT scan again to collect real-time images, and compare the positioning scan images with the planned scan images through a computer to calculate the setup error.

[0099] Step 6: Dynamic error correction Based on the setup error, adjust the patient positioning mechanism to correct the isocenter from the tumor center to the radiotherapy device until they coincide.

[0100] Step 7: Perform radiation irradiation As Figure 7 shown, intensity-modulated radiation therapy is performed from different angles according to the plan. Real-time image monitoring is performed before each irradiation to ensure that the center of the target area coincides with the isocenter of the accelerator, and the irradiation is completed according to the plan. After the treatment is completed, the lateral main drive mechanism 24 drives the patient positioning mechanism to the initial position.

[0101] This application further discloses a control method for a CT scanning device, which specifically includes the following steps: 1. Detection process control 1.1 Lying position detection Workstation selection: After the patient selects the lying position, the system triggers the expansion of the scanning bed assembly.

[0102] Workstation avoidance: The support body drive assembly moves the support body horizontally out of the horizontal translation trajectory of the scanning ring to prevent interference.

[0103] The first adjustment sequence: Horizontal translation: The horizontal translation motor drives the double horizontal translation main shafts to rotate synchronously, driving the scanning ring to horizontally translate along the linear guide rail to directly above the scanning bed.

[0104] Lifting: The telescopic drive motor drives the lifting shaft to rotate, and through the telescopic swing arm, the scanning ring is lowered to be horizontally aligned with the patient.

[0105] Rotation: The rotation drive motor drives the driven lead screw, driving the semi-gear part to rotate the scanning ring until the central axis is horizontal.

[0106] Scanning: The scanning ring passes through the patient along the horizontal trajectory to complete tomographic imaging, and the lidar monitors the path obstacles in real time and pauses to avoid them.

[0107] 1.2 Standing position detection Workstation selection: After the patient stands on the positioning mechanism, the system switches to the standing position mode.

[0108] Station avoidance: The bed body drive component rotates the bed board by 90°, making it perpendicular to the transverse movement direction of the scanning ring.

[0109] Second adjustment sequence: Transverse movement: The scanning ring moves transversely to the front of the standing position positioning mechanism.

[0110] Lifting: The telescopic swing arm adjusts the height of the scanning ring to be longitudinally aligned with the patient's body position.

[0111] Rotation: The scanning ring rotates until its central axis is parallel to the patient's body position.

[0112] Scanning: The scanning ring moves up and down along the vertical lifting trajectory to complete the whole-body standing scan.

[0113] 2. Posture adaptability yaw control Angle detection: The yaw angle sensing device continuously obtains the patient's body position tilt angle Δθ.

[0114] Deviation compensation: If Δθ > 0.1°, the yaw drive component is activated: Two-axis coordination: The yaw motor drives the transmission belt, causing the two yaw drive shafts to rotate synchronously, driving the transverse movement screw block to convert rotation into linear displacement.

[0115] Sliding compensation: The sliding table slides along the guide rail to compensate for the angle according to Δθ’ = k·Δθ.

[0116] Synchronous adjustment: The rotation angle of the scanning ring is synchronously adjusted to ensure that the scanning center line is perpendicular to the axis of the telescopic column.

[0117] 3. Safety and emergency mechanism Obstacle avoidance: The lidar at the end of the scanning ring continuously detects obstacles in the safe area, triggering an emergency stop or path replanning.

[0118] Power-off protection: In case of sudden power-off, the self-locking device locks the rotation angle through the meshing of the half gears, and at the same time, the electromagnetic brake of the telescopic swing arm restricts the extension.

[0119] Manual release: The operator uses a manual crank to shake the lifting shaft to raise the scanning ring to a safe height to ensure the evacuation of the patient.

[0120] 4. Three-level interlock and mechanical linkage Transverse movement: The two transverse movement main shafts are driven by the same transverse movement motor, and the synchronism is ensured through the gearbox.

[0121] Lifting: The telescopic drive motor drives the lifting shaft through worm transmission, and the telescopic stroke of the swing arm covers 1.5 - 2m.

[0122] Rotation: The rotation drive motor is engaged with the half gear through the driven lead screw to realize the 0 - 180° rotation of the scanning ring and self-locking.

[0123] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

[0124] In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement; when the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

Claims

1. A radiotherapy system, characterized in that, It includes a simulation planning room (4) and a radiotherapy terminal; A CT scanning device (1) and a scanning bed assembly (13) are arranged in the simulation planning room (4); the simulation planning room is used for performing scans in sitting, standing or lying postures to obtain images; The radiotherapy terminal includes a CT scanning device (1), a patient positioning mechanism (2) and a radiotherapy device (3), and is used to perform radiotherapy in sitting, standing or lying postures; The CT scanning device (1) includes a frame (11), a scanning ring assembly (12), a scanning bed assembly (13), a patient positioning mechanism (2) and a scanning ring adjustment unit (15); the scanning ring adjustment unit (15) is connected to the frame (11) and is used to drive the scanning ring assembly (12) to translate horizontally, lift vertically and rotate around a predetermined axis; The patient positioning mechanism (2) includes a support body (21), a rotating body (22) and multiple groups of driving mechanisms (23); the multiple groups of driving mechanisms (23) drive the support body (21) to perform multi-angle adjustment in sitting, lying and inclined states, and cooperate with the rotating body (22) to achieve circumferential rotation; Among them, the scanning bed assembly (13) and the patient positioning mechanism (2) are respectively adapted to the support body (21), and are controlled in coordination by the scanning ring adjustment unit (15) and multiple groups of driving mechanisms (23); The CT scanning device (1) is linked with the patient positioning mechanism (2) and the radiotherapy device (3) to achieve multi-plane imaging, positioning or radiotherapy.

2. The radiotherapy system according to claim 1, characterized in that, The radiotherapy terminal can perform planned image acquisition, positioning verification and radiotherapy in the same position, and supports multi-position switching among sitting, standing and lying postures; among them, the patient positioning mechanism (2) can perform six-degree-of-freedom decoupled movement, and the three rotation axes thereof intersect at the beam line of the radiotherapy device (3); When the target center is positioned at the isocenter of the radiotherapy device (3), during the rotation of the patient positioning mechanism (2) around any axis, the target center always coincides with the isocenter of the radiotherapy device (3).

3. The radiotherapy system according to claim 2, characterized in that, When the radiotherapy device (3) is fixed, the patient positioning mechanism (2) can rotate around a single axis to perform multi-angle irradiation or arc treatment, so as to optimize the target area dose distribution and avoid danger.

4. The radiotherapy system according to claim 2, characterized in that, The six-degree-of-freedom decoupled movement includes three translational degrees of freedom and three rotational degrees of freedom, and the intersection point of the axes of the rotational degrees of freedom coincides with the isocenter of the radiotherapy device (3), so that the isocenter position remains constant during the adjustment of the target scanning position.

5. The radiotherapy system according to claim 1, characterized in that, The scanning ring assembly includes a scanning ring assembly (12), a transverse movement frame, a telescopic support and a scanning ring adjustment unit (15); the scanning ring adjustment unit (15) drives the scanning ring assembly (12) to translate horizontally, lift vertically and rotate around a predetermined axis.

6. The radiotherapy system according to claim 1, characterized in that, The scanning ring adjustment unit (15) includes a transverse movement component (151), a telescopic unit (152) and a rotating unit (153); The transverse movement component (151) is used to drive the scanning ring assembly (12) to move horizontally; the telescopic unit (152) is used to drive the scanning ring assembly (12) to lift vertically; The rotation unit (153) is used to drive the scanning ring assembly (12) to rotate around a horizontal line passing through its central axis, and the rotation angle range is greater than 90°, so that the central axis of the scanning ring assembly (12) can be switched to a horizontal or vertical state.

7. The radiotherapy system according to claim 6, characterized in that, The transverse movement assembly (151) includes a transverse movement motor (1511), a transverse movement main shaft (1512) and a transverse movement slider (1513); The transverse movement main shaft (1512) is coupled with the transverse movement motor (1511), and the transverse movement slider (1513) is threadedly connected to the transverse movement main shaft (1512) to drive the scanning ring assembly (12) to move along the horizontal guide rail.

8. The radiotherapy system according to claim 1, characterized in that, The support body (21) includes an upper support plate (211) and a lower support plate (212); The lower support plate (212) is hinged to the upper support plate (211) through a connection assembly (213) and can rotate circumferentially around the hinge point by 90° - 180°; the upper support plate (211) is a multi-level telescopic structure for adapting to the support in the supine position, standing position and inclined position.

9. The radiotherapy system according to claim 1, characterized in that, The multiple groups of drive mechanisms (23) include a lifting mechanism (231) and a sliding drive assembly (232); The lifting mechanism (231) is composed of a first lifting mechanism (2311), a second lifting mechanism (2312) and an angle adjustment assembly (2313) for adjusting the height of the support body (21); the sliding drive assembly (232) drives the lifting mechanism (231) to act through a slider (2321) and a sliding link (2322).

10. The radiotherapy system according to claim 1, characterized in that, The rotating body (22) includes a turntable (221), a turntable lifting mechanism (222) and a centering adjustment mechanism (223); The turntable (221) realizes vertical lifting through the turntable lifting mechanism (222), and adjusts the left-right and front-back offset amounts of the support body (21) through the centering adjustment mechanism (223) to adapt to the centering adjustment of CT scanning.

11. The radiotherapy system according to claim 10, characterized in that, The centering adjustment mechanism (223) includes an upper centering adjustment plate (2231), a lower centering adjustment plate (2232) and a centering drive assembly (2233); The upper centering adjustment plate (2231) and the lower centering adjustment plate (2232) are engaged with the transmission teeth through arc-shaped racks to respectively control the left-right swing and front-back swing of the support body (21).

12. The radiotherapy system according to claim 1, characterized in that, It further includes a transverse main drive mechanism (24); the transverse main drive mechanism (24) moves following the centering adjustment mechanism (223) and is used to drive the movable bottom plate to translate along with the patient positioning mechanism (2).

13. The radiotherapy system according to claim 1, characterized in that,The scanning bed assembly (13) and the patient positioning mechanism (2) are respectively provided with drive devices; under the drive of the drive mechanism, the bed board main body (131) of the scanning bed assembly (13) can rotate horizontally, and the patient positioning mechanism (2) can move in a direction perpendicular to the transverse movement of the scanning ring assembly (12) to switch between the lying position and the standing position for examination.

14. A method for applying a radiotherapy system, characterized in that, It includes the following steps: Confirm the target scanning position of the patient; Adjust the posture of the scanning device according to the target scanning position; Fix the target scanning position, perform scanning and generate a treatment plan; Perform patient positioning at the treatment terminal according to the treatment plan to ensure that the target scanning position is consistent with the planned position; Perform positioning scanning, compare the positioning scan image with the planned scan image through a computer, and calculate the setup error. Adjust the patient positioning mechanism based on the setup error, correct the center of the target point to the isocenter of the radiotherapy device, and complete the irradiation according to the plan.

15. The method according to claim 14, characterized in that, The steps of adjusting the posture of the scanning device according to the target scanning posture include the following sub-steps: For lying position scanning, move the patient positioning mechanism to the side, rotate the scanning bed assembly so that the axis of its bed board is parallel to the translation direction of the scanning ring, and adjust the axis of the scanning ring to be parallel to the axis of the bed board. For sitting or standing position scanning, rotate the scanning bed assembly so that the axis of its bed board is perpendicular to the translation direction of the scanning ring, move the patient positioning mechanism below the scanning ring, adjust the plane of the scanning ring to be perpendicular to the telescopic column, and adjust the angle of the telescopic column so that its axis is parallel to the backrest of the support body.

16. The method according to claim 15, characterized in that, The angle adjustment range of the telescopic column is ±15° to ensure the parallelism with the backrest of the support body.

17. A method for controlling a CT scanning device, characterized in that, It includes the following steps: S1. Select the corresponding detection station according to the patient's detection posture. When the lying position detection is selected, enter step S2, and when the standing position detection is selected, enter step S3. S2. Control the scanning ring adjustment unit to execute the first adjustment sequence: Drive the scanning ring to horizontally traverse to the corresponding position of the scanning bed assembly. Adjust the lifting of the scanning ring to align with the patient in the horizontal direction. Control the scanning ring to rotate around a predetermined axis until the central axis is horizontal. Drive the scanning ring to traverse through the patient on the scanning bed assembly along the traverse track to complete the scanning. S3. Control the scanning ring adjustment unit to execute the second adjustment sequence: Drive the scanning ring to horizontally traverse to the corresponding position of the patient positioning mechanism. Adjust the lifting of the scanning ring to align with the patient longitudinally. Control the scanning ring to rotate along a predetermined axis to be parallel to the patient's central axis. Drive the scanning ring to traverse through the patient on the patient positioning mechanism along the lifting track to complete the scanning.

18. The control method according to claim 17, characterized in that, The predetermined axis is the central axis passing through the geometric center of the scanning ring, the rotation angle range is greater than 90°, and the angle self-locking is realized through the meshing transmission of the half gear and the driven lead screw.

19. The control method according to claim 17, characterized in that, It also includes a station avoidance step: When performing lying position detection, control the support body drive assembly to drive the main body of the support body to horizontally move out of the traverse track of the scanning ring. When performing standing position detection, control the bed body drive assembly to drive the main body of the bed board to rotate to be perpendicular to the traverse direction of the scanning ring.

20. The control method according to claim 17, characterized in that, When the scanning ring adjustment unit performs adjustment, it adopts a three-level joint control mechanism: Drive the double traverse main shafts to rotate synchronously through the traverse motor, and drive the traverse slider to move along the linear guide rail to realize horizontal traverse. Drive the lifting shaft to rotate through the telescopic drive motor, and drive the telescopic swing arm to move axially to realize lifting adjustment. Drive the driven lead screw to rotate through the rotation drive motor, and drive the half gear to rotate to realize the angle adjustment of the scanning ring.

21. The control method according to claim 20, wherein, A lidar (121) is provided at the end of the scanning ring assembly (12) to detect obstacles in the safe area for obstacle avoidance.

22. The control method according to claim 17, wherein, It also includes a body position adaptability yaw control method: S41. Obtain the actual body position angle of the patient through the yaw angle sensing device. S42. Calculate the angle deviation Δθ between the central axis of the scanning ring and the anatomical axis of the patient. S43. When Δθ>0.1°, control the yaw drive assembly to drive the telescopic bracket to yaw and compensate the angle: Δθ’ = k·Δθ Where k is the compensation coefficient; S44. Synchronously adjust the rotation angle of the scanning ring so that the scanning center line is perpendicular to the axis of the telescopic column.

23. The control method according to claim 22, wherein, The yaw compensation is achieved by the coordinated control of the double yaw drive shafts: Control the yaw motor to drive the yaw drive belt to drive the two yaw drive shafts to rotate synchronously; Convert the rotational motion into a linear displacement through the transverse movement screw block; Use the sliding table to slide along the sliding guide rail to achieve angle compensation, and the yaw range is ±15°.

24. The control method according to claim 17, wherein, When the system fails or power is cut off, ensure the safety of the patient through the emergency process and execute the emergency treatment steps: Trigger the power-off self-locking device to limit the extension movement of the telescopic swing arm; Lift the scanning ring through the manual device to release the patient.

Images