A rack structure and radiotherapy equipment

Abstract

The present application discloses a rack structure and radiotherapy equipment, belonging to the field of radiotherapy equipment. The rack structure includes: a rotating rack, a treatment head arranged on the rotating rack and capable of swinging in the axial direction of the rotating rack, and the rack structure also includes: an anti-collision detection mechanism arranged on the rotating rack and located below the treatment head; the anti-collision detection mechanism is used to form a plurality of signal links that can be physically isolated; the plurality of signal links are arranged along the swinging trajectory of the treatment head in the axial direction of the rotating rack; each of the signal links extends in a direction perpendicular to the axial direction of the rotating rack to cover the treatment head. Anti-collision detection can be performed by detecting whether the signal link is physically isolated. By rotating the rotating rack for one circle, anti-collision detection of the treatment head at all non-coplanar angle positions can be completed, which is simple to operate and saves time and effort.

Description

Technical Field

[0001] The present disclosure relates to the technical field of radiotherapy, and in particular to a rack structure and radiotherapy equipment. Background Art

[0002] Radiotherapy equipment is a widely used tool for implementing radiotherapy technology, which includes a control mechanism, a rack structure, Figure 1 A type of rack structure is shown, which includes: a rotating rack 1; an arc-shaped guide rail 2a arranged on the rotating rack 1 along the axial direction; a treatment head 3 arranged on the arc-shaped guide rail 2a; the treatment head 3 can move along the arc-shaped guide rail 2a, that is, the treatment head 3 can swing in the axial direction of the rotating rack 1, and can stay at any position of the arc-shaped guide rail 2a under the control of the control mechanism. At the same time, the rotating rack 1 can also rotate around its axis under the control of the control mechanism to drive the treatment head 3 to rotate around the treatment isocenter located on the central axis of the rotating rack 1. In this way, the treatment head can perform non-coplanar irradiation on the lesion from various non-coplanar angle positions, that is, when the treatment head 3 is located at different positions on the arc-shaped guide rail 2a, the different irradiation planes formed by the rotating rack 1 rotating one circle are not coplanar.

[0003] Before treating a patient, it is necessary to position the patient lying on the treatment bed so that the patient's lesion coincides with the treatment isocenter. After the positioning is completed, anti-collision detection is required to avoid collision between the treatment head and the treatment bed or the patient during the treatment process. The prior art performs anti-collision detection by the following method: the treatment head is moved along the guide rail to different non-coplanar angle positions, and for each non-coplanar angle, the rotating frame is rotated one circle, and anti-collision detection is performed respectively until the anti-collision detection of the treatment head at all non-coplanar angle positions is completed.

[0004] The inventors found that the prior art has at least the following problems:

[0005] The prior art requires an anti-collision test to be performed on the treatment head at each non-coplanar angle position, which is not only cumbersome, time-consuming and labor-intensive, but also detrimental to the health of operators in a radiation environment.

[0006] Public Content

[0007] The embodiments of the present disclosure provide a rack structure and radiotherapy equipment, which can solve the above technical problems. The specific technical solutions are as follows:

[0008] On the one hand, a rack structure is provided, comprising: a rotating rack, a treatment head arranged on the rotating rack and capable of swinging in the axial direction of the rotating rack, characterized in that the rack structure further comprises: an anti-collision detection mechanism arranged on the rotating rack and located below the treatment head;

[0009] The anti-collision detection mechanism is used to form a plurality of signal links that can be physically isolated;

[0010] The plurality of signal links are arranged along a swinging track of the treatment head in the axial direction of the rotating frame;

[0011] Each of the signal links extends in a direction perpendicular to the axial direction of the rotating frame to cover the treatment head.

[0012] In a possible design, a preset distance is provided between the anti-collision detection mechanism and the lower edge of the treatment head;

[0013] The preset distance is used to prevent false detection and to perform pre-detection before a collision event occurs.

[0014] In a possible design, the anti-collision detection mechanism includes: a signal generating member and a signal receiving member disposed relatively on the rotating frame;

[0015] The signal generating member is used to form a signal source arranged along the swing trajectory of the treatment head in the axial direction of the rotating frame;

[0016] The signal receiving member is used to form signal receiving points arranged along the swinging track of the treatment head in the axial direction of the rotating frame;

[0017] The relative signal source and the signal receiving point are used to form a signal link.

[0018] In a possible design, the signal generating member includes: a plurality of signal generators, and the plurality of signal generators are arranged along a swinging track of the treatment head in the axial direction of the rotating frame;

[0019] Correspondingly, the signal receiving component includes: a plurality of signal receivers, and the plurality of signal receivers are arranged along a swinging track of the treatment head in the axial direction of the rotating frame.

[0020] In a possible design, the signal generating member includes: a signal generator having a plurality of emission points on the signal generator, wherein the plurality of emission points are arranged along a swinging track of the treatment head in the axial direction of the rotating frame;

[0021] Correspondingly, the signal receiving component includes: a signal receiver, on which a plurality of receiving points are arranged, and the plurality of receiving points are arranged along a swinging trajectory of the treatment head in the axial direction of the rotating frame.

[0022] In a possible design, the signal generator is an ultrasonic generator, an electromagnetic wave generator, a laser generator, an infrared generator or a visible light generator;

[0023] Correspondingly, the signal receiver is an ultrasonic wave receiver, an electromagnetic wave receiver, a laser receiver, an infrared receiver or a visible light receiver.

[0024] In a possible design, the anti-collision detection mechanism includes: a plurality of signal generating and receiving components disposed on the rotating frame and arranged along a swinging trajectory of the treatment head in the axial direction of the rotating frame;

[0025] Each of the signal generating and receiving components is used to form a signal link.

[0026] In a possible design, the signal generating and receiving element is an ultrasonic probe.

[0027] In a possible design, the rotating frame is provided with an arc-shaped guide rail extending along the axial direction of the rotating frame, and the treatment head is movably provided on the arc-shaped guide rail to swing along the arc-shaped guide rail in the axial direction of the rotating frame.

[0028] In a possible design, the rotating frame is provided with a linear guide rail extending along the axial direction of the rotating frame, the treatment head is movably provided on the linear guide rail, and the treatment head is pivotally connected to the linear guide rail to swing in the axial direction of the rotating frame.

[0029] In one possible design, the rack structure also includes: an anti-collision control module; the anti-collision control module is electrically connected to the anti-collision detection mechanism, and is used to control the operation of the anti-collision detection mechanism and obtain information on whether a signal link formed by the anti-collision detection mechanism is interrupted.

[0030] In one possible design, the anti-collision control module includes: a control unit, electrically connected to the signal generating element and the signal receiving element, or electrically connected to the signal generating and receiving element, for sending an on / off instruction;

[0031] A detection unit, electrically connected to the signal receiving element, or electrically connected to the signal generating and receiving element, for detecting whether the signal link is disconnected;

[0032] a processing unit, electrically connected to the detection unit, and configured to receive the detection result of the detection unit and analyze and process the detection result;

[0033] The display unit is electrically connected to the processing unit and is used to receive and display the processing result of the processing unit.

[0034] In a possible design, the rack structure further includes: an alarm module electrically connected to the processing unit, configured to receive a processing result of the processing unit, and when the processing result indicates that a collision event is about to occur, the alarm module sends an alarm signal.

[0035] In a possible design, the frame structure further includes: a protection mechanism disposed on the lower end surface of the treatment head;

[0036] When the protection mechanism is collided, the rotating frame and / or the treatment head stops working.

[0037] In one possible design, the protection mechanism includes: a micro switch disposed on the treatment head;

[0038] A protective cover that can float up and down and is arranged on the lower end surface of the treatment head;

[0039] When the protective cover is hit, the micro switch is touched to stop the operation of the rotating frame and / or the treatment head.

[0040] In a possible design, the rotating frame is a roller or a C-shaped arm.

[0041] In a second aspect, a radiotherapy device is provided, comprising any one of the rack structures mentioned in the first aspect.

[0042] The technical solution provided by the embodiments of the present disclosure brings the following beneficial effects:

[0043] The rack structure provided by the embodiment of the present disclosure is provided with an anti-collision detection mechanism, which can perform anti-collision detection by detecting whether the signal link extending in the direction perpendicular to the axial direction of the rotating rack is blocked. Since multiple signal links are arranged along the swinging trajectory of the treatment head in the axial direction of the rotating rack, so that the signal covers all non-coplanar angle positions of the treatment head in the axial direction of the rotating rack, the anti-collision detection of the treatment head at all non-coplanar angle positions can be completed at one time by rotating the rotating rack once, which is simple to operate, significantly shortens the operation time, and saves more time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1It is a schematic diagram of the first type of structure of the frame structure provided by an embodiment of the present disclosure, when the rotating frame is a roller structure and the guide rail is an arc-shaped guide rail;

[0046] Figure 2 The embodiment of the present disclosure provides Figure 1 A schematic diagram of the partial structure of the frame structure involved after abstracting the guide rail, treatment head, and anti-collision detection mechanism;

[0047] Figure 3 It is a schematic diagram of the second type of structure of the frame structure when the rotating frame is a roller structure and the guide rail is an arc-shaped guide rail provided in an embodiment of the present disclosure;

[0048] Figure 4 It is a structural schematic diagram of the frame structure provided by the embodiment of the present disclosure when the rotating frame is a roller structure, the guide rail is a linear guide rail, and the treatment head is pivotally connected to the guide rail;

[0049] Figure 5 It is a structural schematic diagram of the protection mechanism provided in the embodiment of the present disclosure.

[0050] in, Figure 1 , Figure 3 and Figure 4 Both show the state where the treatment head swings to two non-coplanar angle positions in the axial direction of the rotating frame, and the attached Figure 1 and attached Figure 5 4a (4b) in the figure represents that the signal generating element 4a and the signal receiving element 4b are opposite to each other.

[0051] The reference numerals represent:

[0052] 1- Rotating rack,

[0053] 2a-arc guide rail, 2b-linear guide rail, 201-drive motor, 202-transmission gear,

[0054] 3-treatment head, 301-arc rack,

[0055] 4-anti-collision detection mechanism, 4a-signal generating element, 4b-signal receiving element, 4c-signal generating and receiving element,

[0056] 5- Protection agencies,

[0057] 5a- micro switch,

[0058] 5b-Protective cover,

[0059] M-patient,

[0060] X-treatment couch. DETAILED DESCRIPTION

[0061] Unless otherwise defined, all technical terms used in the embodiments of the present disclosure have the same meanings as those generally understood by those skilled in the art. To make the objectives, technical solutions and advantages of the present disclosure clearer, the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings.

[0062] The present disclosure provides a rack structure, as shown in the attached Figure 1 As shown, the frame structure includes: a rotating frame 1, and a treatment head 3 arranged on the rotating frame 1 and capable of swinging in the axial direction of the rotating frame 1. Further, the frame structure also includes: an anti-collision detection mechanism 4 arranged on the rotating frame 1 and located below the treatment head 3.

[0063] The anti-collision detection mechanism 4 is used to form a plurality of signal links that can be physically isolated;

[0064] The plurality of signal links are arranged along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1;

[0065] Each of the signal links extends in a direction perpendicular to the axial direction of the rotating frame 1 to cover the treatment head 3 .

[0066] For the swinging of the treatment head 3 in the axial direction of the rotating frame 1, see Figure 1 In the frame structure shown, an arc guide rail 2a extending along the axial direction is arranged on the rotating frame 1, and the treatment head 3 is arranged on the arc guide rail 2a, and the treatment head 3 can move along the arc guide rail 2a, so that the treatment head 3 can swing in the axial direction of the rotating frame 1.

[0067] The rack structure provided in the embodiment of the present disclosure can perform anti-collision detection on the patient M or the treatment bed X, and the anti-collision detection principle is as follows:

[0068] By setting an anti-collision detection mechanism 4 below the treatment head 3, it is possible to form multiple signal links that can be physically isolated, that is, when a collision event occurs, the patient M or the treatment bed X can isolate the signal link. Since multiple signal links are arranged along the swing trajectory of the treatment head 3 in the axial direction of the rotating frame 1, so that the signal covers all swing positions of the treatment head 3 in the axial direction of the rotating frame 1, it is convenient to perform anti-collision detection on all non-coplanar angle positions of the treatment head 3 in the axial direction of the rotating frame 1 at one time. Since each signal link extends in a direction perpendicular to the axial direction of the rotating frame 1 to cover the treatment head 3, such a setting enables the treatment head 3 to have or be about to collide with the patient M or the treatment bed X, and in a normal state where no collision event occurs, each signal link will not be isolated by the patient M or the treatment bed X. It can be seen that the embodiment of the present disclosure can detect whether a collision event occurs by setting the anti-collision detection mechanism 4 as above and detecting whether the signal link is isolated. Furthermore, when the signal link is cut off, the location where the collision event occurs can be obtained by obtaining the location where the signal link is cut off.

[0069] Specifically, when performing anti-collision detection, the treatment head 3 can be fixed at any position in the axial direction of the rotating frame 1, and the rotating frame 1 can be rotated around its axis for one circle. During this process, if the multiple signal links formed by the anti-collision detection mechanism 4 are not interrupted, it means that during the treatment process, the treatment head 3 will not collide with the patient M or the treatment bed X at all non-coplanar angle positions. On the contrary, if there is an interrupted signal link among the multiple signal links formed by the anti-collision detection mechanism 4, it means that during the treatment process, the treatment head 3 will collide with the patient M or the treatment bed X at the non-coplanar angle position where the interrupted signal link is located.

[0070] In summary, the rack structure provided by the embodiment of the present disclosure is provided with an anti-collision detection mechanism 4, which can perform anti-collision detection by detecting whether the signal link extending in the direction perpendicular to the axial direction of the rotating rack 1 is interrupted. Since multiple signal links are arranged along the swing trajectory of the treatment head 3 in the axial direction of the rotating rack 1, so that the signal covers all non-coplanar angular positions of the treatment head 3 in the axial direction of the rotating rack 1, that is, the anti-collision detection mechanism 4 is used to simulate all non-coplanar angular positions of the treatment head 3 in the axial direction of the rotating rack 1. Therefore, it only takes one rotation of the rotating rack 1 to complete the anti-collision detection of the treatment head 3 at all non-coplanar angular positions at one time, and there is no need to rotate the rotating rack 1 once every time the treatment head moves to a non-coplanar angular position to perform anti-collision detection. The technical solution of the present application is simple to operate, significantly shortens the operation time, and saves more time and effort.

[0071] It is understandable that when performing anti-collision detection before treatment, the patient M is located on the treatment bed X, and at the same time, the treatment bed X is located in the rotating frame 1, that is, the patient M is located below the treatment head 3, and the anti-collision detection mechanism 4 is also arranged below the treatment head 3, but above the patient M and the treatment bed X. When the patient M or the treatment bed X does not collide with the treatment head 3, the signal link formed by the anti-collision detection mechanism 4 will not be interrupted, otherwise, it will be interrupted by the patient M or the treatment bed X. Based on the above, the embodiment of the present disclosure sets a preset distance between the anti-collision detection mechanism 4 and the lower edge of the treatment head 3, and the preset distance is used to prevent false detection and to perform pre-detection before a collision event occurs.

[0072] As for “preventing false detection”, it means that when the patient M and the treatment bed X are in a normal state where they will not collide with the treatment head 3, the signal link formed by the anti-collision detection mechanism 4 cannot be blocked by the patient M and the treatment bed X, so as to prevent false detection and improve the reliability of anti-collision detection;

[0073] "Performing pre-detection before a collision event occurs" means that when the patient M and the treatment bed X are in a collision state where a collision event may actually occur, before the collision event is about to occur, the signal link formed by the anti-collision detection mechanism 4 can be blocked by the patient M or the treatment bed X. Such a setting can not only ensure accurate detection of the occurrence of a collision event, but also perform pre-detection before the collision event occurs, which is convenient for early warning operations or manual intervention to avoid the actual occurrence of the collision event.

[0074] It can be seen that the preset distance between the anti-collision detection mechanism 4 and the lower edge of the treatment head 3 only needs to satisfy the above two conditions at the same time.

[0075] As mentioned above, the signal link formed by the anti-collision detection mechanism 4 must be perpendicular to the axial direction of the rotating frame 1, so as to ensure that when a collision event actually occurs, the patient M or the treatment bed X located under the treatment head 3 can cut off the signal link. Based on this, several examples of the structure of the anti-collision detection mechanism 4 are given below:

[0076] (1) As an example:

[0077] As attached Figure 2 As shown, the anti-collision detection mechanism 4 includes: a signal generating component 4a and a signal receiving component 4b which are relatively arranged on the rotating frame 1;

[0078] The signal generating element 4a is used to form a signal source arranged along the swing trajectory of the treatment head 3 in the axial direction of the rotating frame 1;

[0079] The signal receiving element 4b is used to form signal receiving points arranged along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1;

[0080] The relative signal source and signal receiving point are used to form a signal link.

[0081] By relatively arranging the signal generating element 4a and the signal receiving element 4b on the rotating frame 1, the signal source formed by the signal generating element 4a can send a signal, and the signal receiving point formed by the signal receiving element 4b can receive the signal, that is, the above-mentioned signal link can be formed between the signal source and the signal receiving point that are relatively one to one. In addition, the signal source and the signal receiving point are arranged along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1, so that the signal covers all non-coplanar angle positions of the treatment head 3 in the axial direction of the rotating frame 1, ensuring the reliability of anti-collision detection.

[0082] Based on the above example (1), as shown in the attached Figure 1 As shown, taking the rotating frame 1 as a drum structure as an example, Figure 1 In the frame structure shown, arc-shaped guide rails 2 extending along the axial direction are arranged on the front and rear inner walls of the rotating frame 1 of the drum structure, and the treatment head 3 is arranged on the arc-shaped guide rails 2a, and the treatment head 3 can move along the arc-shaped guide rails 2a, so that the treatment head can swing in an arc shape in the axial direction of the drum 1. That is, the swinging track of the treatment head 3 in the left and right directions (i.e., the axial direction) of the rotating frame 1 of the drum structure is an arc, so the signal generating element 4a can form a signal source located below the treatment head 3 and arranged along the arc-shaped guide rails 2a on the same side; the signal receiving element 4b forms a signal receiving point located below the treatment head 3 and arranged along the arc-shaped guide rails 2a on the same side, and the signal generating element 4a and the signal receiving element 4b can be arranged on the inner wall of the rotating frame 1 of the drum structure.

[0083] As mentioned above, the signal generating element 4a and the signal receiving element 4b can be arranged on the inner wall of the rotating frame 1 of the drum structure, and the two are opposite to each other. In order to facilitate understanding of the positional relationship between the two and the arc guide rail 2a, the axial direction of the rotating frame 1 of the drum structure can be defined as the left-right direction, and the rotation of the rotating frame 1 will be carried out in the front-to-back direction. At this time, it can be understood that the two arc guide rails 2a are respectively arranged on the front and rear inner walls of the rotating frame 1 along the left-right direction, and the signal generating element 4a and the signal receiving element 4b are also respectively arranged on the front and rear inner walls of the rotating frame 1, and the front signal generating element 4a is located below the front arc guide rail 2a, and the rear signal receiving element 4b is located below the rear arc guide rail 2a.

[0084] At this time, the above-mentioned "each signal link covers the treatment head 3" can be understood as each signal link must at least extend from the front inner wall to the rear inner wall of the rotating frame 1 from front to back, so that it has at least the width of the treatment head 3 in the front-to-back direction to ensure the reliability of anti-collision detection.

[0085] Based on the above example (1), the following is an example of the arrangement of the signal generating element 4a and the signal receiving element 4b:

[0086] In one embodiment, the signal generating member 4a includes: a plurality of signal generators, the plurality of signal generators are arranged along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1;

[0087] Correspondingly, the signal receiving component 4 b includes: a plurality of signal receivers, and the plurality of signal receivers are arranged along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1 .

[0088] It can be understood that at this time, the signal generator is the above-mentioned signal source, and the signal receiver is the above-mentioned signal receiving point. By setting multiple signal generators and multiple signal receivers as above, under normal conditions where no collision event occurs, the signal emitted by the signal generator will be received by the signal receiver corresponding to it, that is, a signal link is formed between the two. Since the signal generator and the signal receiver are arranged along the swing trajectory of the treatment head 3 in the axial direction of the rotating frame 1, the signal covers the swing position of the treatment head 3 in the axial direction of the rotating frame 1.

[0089] When the rotating frame 1 rotates, if the signal receiving element 4b located at the first non-coplanar angle position can normally receive the signal emitted by the signal generating element 4a, it is determined that during the treatment process, the treatment head 3 will not collide with the patient M or the treatment bed X at the first non-coplanar angle position. If the signal receiving element 4b located at the second non-coplanar angle position cannot normally receive the signal emitted by the signal generating element 4a, it is determined that during the treatment process, the treatment head 3 will collide with the patient M or the treatment bed X at the second non-coplanar angle position.

[0090] It can be understood that, at all non-coplanar angle positions of the treatment head 3 on the axial direction of the rotating frame 1, there is a signal emitted by the signal generator. At this time, by judging whether the signal receiver at the corresponding position receives the signal, it can be determined whether the treatment head 3 will collide with the patient M or the treatment bed X at different non-coplanar angle positions.

[0091] For example, as shown in the attached Figure 1 As shown, when two arc-shaped guide rails 2a are arranged opposite to each other on the front and rear inner walls of the rotating frame 1 of the drum structure, a plurality of signal generators can be arranged on the front inner wall of the rotating frame 1 along the extension direction of the arc-shaped guide rail 2a on the front inner wall; at the same time, a plurality of signal receivers can be arranged on the rear inner wall of the rotating frame 1 along the extension direction of the arc-shaped guide rail 2a on the rear inner wall.

[0092] For example, when the preset treatment positions of the treatment head 3 in the axial direction of the rotating frame 1 correspond to five non-coplanar angular positions, five signal generators and five signal receivers can be respectively installed on the front and rear inner walls of the rotating frame 1 corresponding to the five non-coplanar angular positions, and each signal generator corresponds to a signal receiver one by one, that is, a first signal link can be formed between the first signal generator and the first signal receiver, a second signal link can be formed between the second signal generator and the second signal receiver, ... and a fifth signal link can be formed between the fifth signal generator and the fifth signal receiver.

[0093] Of course, based on the above scheme, it is not limited to installing five signal generators and five signal receivers. In order to increase the range of the anti-collision detection area, one or more signal generators can be installed between any two adjacent signal generators mentioned above, and correspondingly, one or more signal receivers can be installed between any two adjacent signal receivers mentioned above.

[0094] The signal generator and the signal receiver can be installed in the same manner on the rotating frame 1. The following is an example of the installation of the signal generator:

[0095] The signal generator can be fixed on the rotating frame 1 by welding or the like, or can be detachably arranged on the rotating frame 1. For example, a plurality of mounting grooves matching the outer profile of the signal generator can be arranged on the rotating frame 1, such as on its inner wall, and the signal generator can be detachably connected to the corresponding mounting grooves by making the signal generator have an interference fit with the corresponding mounting grooves by shrink fitting.

[0096] Alternatively, a plurality of clamping parts may be provided on the rotating frame 1, for example, on its inner wall, and the signal generator may be clamped into corresponding clamping parts to achieve a detachable connection between the two. The clamping part may be an elastic clamp or the like.

[0097] Alternatively, an internal threaded hole may be provided on the rotating frame 1, for example, on its inner wall, and a connecting screw may be provided at the connecting end of the signal generator, and the detachable connection between the two may be achieved by threading the connecting screw with the internal threaded hole.

[0098] The above describes the manner in which the signal generating element 4a and the signal receiving element 4b are both configured as a plurality of independent elements. In addition, the signal generating element 4a and the signal receiving element 4b may also be configured as an integral element, that is, the two are configured as one.

[0099] In another embodiment, the signal generating member 4a may include: a signal generator, on which a plurality of emission points are arranged, and the plurality of emission points are arranged along a swinging track of the treatment head 3 in the axial direction of the rotating frame 1;

[0100] Correspondingly, the signal receiving component 4 b includes: a signal receiver, on which a plurality of receiving points are arranged, and the plurality of receiving points are arranged along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1 .

[0101] For example, as shown in the attached Figure 1 As shown, when two arc guide rails 2a are relatively arranged on the front and rear inner walls of the rotating frame 1 of the drum structure, the signal generator is provided with a plurality of transmitting points arranged along the extension direction of the arc guide rail 2a on the front inner wall, and the transmitting potential is the above-mentioned signal source; at the same time, the signal receiver is provided with a plurality of receiving points arranged along the extension direction of the arc guide rail 2a on the rear inner wall, and the receiving points are the above-mentioned signal receiving points.

[0102] The signal generating member 4a has multiple transmitting points to simultaneously transmit multiple signals along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1, and the signal receiving member 4b may have multiple receiving points to correspondingly receive signals from the relative transmitting points. The multiple transmitting points correspond to the receiving points one by one, and the working principle is the same as the working principle of the multiple signal generators and multiple signal receivers described above, which will not be described in detail in the embodiment of the present disclosure.

[0103] Since the signal link between the signal generating element 4a and the signal receiving element 4b can be physically isolated, that is, it can be at least isolated by the patient M and the treatment bed X, based on this, the signal generator provided in the embodiment of the present disclosure can be an ultrasonic generator, an electromagnetic wave generator, a laser generator, an infrared generator or a visible light generator. Correspondingly, the signal receiver can be an ultrasonic receiver, an electromagnetic wave receiver, a laser receiver, an infrared receiver or a visible light receiver.

[0104] (2) As another example

[0105] As attached Figure 3 As shown, the anti-collision detection mechanism 4 includes: a plurality of signal generating and receiving components 4c which are arranged on the rotating frame 1 and along the swinging track of the treatment head 3 in the axial direction of the rotating frame 1;

[0106] Each signal generating and receiving element 4c is used to form a signal link.

[0107] For example, when the rotating frame 1 is configured as a drum structure, and two opposing arc-shaped guide rails 2a are provided on the front and rear inner walls thereof, the treatment head 3 is provided on the arc-shaped guide rails 2a, and can swing along the arc-shaped guide rails 2a in the axial direction of the rotating frame 1. At this time, the swinging trajectory of the treatment head 3 in the axial direction of the rotating frame 1 is an arc, and a plurality of signal generating and receiving elements 4c can be provided on one of the inner walls on the front and rear sides of the rotating frame 1, and arranged along the arc-shaped guide rails 2a on that side.

[0108] This embodiment is applicable to the signal generating and receiving element 4c which can transmit a signal and the signal can return to the original path when encountering an obstacle, that is, each signal generating and receiving element 4c is used to form a signal link. Under normal conditions where no collision event occurs, the signal emitted by the signal generating and receiving element 4c will be returned when it encounters the inner wall of the drum 1 on its propagation path, and the signal generating and receiving element 4c will be at T 1 When a collision event occurs or is about to occur, once the signal link is cut off by the patient M or the treatment bed X, the signal generating and receiving element 4c will receive the return signal at T after sending the signal. 2 The return signal is received at the time, where T 2 <T 1 That is, by detecting the return time of the signal, anti-collision detection can be performed.

[0109] Specifically, the signal generating and receiving element 4c may be an ultrasonic probe.

[0110] Those skilled in the art can understand that, for the radiotherapy equipment, a guide rail extending along the axial direction of the rotating gantry 1 can be provided on the rotating gantry 1, and the treatment head 3 can be movably provided on the guide rail, so as to realize the swing of the treatment head 3 in the axial direction of the rotating gantry 1; or the rotating gantry 1 itself can be swung in the axial direction through a deflection mechanism, thereby driving the treatment head 3 provided thereon to swing in the axial direction.

[0111] One guide rail or two guide rails can be arranged on the rotating frame 1. Furthermore, the guide rail can be an arc guide rail 2a or a linear guide rail 2b.

[0112] As an example, in the embodiment of the present disclosure, two guide rails may be relatively arranged on the rotating frame 1 , and the treatment head 3 may be movably arranged on the two guide rails to move along the axial direction of the rotating frame 1 .

[0113] (1) When the guide rail is an arc-shaped guide rail 2a, it can be arranged on the front and rear inner walls of the rotating frame 1 along the axial direction of the rotating frame 1. The treatment head 3 can swing in an arc shape along the axial direction of the rotating frame 1 by moving on the arc-shaped guide rail 2a. Figure 1 .

[0114] (2) When the guide rail is a linear guide rail 2 b , it is arranged on the opposite front and rear inner walls of the rotating frame 1 along the axial direction of the rotating frame 1 .

[0115] Furthermore, when the guide rail is a linear guide rail 2b, the treatment head 3 is directly connected or pivotally connected to the linear guide rail 2b.

[0116] When the treatment head 3 is directly connected to the linear guide rail 2 b , the treatment head 3 will swing linearly along the axis direction of the rotating frame 1 .

[0117] When the treatment head 3 is pivotally connected to the linear guide rail 2b, the treatment head 3 can swing along the axis of the rotating frame 1 in a curve synthesized by linear motion and pivoting motion. Figure 4 .

[0118] For those skilled in the art, the rotating gantry 1 of the radiotherapy equipment may be a drum or a C-shaped arm, and the rotating gantry 1 involved in the gantry structure provided in the embodiment of the present disclosure may be a drum or a C-shaped arm, wherein: Figure 1 The embodiment shows a case where two arc-shaped guide rails 2a are arranged on the rotating frame 1 of the drum structure.

[0119] The rotating frame 1 can also be configured as a C-arm. In this case, in order to enable the anti-collision detection mechanism 4 to form the above-mentioned multiple signal chains, a bracket extending along the swing trajectory direction of the treatment head 3 in the axial direction of the C-arm 1 can be provided on the rotating frame 1 of the C-arm structure, and the above-mentioned multiple signal chains can be formed by arranging the anti-collision detection mechanism 4 on the bracket.

[0120] For example, an arc guide rail 2a can be set on the rotating frame 1 of the C-arm structure for installing the treatment head. At this time, one or two of the above-mentioned brackets can be set on the rotating frame 1 of the C-arm structure to set an anti-collision detection mechanism 4 on the bracket.

[0121] In order to achieve real-time control of the above-mentioned anti-collision detection and improve detection efficiency and accuracy, the embodiment of the present disclosure can also improve the control mechanism contained in the radiotherapy equipment itself, so that the control mechanism also includes an anti-collision control module for controlling the operation process of the anti-collision detection mechanism 4.

[0122] The anti-collision control module is electrically connected to the anti-collision detection mechanism 4 , and is used to control the operation of the anti-collision detection mechanism 4 and obtain information on whether a signal link formed by the anti-collision detection mechanism 4 is interrupted.

[0123] As an example, the anti-collision control module may include: a control unit, electrically connected to the signal generating element 4a and the signal receiving element 4b, or electrically connected to the signal generating and receiving element 4c, for sending an on / off instruction to a plurality of signal generators and a plurality of signal receivers, or to the signal generating and receiving element 4c, to control their switching;

[0124] A detection unit, electrically connected to the signal receiving element 4b, or electrically connected to the signal generating and receiving element 4c, for detecting whether the signal link is disconnected;

[0125] A processing unit, electrically connected to the detection unit, for receiving the detection result of the detection unit and analyzing and processing the detection result;

[0126] The display unit is electrically connected to the processing unit and is used to receive and display the processing result of the processing unit.

[0127] It can be understood that the processing results of the processing unit include two types: first, the collision event will not occur, and second, the collision event is about to occur or has occurred.

[0128] For example, if five corresponding signal generators and signal receivers are respectively arranged on the front and rear inner walls of the rotating frame 1 to correspond to the five non-coplanar angle positions of the treatment head 3 preset in the axial direction of the rotating frame 1, when the detection unit detects that the third signal receiver does not receive the signal sent by the third signal generator, and sends the detection result to the processing unit. After the processing unit analyzes and processes the detection result, it will obtain the processing result that the collision event has occurred or is about to occur, and send it to the display unit for display. At this time, the medical staff or the operator can know that when the treatment head 3 swings to the third non-coplanar angle position in the axial direction of the rotating frame 1, a collision event will occur.

[0129] Furthermore, once the processing unit determines that a collision event has occurred, in order to quickly obtain the non-coplanar angle position of the treatment head 3 at this time, the anti-collision control module may also include: a position acquisition unit, used to obtain the position information of the signal receiver that cannot receive the signal normally, and send the position information to the display unit for display.

[0130] While realizing anti-collision detection, in order to avoid the actual occurrence of a collision event between the treatment head 3 and the patient M and the treatment bed X, the rack structure provided by the embodiment of the present disclosure may also include: an alarm module, which is electrically connected to the processing unit and is used to receive a processing result of the processing unit, and when the processing result indicates that a collision event is about to occur, the alarm module sends an alarm signal, such as an alarm sound or an alarm light, so as to intervene in the operation of the rack structure.

[0131] The intervention process can be manual intervention or automatic intervention. Considering the advantage of quick response of automatic intervention, automatic intervention can be adopted. Based on this, the alarm module can also be electrically connected to the control mechanism of the radiotherapy equipment, and the alarm module sends an alarm signal to the control mechanism, and the control mechanism sends a stop operation instruction to the rotating frame 1 and / or the treatment head 3 according to the alarm signal, so as to prevent the actual occurrence of a collision event by stopping the operation of both.

[0132] Furthermore, as attached Figure 5As shown, the frame structure provided by the embodiment of the present disclosure further includes: a protection mechanism 5 arranged on the lower end surface of the treatment head 3, and when the protection mechanism 5 is collided, the rotating frame 1 and / or the treatment head 3 stops working.

[0133] By providing the protection mechanism 5, when the treatment head 3 is about to collide with the patient M or the treatment bed X, the protection mechanism 5 first collides with the patient M or the treatment bed X. At this time, the protection mechanism 5 stops the operation of the frame structure, thereby avoiding a real collision between the patient M or the treatment bed X and the treatment head 3.

[0134] As an example, the attached Figure 5 As shown, the protection mechanism 5 includes: a micro switch 5a arranged on the treatment head 3;

[0135] A protective cover 5b is disposed on the lower end surface of the treatment head 3 so as to float up and down;

[0136] When the protective cover 5b is hit, the micro switch 5a is touched to stop the rotating frame 1 and / or the treatment head 3 from operating.

[0137] By making the protective cover 5b float up and down on the lower end surface of the treatment head 3, when the treatment head 3 is about to collide with the patient M or the treatment bed X, the protective cover 5b first collides with the patient M or the treatment bed X. At this time, once the collision occurs, the protective cover 5b can move upward and touch the micro switch 5a inside it, thereby stopping the rotation of the rotating frame 1 and / or stopping the operation of the treatment head 3.

[0138] The micro switch 5a may also be arranged on the lower end surface of the treatment head 3, and the micro switch 5a may be accommodated in the protective cover 5b.

[0139] The following is an explanation of how the micro switch 5a stops the rotating frame 1 and the treatment head 3 from operating: the micro switch 5a is electrically connected to the control mechanism of the radiotherapy equipment. When the micro switch 5a is touched, a collision signal is sent to the control mechanism. After receiving the collision signal, the control mechanism sends a stop instruction to the rotating frame 1 and / or the treatment head 3, thereby stopping the rotating frame 1 from rotating and / or stopping the treatment head 3 from operating.

[0140] There is a certain distance between the protective cover 5b and the micro switch 5a, and the distance must meet the following two conditions at the same time: first, the protective cover 5b will not contact the micro switch 5a when not collided; second, once the protective cover 5b is collided, it will immediately collide with the micro switch 5a.

[0141] In addition, the micro switch 5a can be connected to the treatment head 3 through the switch support to achieve a stable installation. In summary, the frame structure and protection mechanism provided by the embodiment of the present disclosure can provide dual anti-collision protection for the radiotherapy equipment: first, when the patient M or the treatment bed X is about to collide with the treatment head 3, the patient M or the treatment bed X will first trigger the alarm module, and the alarm module sends an alarm signal to facilitate intervention, for example, the alarm signal is used to inform the therapist that a collision event is about to occur, and the therapist can observe and judge whether measures need to be taken to avoid or reduce the probability of the collision event; second, once the patient M or the treatment bed X collides with the protection mechanism 5 on the treatment head 3, the radiotherapy equipment will stop running, that is, stop rotating and emitting beams, to avoid damage to the radiotherapy equipment or collision with the patient M.

[0142] It can be understood by those skilled in the art that the arrangement of the treatment head 3 on the rotating frame 1, the arrangement of the guide rail on the rotating frame 1, and the arrangement of the treatment head 3 on the guide rail are all common in the art. The embodiment of the present disclosure combines the rotating frame 1 with a roller structure, the arc-shaped guide rail 2a, and the treatment head 3 to give an exemplary description of the arrangement of the three:

[0143] A receiving groove is provided on the wall of the rotating frame 1 of the drum structure for accommodating the treatment head 3. An arc guide rail 2a is provided along the axial direction at the front and rear ends of the receiving groove, that is, on the front and rear inner walls of the drum. Figure 2 As shown, the treatment head 3 is arranged on the arc-shaped guide rail 2a through the guide rail bracket. A driving motor 201 and a transmission gear 202 coaxially connected to the driving motor 201 are also arranged on the inner wall of the rotating frame 1. The treatment head 3 is provided with an arc-shaped rack 301 meshing with the transmission gear 202, and the arc-shaped rack 301 is adapted to the arc-shaped guide rail 2a.

[0144] When the driving motor 201 rotates, the transmission gear 202 rotates in place and drives the arc-shaped rack 301 to move along the axial direction of the rotating frame 1, thereby driving the treatment head 3 to move along the arc-shaped guide rail 2a. The movement distance of the treatment head 3 on the arc-shaped guide rail 2a is controlled by controlling the driving motor so that the treatment head 3 can stay at any position on the arc-shaped guide rail 2a.

[0145] Those skilled in the art will appreciate that the rotation of the drum is also achieved through a corresponding drive motor, which will not be described in detail in the embodiments of the present disclosure.

[0146] In a second aspect, an embodiment of the present disclosure provides a radiotherapy device, comprising any one of the rack structures mentioned in the first aspect.

[0147] Based on the adoption of the above frame structure, the radiotherapy equipment can efficiently perform anti-collision detection before treatment, and can also alarm and shut down before a collision event actually occurs, thereby protecting itself.

[0148] The above description is merely an illustrative example of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A rack structure, comprising: A rotating frame (1) and a treatment head (3), wherein the treatment head (3) is arranged on the rotating frame (1) and is capable of swinging in the axial direction of the rotating frame (1) to perform non-coplanar irradiation from a plurality of non-coplanar angle positions, characterized in that the frame structure further comprises: an anti-collision detection mechanism (4) arranged on the rotating frame (1) and located below the treatment head (3); The anti-collision detection mechanism (4) is used to form a plurality of signal links that can be physically isolated; The plurality of signal links are arranged along a swinging trajectory of the treatment head (3) in the axial direction of the rotating frame (1), so that the signal covers all non-coplanar angular positions of the treatment head (3) in the axial direction of the rotating frame (1); Each of the signal links extends in a direction perpendicular to the axial direction of the rotating frame (1) to cover the treatment head (3).

2. The frame structure according to claim 1, characterized in that: A preset distance is provided between the anti-collision detection mechanism (4) and the lower edge of the treatment head (3); The preset distance is used to prevent false detection and to perform pre-detection before a collision event occurs.

3. The frame structure according to claim 1, characterized in that: The anti-collision detection mechanism (4) comprises: a signal generating component (4a) and a signal receiving component (4b) which are arranged on the rotating frame (1) relative to each other; The signal generating element (4a) is used to form a signal source arranged along the swing trajectory of the treatment head (3) in the axial direction of the rotating frame (1); The signal receiving element (4b) is used to form signal receiving points arranged along the swinging track of the treatment head (3) in the axial direction of the rotating frame (1); The signal source and the signal receiving point are relatively used to form the signal link.

4. The frame structure according to claim 3, characterized in that: The signal generating member (4a) comprises: a plurality of signal generators, wherein the plurality of signal generators are arranged along a swinging track of the treatment head (3) in the axial direction of the rotating frame (1); Correspondingly, the signal receiving component (4b) comprises: a plurality of signal receivers, and the plurality of signal receivers are arranged along the swinging track of the treatment head (3) in the axial direction of the rotating frame (1).

5. The frame structure according to claim 3, characterized in that: The signal generating element (4a) comprises: a signal generator, on which a plurality of emission points are arranged, and the plurality of emission points are arranged along a swinging track of the treatment head (3) in the axial direction of the rotating frame (1); Correspondingly, the signal receiving component (4b) comprises: a signal receiver, on which a plurality of receiving points are arranged, and the plurality of receiving points are arranged along the swinging trajectory of the treatment head (3) in the axial direction of the rotating frame (1).

6. The frame structure according to claim 4 or 5, characterized in that: The signal generator is an ultrasonic generator, an electromagnetic wave generator, a laser generator, an infrared generator or a visible light generator; Correspondingly, the signal receiver is an ultrasonic wave receiver, an electromagnetic wave receiver, a laser receiver, an infrared receiver or a visible light receiver.

7. The frame structure according to claim 1, characterized in that: The anti-collision detection mechanism (4) comprises: a plurality of signal generating and receiving components (4c) which are arranged on the rotating frame (1) and arranged along the swinging track of the treatment head (3) in the axial direction of the rotating frame (1); Each of the signal generating and receiving components (4c) is used to form a signal link.

8. The frame structure according to claim 7, characterized in that: The signal generating and receiving component (4c) is an ultrasonic probe.

9. The frame structure according to claim 1, characterized in that: The rotating frame (1) is provided with an arc-shaped guide rail (2a) extending axially along the rotating frame (1), and the treatment head (3) is movably arranged on the arc-shaped guide rail (2a) so as to swing along the arc-shaped guide rail (2a) in the axial direction of the rotating frame (1).

10. The frame structure according to claim 1, characterized in that: The rotating frame (1) is provided with a linear guide rail (2b) extending axially along the rotating frame (1); the treatment head (3) is movably arranged on the linear guide rail (2b); the treatment head (3) is pivotally connected to the linear guide rail (2b) so as to swing in the axial direction of the rotating frame (1).

11. The frame structure according to claim 1, characterized in that: The frame structure also includes: an anti-collision control module; The anti-collision control module is electrically connected to the anti-collision detection mechanism (4) and is used to control the operation of the anti-collision detection mechanism (4) and obtain information on whether a signal link formed by the anti-collision detection mechanism (4) is interrupted.

12. The frame structure according to claim 11, characterized in that: The anti-collision detection mechanism (4) comprises: a signal generating component (4a) and a signal receiving component (4b) which are arranged on the rotating frame (1) relative to each other; The signal generating element (4a) is used to form a signal source arranged along the swing trajectory of the treatment head (3) in the axial direction of the rotating frame (1); The signal receiving element (4b) is used to form signal receiving points arranged along the swinging track of the treatment head (3) in the axial direction of the rotating frame (1); The relative signal source and the signal receiving point are used to form the signal link; Alternatively, the anti-collision detection mechanism (4) comprises: a plurality of signal generating and receiving components (4c) arranged on the rotating frame (1) and arranged along a swinging track of the treatment head (3) in the axial direction of the rotating frame (1); Each of the signal generating and receiving components (4c) is used to form a signal link; The anti-collision control module comprises: a control unit, electrically connected to the signal generating element (4a) and the signal receiving element (4b), or electrically connected to the signal generating and receiving element (4c), and used for sending an on / off instruction; a detection unit, electrically connected to the signal receiving element (4b), or electrically connected to the signal generating and receiving element (4c), and used for detecting whether the signal link is disconnected; a processing unit, electrically connected to the detection unit, and configured to receive the detection result of the detection unit and analyze and process the detection result; The display unit is electrically connected to the processing unit and is used to receive and display the processing result of the processing unit.

13. The frame structure according to claim 12, characterized in that: The rack structure further comprises: an alarm module electrically connected to the processing unit, for receiving a processing result of the processing unit, and when the processing result indicates that a collision event is about to occur, the alarm module sends an alarm signal.

14. The frame structure according to claim 1, characterized in that: The frame structure further comprises: a protection mechanism (5) arranged on the lower end surface of the treatment head (3); When the protection mechanism (5) is collided, the rotating frame (1) and / or the treatment head (3) are stopped from operating.

15. The frame structure according to claim 14, characterized in that: The protection mechanism (5) comprises: a micro switch (5a) arranged on the treatment head (3); A protective cover (5b) arranged on the lower end surface of the treatment head (3) so as to float up and down; When the protective cover (5b) is collided, the micro switch (5a) is touched, so that the rotating frame (1) and / or the treatment head (3) stop operating.

16. The frame structure according to claim 1, characterized in that: The rotating frame (1) is a roller or a C-shaped arm.

17. A radiotherapy device, comprising the frame structure according to any one of claims 1 to 16.

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