Radiation therapy equipment, system, control method and device

Abstract

The present invention discloses a radiotherapy device, system, control method and device, relating to the technical field of radiotherapy. The radiotherapy device includes: a fixed rack, a rotating rack, a treatment head, a beam shaping component, a fixing member and a rotating member. Among them, the rotating rack is connected to the treatment head and is used to drive the treatment head to rotate. The fixing member is fixedly arranged, the rotating member is rotatably connected to the fixing member, and the rotating member is fixedly connected to the beam shaping component and is used to drive the beam shaping component to rotate. Since in the radiotherapy device provided by the present invention, the treatment head is supported and rotated by the rotating rack, and the beam shaping component is supported and rotated by the rotating member, it is possible to avoid the treatment head from sagging due to the heavy weight of the beam shaping component, ensuring that during the radiotherapy process, the beam emitted by the treatment head can accurately irradiate the target area of the patient's affected part, ensuring the radiotherapy accuracy and avoiding harm to the patient.

Description

Technical Field

[0001] The present invention relates to the technical field of radiotherapy, and particularly relates to a radiotherapy device, system, control method and device. Background Art

[0002] A radiotherapy system generally includes a gantry, a treatment couch, a treatment head and a beam shaping component. Among them, the gantry is generally in a C shape and is used to support the treatment head and drive the treatment head to rotate.

[0003] In the related art, the treatment head is connected to one end of the gantry, and the beam shaping component is connected to the treatment head and is located on the side where the treatment head emits a beam. The beam shaping component mainly includes a multi-leaf collimator (MLC), which can generate a radiation field, and the shape of the radiation field can be adapted to the shape of the target area of the patient's affected area. The beam shaping component can make the beam emitted by the treatment head accurately irradiate the target area of the affected area.

[0004] However, due to the heavy weight of the beam shaping component, during radiotherapy, the beam shaping component may cause the treatment head to droop, so that the beam emitted by the treatment head irradiates on the normal tissues or organs of the patient, causing harm to the patient. Summary of the Invention

[0005] The present invention provides a radiotherapy device, system, control method and device, which can solve the problem of the treatment head drooping in the related art. The technical solutions are as follows:

[0006] On the one hand, a radiotherapy device is provided, and the radiotherapy device includes: a fixed gantry, a rotating gantry, a treatment head, a beam shaping component, a fixing member and a rotating member;

[0007] The fixed gantry is fixedly arranged, the rotating gantry is rotatably connected to the fixed gantry and is fixedly connected to the treatment head, and the rotating gantry is used to drive the treatment head to rotate;

[0008] The fixing member is fixedly arranged, the rotating member is rotatably connected to the fixing member and is fixedly connected to the beam shaping component. The beam shaping component is located on the side where the treatment head emits a beam, and the rotating member is used to drive the beam shaping component to rotate.

[0009] Optionally, the rotation axis of the rotating gantry is collinear with the rotation axis of the rotating member.

[0010] Optionally, a first through hole is provided on the fixing member, and the axis of the first through hole is parallel to the rotation axis of the rotating member.

[0011] Optionally, the rotating member includes: a slider and a rotating member body;

[0012] The fixing member is provided with an annular guide rail, and the slider is slidably connected to the guide rail;

[0013] One end of the rotating member body is fixedly connected to the slider, and the other end of the rotating member body is fixedly connected to the beam shaping assembly.

[0014] Optionally, the fixing member is located on one side of the treatment head where the beam is emitted, and the diameter of the guide rail is smaller than the rotation diameter of the rotating gantry.

[0015] Optionally, the fixing member is provided with a first through hole, the diameter of the guide rail is larger than the diameter of the first through hole, and the center of the first through hole is located within the area surrounded by the guide rail;

[0016] The rotating gantry passes through the first through hole and is connected to the treatment head.

[0017] Optionally, the slider includes: a first slider and a second slider; the rotating member body includes: a first connecting rod and a second connecting rod arranged oppositely;

[0018] The first slider is slidably connected to the guide rail, the first slider is fixedly connected to one end of the first connecting rod, and the other end of the first connecting rod is connected to the beam shaping assembly;

[0019] The second slider is slidably connected to the guide rail, the second slider is fixedly connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the beam shaping assembly;

[0020] The treatment head is located between the first connecting rod and the second connecting rod.

[0021] Optionally, the fixing member includes: a fixedly arranged fixing frame and an annular or circular boss arranged on the fixing frame, and the rotating member is sleeved on the boss.

[0022] Optionally, the fixing member is located on one side of the treatment head where the beam is emitted, and the inner circle diameter of the boss is smaller than the rotation diameter of the rotating gantry.

[0023] Optionally, the boss is an annular boss;

[0024] The fixing member is provided with a first through hole, the inner circle diameter of the boss is greater than or equal to the diameter of the first through hole, and the center of the first through hole is located within the area surrounded by the boss;

[0025] The rotating member is provided with a second through hole, and the rotating member is sleeved on the boss through the second through hole.

[0026] Optionally, the fixing member is located in an area outside the rotation area of the rotating frame.

[0027] Optionally, the radiotherapy device further includes: an imaging system;

[0028] The imaging system is fixedly connected to the fixing member, or the imaging system is rotatably connected to the fixing member.

[0029] Optionally, the treatment head is connected to the beam shaping assembly.

[0030] Optionally, the radiotherapy device further includes at least one of a beam stopper and an electronic portal imaging device;

[0031] The beam stopper is disposed opposite to the treatment head, and the beam stopper is rotatably connected to the fixing member or fixedly connected to the rotating frame;

[0032] The electronic portal imaging device is disposed opposite to the treatment head, and the electronic portal imaging device is rotatably connected to the fixing member or fixedly connected to the rotating frame.

[0033] On the other hand, a control method for a beam shaping assembly is provided, which is used to control the beam shaping assembly in the radiotherapy device as described in the above aspects. The beam shaping assembly is independently provided with respect to the treatment head in the radiotherapy device; the method includes:

[0034] Obtaining motion information of the treatment head;

[0035] According to the motion information of the treatment head, driving the beam shaping assembly to rotate synchronously with the treatment head.

[0036] In yet another aspect, a control device for a beam shaping assembly is provided, which is used to control the beam shaping assembly in the radiotherapy device as described in the above aspects. The beam shaping assembly is independently provided with respect to the treatment head in the radiotherapy device; the device includes:

[0037] An obtaining module, configured to obtain motion information of the treatment head;

[0038] A driving module, configured to drive the beam shaping assembly to rotate synchronously with the treatment head according to the motion information of the treatment head.

[0039] In still another aspect, a control method for a radiotherapy device is provided, which is used to control the radiotherapy device as described in the above aspects; the method includes:

[0040] Obtaining treatment plan information;

[0041] Generate treatment head movement information and beam shaping component movement information according to the treatment plan information;

[0042] Drive the treatment head to rotate according to the treatment head movement information;

[0043] Drive the beam shaping component to rotate synchronously with the treatment head according to the beam shaping component movement information.

[0044] In another aspect, a control device for a radiotherapy device is provided for controlling the radiotherapy device as described in the above aspect; the device includes:

[0045] An acquisition module for acquiring treatment plan information;

[0046] A generation module for generating treatment head movement information and beam shaping component movement information according to the treatment plan information;

[0047] A first driving module for driving the treatment head to rotate according to the treatment head movement information;

[0048] A second driving module for driving the beam shaping component to rotate synchronously with the treatment head according to the beam shaping component movement information.

[0049] In another aspect, a radiotherapy system is provided, the system includes: a host computer, a treatment couch, and the radiotherapy device as described in the above aspect.

[0050] In another aspect, a control device is provided, the device includes: a processor and a memory, the memory is used to store instructions executed by the processor, and the processor realizes the control method of the beam shaping component as described in the above aspect, or realizes the control method of the radiotherapy device as described in the above aspect by executing the instructions stored in the memory.

[0051] In another aspect, a computer-readable storage medium is provided, and instructions are stored in the computer-readable storage medium. When the computer-readable storage medium runs on a computer, the computer executes the control method of the beam shaping component as described in the above aspect, or executes the control method of the radiotherapy device as described in the above aspect.

[0052] The beneficial effects brought by the technical solution provided by the present invention at least include:

[0053] The present invention provides a radiotherapy device, a system, a control method, and a control device. The radiotherapy device includes: a fixed gantry, a rotating gantry, a treatment head, a beam shaping component, a fixing member, and a rotating member. Among them, the rotating gantry is connected to the treatment head and is used to drive the treatment head to rotate. The fixing member is fixedly arranged, the rotating member is rotatably connected to the fixing member, and the rotating member is fixedly connected to the beam shaping component and is used to drive the beam shaping component to rotate. Since in the radiotherapy device provided by the present invention, the treatment head is supported and rotated by the rotating gantry, and the beam shaping component is supported and rotated by the rotating member, it is possible to avoid the treatment head from sagging due to the heavy weight of the beam shaping component, ensuring that during radiotherapy, the beam emitted by the treatment head can accurately irradiate the target area of the patient's affected part, ensuring the accuracy of radiotherapy and avoiding harm to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1 is a schematic structural diagram of a radiotherapy system in the related art;

[0056] Figure 2 is a schematic structural diagram of the radiotherapy system in the related art when the treatment head sags;

[0057] Figure 3 is a schematic structural diagram of a radiotherapy device provided by an embodiment of the present invention;

[0058] Figure 4 is a schematic structural diagram of a fixing member and a treatment head provided by an embodiment of the present invention;

[0059] Figure 5 is Figure 4 a cross-sectional view along the AA direction;

[0060] Figure 6 is a schematic structural diagram of a fixing member and a guide rail provided by an embodiment of the present invention;

[0061] Figure 7 is a schematic structural diagram of another radiotherapy device provided by an embodiment of the present invention;

[0062] Figure 8 is a schematic structural diagram of yet another radiotherapy device provided by an embodiment of the present invention;

[0063] Figure 9It is a schematic structural diagram of another fixing member and a treatment head provided by an embodiment of the present invention;

[0064] Figure 10 It is a schematic structural diagram of a connecting rod provided by an embodiment of the present invention;

[0065] Figure 11 It is a schematic structural diagram of yet another radiotherapy device provided by an embodiment of the present invention;

[0066] Figure 12 It is a schematic structural diagram of yet another radiotherapy device provided by an embodiment of the present invention;

[0067] Figure 13 It is a schematic structural diagram of yet another radiotherapy device provided by an embodiment of the present invention;

[0068] Figure 14 It is a schematic structural diagram of yet another radiotherapy device provided by an embodiment of the present invention;

[0069] Figure 15 It is a schematic structural diagram of yet another radiotherapy device provided by an embodiment of the present invention;

[0070] Figure 16 It is a flowchart of a control method for a beam shaping assembly provided by an embodiment of the present invention;

[0071] Figure 17 It is a schematic structural diagram of an MLC provided by an embodiment of the present invention;

[0072] Figure 18 It is a schematic structural diagram of a control device for a beam shaping assembly provided by an embodiment of the present invention;

[0073] Figure 19 It is a flowchart of a control method for a radiotherapy device provided by an embodiment of the present invention;

[0074] Figure 20 It is a schematic structural diagram of a control device for a radiotherapy device provided by an embodiment of the present invention;

[0075] Figure 21 It is a schematic structural diagram of a radiotherapy system provided by an embodiment of the present invention. Detailed implementation manners

[0076] To make the objectives, technical solutions and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the accompanying drawings.

[0077] Figure 1 It is a schematic structural diagram of a radiotherapy system in the related art. Refer to Figure 1It can be seen that the radiotherapy system may include a radiotherapy device 01 and a treatment couch 02. The radiotherapy device includes a fixed gantry 011, a rotating gantry 012, a treatment head 013, and a beam shaping component 014. Among them, the treatment couch 02 can be set on the ground for supporting the patient. The fixed gantry 011 is fixedly set on the ground. The rotating gantry 012 is rotatably connected to the fixed gantry 011 and fixedly connected to the treatment head 013. The rotating gantry 012 is used to drive the treatment head 013 to rotate around the rotation axis 012a of the rotating gantry 012. Optionally, the rotating gantry 012 can be an annular, helmet-shaped, or C-shaped structure with an opening in the center. Reference Figure 1 It can also be seen that one end of the treatment head 013 that emits the beam is connected to the beam shaping component 014.

[0078] Among them, the intersection point A1 of the beam emitted by the treatment head 013 and the rotation axis 012a can be called the beam intersection point (which can also be called the treatment point). During the radiotherapy process, it is necessary to align the target area of the patient's affected part with the beam intersection point A1 to ensure the accuracy of radiotherapy.

[0079] However, due to the heavy weight of the beam shaping component 014, therefore as Figure 2 shown, during the radiotherapy process, the beam shaping component 014 may cause the treatment head 013 to droop. At this time, the beam intersection point A1 shifts, and the beam emitted by the treatment head 013 irradiates on the normal tissues or organs of the patient, which not only affects the accuracy of radiotherapy but may also cause additional radiation to the patient, trigger secondary tumors in the patient, and cause harm to the patient.

[0080] To solve the problem of harm caused to patients due to the drooping of the treatment head in the related art. An embodiment of the present invention provides a radiotherapy device. Reference Figure 3 , the radiotherapy device may include: a fixed gantry 001, a rotating gantry 002, a treatment head 003, a beam shaping component 004, a fixing member 005, and a rotating member 006.

[0081] Among them, the fixed gantry 001 can be fixedly set. The rotating gantry 002 can be rotatably connected to the fixed gantry 001, and the rotating gantry 002 can be fixedly connected to the treatment head 003. The rotating gantry 002 can be used to drive the treatment head 003 to rotate.

[0082] The fixing member 005 can be fixedly set. The rotating member 006 can be rotatably connected to the fixing member 005. The rotating member 006 can be fixedly connected to the beam shaping component 004. The beam shaping component 004 can be located on one side of the treatment head 003 that emits the beam. The rotating member 006 can be used to drive the beam shaping component 004 to rotate.

[0083] During radiotherapy, the rotating gantry 002 can drive the treatment head 003 to rotate, so that the beam of the treatment head 003 can irradiate the target area of the patient's affected area from different directions. The rotating member 006 can drive the beam shaping assembly 004 to rotate synchronously with the treatment head 003. The beam shaping assembly 004 is used to generate a radiation field adapted to the shape of the target area of the patient's affected area, and the radiation field can conform the beam emitted by the treatment head, so that the beam is accurately irradiated to the target area.

[0084] In summary, the embodiment of the present invention provides a radiotherapy device, which includes: a fixed gantry, a rotating gantry, a treatment head, a beam shaping assembly, a fixing member, and a rotating member. Among them, the rotating gantry is connected to the treatment head and is used to drive the treatment head to rotate. The fixing member is fixedly arranged, the rotating member is rotatably connected to the fixing member, and the rotating member is fixedly connected to the beam shaping assembly and is used to drive the beam shaping assembly to rotate. Since in the radiotherapy device provided by the embodiment of the present invention, the treatment head is supported and rotated by the rotating gantry, and the beam shaping assembly is supported and rotated by the rotating member, it is possible to avoid the treatment head sagging due to the heavy weight of the beam shaping assembly, ensuring that during radiotherapy, the beam emitted by the treatment head can be accurately irradiated to the target area of the patient's affected area, ensuring the radiotherapy accuracy and avoiding harm to the patient.

[0085] In the embodiment of the present invention, the beam shaping assembly 004 may include an MLC, and the MLC is used to generate a radiation field. The beam shaping assembly 004 may further include: a tungsten gate, and the tungsten gate can be used to prevent the beam emitted by the treatment head from irradiating the normal tissues or organs of the patient. The tungsten gate can be arranged on one side where the treatment head emits the beam, and the MLC is arranged on the side of the tungsten gate away from the treatment head. Or, the MLC is arranged on one side where the treatment head emits the beam, and the tungsten gate is arranged on the side of the MLC away from the treatment head.

[0086] Optionally, the fixed gantry 001 and the fixing member 005 can be fixed on the ground. Or, a base can be provided on the ground of the treatment room, and the fixed gantry 001 and the fixing member 005 can be fixed on the base. The embodiment of the present invention does not limit the fixing positions of the fixed gantry 001 and the fixing member 005.

[0087] Optionally, as Figure 3 shown, the rotating gantry 002 may include a first rotating arm 0021 and a second rotating arm 0022 that are perpendicular to each other, and the first rotating arm 0021 is fixedly connected to the second rotating arm 0022. The first rotating arm 0021 can be rotatably connected to the fixed gantry 001, and the second rotating arm 0022 can be fixedly connected to the treatment head 003.

[0088] In an embodiment of the present invention, the rotation axis 002a of the rotating frame 002 and the rotation axis of the rotating member 006 can be collinear. That is, in Figure 3 the structure shown, the rotating member 006 can rotate around the rotation axis 002a. By arranging the rotation axis 002a of the rotating frame 002 and the rotation axis of the rotating member 006 to be collinear, it can be ensured that the treatment head 003 and the beam shaping assembly 004 maintain a fixed spacing during rotation, further ensuring that the beam emitted through the beam shaping assembly 004 can accurately irradiate the normal tissues or organs of the patient, ensuring the safety of the patient.

[0089] Figure 4 FIG. 6 is a schematic structural diagram of a fixing member and a treatment head provided in an embodiment of the present invention. Figure 5 is Figure 4 a sectional view along the AA direction. Referring to Figure 4 and Figure 5 it can be seen that a first through hole 005a can be provided on the fixing member 005, and the axis of the first through hole 005a can be parallel to the rotation axis 002a of the rotating member 006. Alternatively, the axis of the first through hole 005a can be collinear with the rotation axis 002a of the rotating member 006. By providing the first through hole 005a on the fixing member 005, when the treatment bed ( Figure 4 and Figure 5 not shown) moves in a direction parallel to the axis of the first through hole 005a, the treatment bed can move through the first through hole 005a, effectively increasing the movable range of the treatment bed, so that the beam emitted by the treatment head 003 can irradiate different positions of the patient's body.

[0090] Optionally, the shape of the first through hole 005a provided on the fixing member 005 can be circular. Of course, it can also be other shapes, such as rectangular or hexagonal polygons. The embodiment of the present invention does not limit the shape of the first through hole 005a, as long as it is ensured that the treatment bed can pass through the first through hole 005a without colliding with the fixing member 005.

[0091] Referring to Figure 4 and Figure 5 it can also be seen that the rotating member 006 can include: a slider 0061 and a rotating member main body 0062. An annular guide rail 005b can be provided on the fixing member 005. The slider 0061 can be slidably connected to the guide rail 005b. One end of the rotating member main body 0062 can be fixedly connected to the slider 0061, and the other end of the rotating member main body 0062 can be fixedly connected to the beam shaping assembly 004. The slider 0061 can slide relative to the guide rail 005b, thereby driving the rotating member main body 0062 to rotate, and further driving the beam shaping assembly 004 to rotate.

[0092] Figure 6 This is a schematic structural diagram of a fixing member provided by an embodiment of the present invention. Refer to Figure 6 It can be seen that the guide rail 005b can be an I-shaped guide rail. Correspondingly, an I-shaped groove can be provided inside the slider 0061 to ensure that the slider 0061 does not fall off the guide rail 005b.

[0093] In an alternative implementation, refer to Figure 5 , the fixing member 005 can be located on one side of the beam emitted by the treatment head 003, and the diameter of the guide rail 005b can be smaller than the rotation diameter of the rotating gantry 002. That is to say, the fixing member 005 can be located within the rotation area of the rotating gantry 002, and the rotating gantry 002 can rotate outside the fixing member 005. In this implementation, the fixing member 005 will limit the rotation angle of the rotating gantry 002, and the maximum rotation angle of the rotating gantry 002 is about 180°.

[0094] In this implementation, a first through hole 005a can be provided on the fixing member 005, and the treatment couch ( Figure 5 not shown) can move along the axis direction of the first through hole 005a, so that the beam emitted by the treatment head 003 can irradiate different positions of the patient's body. Of course, the first through hole 005a may not be provided on the fixing member 005. The embodiments of the present invention do not limit this.

[0095] In another alternative implementation, refer to Figure 7 , a first through hole 005a is provided on the fixing member 005, the diameter of the first through hole 005a can be larger than the rotation diameter of the rotating gantry 002, the diameter of the guide rail 005b is also larger than the diameter of the first through hole 005a, and the center of the first through hole 005a is located within the area surrounded by the guide rail 005b. For example, the axis of the first through hole 005a can be collinear with the axis of the guide rail 005b. The rotating gantry 002 can pass through the first through hole 005a and be connected to the treatment head 003. That is to say, the rotating gantry 002 can rotate within the first through hole 005a.

[0096] In this implementation, the rotating frame 002 (such as the second rotating arm 0022) can be rotatably connected to the fixing member 005. For example, a groove can be provided on the side wall of the first through hole 005a, and the rotating frame 002 can be slidably connected to the groove through a slider. Of course, the rotating frame 002 can also be connected to the fixing member 005 through a bearing. By connecting the rotating frame 002 to the fixing member 005, the fixing member 005 can support the rotating frame 002 while supporting the beam shaping assembly 004. Alternatively, the rotating frame 002 may not be connected to the fixing member 005, and the fixing member 005 can be only used to support the beam shaping assembly 004. The embodiments of the present invention do not limit this.

[0097] Optionally, in this implementation, referring to Figure 7 , the projections of the fixing member 005 and the treatment head 003 on the support surface may not overlap. Or, referring to Figure 8 , the projections of the fixing member 005 and the treatment head 003 on the support surface may also partially overlap. Wherein, the support surface may refer to the plane for supporting the radiotherapy device, for example, the ground or the support surface of the base.

[0098] Figure 9 is a schematic structural diagram of another fixing member and treatment head provided by the embodiments of the present invention. Referring to Figure 9 It can be seen that the rotating member body 0062 can include: a first connecting rod 62a and a second connecting rod 62b which are oppositely arranged. Correspondingly, the slider 0061 can include a first slider and a second slider. The first slider can be slidably connected to the guide rail 005b, and the first slider can be fixedly connected to one end of the first connecting rod 62a, and the other end of the first connecting rod 62a can be connected to the beam shaping assembly 004. The second slider can be slidably connected to the guide rail 005b, and the second slider can be fixedly connected to one end of the second connecting rod 62b, and the other end of the second connecting rod 62b can be connected to the beam shaping assembly 004. The treatment head 003 can be located between the first connecting rod 62a and the second connecting rod 62b. The first connecting rod 62a and the second connecting rod 62b can be used to support the beam shaping assembly 004. By providing two connecting rods and two sliders, the reliability of the connection of the beam shaping assembly 004 can be ensured.

[0099] Optionally, in the embodiments of the present invention, referring to Figure 10 , each connecting rod can include a first rod body a, a second rod body b, and a third rod body c. One end of the first rod body a can be fixedly connected to the slider 0061. The other end can be connected to one end of the second rod body b, the other end of the second rod body b is connected to one end of the third rod body c, and the other end of the third rod body c can be fixedly connected to the beam shaping assembly 004. As Figure 10As shown, the first rod a and the second rod b are perpendicularly arranged, the second rod b and the third rod c are perpendicularly arranged, and the first rod a and the third rod c are skew perpendicular to each other.

[0100] It should be noted that in the embodiment of the present invention, the rotating member body 0062 may also include only one connecting rod, that is, the radiation field forming assembly 004 may be slidably connected to the fixing member 005 only through this one connecting rod. The embodiment of the present invention does not limit the number of connecting rods provided in the rotating member body 0062, as long as the rotating member body 0062 can effectively support the radiation field forming assembly 004.

[0101] Figure 11 is a schematic structural diagram of another radiotherapy device provided by the embodiment of the present invention. Refer to Figure 11 It can be seen that the fixing member 005 may include: a fixedly arranged fixing frame 0051 and an annular or circular boss 0052 arranged on the fixing frame 0051, and the rotating member 006 may be sleeved on the boss 0052. That is to say, the rotating member 006 may be an annular structure that cooperates with the boss 0052. Figure 12 is a schematic structural diagram of another radiotherapy device provided by the embodiment of the present invention. Refer to Figure 12 The rotating member 006 may also be a disk-shaped structure provided with an annular groove that cooperates with the boss 0052.

[0102] Optionally, the rotating member 006 and the boss 0052 may be connected by gear meshing. For example, the rotating member 006 may be an annular structure, and gear teeth are provided on the inner ring side wall of the annular structure, and gear teeth meshing with the gear teeth provided on the rotating member 006 are provided on the side wall of the boss 0052. Alternatively, the rotating member 006 and the boss 0052 on the fixing member 005 may also be connected by a bearing. The embodiment of the present invention does not limit the connection method between the rotating member 006 and the boss 0052 on the fixing member 005.

[0103] As Figure 11 and Figure 12 shown, the fixing member 005 may be located on the side where the treatment head 003 emits the beam, and the inner circle diameter of the boss 0052 may be smaller than the rotation diameter of the rotating frame 002. That is to say, the fixing member 005 is located in the rotation area of the rotating frame 002, and the rotating frame 002 can rotate outside the fixing member 005.

[0104] Optionally, refer to Figure 11, a first through hole 005a may also be provided on the fixing member 005. The inner circle diameter of the annular boss 0052 may be greater than or equal to the diameter of the first through hole 005a, and the center of the first through hole 005a is located within the area surrounded by the boss 0052. For example, the axis of the first through hole 005a and the axis of the boss 0052 may be collinear. A second through hole 006a may be provided on the rotating member 006, and the rotating member 006 may be sleeved on the boss 0052 through the second through hole 006a. The inner diameter of the rotating member 006 may be equal to the outer circle diameter of the boss 0052, so as to ensure that the rotating member 006 can rotate on the boss 0052 without falling off the boss 0052.

[0105] It should be noted that when the rotating member 006 is sleeved on the boss in the fixing member 005, refer to Figure 12 , the first through hole 005a may not be provided on the fixing member 005. Correspondingly, the second through hole 006a may not be provided on the rotating member 006 either. That is to say, the boss provided on the fixing member 005 may be a circular boss, and the rotating member 006 may be a disc-shaped structure provided with a circular groove.

[0106] Figure 13 is a schematic structural diagram of another radiotherapy device provided by an embodiment of the present invention. Refer to Figure 13 It can be seen that the fixing member 005 may also be located in an area outside the rotation area of the rotating rack 002. When the fixing member 005 is located in an area outside the rotation area of the rotating rack 002, as Figure 13 shown, the fixing member 005 may be fixed on the treatment couch base 10a of the treatment couch 10. For example, the fixing member 005 may be threadedly connected to the treatment couch base 10a of the treatment couch 10, or may also be connected by a buckle. Or, the fixing member 005 may also be fixed on the ground. The embodiment of the present invention does not limit the fixing position of the fixing member 005.

[0107] When the fixing member 005 is located in an area outside the rotation area of the rotating rack 002, when the treatment head 003 rotates towards the direction close to the ground or the base, the fixing member 005 will not only not collide with the treatment head 003, but also will not block the beam of the treatment head 003, and the rotating rack 002 can achieve 360° rotation.

[0108] Optionally, as Figure 14 shown, the outer contour of the rotating member 006 may be circular. Of course, the outer contour of the rotating member 006 may also be other shapes. As Figure 15 shown, the outer contour of the rotating member 006 may be star-shaped. The embodiment of the present invention does not limit the shape of the outer contour of the rotating member 006.

[0109] Refer toFigure 9 , Figure 14 and Figure 15 It can be seen that the radiotherapy device may further include an imaging system 007. The imaging system 007 can be used to image the target area of the patient's affected part during the positioning stage before radiotherapy and during the radiotherapy process.

[0110] When the slider 0061 in the rotating member 006 is slidably connected to the guide rail 005b on the fixing member 005, referring to Figure 9 , the imaging system 007 can be fixedly connected to the fixing member 005. Alternatively, the imaging system 007 can also be slidably connected to the guide rail 005b through the slider. When the slider slides relative to the guide rail 005b, it can drive the imaging system 007 to rotate around the rotation axis of the rotating member 006.

[0111] When the rotating member 006 is sleeved on the boss 0052 on the fixing member 005, referring to Figure 14 and Figure 15 , the imaging system 007 can also be fixedly connected to the rotating member 006. When the rotating member 006 rotates around the rotation axis 002a of the rotating rack 002, it can drive the imaging system 007 to rotate together. Alternatively, the imaging system 007 can be directly fixedly connected to the fixing member 005.

[0112] When the imaging system 007 is fixedly connected to the rotating member 006, since the rotating member 006 will rotate synchronously with the treatment head 003, the rotating member 006 can drive the imaging system 007 to rotate synchronously with the treatment head 003. Therefore, during the positioning stage before radiotherapy and during the radiotherapy process, the treatment head 003 will not block the imaging area of the imaging system 007, ensuring the normal operation of the imaging system 007.

[0113] Optionally, the imaging system 007 can be a cone beam computed tomography (CBCT), and the CBCT can also be called a flat panel imaging system. As Figure 9 , Figure 14 and Figure 15 shown, the imaging system 007 can include an X-ray tube 0071 and a detector 0072 arranged opposite to each other. Referring to Figure 9 , the radiotherapy device can include two imaging systems 007, or, as Figure 14 and Figure 15 shown, the radiotherapy device can also include one imaging system 007. The embodiments of the present invention do not limit the number of imaging systems 007 provided in the radiotherapy device.

[0114] It should be noted that in the radiotherapy device provided by the embodiments of the present invention, the treatment head 003 may not be connected to the beam shaping component 004. The treatment head 003 can rotate driven by the rotating gantry 002, and the beam shaping component 004 can rotate driven by the rotating member 006. That is to say, two driving devices can be provided in the radiotherapy device. One driving device is used to drive the rotating gantry 002 to drive the treatment head 003 to rotate. The other driving device is used to drive the rotating member 006 to drive the beam shaping component 004 to rotate. Of course, the treatment head 003 can also be connected to the beam shaping component 004. For example, the treatment head 003 and the beam shaping component 004 can be connected by a buckle, or can also be connected by a thread. At this time, only one driving device can be provided in the radiotherapy device. This driving device can be used to drive the rotating gantry 002 to drive the treatment head 003 to rotate. Since the beam shaping component 004 is connected to the treatment head 003, when the treatment head 003 rotates, the treatment head 003, as the driving part, can drive the beam shaping component 004 to rotate synchronously.

[0115] For example, when the treatment head 003 is connected to the beam shaping component 004, referring to Figures 5 to 8 , when the treatment head 003 rotates, it can drive the rotating member body 0062 connected to the beam shaping component 004 to rotate, so that the slider 0061 slides relative to the guide rail 005b on the fixing member 005. Or, referring to Figures 11 to 13 , the treatment head 003 can drive the rotating member 006 connected to the beam shaping component 004 to rotate relative to the boss 0052 on the fixing member 005.

[0116] Optionally, the radiotherapy device may further include at least one of a beam blocker and an electronic portal imaging device (EPID). For example, referring to Figure 9 , Figure 14 and Figure 15 , the radiotherapy device may include an EPID 008. The EPID 008 can be used to verify whether the shape of the radiation field formed by the beam shaping component 004 matches the shape of the target area of the patient's affected area, and the EPID 008 can also be used to verify whether the dose of the beam emitted by the treatment head matches the dose in the treatment plan information. Among them, the treatment plan information can be formulated by a treating physician.

[0117] Among them, the beam blocker can be disposed opposite to the treatment head 003, and the beam blocker can be rotatably connected to the fixing member 005 or fixedly connected to the rotating gantry 002. The EPID 008 can also be disposed opposite to the treatment head 003, and the EPID 008 can also be rotatably connected to the fixing member 005 or fixedly connected to the rotating gantry 002.

[0118] Exemplarily, refer to Figure 9 , the EPID 008 can be slidably connected to the guide rail 005b on the fixing member 005 through a slider. Alternatively, refer to Figure 14 and Figure 15 , the EPID 008 can be fixedly connected to the rotating member 006. Or, the rotating frame 002 can be a C-shaped frame. One end of the C-shaped frame can be fixedly connected to the treatment head 003, and the other end can be fixedly connected to the EPID 008. That is, the rotating frame 002 can drive the treatment head 003 and the EPID 008 to rotate synchronously.

[0119] It should be noted that the radiotherapy device provided by the embodiment of the present invention can be placed in a shielding room, and the shielding room can be used to shield the beam emitted by the treatment head. However, the manufacturing cost of the shielding room is relatively high. Therefore, in the embodiment of the present invention, the radiotherapy device can further include a beam stopper, and the beam stopper can be disposed opposite to the treatment head. The beam stopper can be used to shield a part of the beam emitted by the treatment head to prevent the beam emitted by the treatment head from leaking, thereby reducing the requirement for the shielding performance of the shielding room, and further reducing the manufacturing cost of the shielding room.

[0120] Optionally, the beam stopper can be slidably connected to the guide rail 005b on the fixing member 005 through a slider. Or, the beam stopper can be fixedly connected to the rotating member 006. Or, the rotating frame 002 can be a C-shaped frame. One end of the C-shaped frame can be fixedly connected to the treatment head 003, and the other end can be fixedly connected to the beam stopper. That is, the rotating frame 002 can drive the treatment head 003 and the beam stopper to rotate synchronously.

[0121] In the embodiment of the present invention, when both the beam stopper and the EPID 008 are slidably connected to the guide rail 005b on the fixing member 005 through sliders, the beam stopper and the EPID 008 can be connected to the same slider, and the other end of the slider can slide relative to the guide rail 005b on the fixing member 005, and the slider can drive the beam stopper and the EPID 008 to rotate together.

[0122] In summary, the embodiment of the present invention provides a radiotherapy device, which includes a fixed gantry, a rotating gantry, a treatment head, a beam shaping component, a fixing member, and a rotating member. Among them, the rotating gantry is connected to the treatment head and is used to drive the treatment head to rotate. The fixing member is fixedly arranged, the rotating member is rotatably connected to the fixing member, and the rotating member is fixedly connected to the beam shaping component and is used to drive the beam shaping component to rotate. Since in the radiotherapy device provided by the embodiment of the present invention, the treatment head is supported and rotated by the rotating gantry, and the beam shaping component is supported and rotated by the rotating member, it is possible to avoid the treatment head from sagging due to the heavy weight of the beam shaping component, ensuring that during radiotherapy, the beam emitted by the treatment head can accurately irradiate the target area of the patient's affected part, ensuring the accuracy of radiotherapy and avoiding harm to the patient.

[0123] Figure 16 is a flowchart of a control method for a beam shaping component provided by an embodiment of the present invention. This method can be applied to a control device for the beam shaping component, and this method can be used to control the beam shaping component in a radiotherapy device as shown in Figures 3 to 15 any one, and the beam shaping component is independently arranged from the treatment head in the radiotherapy device. Referring to Figure 16 it can be seen that this method may include:

[0124] Step 101, obtain the motion information of the treatment head.

[0125] When the beam shaping component is independently arranged from the treatment head in the radiotherapy device, in order to ensure that the beam shaping component and the treatment head can rotate synchronously, the control device of the beam shaping component can first obtain the motion information of the treatment head. The motion information of the treatment head can be obtained from the treatment plan information formulated by the treating physician. The motion information of the treatment head may include information such as rotation speed, rotation direction, and initial position.

[0126] Step 102, drive the beam shaping component to rotate synchronously with the treatment head according to the motion information of the treatment head.

[0127] The synchronous rotation of the beam shaping component and the treatment head may mean that during the rotation of the treatment head, the axis of the beam emitted by the treatment head and the axis of the beam shaping component are always collinear. In the embodiments of the present invention, before radiotherapy, the control device of the beam shaping component may adjust the initial position of the beam shaping component according to the initial position of the treatment head, so that the axis of the beam shaping component is collinear with the axis of the beam emitted by the treatment head. During radiotherapy, the control device of the beam shaping component may control the beam shaping component to rotate in the same direction according to the rotation direction of the treatment head. And, the control device of the beam shaping component may adjust the rotation speed of the beam shaping component according to the obtained rotation speed of the treatment head, so that it is the same as the rotation speed of the treatment head. Wherein, the axis of the beam shaping component may be the central axis of the beam shaping component perpendicular to its radiation field.

[0128] By driving the beam shaping component to rotate synchronously with the treatment head, it can be ensured that the beam imaging component and the treatment head cooperate with each other, and the beam shaping component can make the beam emitted by the treatment head adapt to the shape of the target area of the patient's affected part.

[0129] In the embodiments of the present invention, the beam shaping component may include an MLC. Figure 17 It is a schematic structural diagram of an MLC provided by an embodiment of the present invention. Refer to Figure 17 , the MLC may include two sets of blades arranged oppositely, each set includes a plurality of blades 004a, each blade 004a can move along the first direction X, and the control device of the beam shaping component can drive the blades to different positions according to the shape of the target area of the patient's affected part, so as to form a radiation field 004b (that is, the area through which the beam of the treatment head can pass), and the beam can pass through the radiation field 004b and irradiate on the target area of the patient's affected part. Wherein, the first direction X may be perpendicular to the axis of the beam emitted by the treatment head.

[0130] Since the shape presented by the target area of the patient's affected part may be different at different angles, when the MLC in the beam shaping component moves to different positions, it is necessary to adjust the shape formed by the blades 004a in the MLC according to the shape of the target area at this position. Therefore, the control device of the beam shaping component also needs to drive the blades 004a in the MLC to move according to the actual movement position of the beam shaping component, so as to adjust the shape of the radiation field formed by the MLC.

[0131] In an embodiment of the present invention, since the beam shaping component rotates synchronously with the treatment head, the control device of the beam shaping component can determine the actual movement position of the beam shaping component according to the movement information of the treatment head, and can determine the shapes of the target areas at different positions of the affected part of the patient according to the pre-acquired treatment plan information. Thus, when the beam shaping component rotates to different positions, the blades 004a in the MLC can be correspondingly driven to move, so that the radiation field 004b formed by the plurality of blades adapts to the shape of the target area of the affected part of the patient.

[0132] Optionally, in order to prevent beam leakage between the blades 004a, along the direction of the beam emitted by the treatment head 003, the size of one side of each blade 004a close to the treatment head 003 can be smaller than the size of the side far from the treatment head 003. Moreover, every two adjacent blades 004a can overlap each other.

[0133] In summary, the embodiment of the present invention provides a control method for a beam shaping component. This method can drive the beam shaping component to rotate synchronously with the treatment head according to the movement information of the treatment head, ensuring the cooperation between the beam imaging component and the treatment head.

[0134] Figure 18 is a schematic structural diagram of a control device for a beam shaping component provided by an embodiment of the present invention. This device can be used to control the beam shaping component in a radiotherapy device as shown in Figures 3 to 15 any one, and the beam shaping component is independently arranged from the treatment head in the radiotherapy device. Referring to Figure 18 it can be seen that this device may include:

[0135] An acquisition module 201, configured to acquire the movement information of the treatment head.

[0136] A driving module 202, configured to drive the beam shaping component to rotate synchronously with the treatment head according to the movement information of the treatment head.

[0137] In summary, the embodiment of the present invention provides a control device for a beam shaping component. This device can drive the beam shaping component to rotate synchronously with the treatment head according to the movement information of the treatment head, ensuring the cooperation between the beam imaging component and the treatment head.

[0138] Figure 19 is a flowchart of a control method for a radiotherapy device provided by an embodiment of the present invention. This method can be applied to the control device of the radiotherapy device. This method can be used to control a radiotherapy device as shown in Figures 3 to 15 any one, and the beam shaping component is independently arranged from the treatment head in the radiotherapy device. Referring to Figure 19 , this method may include:

[0139] Step 301: Obtain treatment plan information.

[0140] In an embodiment of the present invention, the treatment plan information may be formulated by a treating physician according to the shape, position, and size of the target area of the patient's affected part.

[0141] Step 302: Generate treatment head movement information and radiation field shaping component movement information according to the treatment plan information.

[0142] According to the treatment plan information obtained in Step 301, the control device of the radiotherapy equipment may generate the movement information of the treatment head and the movement information of the radiation field shaping component according to the obtained treatment plan information. Among them, the movement information of the treatment head may include information such as the rotation speed, rotation direction, and initial position of the treatment head. The movement information of the radiation field shaping component may include information such as the rotation speed, rotation direction, and initial position of the radiation field shaping component.

[0143] Step 303: Drive the treatment head to rotate according to the treatment head movement information.

[0144] Before radiotherapy, the control device of the radiotherapy equipment may drive the treatment head to move to the initial position according to the initial position in the generated treatment head movement information. During radiotherapy, the control device of the radiotherapy equipment may drive the treatment head to rotate according to the rotation speed and rotation direction in the generated treatment head movement information.

[0145] Step 304: Drive the radiation field shaping component to rotate synchronously with the treatment head according to the radiation field shaping component movement information.

[0146] Before radiotherapy, the control device of the radiotherapy equipment may drive the radiation field shaping component to move to the initial position according to the initial position in the generated radiation field shaping component movement information. During radiotherapy, the control device of the radiotherapy equipment may drive the radiation field shaping component to rotate according to the rotation speed and rotation direction in the generated radiation field shaping component movement information.

[0147] In an embodiment of the present invention, according to the treatment plan information, the generated treatment head movement information and radiation field shaping component movement information may be the same. That is, the initial position of the radiation field shaping component is the same as the initial position of the treatment head, the rotation direction of the radiation field shaping component is the same as the rotation direction of the treatment head, and the rotation speed of the radiation field shaping component is the same as the rotation speed of the treatment head. Therefore, the radiation field shaping component may rotate synchronously with the treatment head, so as to ensure that the beam emitted by the treatment head can irradiate the target area of the patient's affected part through the radiation field formed by the radiation field shaping component, and will not irradiate the patient's normal tissues and organs, and the radiotherapy accuracy is relatively high.

[0148] During the radiotherapy process, the control device of the radiotherapy equipment can detect the actual movement position of the treatment head and the actual movement position of the beam shaping component in real time. And it can compare the actual movement position of the treatment head with the actual movement position of the beam shaping component, and determine whether the actual movement position of the treatment head is consistent with the actual movement position of the beam shaping component.

[0149] When the actual movement position of the treatment head is consistent with the actual movement position of the beam shaping component, the control device of the radiotherapy equipment can control the treatment head to move according to the current treatment head movement information, and control the beam shaping component to move according to the current beam shaping component movement information.

[0150] When the actual movement position of the treatment head is not consistent with the actual movement position of the beam shaping component, the movement speed of the beam shaping component can be adjusted to make the axis of the beam shaping component collinear with the axis of the beam emitted by the treatment head. However, after adjusting the movement speed of the beam shaping component, it is still difficult for the axis of the beam shaping component to be collinear with the axis of the beam emitted by the treatment head, then the control device of the radiotherapy equipment can control the radiotherapy equipment to stop the treatment.

[0151] Among them, the actual movement position of the treatment head can refer to the coordinates of the treatment head in the equipment coordinate system of the radiotherapy equipment. The actual movement position of the beam shaping component can refer to the coordinates of the beam shaping component in the equipment coordinate system.

[0152] It should be noted that in the embodiment of the present invention, the control device of the radiotherapy equipment can include a treatment head controller and an MLC controller. The control device of the beam shaping component can be the MLC controller. Among them, the treatment head controller can include a treatment head rotation controller and a treatment head dose controller. The treatment head controller can be used to control the rotation of the treatment head, and the treatment head dose controller can be used to control the dose of the beam emitted by the treatment head. The MLC controller can include an MLC rotation controller and an MLC blade movement controller. The MLC rotation controller can be used to control the rotation of the MLC, and the MLC blade controller can be used to control the blade movement.

[0153] In summary, the embodiment of the present invention provides a control method for a radiotherapy equipment. This method can generate treatment head movement information and beam shaping component movement information through treatment plan information, and make the beam shaping component rotate synchronously with the treatment head, ensuring that the beam emitted by the treatment head can irradiate the target area of the patient's affected area through the radiation field formed by the beam shaping component, and will not irradiate the patient's normal tissues and organs, ensuring the accuracy of radiotherapy and avoiding harm to the patient.

[0154] Figure 20It is a schematic structural diagram of a control device for a radiotherapy device provided by an embodiment of the present invention. This device can be used to control a radiotherapy device as shown in Figures 3 to 15 any one. Referring to Figure 20 , this device may include:

[0155] An acquisition module 401, configured to acquire treatment plan information.

[0156] A generation module 402, configured to generate treatment head movement information and radiation field shaping component movement information according to the treatment plan information.

[0157] A first driving module 403, configured to drive the treatment head to rotate according to the treatment head movement information.

[0158] A second driving module 404, configured to drive the radiation field shaping component to rotate synchronously with the treatment head according to the radiation field shaping component movement information.

[0159] In summary, the embodiment of the present invention provides a control device for a radiotherapy device. This device can generate treatment head movement information and radiation field shaping component movement information through treatment plan information, and make the radiation field shaping component rotate synchronously with the treatment head, ensuring that the beam emitted by the treatment head can irradiate the target area of the patient's affected part through the radiation field formed by the radiation field shaping component, rather than irradiating the patient's normal tissues and organs, ensuring the accuracy of radiotherapy and avoiding harm to the patient.

[0160] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described device and modules can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0161] The embodiment of the present invention also provides a control device, which may include: a processor and a memory. The memory is used to store instructions executed by the processor, and the processor can implement Figure 16 the control method of the radiation field shaping component as shown, or implement Figure 19 the control method of the radiotherapy device as shown.

[0162] The embodiment of the present invention also provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium runs on a computer, it causes the computer to execute Figure 16 or Figure 19 the method as shown.

[0163] Figure 21 It is a schematic structural diagram of a radiotherapy system provided by an embodiment of the present invention. Referring to Figure 20It can be seen that the system may include: a host computer 20, a treatment couch 10, and a radiotherapy device 00, and the radiotherapy device 00 may be a device as shown in Figures 3 to 15 any one of them. The host computer 20 may include a control device as shown in Figure 18 and Figure 20 shown.

[0164] The foregoing are only optional 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 principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A radiotherapy device, characterized in that, The radiotherapy device includes: a fixed gantry (001), a rotating gantry (002), a treatment head (003), a beam shaping assembly (004), a fixing member (005), and a rotating member (006); The fixed gantry (001) is fixedly arranged. The rotating gantry (002) is rotatably connected to the fixed gantry (001) and fixedly connected to the treatment head (003). The rotating gantry (002) is used to drive the treatment head (003) to rotate; The fixing member (005) is fixedly arranged. The rotating member (006) is rotatably connected to the fixing member (005) and fixedly connected to the beam shaping assembly (004). The beam shaping assembly (004) is located on one side of the treatment head (003) where the beam is emitted. The rotating member (006) is used to drive the beam shaping assembly (004) to rotate.

2. The radiotherapy device according to claim 1, wherein, The rotation axis (002a) of the rotating gantry (002) is collinear with the rotation axis of the rotating member (006).

3. The radiotherapy device according to claim 2, wherein, A first through hole (005a) is provided on the fixing member (005), and the axis of the first through hole (005a) is parallel to the rotation axis of the rotating member (006).

4. The radiotherapy device according to any one of claims 1 to 3, characterized in that The rotating member includes: a slider (0061) and a rotating member main body (0062); An annular guide rail (005b) is provided on the fixing member (005), and the slider (0061) is slidably connected to the guide rail (005b); One end of the rotating member main body (0062) is fixedly connected to the slider (0061), and the other end of the rotating member main body (0062) is fixedly connected to the beam shaping assembly (004).

5. The radiotherapy device according to claim 4, wherein, The fixing member (005) is located on one side of the treatment head (003) where the beam is emitted, and the diameter of the guide rail (005b) is smaller than the rotation diameter of the rotating gantry (002).

6. The radiotherapy device according to claim 4, wherein, A first through hole (005a) is provided on the fixing member (005), the diameter of the guide rail (005b) is larger than the diameter of the first through hole (005a), and the center of the first through hole (005a) is located within the area surrounded by the guide rail (005b); The rotating gantry (002) passes through the first through hole (005a) and is connected to the treatment head (003).

7. The radiotherapy device according to claim 6, characterized in that, The slider (0061) includes: a first slider and a second slider; the rotating member main body (0062) includes: a first connecting rod (62a) and a second connecting rod (62b) arranged oppositely; The first slider is slidably connected to the guide rail (005b), the first slider is fixedly connected to one end of the first connecting rod (62a), and the other end of the first connecting rod (62a) is connected to the beam shaping assembly (004); The second slider is slidably connected to the guide rail (005b). The second slider is fixedly connected to one end of the second connecting rod (62b), and the other end of the second connecting rod (62b) is connected to the beam shaping assembly (004). The treatment head (003) is located between the first connecting rod (62a) and the second connecting rod (62b).

8. The radiotherapy device according to any one of claims 1 to 3, characterized in that The fixing member (005) includes: a fixedly arranged fixing frame (0051) and an annular or circular boss (0052) arranged on the fixing frame (0051). The rotating member (006) is sleeved on the boss (0052).

9. The radiotherapy device according to claim 8, characterized in that The fixing member (005) is located on the side where the treatment head (003) emits a beam, and the inner diameter of the inner circle of the boss (0052) is smaller than the rotation diameter of the rotating frame (002).

10. The radiotherapy device according to claim 9, characterized in that, The boss (0052) is an annular boss; A first through hole (005a) is provided on the fixing member (005). The inner diameter of the inner circle of the boss (0052) is greater than or equal to the diameter of the first through hole (005a), and the center of the first through hole (005a) is located in the area surrounded by the boss (0052); A second through hole (006a) is provided on the rotating member (006). The rotating member (006) is sleeved on the boss (0052) through the second through hole (006a).

11. The radiotherapy device according to claim 10, characterized in that The fixing member (005) is located in an area outside the rotation area of the rotating frame (002).

12. The radiotherapy device according to any one of claims 1 to 3, 5 to 7, and 9 to 11, characterized in that, The radiotherapy device further includes: an imaging system (007); The imaging system (007) is fixedly connected to the fixing member (005), or the imaging system (007) is rotatably connected to the fixing member (005).

13. The radiotherapy device according to any one of claims 1 to 3, 5 to 7, and 9 to 11, characterized in that, The radiotherapy device further includes: at least one of a beam stopper and an electronic portal imaging device (008); The beam stopper is disposed opposite to the treatment head (003), and the beam stopper is rotatably connected to the fixing member (005) or fixedly connected to the rotating frame (002); The electronic portal imaging device (008) is disposed opposite to the treatment head (003), and the electronic portal imaging device (008) is rotatably connected to the fixing member (005) or fixedly connected to the rotating frame (002).

14. The radiotherapy device according to any one of claims 1 to 3, 5 to 7, and 9 to 11, characterized in that, The treatment head (003) is connected to the beam shaping assembly (004).

15. A radiotherapy system, characterized in that, The system includes: a host computer, a treatment couch, and the radiotherapy device according to any one of claims 1 to 14.

16. A control device, characterized in that, The device includes: a processor and a memory. The memory is used to store instructions executed by the processor. The processor realizes the control method of the beam shaping assembly or the control method of the radiotherapy device by executing the instructions stored in the memory; Among them, the control method of the beam shaping component is used to control the beam shaping component in the radiotherapy device according to any one of claims 1 to 13, and the beam shaping component is independently arranged relative to the treatment head in the radiotherapy device; the control method of the beam shaping component includes: obtaining the motion information of the treatment head; driving the beam shaping component to rotate synchronously with the treatment head according to the motion information of the treatment head; The control method of the radiotherapy device is used to control the radiotherapy device according to any one of claims 1 to 13; the control method of the radiotherapy device includes: obtaining treatment plan information; generating treatment head motion information and beam shaping component motion information according to the treatment plan information; driving the treatment head to rotate according to the treatment head motion information; driving the beam shaping component to rotate synchronously with the treatment head according to the beam shaping component motion information.

17. A computer-readable storage medium, characterized in that, Instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium runs on a computer, the computer is caused to execute the control method of the beam shaping component or the control method of the radiotherapy device; Among them, the control method of the beam shaping component is used to control the beam shaping component in the radiotherapy device according to any one of claims 1 to 13, and the beam shaping component is independently arranged relative to the treatment head in the radiotherapy device; the control method of the beam shaping component includes: obtaining the motion information of the treatment head; driving the beam shaping component to rotate synchronously with the treatment head according to the motion information of the treatment head; The control method of the radiotherapy device is used to control the radiotherapy device according to any one of claims 1 to 13; the control method of the radiotherapy device includes: obtaining treatment plan information; generating treatment head motion information and beam shaping component motion information according to the treatment plan information; driving the treatment head to rotate according to the treatment head motion information; driving the beam shaping component to rotate synchronously with the treatment head according to the beam shaping component motion information.

Images