Radiation irradiation system

Abstract

This invention provides a radiation irradiation system, including a radiation generating device and a stage. The radiation generating device generates a beam that irradiates a target on the stage. The system also includes a stage positioning device, which supports the stage. The positioning device includes a positioning mechanism with a linear axis. The positioning device is capable of translation along the linear axis, the extension direction of which is parallel to the irradiation direction of the radiation beam. In this radiation irradiation system, during stage positioning, the entire stage positioning device translates parallel to the irradiation direction of the radiation beam. Most of the positioning device is located in the space between the linear axis and the beam exit, reducing the radioactivity of the components and the resulting shortened lifespan caused by radiation irradiation.

Description

Technical Field

[0001] This invention relates to a radiation irradiation system. Background Technology

[0002] With the development of atomic science, radiation therapy, such as cobalt-60, linear accelerators, and electron beams, has become one of the main methods of cancer treatment. However, traditional photon or electron therapy is limited by the physical conditions of radiation itself. While killing tumor cells, it also damages a large amount of normal tissue along the beam path. In addition, due to the different sensitivities of tumor cells to radiation, traditional radiation therapy is often ineffective for more radiation-resistant malignant tumors (such as glioblastoma multiforme and melanoma).

[0003] To reduce radiation damage to surrounding normal tissues, the concept of targeted therapy in chemotherapy has been applied to radiotherapy. Furthermore, for highly radiation-resistant tumor cells, radiation sources with high relative biological effectiveness (RBE) are being actively developed, such as proton therapy, heavy ion therapy, and neutron capture therapy. Neutron capture therapy combines these two concepts; for example, boron neutron capture therapy utilizes the specific accumulation of boron-containing drugs on tumor cells, combined with precise neutron beam modulation, to provide a better cancer treatment option than traditional radiation.

[0004] In radiotherapy, a positioning device on the treatment table is used to align the radiation beam with the tumor cells inside the patient's body, enabling precise treatment while minimizing radiation damage to surrounding normal tissues. However, in neutron capture therapy, the positioning device is placed in a mixed radiation field of neutrons and gamma rays, making it susceptible to neutron activation and secondary radiation. Furthermore, the device's lifespan is reduced due to radiation damage.

[0005] Therefore, it is necessary to propose a new technical solution to address the above problems. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a radiation irradiation system, comprising a radiation generating device and a stage. The radiation generating device generates a beam that irradiates a target on the stage. The system further includes a stage positioning device, which supports the stage. The stage positioning device includes a positioning mechanism with a linear axis. The stage positioning device is capable of translation along the linear axis, the extension direction of which is parallel to the irradiation direction of the radiation beam generated by the radiation generating device. During stage positioning, the entire stage positioning device translates parallel to the irradiation direction of the radiation beam, with most of the device located in the space between the linear axis and the beam exit, thus reducing the radioactivity of the components of the stage positioning device caused by radiation irradiation and minimizing its lifespan.

[0007] As a preferred embodiment, the positioning mechanism further includes a robotic arm disposed between the linear axis and the platform, connecting the platform to the linear axis and enabling the platform and the robotic arm to translate together along the linear axis.

[0008] Furthermore, the radiation irradiation system also includes an irradiation chamber, with the linear axis mounted to the ceiling of the irradiation chamber, and the robotic arm extending generally towards the floor of the irradiation chamber. The linear axis is directly fixed to the ceiling, eliminating the need for additional linear axis fixing mechanisms such as steel gantry frames, thus reducing the amount of steel used in the irradiation chamber and preventing secondary radiation from the fixing mechanism.

[0009] Furthermore, the linear axis includes a fixed slide rail and a support connected to the robotic arm. The support slides along the slide rail, and the distance from the sliding surface of the slide rail and the support to the center of the beam outlet of the radiation generating device in a direction perpendicular to the sliding surface is less than 2 meters. This provides sufficient operating space for the stage positioning device to position the stage relative to the beam outlet at the desired location.

[0010] Furthermore, the robotic arm includes a first arm fixedly connected to the support, a second arm pivotally connected to the first arm and defining a first pivot axis, a third arm pivotally connected to the second arm and defining a second pivot axis, a fourth arm pivotally connected to the third arm and defining a third pivot axis, a fifth arm pivotally connected to the fourth arm and defining a fourth pivot axis, a sixth arm pivotally connected to the fifth arm and defining a fifth pivot axis, and a seventh arm pivotally connected to the sixth arm and defining a sixth pivot axis. The seventh arm is fixedly connected to the platform. The second, third, and fifth pivot axes are parallel to the sliding surface, the fourth pivot axis is perpendicular to the third pivot axis, and the first and sixth pivot axes are perpendicular to the sliding surface.

[0011] As a preferred embodiment, the radiation irradiation system further includes a control device that controls the stage positioning device. The control device includes a user interface, a system control module, and a positioning control module. The user interface is connected to the system control module, and the system control module is connected to the positioning control module. After receiving an instruction from the user interface, the system control module transmits the instruction to the positioning control module, which then controls the movement of the positioning mechanism. The positioning control module can receive the position information of the positioning mechanism and send it to the system control module. The system control module controls the user interface to indicate the position information of the positioning mechanism.

[0012] Furthermore, the platform positioning device also includes a drive mechanism to drive the movement of the linear axis and the robotic arm. The positioning control module is connected to and controls the drive mechanism. The operating status or data of the drive mechanism is fed back to the system control module through the positioning control module. The system control module or the positioning control module controls the drive mechanism according to the operating status or data of the drive mechanism. The system control module can also transmit the operating status or data of the drive mechanism to the user interface for status indication.

[0013] Furthermore, a sensor is installed on the platform or platform positioning device. The sensor is connected to the system control module. After receiving the signal from the sensor, the system control module sends a command to the positioning control module to control the movement of the platform positioning device and transmits the sensor signal to the user interface for status indication. The sensor is a collision sensor, and the anti-collision sensor is installed on the platform or the robotic arm. The anti-collision sensor can be a mechanical sensor, photoelectric sensor, radar sensor, ultrasonic sensor, or laser rangefinder.

[0014] As a preferred embodiment, the radiation irradiation system is a neutron capture therapy system, and the radiation generating device includes a neutron generating device and a beam shaper. The beam shaper can adjust the neutron beam generated by the neutron generating device to a preset beam quality, and the neutron beam generated by the neutron generating device is directed to the irradiated object on the stage through the beam shaper.

[0015] Furthermore, the neutron generating device includes an accelerator and a target. The charged particle lines generated by the accelerator interact with the target to generate neutron lines. The beam shaping body includes a reflector, a decelerator, a thermal neutron absorber, a radiation shield, and a beam exit. The decelerator slows down the neutrons generated from the target to the ultrathermal neutron energy region. The reflector surrounds the decelerator and guides deviated neutrons back to the decelerator to improve the intensity of the ultrathermal neutron beam. The thermal neutron absorber is used to absorb thermal neutrons to avoid excessive doses to superficial normal tissues during treatment. The radiation shield is used to shield neutrons and photons that leak from outside the beam exit.

[0016] In the radiation irradiation system of the present invention, during the positioning process of the placement stage, the entire placement stage positioning device is translated in a direction parallel to the irradiation direction of the beam generated by the radiation generating device. Most of the placement stage positioning device is located in the space between the linear axis and the beam exit, thereby reducing the radioactivity of the various components of the placement stage positioning device caused by radiation irradiation and the resulting shortening of its lifespan. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the neutron capture therapy system according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the treatment table positioning device of the neutron capture therapy system according to an embodiment of the present invention;

[0019] Figure 3 for Figure 2 A diagram in another direction;

[0020] Figure 4 This is a schematic diagram of the modules of the neutron capture therapy system according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the user interface of the fixed controller of the control device of the neutron capture therapy system according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the user interface of a handheld controller for the control device of the neutron capture therapy system according to an embodiment of the present invention. Detailed Implementation

[0023] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement them based on the description.

[0024] like Figure 1In this embodiment, the radiation irradiation system is preferably a boron neutron capture therapy system 100, including a neutron generating device 10, a beam shaper 20, a collimator 30, and a treatment table 40. The neutron generating device 10 includes an accelerator 11 and a target material T. The accelerator 11 accelerates charged particles (such as protons, deuterons, etc.) to produce a charged particle line P, such as a proton beam. The charged particle line P irradiates the target material T and interacts with it to produce a neutron beam (neutron beam) N. The target material T is preferably a metallic target. A suitable nuclear reaction is selected based on the required neutron yield and energy, the available energy and current of the accelerated charged particles, and the physicochemical properties of the metallic target. Commonly discussed nuclear reactions include... 7 Li(p,n) 7 Be and 9 Be(p,n) 9 B. Both of these reactions are endothermic. The energy thresholds for the two nuclear reactions are 1.881 MeV and 2.055 MeV, respectively. Since the ideal neutron source for boron neutron capture therapy is hyperthermic neutrons at the keV energy level, theoretically, if protons with energies only slightly above the threshold are used to bombard a lithium metal target, relatively low-energy neutrons can be produced, which can be used clinically without much slowing treatment. However, the interaction cross-section between lithium metal (Li) and beryllium metal (Be) targets and protons at the threshold energy is not high. To generate a sufficiently large neutron flux, higher-energy protons are usually chosen to initiate the nuclear reaction. An ideal target should have high neutron yield, a neutron energy distribution close to the hyperthermic neutron energy region (described in detail below), minimal strong penetration radiation, safety, low cost, ease of operation, and high temperature resistance. However, in reality, it is impossible to find a nuclear reaction that meets all the requirements. In the embodiments of this invention, a target made of lithium metal is used. However, as is well known to those skilled in the art, the target material T can also be made of metallic materials other than lithium and beryllium, such as tantalum (Ta) or tungsten (W); the target material T can be in the shape of a disc, or other solid shapes, or a liquid (liquid metal). The accelerator 11 can be a linear accelerator, a cyclotron, a synchrotron, or a synchrotron-cyclotron, and the neutron generating device 10 can be a nuclear reactor without an accelerator and target material. Regardless of whether the neutron source for boron neutron capture therapy originates from the nuclear reaction between charged particles and the target material in a nuclear reactor or accelerator, the resulting field is actually a mixed radiation field, meaning the beam contains neutrons and photons ranging from low to high energy. For boron neutron capture therapy of deep tumors, the higher the content of radiation other than hyperthermic neutrons, the greater the proportion of non-selective dose deposition in normal tissues; therefore, these radiations that cause unnecessary doses should be minimized. Furthermore, for the normal tissues of the irradiated body, excessive amounts of various types of radiation should be avoided, as this also causes unnecessary dose deposition.

[0025] The neutron beam N generated by the neutron generating device 10 is sequentially irradiated onto the irradiated body 200 on the treatment table 40 via the beam shaper 20 and collimator 30. The beam shaper 20 can adjust the beam quality of the neutron beam N generated by the neutron generating device 10, and the collimator 30 is used to focus the neutron beam N, so that the neutron beam N has high targeting during treatment. The positions of the treatment table 40 and the irradiated body 200 can also be adjusted so that the beam is aimed at the tumor cells M in the irradiated body 200. These adjustments can be performed manually or automatically through a series of control mechanisms (detailed below). It is understood that the present invention may also be without a collimator, and the beam directly irradiates the irradiated body 200 on the treatment table 40 after exiting the beam shaper 20.

[0026] The beam shaping body 20 further includes a reflector 21, a retarder 22, a thermal neutron absorber 23, a radiation shield 24, and a beam exit 25. Since the neutrons generated by the neutron generating device 10 have a wide energy spectrum, besides the superthermal neutrons needed for treatment, it is necessary to minimize the content of other types of neutrons and photons to avoid harm to operators or the irradiated body. Therefore, the neutrons exiting the neutron generating device 10 need to pass through the retarder 22 to adjust the fast neutron energy (>40 keV) to the superthermal neutron energy range (0.5 eV-40 keV) and minimize the thermal neutrons (<0.5 eV). The retarder 22 is made of a material with a large interaction cross-section with fast neutrons and a small interaction cross-section with superthermal neutrons. As a preferred embodiment, the retarder 22 is made of D2O, AlF3, or Fluental. TMThe reflector 21 is made of at least one of CaF2, Li2CO3, MgF2, and Al2O3; the reflector 21 surrounds the retarder 22 and reflects neutrons that diffuse through the retarder 22 back to the neutron beam N to improve neutron utilization. It is made of a material with strong neutron reflection capability. In a preferred embodiment, the reflector 21 is made of at least one of Pb or Ni; the retarder 22 has a thermal neutron absorber 23 at its rear, made of a material with a large cross-section for interaction with thermal neutrons. In a preferred embodiment, the thermal neutron absorber 23 is made of Li-6. To absorb thermal neutrons passing through the retarder 22 and reduce the thermal neutron content in the neutron beam N, thus avoiding excessive doses to superficial normal tissues during treatment, it is understood that the thermal neutron absorber can also be integrated with the retarder, the retarder material containing Li-6; the radiation shield 24 is used to shield neutrons and photons leaking from outside the beam exit 25, the material of the radiation shield 24 includes at least one of photon shielding material and neutron shielding material, as a preferred embodiment, the material of the radiation shield 24 includes photon shielding material lead (Pb) and neutron shielding material polyethylene (PE). The collimator 30 is located at the rear of the beam exit 25, the superheated neutron beam from the collimator 30 irradiates the irradiated body 200, and after passing through superficial normal tissues, it is retarded into thermal neutrons to reach the tumor cells M. It is understandable that the beam shaper 20 can have other structures, as long as it can obtain the superheated neutron beam required for treatment; for ease of description, when a collimator 30 is provided, the outlet of the collimator 30 can also be regarded as the beam outlet 25 described below.

[0027] After the irradiated body 200 takes or injects a boron-containing (B-10) drug, the boron-containing drug selectively accumulates in tumor cells M. Then, taking advantage of the high capture cross-section of the boron-containing (B-10) drug for thermal neutrons, it is used to... 10 B(n,α) 7 Li neutron capture and nuclear fission reaction produce 4 He and 7 Li has two heavily charged particles. The average energy of these two charged particles is approximately 2.33 MeV, exhibiting high linear energy transfer (LET) and a short range. The linear energy transfer and range of the alpha particle are 150 keV / μm and 8 μm, respectively. 7 Li heavy particles have a range of 175 keV / μm and 5 μm. The total range of the two particles is about the size of a cell. Therefore, the radiation damage to organisms can be limited to the cellular level, which can achieve the purpose of killing tumor cells locally without causing too much damage to normal tissues.

[0028] In this embodiment, a radiation shielding device 50 is also provided between the irradiated body 200 and the beam outlet 25 to shield the radiation from the beam exiting the beam outlet 25 to the normal tissues of the irradiated body. It is understood that the radiation shielding device 50 may not be provided. The boron neutron capture therapy system 100 is housed entirely in a concrete building. Specifically, the boron neutron capture therapy system 100 also includes an irradiation chamber 101 and a charged particle beam generation chamber 102. The irradiated body 200 on the treatment table 40 undergoes neutron beam N irradiation treatment in the irradiation chamber 101. The charged particle beam generation chamber 102 at least partially houses the accelerator 11. The beam shaper 20 is at least partially housed within the partition wall 103 between the irradiation chamber 101 and the charged particle beam generation chamber 102. It is understood that the partition wall 103 can completely separate the irradiation chamber 101 and the charged particle beam generation chamber 102; or it can be a partial partition between the irradiation chamber 101 and the charged particle beam generation chamber 102, with the irradiation chamber 101 and the charged particle beam generation chamber 102 being interconnected. There can be one or more target materials T, and the charged particle beam P can selectively interact with one or more target materials T or simultaneously with multiple target materials T to generate one or more therapeutic neutron beams N. Corresponding to the number of target materials T, there can also be one or more beam shapers 20, collimators 30, and treatment tables 40; multiple treatment tables can be arranged in the same irradiation chamber, or each treatment table can be provided with a separate irradiation chamber. The irradiation chamber 101 and the charged particle beam generation chamber 102 are spaces formed by a concrete wall W (including the partition wall 103), and the concrete structure can shield neutrons and other radiation leaked during the operation of the boron neutron capture therapy system 100. The boron neutron capture therapy system 100 may also include a preparation room, a control room, and other spaces for auxiliary treatment (not shown). Each irradiation room can be equipped with a preparation room for preparatory work such as fixing the irradiated subject to the treatment table, injecting boron drugs, and simulating the treatment plan before irradiation therapy. A connecting channel is provided between the preparation room and the irradiation room. After the preparation work is completed, the irradiated subject can be directly pushed into the irradiation room or automatically entered into the irradiation room by a control mechanism via a track. The control room is used to control the accelerator, beam transmission unit, treatment table positioning device, etc., and to control and manage the entire irradiation process. The management personnel can also monitor multiple irradiation rooms simultaneously from the control room.

[0029] The following is combined with Figures 2-6 The position adjustment of the treatment table 40 and the irradiated body 200 is described in detail.

[0030] The neutron capture therapy system 100 also includes a treatment table positioning device 60 and a control device 70. The treatment table 40 is supported by the treatment table positioning device 60, and the control device 70 controls the treatment table positioning device 60. Figure 2 and Figure 3As shown, in one embodiment, the treatment table positioning device 60 includes a positioning mechanism 61, which includes a linear shaft 611 and a robotic arm 612. The robotic arm 612 is disposed between the linear shaft 611 and the treatment table 40, connecting the treatment table 40 to the linear shaft 611 and enabling the treatment table 40 and the robotic arm 612 to translate together along the linear shaft 611. In this embodiment, the linear shaft 611 is mounted to the ceiling 1011 of the irradiation chamber 101, and the robotic arm 612 extends generally toward the floor 1012 of the irradiation chamber 101. It is understood that the linear shaft 611 can also be mounted to other surfaces, such as walls or floors. The linear shaft 611 is constructed as a slide rail 6111 fixed to the ceiling 1011 and a support 6112 connected to the robotic arm 612. The support 6112 slides along the slide rail 6111. It is understood that other configurations are also possible. The linear axis is directly fixed to the ceiling 1011 without additional linear axis fixing mechanisms such as steel structure gantry frames, reducing the amount of steel used in the irradiation room and avoiding secondary radiation caused by neutron activation of the fixing mechanism. The robotic arm 612 is a multi-axis robotic arm connecting the support 6112 and the treatment table 40. In this embodiment, it includes a first arm 6121 fixedly connected to the support 6112, a second arm 6122 pivotally connected to the first arm 6121 and defining a first pivot axis L1, a third arm 6123 pivotally connected to the second arm 6122 and defining a second pivot axis L2, a fourth arm 6124 pivotally connected to the third arm 6123 and defining a third pivot axis L3, a fifth arm 6125 pivotally connected to the fourth arm 6124 and defining a fourth pivot axis L4, a sixth arm 6126 pivotally connected to the fifth arm 6125 and defining a fifth pivot axis L5, and a seventh arm 6127 pivotally connected to the sixth arm 6126 and defining a sixth pivot axis L6. The seventh arm 6127 is fixedly connected to the treatment table 40. The treatment table positioning device 60 also includes a drive mechanism 62 to drive the movement of the linear axis 611 and the robotic arm 612, and a control device 70 controls the drive mechanism 62. The drive mechanism 62, such as a motor, drives the second to seventh arms 6122-6127 to pivot around the pivot axis L1-L6. The support 6112 and the first arm 6121, which is fixedly connected to the support 6112, translate along the slide rail 6111, thereby positioning the treatment table 40 in the desired position. The extension direction D of the linear axis 611 is parallel to the direction N of the neutron beam exiting from the beam outlet 25 and irradiating the irradiated body on the treatment table 40. Therefore, during the positioning of the treatment table, the robotic arm 612 translates as a whole in a direction parallel to the direction N of the neutron beam. Most of the robotic arm is located in the space between the slide rail and the neutron beam outlet, reducing the radioactivity generated by the activation of various components of the robotic arm by neutrons and the resulting shortening of its lifespan. The distance from the sliding surface S of the slide rail 6111 and the support 6112 to the center of the beam outlet 25 in the direction perpendicular to the sliding surface S is less than 2 meters, providing sufficient operating space for the treatment table positioning device 60 to position the treatment table 40 relative to the beam outlet 40 in the desired position.In this embodiment, the sliding surface S is parallel to the plane of the ceiling. The second, third, and fifth pivot axes L2, L3, and L5 are parallel to the sliding surface S. The fourth pivot axis L4 is perpendicular to the third pivot axis L3. The first and sixth pivot axes L1 and L6 are perpendicular to the sliding surface S, ensuring that the treatment table 40 remains parallel to the ceiling 1011 or the floor 1012. Other configurations are possible. The fifth, sixth, and seventh arms 6125, 6126, and 6127 form the wrist of the robotic arm 612, adjusting the tilt angle of the treatment table 40 around the fifth pivot axis L5 and the rotation angle around the fourth and sixth pivot axes L4 and L6. The first to fourth arms 6121-6124 and the linear axis 611 adjust the overall spatial coordinate position of the treatment table 40. It is understood that the treatment table positioning device 60 can also have other configurations, such as excluding the linear axis 611 or including more or fewer arms in the robotic arm 612.

[0031] Sensors 80 can be installed on the treatment table 40 or the treatment table positioning device 60, such as... Figure 4 As shown, sensor 80 is mounted on positioning mechanism 61 and treatment table 40. In one embodiment, sensor 80 is an anti-collision sensor mounted on treatment table 40 and robotic arm 612. When the edge of treatment table or robotic arm comes into contact with other objects or other objects reach the sensor's set range, the sensor is triggered to emit a signal and transmit it to control device 70. Control device 70 controls drive mechanism 62 to stop driving the movement of positioning mechanism 61, that is, controls treatment table 40 to stop moving. Anti-collision sensor can be a mechanical sensor, photoelectric sensor, radar sensor, ultrasonic sensor, laser rangefinder, etc. It can be understood that anti-collision sensor can also emit human body perception signals, and the operator can manually control drive mechanism to stop driving based on the perceived signals; or it can not control treatment table to stop moving, but perform other safety operations, such as performing reverse movement before collision. More specifically, mechanical sensors can be installed on the outer edge of the treatment table 40 and on the outer shell of the third arm 6123 and fourth arm 6124 of the robotic arm 612. For example, elastic protective covers can be installed at corresponding locations, with electronic switches inside. When the protective cover collides during movement, the electronic switches are triggered to emit a signal. Alternatively, a laser radar sensor can be installed on the back of the treatment table 40, with a set radar scanning range. When another object is detected entering the designated range, a signal is emitted. It is understood that anti-collision sensors can also be installed in other locations.

[0032] The control device 70 includes at least one user interface 71, allowing the operator to interactively control the treatment table positioning device 60. The control device 70 also includes a system control module 72 and a positioning control module 73. The user interface 71 is connected to the system control module 72, and the system control module 72 is connected to the positioning control module 73. The positioning control module 73 is connected to and controls the drive mechanism 62. When the system control module 72 receives a command from the user interface 71, it transmits the command to the positioning control module 73, which then automatically controls the movement of the positioning mechanism 61. The position information of the positioning mechanism 61 can be fed back to the system control module 72 via the positioning control module 73 and transmitted to the user interface 71 for status indication. The operating status or data of the drive mechanism 62 is also fed back to the system control module 72 via the positioning control module 73. The system control module 72 or the positioning control module 73 controls the drive mechanism 62 based on this information, and the system control module 72 can also transmit this information to the user interface 71 for status indication. Sensor 80 is also connected to system control module 72. After receiving the signal from sensor 80, system control module 72 sends instructions to positioning control module 73 to control the movement of treatment table positioning device 60, and transmits the signal from sensor 80 to user interface 71 for status indication. It can be understood that system control module 72 and positioning control module 73 can be integrated together, or they can be separate hardware components.

[0033] In one embodiment, the user interface 71 includes a fixed controller 711, a handheld controller 712, and a human-machine interface 713, used to control the movement of the treatment table positioning device 60 and the treatment table 40 inside and outside the irradiation room. The fixed controller 711 is fixed to the wall or other location of the irradiation room 101, such as... Figure 5As shown, the fixed controller 711 is equipped with seven preset position buttons to control the treatment table 40 to automatically move to the preset position where the simulated irradiated part of the subject is facing the beam outlet 25. These are: preset position A (left face, left face directly facing the beam outlet, i.e., left face perpendicular to the N-direction of the neutron beam) button 7111a, preset position B (right face, right face directly facing the beam outlet, i.e., right face perpendicular to the N-direction of the neutron beam) button 7111b, preset position C (left 30°, the angle between the left face and the N-direction of the neutron beam is 60°) button 7111c, preset position D (left 60°, the angle between the left face and the N-direction of the neutron beam is 30°) button 7111d, and preset position E (top of the head, top of the head directly facing the beam outlet, i.e., left and right faces parallel to the N-direction of the neutron beam) button 7111c. 11e, Preset position F (30° to the right, the angle between the right face and the neutron beam N direction is 60°) button 7111f, Preset position G (60° to the right, the angle between the right face and the neutron beam N direction is 30°) button 7111g. The preset position buttons can be equipped with indicator lights. When the treatment table 40 is in position, the position information of the positioning mechanism 61 (the preset reference point coordinates on the treatment table 40) is fed back to the positioning control module 73. The positioning control module 73 sends this information to the system control module 72. The system control module 72 controls the corresponding preset position button to light up to indicate that it is in position, so as to prevent the operator from mistakenly thinking that it is in position and affecting the positioning accuracy. It is understood that other preset position buttons can also be set as needed, or the preset position buttons of the set positions can be reset in the control device.The fixed controller 711 is also equipped with a reset button 7112, used to control the treatment table 40 to automatically move to the initial position on the irradiated body 200; a treatment table movement speed switch button 7113, used to set the speed level of the treatment table 40, and the positioning control module 73 automatically controls the running speed of the drive mechanism 62 according to the speed level; a treatment table collision sensor trigger indicator light 7114 and a robotic arm collision sensor trigger indicator light 7115, which trigger the sensor 80 to send a signal when the treatment table 40 or the robotic arm 611 collides, and the system control module 72 sends a command to the positioning control module 73 after receiving the signal to control the treatment table positioning device 60 to stop moving or to initiate a collision. After the reverse motion before the collision stops, the corresponding indicator light illuminates to indicate the status. At this time, the operator cannot control the treatment table to continue moving through the control device. The "Continue Action After Collision Trigger Elimination" button 7116 is pressed. When the treatment table collision sensor trigger indicator light 7114 or the robotic arm collision sensor trigger indicator light 7115 illuminates, and the treatment table positioning device 60 stops moving, the operator manually eliminates the collision, causing indicator lights 7114 and 7115 to de-illuminate. At this time, pressing the "Continue Action" button 7116 allows the treatment table positioning device 60 to continue moving to the preset or initial position, or the operator can continue to control the treatment table movement through other user interfaces. The "Travel Overlimit Indicator" 7117 is also present. The control device 70 simulates the operating range of the treatment table 40 and the treatment table positioning device 60 within the irradiation room 101. For example, the walls, ceiling, floor, and collimator outline of the irradiation room are used to simulate the safe operating space. In manual mode (detailed below), if the coordinates of the preset reference point on the treatment table 40 exceed the simulated operating range when the treatment table is manually moved, this information will be fed back to the positioning control module 73. The positioning control module 73 sends this information to the system control module 72, which then controls the over-limit indicator 7117 to illuminate as an alarm. The operator can immediately stop the current movement. The manual / automatic switch 7118 is used to select the control mode for the movement of the treatment table 40. In automatic mode, the treatment table 40 and the treatment table positioning device 60 can be controlled to move automatically within the simulated operating range via the preset position button 7111a. The positioning control module 73 automatically calculates the movement trajectory of the linear axis 611 and the robotic arm 612. In manual mode, the movement of the treatment table within a set degree of freedom can be manually controlled. In this embodiment, the manual control button is only located on the handheld controller 712. The emergency stop button 7119 can be pressed to stop the treatment table 40 and the treatment table positioning device 60 in case of an accident during the movement of the treatment table, such as movement of the irradiated object. After the accident is resolved, releasing the emergency stop button 7119 allows the treatment table to continue moving. It is understood that the buttons and toggle switches can also be replaced with other forms or have other functional settings. Different indicator lights can have different colors, and the indicator lights can also be replaced with other alarm indicators such as buzzers.

[0034] The handheld controller 712 facilitates observation of the movement of the treatment table 40 within the irradiation chamber. The operator can move within the chamber to observe while simultaneously adjusting the position using the buttons on the controller 712. Since the preset position AG is pre-set based on a simulated irradiated body model and does not consider individual differences in the irradiated body, the position of the treatment table 40 can be further finely adjusted after reaching the preset position, such as... Figure 6 As shown, the handheld controller 712 is equipped with five sets of axis movement buttons: axis movement buttons 7121a, 7121b, and 7121c, which control the movement of a preset reference point on the treatment table 40 along the X-axis, Y-axis, and Z-axis, respectively; axis movement button 7121d, which controls the rotation of the treatment table 40 around the sixth pivot axis L6; and axis movement button 7121e, which controls the movement of the treatment table 40 and the treatment table positioning device 60 as a whole along the linear axis 611 (seventh axis). The XYZ coordinate system of the treatment table and the treatment table positioning device is based on the irradiation chamber reference point located at a certain distance from the center of the beam exit 25 along the neutron beam N direction as the origin. The handheld controller 712 may also be equipped with the same operation buttons or status indicators as the fixed controller 711. In this embodiment, due to the space limitations of the handheld controller for easy gripping, three preset position buttons are provided: preset position A (left face) button 7122a, preset position B (right face) button 7122b, preset position C (left 30°) button 7122c; reset button 7123; and emergency stop button 7124. The handheld controller 712 is also equipped with an interlock button 7125 as a button to prevent accidental operation. Only when the interlock button 7125 is pressed (unlocked) will the other buttons on the handheld controller 712 function, preventing accidental operation when gripping. When the handheld controller 712 is not in use, the interlock button 7125 is locked, and the other buttons on the handheld controller 712 will not function.

[0035] The human-machine interface 713 (not shown) can be a common computer software program interface, located outside the irradiation room, such as in the control room. It can perform remote control, including controls for executing various actions on the fixed controller 711 and handheld controller 712, such as preset position buttons, manual axis movement buttons, reset buttons, speed switching buttons, manual / automatic switching buttons, over-travel alarms, collision sensor triggered alarms, continue action buttons, emergency stop buttons, etc.; it can also include equipment start-up and shutdown; fault or fault clearance display, fault reset button; parameter setting, such as speed setting for each gear; function shielding of the anti-collision system of the robotic arm or treatment table, used to continue the positioning and treatment of the treatment table when the anti-collision facilities are damaged, or for engineers to perform system debugging; status display of I / O points; and it can also include beam control, radiation detection, etc.

[0036] The irradiation room 101 is also equipped with a laser positioning device (not shown) to determine the irradiation position of the laser beam. This is achieved by operating the treatment table positioning device 60 to align it with the markings made during the simulated positioning of the irradiated body 200 in the preparation room. A camera (not shown) can also be used to collect real-time images of the treatment table 40 and the irradiated body 200, transmitting the data to the system control module 72. This data is compared with information such as the treatment plan, and adjustments are made in real-time or other treatment controls are executed based on the results. The system control module 72 can also receive other data, such as data from the neutron generator, treatment plan data, and information about the irradiated body, and control the neutron generator and other devices.

[0037] In this embodiment, the concrete wall is made of boron-containing barite concrete with a thickness of over 1m and a density of 3g / cc. Boron-containing concrete has better neutron absorption properties, which not only enhances the radiation shielding effect of the concrete but also reduces the neutron exposure of metallic materials within the concrete. It is understood that other thicknesses or densities are possible, or other materials can be used, and the thickness, density, or material of the concrete wall can vary in different parts. It is also understood that this invention can be applied to other types of neutron irradiation systems; it can also be applied to other radiation irradiation systems, such as proton therapy systems and heavy ion therapy systems. In this case, the neutron generating device can be replaced with other radiation generating devices, and the concrete material can be replaced as needed; the treatment table can also be a platform for other irradiated objects.

[0038] Although the illustrative specific embodiments of the present invention have been described above to enable those skilled in the art to understand the invention, it should be understood that the invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the invention as defined and determined by the appended claims, and are all within the scope of protection claimed by the present invention.

Claims

1. A radiation irradiation system, comprising a radiation generating device and a stage, wherein a beam generated by the radiation generating device irradiates an irradiated object on the stage, characterized in that, The radiation irradiation system further includes a stage positioning device, which supports the stage. The stage positioning device includes a positioning mechanism, which includes a linear axis and a robotic arm. The linear axis includes a fixed slide rail. The robotic arm is disposed between the stage and the linear axis, connecting the stage to the linear axis and enabling the stage and the robotic arm to translate together along the slide rail. The projection of the radiation beam generated by the radiation generating device onto the plane of the ceiling is spaced from the linear axis, and the extension direction of the linear axis is parallel to the radiation beam direction.

2. The radiation irradiation system according to claim 1, characterized in that, The radiation irradiation system also includes an irradiation chamber, the linear axis is mounted to the ceiling of the irradiation chamber, and the robotic arm extends generally toward the floor of the irradiation chamber.

3. The radiation irradiation system according to claim 1, characterized in that, The linear axis includes a support connected to the robotic arm, the support slides along the slide rail, and the distance from the sliding surface of the slide rail and the support to the center of the beam outlet of the radiation generating device in a direction perpendicular to the sliding surface is less than 2 meters.

4. The radiation irradiation system according to claim 3, characterized in that, The robotic arm includes a first arm fixedly connected to the support, a second arm pivotally connected to the first arm and defining a first pivot axis, a third arm pivotally connected to the second arm and defining a second pivot axis, a fourth arm pivotally connected to the third arm and defining a third pivot axis, a fifth arm pivotally connected to the fourth arm and defining a fourth pivot axis, a sixth arm pivotally connected to the fifth arm and defining a fifth pivot axis, and a seventh arm pivotally connected to the sixth arm and defining a sixth pivot axis. The seventh arm is fixedly connected to the platform. The second, third, and fifth pivot axes are parallel to the sliding surface, the fourth pivot axis is perpendicular to the third pivot axis, and the first and sixth pivot axes are perpendicular to the sliding surface.

5. The radiation irradiation system according to claim 1, characterized in that, The radiation irradiation system also includes a control device that controls the stage positioning device. The control device includes a user interface, a system control module, and a positioning control module. The user interface is connected to the system control module, and the system control module is connected to the positioning control module. After receiving an instruction from the user interface, the system control module transmits the instruction to the positioning control module, which then controls the movement of the positioning mechanism. The positioning control module can receive the position information of the positioning mechanism and send it to the system control module. The system control module controls the user interface to indicate the position information of the positioning mechanism.

6. The radiation irradiation system according to claim 5, characterized in that, The platform positioning device also includes a drive mechanism to drive the movement of the linear axis and the robotic arm. The positioning control module is connected to and controls the drive mechanism. The operating status or data of the drive mechanism is fed back to the system control module through the positioning control module. The system control module or the positioning control module controls the drive mechanism according to the operating status or data of the drive mechanism. The system control module transmits the operating status or data of the drive mechanism to the user interface for status indication.

7. The radiation irradiation system according to claim 5, characterized in that, A sensor is installed on the platform or platform positioning device. The sensor is connected to the system control module. After receiving the signal from the sensor, the system control module sends an instruction to the positioning control module to control the movement of the platform positioning device and transmits the sensor signal to the user interface for status indication.

8. The radiation irradiation system according to claim 1, characterized in that, The radiation irradiation system is a neutron capture therapy system. The radiation generating device includes a neutron generating device and a beam shaper. The beam shaper can adjust the neutron beam generated by the neutron generating device to a preset beam quality. The neutron beam generated by the neutron generating device is directed onto the irradiated body on the stage through the beam shaper.

9. The radiation irradiation system according to claim 8, characterized in that, The neutron generating device includes an accelerator and a target. The charged particle lines generated by the accelerator interact with the target to generate neutron lines. The beam shaping body includes a reflector, a decelerator, a thermal neutron absorber, a radiation shield, and a beam exit. The decelerator slows down the neutrons generated from the target to the ultrathermal neutron energy region. The reflector surrounds the decelerator and guides deviated neutrons back to the decelerator to increase the intensity of the ultrathermal neutron beam. The thermal neutron absorber is used to absorb thermal neutrons to avoid excessive doses to superficial normal tissues during treatment. The radiation shield is used to shield neutrons and photons that leak from outside the beam exit.

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