A precise radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity-modulated focusing medical electron accelerator

Abstract

The present invention provides a precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator, comprising a radiotherapy planning system, a radiotherapy delivery system, a digital tracking system, a four-dimensional six-axis collaborative treatment bed, a three-dimensional four-axis dual digital X-ray fluoroscopy system, an integrated control system, and an auxiliary treatment system. The various systems are interconnected, and the three-dimensional four-axis dual digital X-ray fluoroscopy system and the tracker simultaneously collect data to establish a digital tracking model for tracking targets. The radiotherapy delivery system, in coordination with the radiotherapy planning system, the digital tracking model for tracking targets, the tracker, the four-dimensional six-axis collaborative treatment bed, the integrated control system, and the auxiliary treatment system, performs four-dimensional adaptive digital tracking conformal intensity modulated focusing irradiation on the target. The precision radiotherapy system has accurate radiotherapy planning, accurate radiotherapy delivery conformal shape, accurate radiotherapy delivery focusing, accurate radiotherapy delivery target tracking, accurate target dose, uniform target dose distribution, and a cliff-like drop in dose outside the target boundary. The system can deliver a lethal dose to the target at one time and provide personalized protection for tissues and organs outside the target from radiation damage.

Description

Technical Field

[0001] The present invention belongs to the field of precision radiotherapy for medical tumors, and specifically relates to a precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity-modulated focusing medical electron accelerator, hereinafter referred to as the present invention. Background Art

[0002] Radiation therapy is one of the main treatments for cancer. However, the lack of advanced radiotherapy equipment, the low overall net benefit for patients, and the high incidence of serious complications have created concerns among both doctors and patients. Radiotherapy equipment must keep pace with modern technological advancements.

[0003] The biggest problems with existing radiotherapy equipment are:

[0004] 1. Target Tracking: Chest and abdominal organs are displaced by approximately 10-30mm due to respiratory movement, making target tracking crucial during radiotherapy. The current pain points are the lack of a target tracking system, image tracking, or image tracking combined with respiratory gating. This often results in inaccurate and uneven target doses, outward expansion of the target boundary, and severe complications caused by high doses of the useful beam irradiating normal tissues and organs outside the target. Image tracking can also lead to system crashes (blinding crashes) due to the treatment mechanism blocking the imaging area, preventing the image receptor from receiving the target image. This poses the risk of fatal radiation accidents. Image tracking involves first reading the image, analyzing the useful information within the image, and then tracking the target. However, this is often time-consuming and cannot guarantee accurate targeting. Image tracking can deliver a dose of approximately 1Gy to normal tissues and organs, sufficient to cause damage and cancer.

[0005] II. Irradiation: Irradiation must be precisely and conformally focused, and the target dose must be precisely and evenly distributed. Current pain points are spiral beam irradiation, which uses either 1-7 fixed radiation fields or indiscriminate irradiation of the irradiation area. Fixed-field irradiation results in target dose distribution in several directions, with high doses at the edges, high doses to the skin and superficial tissues, and uneven target dose distribution. Spiral beam irradiation, affected by the inherent defect of cone beams, which focus multiple beams at a single point, also fails to achieve uniform target dose distribution. Normal tissues and organs outside the target are indiscriminately irradiated, lacking personalized protection and leading to serious complications.

[0006] 3. The level of intelligence is low. Dozens of irradiations and hundreds of positioning operations that require the deep involvement of physical engineers cannot guarantee accurate irradiation, and the projection cannot adapt to the target in real time.

[0007] 4. High-dose, long-course irradiation. The prescribed total radiation dose of approximately 60 ± 10 Gy is forced to be divided into dozens of fractions over several months, leading to the development of new cancers and metastasis. 60 Gy is approximately 60 times the lethal dose for aerobic cells and 12 times the lethal dose for hypoxic cells, increasing the cumulative dose and damage to normal tissues and organs. Summary of the Invention

[0008] The present invention aims to provide a precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator. The precision radiotherapy system adopts a radiotherapy delivery mechanism formed by arranging a radioactive source at the end of a robotic arm. The radioactive source is a medical electron accelerator that generates a high-energy electron beam. The beam outlet of the medical electron accelerator is provided with an X-ray target, a primary collimator, an integrated conversion device, a field indicator light reflector, a secondary collimator connected downward, a multi-leaf collimator, a dose measurement and control ionization chamber, and an anti-collision head, which are integrated within a protective housing. The system modulates and emits a collimated conformal intensity modulated ionizing radiation beam, referred to as a useful beam, comprising an electron beam and an X-ray beam. The radiotherapy delivery system implements four-dimensional adaptive digital tracking conformal intensity modulated focusing under the guidance of a mathematical tracking model and position information collected by the tracker, and in cooperation with a four-dimensional six-axis collaborative treatment bed. The system ensures that the target receives a radiation dose several times that of surrounding tissues and organs, while the dose outside the target boundary drops sharply, the dose distribution of target tissue is uniform, and the cumulative dose of target tissue reaches a lethal dose, causing necrosis, thereby producing a radiotherapy effect similar to surgical resection.

[0009] 1. In order to achieve the above-mentioned object, the technical solution adopted by the present invention is: a precise radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator, comprising a radiotherapy planning system, a radiotherapy delivery system, a digital tracking system, a four-dimensional six-axis collaborative treatment bed, a three-dimensional four-axis dual digital X-ray fluoroscopy system, an integrated control system, and an auxiliary treatment system, wherein the radiotherapy planning system comprises software and hardware that are respectively connected to the radiotherapy delivery system, the digital tracking system, the four-dimensional six-axis collaborative treatment bed, the three-dimensional four-axis dual digital X-ray fluoroscopy system, the integrated control system, and the auxiliary treatment system through a computer system network. The radiotherapy delivery system includes a radiation source and a six-axis robot delivery arm, which are connected to each other and are connected to the radiotherapy planning system, the digital tracking system, the four-dimensional six-axis collaborative treatment bed, the integrated control system, and the auxiliary treatment system. The digital tracking system includes a tracker, a tension sensor ring, an ECG acquisition electrode, a target tracking mathematical modeling software system, and is connected to the radiotherapy planning system, the radiotherapy delivery system, the four-dimensional six-axis collaborative treatment bed, the three-dimensional four-axis dual digital X-ray fluoroscopy system, and the integrated control system. The four-dimensional six-axis collaborative treatment bed includes a six-axis robot arm, a bed plate, and a handheld controller that are connected to the radiotherapy planning system through a computer system network. , radiotherapy delivery system, digital tracking system, three-dimensional four-axis dual digital X-ray fluoroscopy system, integrated control system, auxiliary treatment system are connected, the three-dimensional four-axis dual digital X-ray fluoroscopy system includes software and automatic suspension four-axis robot C-arm, two sets of fluoroscopy mechanisms and radiotherapy planning system, digital tracking system, four-dimensional six-axis collaborative treatment bed, three-dimensional four-axis dual digital X-ray fluoroscopy system, integrated control system, auxiliary treatment system are connected, the integrated control system includes software and hardware through the computer system network and radiotherapy planning system, radiotherapy delivery system, digital tracking system, four-dimensional six-axis collaborative treatment bed, three-dimensional four-axis dual digital The X-ray fluoroscopy system is connected to the auxiliary treatment system. The auxiliary treatment system includes a human-computer interaction system, a computer system, a support system, a radiotherapy planning system, a radiotherapy delivery system, a digital tracking system, a four-dimensional six-axis collaborative treatment bed, a three-dimensional four-axis dual digital X-ray fluoroscopy system, and an integrated control system. It can realize four-dimensional adaptive digital tracking conformal intensity-modulated focusing delivery in the tumor radiotherapy process, 360° multi-arc non-coplanar continuous adaptive digital tracking conformal intensity-modulated focusing delivery which is different from multiple fields of view, manual replacement of the radiation field in the middle, free breathing during radiotherapy which is different from respiratory gating, and no image tracking which is different from image tracking.

[0010] 2. Furthermore, the radiation source includes a medical electron accelerator system, an X-ray target device, a primary collimator, an integrated conversion device, a field indicator light reflector, a secondary collimator, a multi-leaf collimator, a dose measurement and control ionization chamber, and an anti-touch head. These are arranged and installed in an integrated assembly frame from top to bottom and are enclosed as a whole by a protective shell. Two ears are provided at the horizontal position of the center of gravity of the upper section of the shell for connecting to the end of the robot arm. An integrated coordinate and position interactive navigator component 1 is provided around the shell. The integrated coordinate and position interactive navigator component 1 and the time system BD GPS timing component 1 provided in the computer system constitute a four-dimensional adaptive irradiation navigation control system for the radiotherapy delivery system. The medical electron accelerator system is connected to a power supply and high voltage generation and control system for supplying MeV-level continuously adjustable high voltage, a dose measurement and control system, a dose measurement and control ionization chamber, a radiotherapy planning system, an integrated control system, a human-computer interaction system, and a computer system to form a feedback control loop for the useful beam energy and output dose rate of ionizing radiation for tumor radiotherapy. An X-ray target is provided at the beam outlet end of the medical electron accelerator system, and the accelerated electron beam shoots to generate X-rays. The collimator is modulated by the primary collimator servo motor connecting rod driving the hole selector. The primary collimator is thick / disc-shaped, with multiple collimation holes of different diameters, aperture sensors, and power-on interlocking devices. Collimation holes of different diameters are selected to control the maximum radiation field of radiotherapy. The integrated conversion device includes an X-ray homogenizer and an electron beam scattering sheet, which are controlled by the integrated conversion device servo motor connecting rod driving device and are connected to the radiation field indicator light reflective device downward. The collimation conformal system includes a primary collimator, a secondary collimator, and a multi-leaf conformal collimator, which are connected from top to bottom and installed in the integrated group frame. The multi-leaf conformal collimator An ionization chamber and a field indicator light device are set on the useful beam path below the collimator. A touch-proof head is set at the end of the radiation source. The collimation conformal system and the protective shell are made of lead, molybdenum, tungsten or their alloy materials. The primary collimator is thick / disc-shaped, with multiple collimation holes of different diameters, a servo motor connecting rod driving the hole selector, an aperture sensor, and a power-on interlocking device. Collimation holes of different diameters are selected to control the maximum radiation field of radiotherapy. The secondary collimator is thick plate-shaped with a total of eight pieces, which are divided into four groups and installed in the integrated group frame. The angle between the groups is 45 degrees. Each secondary collimator plate leaf has an independent servo motor. The servo motor connecting rod driver control can shield the radiation field through the center, the multi-leaf conformal collimator blades are thick sheets of 36 to 72 pieces, the cross-section of each piece is a trapezoidal convex and concave surface, the convex and concave surfaces are arranged alternately between the pieces, and each piece is controlled by an independent multi-leaf servo motor connecting rod driver to instantly adjust the conformity according to the shape and size of the target. The collimator and protective shell are made of lead, molybdenum, tungsten or their alloys. The inner side of the secondary collimator plate blades is tilted outward to eliminate the penumbra, the anti-touch head is disk-shaped with a missing ring, and 3-6 laser detectors are set on the end face, or a touch pressure sensor is separately provided. The shape of the radiation source is approximately egg-shaped.Medical electron accelerators include medical electron induction accelerators, medical electron linear accelerators, medical electron cyclotron accelerators, and ultra-high frequency laser electron accelerators. They modulate and output electron beams with specific energy and dose rates, or shoot at X-ray target devices to output X-ray beams for tumor radiotherapy.

[0011] 3. Furthermore, the tracker is composed of software and an integrated six-axis inertial gyroscope, an angle velocity acceleration position sensor, a pressure sensor, a heart rate sensor, an information receiving filter circuit, a signal amplification circuit, a chip circuit integrated board, an information display and control device, an ionizing radiation-proof shell with appropriate lead equivalent, a data transmission port, a switching power supply, and a BDGPS timing component II of a time system. The tracker is placed on the skin of the abdominal wall or chest wall and connected to a tension sensor ring and an ECG acquisition electrode. The tracker is connected to a computer system, a target tracking mathematical modeling software system, a three-dimensional four-axis dual digital X-ray fluoroscopy system, an integrated control system, and a radiotherapy delivery system through data and control cables of the data transmission port. The six-axis inertial gyroscope contains an integrated coordinate and position interactive navigator component II, and the integrated coordinate and position interactive navigator component II and the BD of the time system are set in the computer system. The GPS timing component constitutes a four-dimensional target tracking position data information control system of the tracker. The position information data of the tracker and the target motion characteristic data in the image information of the three-dimensional four-axis dual digital X-ray fluoroscopy system are collected simultaneously, and a digital tracking model of the tracking target is established through the target tracking mathematical modeling software system in the computer system. The radiotherapy planning system, computer system, integrated control system, and auxiliary treatment system use the tracker's position information and digital tracking model to guide and control the radiotherapy delivery system to perform four-dimensional adaptive digital tracking conformal intensity modulated focusing delivery on the target.

[0012] 4. Furthermore, the four-dimensional six-axis collaborative treatment bed includes a six-axis robotic arm, a bed board, and a handheld controller. An integrated coordinate and position interactive navigator component three is arranged around the bed board, and a BD GPS timing component three of the time system is arranged in the handheld controller. The integrated coordinate and position interactive navigator component three and the BD GPS timing component three of the time system constitute a four-dimensional adaptive collaborative tracking control system for the four-dimensional six-axis collaborative treatment bed to cooperate with the radiotherapy delivery system for precise tracking and focusing. A six-axis inertial gyroscope sensor is arranged under the bed board to control its movement posture. The four-dimensional six-axis collaborative treatment bed is connected to the radiotherapy planning system, the radiotherapy delivery system, the digital tracking system, the three-dimensional four-axis dual digital X-ray fluoroscopy system, the integrated control system, and the auxiliary treatment system.

[0013] 5. Furthermore, the three-dimensional four-axis dual digital X-ray fluoroscopy system includes an automatically suspended four-axis robot C-arm, two sets of fluoroscopy mechanisms, a coordinate and position interactive navigation system, and a time system. The automatically suspended four-axis robot C-arm includes an automatically advanced and retreated left and right overhead rail slide pulley, an automatically lifting shaft rod, and an automatically rotating axis C-arm. The automatically advanced and retreated left and right overhead rail slide pulley includes a pulley composed of an advance and retreat rail, a left and right rail, an advance and retreat axis servo motor, and a left and right axis servo motor. The automatically lifting shaft rod includes a telescopic mechanical rod and a telescopic servo motor. The automatically rotating axis C-arm includes a C-shaped mechanical arm and a rotating servo motor. The automatically rotating axis C-arm is circumferentially provided with an integrated coordinate and position interactive navigator component four. The BDGPS timing component four of the time system is set in the fluoroscopy machine control debugger. The integrated coordinate and position interactive navigator component four and the BD of the time system are The GPS timing component constitutes a three-dimensional four-axis dual digital X-ray fluoroscopy system, which collects the target motion image four-dimensional coordinate data information control system of the flat panel detector. The fluoroscopy mechanism includes control software and imaging software system, X-ray source, flat panel detector and integrated control system, auxiliary treatment system, and digital tracking system. The X-ray source and flat panel detector of each fluoroscopy mechanism are relatively set on the C-shaped mechanical arm. The two sets of fluoroscopy mechanisms are cross-set on the C-shaped mechanical arm. The ionization chamber detector is set on the back of each flat panel detector. The optimized number is 3 and they are arranged in a triangle. The power supply and high voltage generation and control system provide 28-15 0kV optimized continuously adjustable high voltage, X-ray source, ionization chamber detector, integrated control system, auxiliary treatment system are connected to realize automatic adjustment of image brightness and contrast, obtain typical characteristic data of target and target motion in three-dimensional image, and use the target tracking mathematical modeling software system in the computer system and the data collected simultaneously by the tracker to jointly establish a digital tracking model for tracking the target. The three-dimensional four-axis dual digital X-ray fluoroscopy system is connected to the digital tracking system, the four-dimensional six-axis collaborative treatment bed, the integrated control system, and the auxiliary treatment system. The automatically suspended four-axis robot C-arm is installed on the treatment room structure such as the ceiling or wall through structural parts.

[0014] 6. Furthermore, the auxiliary treatment system includes a human-computer interaction system, a computer system, and a support system. The human-computer interaction system includes a radiotherapy physician workstation, an imaging workstation and an operation panel, a radiotherapy plan CT simulation verification system, interactive software, and imaging software. The computer system includes hardware, software, network and communication, and intelligent cloud, etc., which have the functions of intelligently processing image information, intelligently extracting typical feature data, intelligently collecting body surface position information and target position information, and intelligently establishing a digital tracking model for tracking targets. It has the functions of intelligent detection, identification, judgment, decision-making, optimization, optimization, execution, feedback, correction, and adaptive four-dimensional target tracking conformal focusing. It has intelligent cloud space, cloud computing, cloud service capabilities, and self-learning, self-summarization, and self-improvement capabilities. The support system includes a power supply and high-voltage generation and control system, a time system, a coordinate and position interactive navigation system, a dose measurement and control system, and a safety chain safety monitoring system. The power supply and high-voltage generation and control system is connected to system equipment such as X-ray sources, radiation sources, human-computer interaction systems, and integrated control systems. The time system adopts Beidou and GPS navigation satellite timing correction systems. BD GPS timing components are distributed in various systems and subsystems. All software runs in the time system. The BD GPS timing component of the time system is set in the computer system. The coordinate and position interactive navigation system includes a three-dimensional laser coordinate system, a human body constraint marking system, an infrared and magnetic navigation interactive system, and an integrated coordinate and position interactive navigator. The integrated coordinate and position interactive navigator is distributed in the radiation source and six-axis robot projection arm, tracker, four-dimensional six-axis collaborative treatment bed and six-axis robot arm, three-dimensional four-axis dual digital X-ray fluoroscopy system, and radiotherapy room. The time system and the three-dimensional laser coordinate system constitute a four-dimensional coordinate system. The four-dimensional coordinate system and the coordinate and position interactive navigation system constitute a four-dimensional adaptive tracking focusing navigation position information control system and radiotherapy projection system, digital The tracking system, the four-dimensional six-axis collaborative treatment bed, the three-dimensional four-axis dual digital X-ray fluoroscopy system, the integrated control system, the human-computer interaction system, and the computer system are connected. The dose measurement and control system includes the radiation source output dose measurement and control system, the target dose measurement and control system, the off-target tissue and organ dose measurement and control system, the field-target shape measurement and control correction system, and the environmental dose measurement and control system. The dose measurement and control system is connected to the radiotherapy planning system, the radiotherapy delivery system, the digital tracking system, the four-dimensional six-axis collaborative treatment bed, the three-dimensional four-axis dual digital X-ray fluoroscopy system, the integrated control system, and the four-dimensional adaptive tracking, focusing, navigation, and position information control system to form a data feedback automatic control chain.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the present invention provides a precise radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator. The present invention has the following features: accurate radiotherapy planning, accurate radiotherapy irradiation conformality, accurate radiotherapy irradiation focusing, accurate radiotherapy irradiation target tracking, accurate target dose, uniform target dose distribution, high degree of automation, low degree of participation of radiotherapy technicians and physical engineers, high degree of intelligence, intelligent processing of image information, intelligent extraction of typical feature data, intelligent establishment of digital tracking model for tracking targets, intelligent adaptive four-dimensional target tracking conformal focusing, cloud space, cloud computing, cloud service capabilities, self-learning capabilities, accurate digital tracking, digital tracking without the hazard of image tracking of radiation dose exceeding 1Gy for normal tissues in the irradiation area, in most cases a lethal dose of 500cGy can be safely delivered to the target at one time, and the limit dose is about 2800cGy, which is more than two-thirds less than the traditional prescription dose, high therapeutic gain ratio, and is expected to cure primary cancer or multiple metastatic cancers at one time, large focal-skin ratio, low dose of off-target tissues and organs, and they are each protected by personalized doses without being harmed. Specifically, the present invention has the following technical effects:

[0016] 1. This invention uses a four-dimensional adaptive digital tracking conformal intensity modulated focusing precision radiotherapy system. It includes a robotic arm radiotherapy delivery system, a robotic arm collaborative treatment bed, a robotic C-arm dual digital X-ray fluoroscopy system, and an automatic collimation conformal system, all with high numerical control precision.

[0017] 2. This invention utilizes a four-dimensional adaptive digital tracking, conformal intensity-modulated focusing, and precision radiotherapy system. This system offers a high therapeutic gain ratio, enabling a single radiotherapy session to deliver a lethal dose to the target tissue while also providing personalized protection against damage to off-target tissues and organs. The treatment dose is reduced by more than two-thirds compared to traditional prescription doses, minimizing the risk of radiation-induced new cancers and metastasis.

[0018] 3. The present invention adopts a digital tracking system with tracking accuracy reaching micron level, thus protecting normal tissues and organs and avoiding complications of off-target tissues and organs.

[0019] 4. The present invention adopts a digital tracking system, and radiotherapy irradiation does not require the assistance of imaging detection, reducing the hazard of exceeding 1Gy dose to normal tissues and organs in the irradiation area, and eliminating the risk of the treatment mechanism blocking the imaging interval during image tracking, resulting in the image receiver having no target image and causing the system to crash, also known as blinding crash, and causing fatal radiation accidents.

[0020] 5. The present invention adopts a digital tracking system. The tracker collects body surface position information and electrocardiogram information. When the tumor displacement is clearly correlated with the heart rhythm, the tracking is more accurate.

[0021] 6. This invention utilizes Beidou and GPS navigation satellite timing systems for precise timekeeping. This timing system, along with the coordinate and position interactive navigation system, forms a precise four-dimensional adaptive tracking and navigation system for radiotherapy.

[0022] 7. This invention is highly intelligent, capable of intelligently processing image information, intelligently extracting typical feature data, intelligently collecting body surface and target location information, and intelligently establishing a digital tracking model for tracking targets. It also features intelligent detection, identification, judgment, decision-making, optimization, selection, execution, feedback, control, and adaptive four-dimensional target tracking and conformal focusing. It also possesses intelligent cloud space, cloud computing, and cloud service capabilities, as well as self-learning, self-summarization, and self-improvement capabilities. The more it is used, the more efficient and accurate it becomes. Cloud-based intelligent services address the uneven quality of end-users and their lack of experience in handling difficult cases, contributing to maintaining overall high-level operations.

[0023] 8. The present invention has accurate radiotherapy planning, accurate radiotherapy irradiation conformity, accurate radiotherapy irradiation focusing, accurate radiotherapy irradiation target tracking, accurate target dose, and uniform target dose distribution.

[0024] 9. This invention adheres to the principle of "more, faster, better, cheaper, and simpler." It has multiple indications, quick cures, good efficacy, low overall costs, a simple treatment experience for patients, and simple operation for technicians. It is suitable for widespread promotion.

[0025] 10. The radiotherapy process of the present invention is non-invasive, painless, and does not require breath-holding, and there is no interference of image tracking X-rays on projection positioning. It is an excellent choice for tumor patients who need radiotherapy and patients who are not suitable for surgery.

[0026] 11. The radiation source of the present invention uses a medical accelerator. Radiation is emitted only when megavolt high voltage is applied. No radiation is emitted when the power is off. There is no problem of gamma ray radiation source always emitting radiation and requiring regular replacement of the radiation source. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a principle block diagram of the present invention;

[0028] Figure 2 It is a schematic diagram of the positional relationship among the radiotherapy projection system, the four-dimensional six-axis collaborative treatment couch, and the three-dimensional four-axis dual digital X-ray fluoroscopy system of the present invention;

[0029] Figure 3 It is a schematic structural diagram of the radioactive source in the present invention;

[0030] Figure 4 Schematic diagram of the structure of the secondary collimator and the multi-leaf collimator in the present invention;

[0031] Figure 5 It is a schematic diagram of the anti-touch head and additional filter plate device of the present invention;

[0032] Figure 6 is a principle block diagram of the tracker in the present invention;

[0033] Figure 7 It is a schematic diagram of the appearance structure of the tracker of the present invention from four perspectives: front, rear, left, top, and right;

[0034] Figure 8 This is a schematic diagram of the structure of the four-dimensional six-axis collaborative treatment bed in the present invention;

[0035] Figure 9 This is a schematic diagram of the appearance and structure of the three-dimensional four-axis dual digital X-ray fluoroscopy system of the present invention;

[0036] Markings in the figure: 1. Radiotherapy planning system, 2. Radiotherapy delivery system, 21. Radioactive source, 210. Additional filter plate, 2101. Additional filter plate clamping position, 211. Medical electron accelerator system, 2111. Beam outlet, 2112. Integrated assembly frame, 2113. Protective shell, 2114. Double ears, 212. X-ray target device, 213. Primary collimator, 2131. Primary collimator servo motor connecting rod drive hole selector, 214. Integrated conversion device, 2141. X-ray homogenizer, 2142. Electron beam scattering plate, 2143. Integrated conversion device servo motor connecting rod drive device, 215. Field indicator light reflector, 216. Secondary collimator, 21 61. Secondary collimator blades, 2162. Independent servo motor connecting rod driver, 217. Multi-leaf collimator, 2171. Blades, 2172. Independent multi-leaf servo motor connecting rod driver, 218. Dose measurement and control ionization chamber, 219. Anti-touch head, 2191. Laser detector, 2192. Touch pressure sensor, 22. Six-axis robotic projection arm, 3. Digital tracking system, 311. Integrated six-axis inertial gyroscope angle, velocity, acceleration, position sensor, 312. Pressure sensor, 313. Heart rate sensor, 314. Information receiving filter circuit, 315. Signal amplification circuit, 316. Chip circuit integrated board, 317. Information display and control device, 318. Appropriate lead Equivalent anti-ionizing radiation shell, 319, data transmission port, 310, switching power supply, 311, integrated six-axis inertial gyroscope angle velocity acceleration position sensor, 312, pressure sensor, 313, heart rate sensor, 32, tension sensing ring, 33, ECG acquisition electrode, 4, four-dimensional six-axis collaborative treatment bed, 41, six-axis robot arm, 42, bed board, 43, handheld controller, 44, six-axis inertial gyroscope sensor, 5, three-dimensional four-axis dual digital X-ray fluoroscopy system, 51, automatic suspension four-axis robot C-arm, 511, automatic advance and retreat left and right overhead rail slide rail pulley, 5111, advance and retreat rail, 5112, left and right rail, 512, automatic lifting shaft rod, 5121, extension Retractable mechanical rod, 5122, telescopic servo motor, 513, automatic rotation axis C-arm, 5131, C-shaped mechanical arm, 5132, rotation servo motor, 52, two sets of fluoroscopy mechanisms, 522, X-ray source, 523, flat panel detector, 524, ionization chamber detector, 53, fluoroscopy machine control and debugger, 6, integrated control system, 7, auxiliary treatment system, 71, human-computer interaction system, 711, radiotherapy physician workstation, 712, imaging workstation, 713, technician operation panel, 714, radiotherapy plan CT simulation verification system, 72, computer system, 73, support system, 731, power supply and high voltage generation and control system, 732, time system, 7322, BD GPS timing component 2, 7324, BD GPS timing component 4, 733, coordinate and position interactive navigation system, 7331, three-dimensional laser coordinate system,73313. Component III of the three-dimensional laser coordinate system; 73341. Integrated coordinate and position interactive navigator for the radiation source and projection robot arm; 73342. Integrated coordinate and position interactive navigator for the tracker; 73343. Integrated coordinate and position interactive navigator for the four-dimensional six-axis collaborative treatment bed; 73344. Integrated coordinate and position interactive navigator for the three-dimensional four-axis dual digital X-ray fluoroscopy system; 734. Dose measurement and control system; 735. Safety chain safety monitoring system. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] A precise radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator, such as Figure 1As shown, it includes a radiotherapy planning system 1, a radiotherapy delivery system 2, a digital tracking system 3, a four-dimensional six-axis collaborative treatment bed 4, a three-dimensional four-axis dual digital X-ray fluoroscopy system 5, an integrated control system 6, and an auxiliary treatment system 7. The system has three rotating robot arms used for the radiotherapy delivery system, the four-dimensional six-axis collaborative treatment bed, and the three-dimensional four-axis dual digital X-ray fluoroscopy system respectively. The number of robot arm axes can be configured according to the system collaboration requirements, such as six axes selected for the radiotherapy delivery system, six axes selected for the collaborative treatment bed, and four axes selected for the dual digital X-ray fluoroscopy system. The four-dimensional six-axis collaborative treatment bed 4 can adaptively push the target to the origin of the three-dimensional laser coordinate system 7331, and can be adjusted in six degrees of freedom in the ±X, ±Y, and ±Z coordinate directions so that the bed and the tumor in the human body best meet the requirements of the radiotherapy delivery system 2. It is controlled by the handheld controller 43, the technician operation panel 713, the integrated control system 6, the radiotherapy planning system 1, the mathematical tracking model, and the position information data collected by the tracker. The six-axis radiotherapy delivery system 2 can The target is subjected to four-dimensional adaptive digital tracking and conformal intensity-modulated focusing irradiation in the six degrees of freedom of the ±X, ±Y, and ±Z coordinate directions. The motion trajectory of the radiation source 21 is completely customized by the powerful radiotherapy planning system 1 according to the specific situation of the target. 360-degree multi-arc non-coplanar continuous irradiation and adaptive motion focusing are possible. Examples include line-by-line reciprocating irradiation, dose-zoned irradiation, electron-circling-nucleus irradiation, single-point or multi-point focused irradiation, and mixed complex path trajectory design. All of these are based on the premise of meeting target dose requirements and minimizing damage to normal tissue. The three-dimensional four-axis dual digital X-ray fluoroscopy system 5 is only involved in establishing a digital tracking model for tracking the target before the start of radiotherapy. It is used to obtain typical characteristic data information of the target's movement in the four-dimensional coordinate system. This data, together with the typical characteristic data information of the body surface position information obtained simultaneously by the tracker, is provided to the target tracking mathematical modeling software system to establish a digital tracking model for tracking the target. The three-dimensional four-axis dual digital X-ray fluoroscopy system 5 does not perform image tracking during the irradiation process of the radiotherapy delivery system 2.The intelligent radiotherapy planning system 1 can perform complex calculations and analyze the detailed three-dimensional data of the patient's related tissues and organs and targets with the support of cloud computing to provide comprehensive, different and completely personalized treatment designs and treatment plans for each target. Among them, the radiotherapy planning system 1 includes software and hardware that are connected to the radiotherapy delivery system 2, digital tracking system 3, four-dimensional six-axis collaborative treatment bed 4, three-dimensional four-axis dual digital X-ray fluoroscopy system 5, integrated control system 6, and auxiliary treatment system 7 through the computer system 72 network. The radiotherapy delivery system 2 includes a radiation source 21 and a six-axis robot delivery arm 22. The two are connected The system is connected to the radiotherapy planning system 1, the digital tracking system 3, the four-dimensional six-axis collaborative treatment bed 4, the integrated control system 6, and the auxiliary treatment system 7. The digital tracking system 3 includes a tracker, a tension sensor ring 32, an ECG acquisition electrode 33, and a target tracking mathematical modeling software system. The system is connected to the radiotherapy planning system 1, the radiotherapy delivery system 2, the four-dimensional six-axis collaborative treatment bed 4, the three-dimensional four-axis dual digital X-ray fluoroscopy system 5, and the integrated control system 6. The four-dimensional six-axis collaborative treatment bed 4 includes a six-axis robot arm 41, a bed plate 42, and a handheld controller 43. The system is connected to the radiotherapy planning system through a computer system 72 network. 1. Radiotherapy delivery system 2, digital tracking system 3, 3D four-axis dual digital X-ray fluoroscopy system 5, integrated control system 6 and auxiliary treatment system 7 are connected. The 3D four-axis dual digital X-ray fluoroscopy system 5 includes software and an automatically suspended four-axis robot C-arm 51, two sets of fluoroscopy mechanisms 52 are connected to the radiotherapy planning system 1, digital tracking system 3, four-dimensional six-axis collaborative treatment bed 4, 3D four-axis dual digital X-ray fluoroscopy system 5, integrated control system 6 and auxiliary treatment system 7. The integrated control system 6 includes software and hardware that are connected to the radiotherapy planning system 1 and radiotherapy delivery system 2 through a computer system 72 network. , digital tracking system 3, four-dimensional six-axis collaborative treatment bed 4, three-dimensional four-axis dual digital X-ray fluoroscopy system 5, and auxiliary treatment system 7 are connected. The auxiliary treatment system 7 includes a human-computer interaction system 71, a computer system 72, and a support system 73. It is connected to the radiotherapy planning system 1, the radiotherapy delivery system 2, the digital tracking system 3, the four-dimensional six-axis collaborative treatment bed 4, the three-dimensional four-axis dual digital X-ray fluoroscopy system 5, and the integrated control system 6. It can realize four-dimensional adaptive digital tracking conformal intensity-modulated focusing delivery during tumor radiotherapy, free breathing during radiotherapy is different from respiratory gating, and no image tracking is different from image tracking. The positional relationship between the radiotherapy delivery system 2, the four-dimensional six-axis collaborative treatment bed 4, and the three-dimensional four-axis dual digital X-ray fluoroscopy system 5 is as follows; Figure 2 shown.

[0039] The radiation source 21 includes a medical electron accelerator system 211, an X-ray target device 212, a primary collimator 213, an integrated conversion device 214, a field indicator light reflector 215, a secondary collimator 216, a multi-leaf collimator 217, a dose measurement and control ionization chamber 218, and an anti-collision head 219. Figure 3 As shown, they are sequentially arranged and installed in the integrated assembly frame 2112 from top to bottom and are enclosed as a whole by the protective shell 2113. The upper part of the protective shell 2113 is provided with two ears 2114 horizontally near the center of gravity for connecting to the end of the six-axis robot projection arm 22. The protective shell 2113 is surrounded by an integrated coordinate and position interactive navigator 73341 of the radiation source and the projection robot arm, and the integrated coordinate and position interactive navigator 73341 of the radiation source and the projection robot arm and the time system 732BD provided in the computer system 72. The GPS timing component 1 constitutes the four-dimensional adaptive irradiation navigation control system of the radiotherapy delivery system 2. The medical electron accelerator system 211 is connected to the power supply and high-voltage generation control system 731 that supplies MeV-level continuously adjustable high voltage, the dose measurement and control system 734, the dose measurement and control ionization chamber 218, the radiotherapy planning system 1, the integrated control system 6, the human-computer interaction system 71, and the computer system 72 to form a feedback control loop for the energy and output dose rate of the useful beam of ionizing radiation for tumor radiotherapy. According to the requirements of the radiotherapy planning system 1, the useful beam with specific energy and dose rate is modulated and output for a specific position and direction. The medical electron accelerator system The beam outlet 2111 of 211 is provided with an X-ray target device 212, which is shot by the electron beam accelerated by the device to generate X-rays. The primary collimator 213 is modulated by the primary collimator servo motor connecting rod driven by the aperture selector 2131. The primary collimator 213 is thick / disc-shaped and has multiple collimating circular holes of different diameters, an aperture sensor, and a start-up interlocking device. Collimating circular holes of different diameters are selected to control the maximum radiation field of radiotherapy. The integrated conversion device 214 includes an X-ray flattener 2141 and an electron beam scattering plate 2142. It is controlled by the integrated conversion device servo motor connecting rod driving device 2143. The servo driving device is connected to the integrated control system 6. Figure 4 As shown, the secondary collimator 216 is a thick plate with a total of eight secondary collimator blades 2161, which are divided into four groups and installed in the integrated assembly frame 2112. The angle between the groups is 45 degrees. Each secondary collimator blade 2161 has an independent servo motor connecting rod driver 2162 to control and can block the radiation field through the center. The multi-leaf collimator 217 blades 2171 are thick plates with 36 to 72 pieces. The cross section of each piece is a trapezoidal convex and concave surface. The convex and concave surfaces are staggered between the pieces. Each piece is composed of independent multi-leaf collimators. The servo motor connecting rod driver 2172 is controlled to instantly adjust the shape according to the target shape and size. The primary collimator 213, secondary collimator 216, multi-leaf collimator 217 and protective shell 2113 are all made of lead, molybdenum, tungsten or their alloys. The inner side of the secondary collimator plate blade 2161 is tilted outward to eliminate penumbra. The anti-touch head 219 is in the shape of a spherical ring disk, and the end face is equipped with laser detectors 21913 (6), or a touch pressure sensor 2192 is provided. Figure 5As shown, an additional filter plate holder 2101 is provided on the annular wall of the middle through hole of the anti-collision head (219), or an integrated additional filter plate replacement device is provided above or below or between the primary collimator 213 and the integrated conversion device 214 to absorb low-energy X-rays and reduce superficial tissue dose. The protective shell 2113 of the radiation source 21 is approximately egg-shaped.

[0040] The tracker consists of software and hardware, such as Figure 6 As shown, it mainly includes an integrated six-axis inertial gyroscope angle, velocity, acceleration and position sensor 311, a pressure sensor 312, a heart rate sensor 313, an information receiving filter circuit 314, a signal amplifying circuit 315, a chip circuit integrated board 316, an information display and control device 317, an ionizing radiation-proof shell 318 with appropriate lead equivalent, a data transmission port 319, a switching power supply 310, a BD GPS timing component 2 7322 of the time system 732, a tension sensing ring belt 32, an electrocardiogram collecting electrode 33, etc. Figure 7As shown, the tracker can be roughly hexahedral in appearance, with the front view showing a touch screen information display and operating device 317, the rear view showing a pressure sensor 312, a heart rate sensor 313, and the tracker's integrated coordinate and position interactive navigator 73342. The arrangement is informal with the goal of obtaining the most accurate data. When the tracker is placed on the skin of the abdominal wall or chest wall, the skin contacts the sensor. In the left view, there is a switching power supply and an ECG acquisition electrode terminal connected to the ECG acquisition electrode 33. In the right view, a data transmission port 319 is provided. In the top and bottom views, a tension sensing belt terminal is provided to connect the tension sensing belt 32. In the rear view, The positions and combinations of the sensors and the switch power supplies and terminals in the left and right views are not limited to one. The tracker is connected to the computer system 72, the target tracking mathematical modeling software system, the three-dimensional four-axis dual digital X-ray fluoroscopy system 5, the integrated control system 6, the radiotherapy delivery system 2, and the radiotherapy planning system 1 through the data and control cables of the data transmission port 319. The integrated six-axis inertial gyroscope angle velocity acceleration position sensor 311 contains the integrated coordinate and position interactive navigator 73342 of the tracker, and the integrated coordinate and position interactive navigator 73342 of the tracker and the BD of the time system 732 are set in the computer system 72. The GPS timing component 1 constitutes the tracker's four-dimensional target tracking position data information control system. The tracker's position information and target motion characteristic data from the image information of the three-dimensional four-axis dual digital X-ray fluoroscopy system 5 are simultaneously collected. A digital tracking model for the target is established using the target tracking mathematical modeling software system in the computer system 72. The radiotherapy planning system 1, computer system 72, integrated control system 6, and auxiliary treatment system 7 utilize the tracker's position information and the digital tracking model to guide and control the radiotherapy delivery system 2 to implement four-dimensional adaptive digital tracking and conformal intensity-modulated focusing. The target tracking digital model, established with electrocardiogram data, more accurately tracks tumors near the heart that move with both respiratory and cardiac movements.

[0041] The four-dimensional six-axis collaborative treatment bed 4, such as Figure 8 As shown, it includes a six-axis robot arm 41, a bed plate 42, and a handheld controller 43. The bed plate 42 is provided with an integrated coordinate and position interactive navigator 73343 of a four-dimensional six-axis collaborative treatment bed. The handheld controller 43 is provided with a BD GPS timing component three of the time system 732. The integrated coordinate and position interactive navigator 73343 of the four-dimensional six-axis collaborative treatment bed and the BD GPS timing component three of the time system 732 constitute a four-dimensional adaptive collaborative tracking control system for the four-dimensional six-axis collaborative treatment bed 4 to cooperate with the radiotherapy delivery system 2 for precise tracking and focusing. A six-axis inertial gyroscope sensor 44 is provided under the bed plate 42 to control its motion posture. The four-dimensional six-axis collaborative treatment bed 4 is connected to the radiotherapy planning system 1, the radiotherapy delivery system 2, the digital tracking system 3, the three-dimensional four-axis dual digital X-ray fluoroscopy system 5, the integrated control system 6, and the auxiliary treatment system 7.

[0042] The three-dimensional four-axis dual digital X-ray fluoroscopy system 5 includes an automatically suspended four-axis robot C-arm 51, two sets of fluoroscopy mechanisms 52, a fluoroscopy machine control and debugger 53, a coordinate and position interactive navigation system 733, and a time system 732. The automatically suspended four-axis robot C-arm 51 includes an automatically advancing and retreating left and right overhead rail slide trolley 511, an automatically lifting shaft 512, and an automatically rotating axis C-arm 513. The automatically advancing and retreating left and right overhead rail slide trolley 511 includes an advancing and retreating rail 5111, a left and right rail 5112, a trolley consisting of an advancing and retreating axis servo motor and a left and right axis servo motor. The automatically lifting shaft 512 includes a telescopic mechanical rod 5121 and a telescopic servo motor 5122. The automatically rotating axis C-arm 513 includes a C-shaped mechanical arm 5131 and a rotating servo motor 5132. The automatically rotating axis C-arm 513 is surrounded by an integrated coordinate and position interactive navigator 73344 of the three-dimensional four-axis dual digital X-ray fluoroscopy system. The fluoroscopy machine control and debugger 53 is provided with a BD of the time system 732. The GPS timing component 4 7324, the integrated coordinate and position interactive navigator 73344 of the three-dimensional four-axis dual digital X-ray fluoroscopy system and the BD GPS timing component 4 7324 of the time system 732 constitute the automatic navigation control system of the three-dimensional four-axis dual digital X-ray fluoroscopy system 5 and the four-dimensional coordinate data information control system of the target motion image collected by the flat panel detector 523. The two sets of fluoroscopy mechanisms 52 include control software and imaging software system, X-ray source 522, flat panel detector 523 and integrated control system 6, auxiliary treatment system 7, and digital tracking system 3. The X-ray source 522 and flat panel detector 523 of the two sets of fluoroscopy mechanisms 52 are arranged opposite to each other on the C-shaped mechanical arm 5131. The two sets of fluoroscopy mechanisms 52 are cross-arranged on the C-shaped mechanical arm 5131. The ionization chamber detector 524 is optimized to be 3 and arranged in a triangle 524 on the rear side of each flat panel detector 523. The power supply and high-voltage generator The biocontrol system 731 provides the X-ray source 522 with an optimized continuously adjustable high voltage of 28-150 kV. The X-ray source 522, the ionization chamber detector 524, the integrated control system 6, and the auxiliary treatment system 7 are connected to realize automatic adjustment of image brightness and contrast, obtain typical characteristic data of the target and target motion in the three-dimensional image, and use the target tracking mathematical modeling software system in the computer system 72 and the data collected simultaneously by the tracker to jointly establish a digital tracking model for tracking the target. The three-dimensional four-axis dual digital X-ray fluoroscopy system 5 is connected to the digital tracking system 3, the four-dimensional six-axis collaborative treatment bed 4, the integrated control system 6, and the auxiliary treatment system 7. The automatically suspended four-axis robot C-arm 51 is installed on the treatment room structure such as the ceiling or wall through structural parts.

[0043] The integrated control system 6 includes a four-dimensional adaptive projection navigation control system, a four-dimensional target tracking position data information control system, a four-dimensional adaptive collaborative tracking control system for precise tracking and focusing, a four-dimensional coordinate data information control system for target motion images, a four-dimensional adaptive tracking and focusing navigation position information control system and control systems for various systems and subsystems.

[0044] The auxiliary treatment system 7 includes a human-computer interaction system 71, a computer system 72, and a support system 73. The human-computer interaction system 71 includes a radiotherapy physician workstation 711, an imaging workstation 712, a technician operation panel 713, a radiotherapy plan CT simulation verification system 714, interactive software, and imaging software. The computer system 72 includes hardware, software, network and communication, and intelligent cloud, which have the functions of intelligently processing image information, intelligently extracting typical feature data, intelligently collecting body surface position information and target position information, and intelligently establishing a digital tracking model for tracking targets. The system has the functions of selection, execution, feedback, correction and control, and adaptive four-dimensional target tracking and conformal focusing. It has intelligent cloud space, cloud computing, cloud service capabilities and self-learning, self-summarization and self-improvement capabilities. The guarantee system 73 includes a power supply and high-voltage generation and control system 731, a time system 732, a coordinate and position interactive navigation system 733, a dose measurement and control system 734, and a safety chain safety monitoring system 735. The power supply and high-voltage generation and control system 731 is connected to the X-ray source 522, the radiation source 21, the human-computer interaction system 71, the integrated control system 6 and other system equipment. The time system 732 adopts the Beidou and GPS navigation satellite timing correction system. The GPS timing components are distributed in various systems and subsystems. All software runs in the time system 732. The BDGPS timing component 1 of the time system 732 is set in the computer system 72. The coordinate and position interactive navigation system 733 includes a three-dimensional laser coordinate system 7331, a human body constraint marking system, an infrared and magnetic navigation interactive system, and an integrated coordinate and position interactive navigator. The integrated coordinate and position interactive navigator is distributed in the radiation source 21, the tracker, the four-dimensional six-axis collaborative treatment bed 4, the three-dimensional four-axis dual digital X-ray fluoroscopy system 5, and the radiotherapy room. The time system 732 and the three-dimensional laser coordinate system 7331 constitute a four-dimensional coordinate system. The four-dimensional coordinate system and the coordinate and position interactive navigation system 733 constitute a four-dimensional adaptive tracking focusing navigation position information control system and radiotherapy irradiation. System 2, digital tracking system 3, four-dimensional six-axis collaborative treatment bed 4, three-dimensional four-axis dual digital X-ray fluoroscopy system 5, integrated control system 6, human-computer interaction system 71, and computer system 72 are connected. The dose measurement and control system 734 includes the radiation source 21 output dose measurement and control system, the target dose measurement and control system, the off-target tissue and organ dose measurement and control system, the field-target shape measurement and control correction system, and the environmental dose measurement and control system. The dose measurement and control system 734 is connected with the radiotherapy planning system 1, the radiotherapy delivery system 2, the digital tracking system 3, the four-dimensional six-axis collaborative treatment bed 4, the three-dimensional four-axis dual digital X-ray fluoroscopy system 5, the integrated control system 6, and the four-dimensional adaptive tracking focusing navigation position information control system to form a data feedback automatic control chain of the precise radiotherapy system of the four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator.

[0045] The present invention is described in detail below:

[0046] The precision radiotherapy system based on a four-dimensional adaptive digital tracking and conformal intensity-modulated focusing medical electron accelerator described in this invention belongs to the field of precision tumor radiotherapy. The four dimensions refer to its ability to provide static focused radiation therapy to targets from any X, Y, and Z directions in a rectangular coordinate system, as well as to provide instant and precise displacement tracking and focused radiation therapy in the temporal dimension for targets in the chest, abdomen, and heart that shift with respiration or heartbeat. Medical electron accelerators, including medical electron induction accelerators, medical electron linear accelerators, and medical electron cyclotrons, modulate and output electron beams with specific energies and dose rates, or emit X-ray beams after firing at an X-ray target device for tumor radiotherapy. For example, when electron beams are used to treat superficial tumors, they first pass through an electron beam scatterer to disperse the concentrated beam into a uniform, wide beam suitable for the radiotherapy area. The beam is then collimated and conformally delivered to the designated target tissue. For example, when high-energy X-rays are used to treat deep tumors, an X-ray target device is placed at the high-energy electron beam outlet of a medical electron accelerator. The high-energy electron beam strikes the target, generating X-rays. The low-energy portion of the continuous spectrum X-rays is absorbed and filtered out by an additional filter plate. The high-energy, penetrating X-ray beam penetrates the human body and target, delivering a sufficient lethal dose to the target while minimizing the dose to normal tissue, achieving precise radiotherapy. The X-rays pass through a primary collimator to limit the maximum spot diameter, then through a secondary collimator and a multi-leaf collimator to form a collimated, conformal X-ray beam. Under system control, the beam is adjusted and adaptively digitally tracked with the target, achieving four-dimensional adaptive digital tracking, conformal intensity-modulated focusing, and precise radiotherapy planning, precise radiotherapy delivery conformity, precise radiotherapy delivery focus, precise target tracking, precise target dose, and uniform target dose distribution. A digital tracker and a three-dimensional, four-axis dual digital X-ray fluoroscopy system simultaneously collect characteristic body surface and target position data. A computer system and target tracking mathematical modeling software system then establish a digital tracking model for the target, enabling adaptive four-dimensional tracking and conformal intensity-modulated focusing (IMF) precision radiotherapy. A six-axis radiotherapy delivery robot and a six-axis collaborative treatment table robot collaborate to deliver precise, adaptive four-dimensional tracking and conformal IMF precision radiotherapy, controlled by tracker data, a digital tracking model, a coordinate and position interactive navigator, and an integrated control system. The energy and dose rate of the useful beam are controlled by a MeV-class high-voltage power supply for IMF delivery. The shape and size of the useful beam spot are controlled by the servo drive mechanism of the collimation and conformal irradiation system, which adjusts the size of the beam spot. The radiotherapy planning system individually plans the dose rate and dose for all incident directions from a 360-degree perspective, ensuring uniform absorbed dose and dose distribution in target tissue while also providing personalized dose protection for radiosensitive cells, tissues, and organs.

[0047] The radiotherapy planning system includes the radiotherapy physician prescription system, the radiotherapy technician control console, patient information, disease information database, basic medical database, source activity database, atomic clock synchronization system database, radiation dose database, coordinate database, image processing system database, angle tracking mathematical model system database, radiotherapy planning system database, etc., and forms control instructions through core algorithms, model algorithms, etc.

[0048] In addition to the human-computer interaction system, computer system, and security system, the auxiliary treatment system also has audio and video functions. Audio and video can be played through this system to achieve a relaxing effect, which helps to eliminate the patient's inner fear of treatment.

[0049] The specific steps of the present invention in implementing precise radiotherapy for lung cancer or other cancers are roughly as follows:

[0050] 1. Before work each day, a physical engineer and a radiotherapy technician of a precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity-modulated focusing medical electron accelerator will use a double key to start the system, begin equipment performance testing and verification, ensure that everything is normal, and then enter the working state.

[0051] 2. Registration and appointment for radiotherapy patients: Radiotherapy is decided by authorized senior radiotherapists. Authorized senior radiotherapists complete the registration and appointment by entering the confirmed patient information in a precise radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity-modulated focusing medical electron accelerator.

[0052] 3. Tumor radiotherapy target delineation and radiation field setting. Authorized senior radiotherapists, radiotherapy technicians, and medical imaging physicians work together in a precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity-modulated focusing medical electron accelerator. Relying on the powerful data computing capabilities and software systems of the radiotherapy planning system and cloud computing services, they complete the collection, acquisition, and storage of patient medical imaging information, especially the preprocessing, image reconstruction, and analysis of DR anteroposterior and lateral images, CT images, and MRI examination image data. They also delineate and identify the three-dimensional morphology and location characteristics of tumors or lesions, surrounding organs, tissues, or sensitive cells, the size and shape of the target projection in all directions in 360 degrees, and the relative positional relationship between the target and surrounding tissues and organs.

[0053] 4. Determine the target dose and the maximum dose limit for tissues and organs around the target. The authorized senior radiotherapist fills in the target treatment dose and the maximum dose limit for tissues and organs around the target in the radiotherapy planning system and signs for confirmation. Another authorized senior radiotherapist reviews and signs for confirmation at another operating terminal without interference. Go to the next step

[0054] 5. Run the radiotherapy planning system software, implement cloud computing services, and establish a precise 360-degree spatial non-isocentric intensity-modulated focused radiotherapy plan for a static target. The radiotherapy planning system accurately formulates detailed and complex radiotherapy plans, delivering the target treatment dose in a single exposure or a minimum number of fractionated exposures while meeting the dose limits for surrounding tissues and organs. The irradiation trajectory is planned in all directions of 360 degrees. From the starting treatment trajectory point, the radiation field is planned for each point along the trajectory, including the appropriate shape and size of the target projection, the position and travel of each collimator blade, the source focal length, the radiation energy and dose rate, the effective beam projection speed, the exposure time, and the dose. A report or attached 3D video demonstration is submitted for review, revision, and signature by an authorized senior radiotherapist. Any revisions to the treatment plan must be documented and justified. After revisions, the radiotherapy planning system must be re-run for further review, revision, and signature. Another authorized senior radiotherapist reviews and confirms the plan with a signature from a separate, uninterrupted terminal.

[0055] Go to the next step

[0056] 6. 3D-CT radiotherapy plan simulation verification. Establish a static target 360-degree spatial non-isocentric conformal intensity-modulated focused precise radiotherapy plan. Authorized senior radiotherapists and radiotherapy technicians jointly sign and confirm. File backup. Proceed to the next step.

[0057] 7. Implement the radiation therapy plan:

[0058] 7.1. Two authorized radiotherapy technicians shall be present at the same time to receive the patient, verify the patient's identity, and confirm that the equipment room environment is in normal condition and that the precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator is in normal condition.

[0059] Sedatives are injected at a dose that keeps the patient asleep for the entire treatment time.

[0060] The radiotherapy technician leads the patient into the treatment room to familiarize them with the environment. He explains that the patient will not feel anything during the treatment while lying on the bed, and there will be no pain. The robotic arm will move around the body, whether far or near, fast or slow. The equipment is safe and will not touch the body. The patient should not be afraid and should not struggle to move. Go to the next step

[0061] 7.2. Secure the patient to a four-dimensional, six-axis collaborative treatment bed: A precision radiotherapy system based on a four-dimensional adaptive digital tracking, conformal intensity-modulated focusing medical electron accelerator is a fully automated precision radiotherapy device that utilizes a coordinate and position interactive navigation system. First, the patient lies flat on the bed. A tracker is placed at a designated location on the body surface, connected to a tension sensor belt and ECG acquisition electrodes. The device is powered on and confirmed to be functioning properly for status detection and information collection. The patient is then secured using a three-dimensional coordinate system and a body restraint marking system for precise positioning. A handheld controller is used to achieve one-click human-machine coordinate integration. The radiotherapy technician confirms the patient's position and signs with a fingerprint.

[0062] Go to the next step

[0063] 7.3. After the safety check, the radiotherapy technician will leave the treatment room and close the protective door of the treatment room.

[0064] 7.4. Radiotherapy technicians use two keys to unlock and execute radiotherapy plan commands.

[0065] 7.5. Establish a digital tracking model for the tracking target. After the execution command is turned on, the 3D, 4-axis, dual digital X-ray fluoroscopy system automatically moves to the image acquisition position, automatically integrates coordinates, and begins acquiring 3D images. The computer system simultaneously acquires tracker and 3D image information, and the target tracking mathematical modeling software system automatically establishes a digital tracking model for the tracking target.

[0066] The three-dimensional four-axis dual digital X-ray fluoroscopy system automatically exits.

[0067] 7.6. The radiotherapy delivery system automatically starts and executes the radiotherapy plan, performing four-dimensional adaptive digital tracking, conformal intensity-modulated focusing, and precise radiotherapy. Upon completion, the system returns to a safe shutdown state.

[0068] 8. The radiotherapy technician confirms that the safety interlock monitoring system is reporting normal information within the treatment room. The radiotherapy technician opens the treatment room door and removes the patient's restraints. The patient is then returned to the ward or sent home upon awakening.

[0069] 9. For patients who have chosen a fractionated radiotherapy plan, repeat the above steps according to the time agreed upon in the radiotherapy plan to complete the subsequent treatment.

[0070] A precision radiotherapy system based on a four-dimensional adaptive digital tracking, conformal intensity-modulated focusing medical electron accelerator is a highly intelligent, automated, and precise radiotherapy system for the non-invasive treatment of tumors throughout the body and some benign diseases. Compared to existing radiotherapy equipment, it offers a wider range of indications, better efficacy, and a higher gain ratio. It is highly safe and does not cause serious radiotherapy complications, making it an optimal choice for patients with radiotherapy indications.

[0071] The total treatment time is affected by factors such as the patient's specific physical condition, the nature, size, location, number and other characteristics of the disease and target, the complexity of the treatment plan, the dose, the method of delivery and the route. It is about 10 to 30 minutes per session, but may be shorter or longer. Some patients are suitable for a one-time radiotherapy plan, while some patients are suitable for a two- to five-time radiotherapy plan.

[0072] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator, comprising a radiotherapy planning system (1), a radiotherapy delivery system (2), a digital tracking system (3), a four-dimensional six-axis collaborative treatment bed (4), a three-dimensional four-axis dual digital X-ray fluoroscopy system (5), an integrated control system (6), and an auxiliary treatment system (7). The radiotherapy delivery system (2) comprises a radiation source (21) and a six-axis robot delivery arm (22), which are connected to each other. The radiotherapy delivery system (2) is connected to the radiotherapy planning system (1), the digital tracking system (3), the four-dimensional six-axis collaborative treatment bed (4), the integrated control system (6), and the auxiliary treatment system (7). The radiation source (21) comprises a medical electron accelerator system (211), an X-ray target device (212), a primary collimator ( 213), an integrated conversion device (214), a field indicator light reflector (215), a secondary collimator (216), a multi-leaf collimator (217), a dose measurement and control ionization chamber (218), an anti-touch head (219), and an additional filter plate (210), which are sequentially arranged and installed in an integrated assembly frame (2112) from top to bottom and are enclosed as a whole by a protective shell (2113), a double ear (2114) is arranged at a horizontal position near the center of gravity of the upper section of the protective shell (2113) for connecting to the end of the robot arm, an integrated coordinate and position interactive navigator (73341) of the radiation source and the projection robot arm is arranged around the protective shell (2113), the integrated coordinate and position interactive navigator (73341) of the radiation source and the projection robot arm and a time system (732) BD set in the computer system (72) The GPS timing component constitutes a four-dimensional adaptive irradiation navigation control system of the radiotherapy irradiation system, the medical electron accelerator system (211) is connected with a power supply for supplying MeV-level continuously adjustable high voltage and a high voltage generation control system (731), a dose measurement and control system (734), a dose measurement and control ionization chamber (218), a radiotherapy planning system (1), an integrated control system (6), a human-computer interaction system (71), and a computer system (72) to form a feedback control loop of the useful beam energy and output dose rate of ionizing radiation for tumor radiotherapy, and the beam outlet (211) of the medical electron accelerator system (211) is connected with the ... ionization chamber (218), a radiotherapy planning system (1), an integrated control system (6), a human-computer interaction system ( 11) An X-ray target device (212) is provided to shoot an accelerated electron beam to generate X-rays. A primary collimator (213) is modulated by a primary collimator servo motor connecting rod driving a hole selector (2131). The primary collimator (213) is thick / disc-shaped and is provided with a plurality of collimating circular holes of different diameters, an aperture sensor, and a start-up interlocking device. Collimating circular holes of different diameters are selected to control the maximum radiation field of radiotherapy. An integrated conversion device (214) includes an X-ray flattener (2141), an electron beam scattering plate (2142), and is regulated by an integrated conversion device servo motor connecting rod driving device (2143).The secondary collimator (216) has eight thick plate-shaped pieces, which are divided into four groups and installed in the integrated assembly frame (2112). The angle between the groups is 45 degrees. Each secondary collimator plate leaf (2161) has an independent servo motor connecting rod driver (2162) to control and can block the radiation field through the center. The multi-leaf collimator (217) has 36 to 72 thick plate-shaped leaves (2171). The cross section of each leaf is a trapezoidal convex and concave surface. The convex and concave surfaces are staggered between the leaves. Each leaf is driven by an independent multi-leaf servo motor connecting rod driver (2 172) control to instantly modulate conformity according to target shape and size, the collimators (213, 216, 217) and the protective shell (2113) are all made of lead, molybdenum, tungsten or their alloys, the inner side of the secondary collimator blade (2161) is expanded outward to eliminate penumbra, the anti-collision head (219) is in the shape of a spherical ring disk, and 3-6 laser detectors (2191) are set on the end face, and an additional filter plate clamping position (2101) is set on the ring wall of the middle through hole of the anti-collision head (219).

2. The precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator according to claim 1, characterized in that: The radiotherapy planning system (1) includes software and hardware, and is connected to a radiotherapy projection system (2), a digital tracking system (3), a four-dimensional six-axis collaborative treatment bed (4), a three-dimensional four-axis dual digital X-ray fluoroscopy system (5), an integrated control system (6), and an auxiliary treatment system (7) through a computer system (72) network.The digital tracking system (3) includes a tracker, a tension sensor ring (32), an electrocardiogram acquisition electrode (33), and a target tracking mathematical modeling software system, and is connected to a radiotherapy planning system (1), a radiotherapy delivery system (2), a four-dimensional six-axis collaborative treatment bed (4), a three-dimensional four-axis dual digital X-ray fluoroscopy system (5), and an integrated control system (6). The four-dimensional six-axis collaborative treatment bed (4) includes a six-axis robot arm (41), a bed plate (42), and a handheld controller (43). It is connected to the radiotherapy planning system (1), the radiotherapy delivery system (2), the digital tracking system (3), the three-dimensional four-axis dual digital X-ray fluoroscopy system (5), the integrated control system (6), and the auxiliary treatment system (7) through a computer system (72) network. An integrated coordinate and position interactive navigator (73343) of the four-dimensional six-axis collaborative treatment bed is set around the bed plate (42), and the BD of the time system (732) is set in the handheld controller (43). The GPS timing component three, the integrated coordinate and position interactive navigator (73343) of the four-dimensional six-axis collaborative treatment bed and the BD GPS timing component three of the time system (732) constitute a four-dimensional adaptive collaborative tracking control system for the four-dimensional six-axis collaborative treatment bed (4) and the collaborative radiotherapy delivery system (2) to accurately track and focus. A six-axis inertial gyroscope sensor (44) is set under the bed plate (42) to control its movement posture. The four-dimensional six-axis collaborative treatment bed (4) is connected to the radiotherapy planning system (1), the radiotherapy delivery system (2), the digital tracking system (3), the three-dimensional four-axis dual digital X-ray fluoroscopy system (5), the integrated control system (6), and the auxiliary treatment system (7). The three-dimensional four-axis dual digital X-ray fluoroscopy system (5) includes software and an automatically suspended four-axis robot C-arm (51), two sets of fluoroscopy mechanisms (52), and is connected to the radiotherapy planning system (1), the radiotherapy delivery system (2), the digital tracking system (3), the four-dimensional six-axis collaborative treatment bed (4), the integrated control system (6), and the auxiliary treatment system (7). The integrated control system (6) is connected to the radiotherapy planning system (1), the radiotherapy delivery system (2), the digital tracking system (3), the four-dimensional six-axis collaborative treatment bed (4), the three-dimensional four-axis dual digital X-ray fluoroscopy system (5), and the auxiliary treatment system (7) through the computer system (72) network. The auxiliary treatment system (7) includes a human-computer interaction system (71), a computer system (72), and a support system (73). It is connected to the radiotherapy planning system (1), the radiotherapy delivery system (2), the digital tracking system (3), the four-dimensional six-axis collaborative treatment bed (4), the three-dimensional four-axis dual digital X-ray fluoroscopy system (5), and the integrated control system (6), and can realize four-dimensional adaptive digital tracking conformal intensity-modulated focusing delivery during the tumor radiotherapy process.

3. The precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator according to claim 2, characterized in that: The tracker is composed of software and an integrated six-axis inertial gyroscope angle velocity acceleration position sensor (311), a pressure sensor (312), a heart rate sensor (313), an information receiving filter circuit (314), a signal amplification circuit (315), a chip circuit integration board (316), an information display and control device (317), an appropriate lead equivalent ionizing radiation protection shell (318), a data transmission port (319), a switching power supply (310), and a time system (732). The GPS timing component 2 (7322) is composed of a tracker placed on the skin of the abdominal wall or chest wall and connected to a tension sensor ring (32) and an electrocardiogram acquisition electrode (33). The tracker is connected to a computer system (72), a target tracking mathematical modeling software system, a three-dimensional four-axis dual digital X-ray fluoroscopy system (5), an integrated control system (6), and a radiotherapy irradiation system (2) through a data and control cable of a data transmission port (319). The six-axis inertial gyroscope contains an integrated coordinate and position interactive navigator (73342) of the tracker, and the integrated coordinate and position interactive navigator (73342) of the tracker and a BD of a time system (732) are set in the computer system (72). The GPS timing component constitutes a four-dimensional target tracking position data information control system of the tracker. The position information data of the tracker and the target motion characteristic data in the image information of the three-dimensional four-axis dual digital X-ray fluoroscopy system (5) are collected simultaneously, and a digital tracking model of the tracking target is established through the target tracking mathematical modeling software system in the computer system (72). The radiotherapy planning system (1), the computer system (72), the integrated control system (6), and the auxiliary treatment system (7) use the position information of the tracker and the digital tracking model to guide and control the radiotherapy delivery system (2) to achieve four-dimensional adaptive digital tracking conformal intensity modulated focusing delivery.

4. The precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator according to claim 2, characterized in that: The three-dimensional four-axis dual digital X-ray fluoroscopy system (5) includes an automatically suspended four-axis robot C-shaped arm (51), two sets of fluoroscopy mechanisms (52), a fluoroscopy machine control debugger (53), a coordinate and position interactive navigation system (733), and a time system (732). The automatically suspended four-axis robot C-shaped arm (51) includes an automatically advancing and retreating left and right overhead rail slide rail pulley (511), an automatically lifting shaft rod (512), and an automatically rotating shaft C-shaped arm (513). The automatically advancing and retreating left and right overhead rail slide rail pulley (511) includes an advancing and retreating rail (5111), a left and right rail ( 5112), a pulley consisting of an advance and retreat axis servo motor and a left and right axis servo motor, an automatic lifting shaft rod (512) including a telescopic mechanical rod (5121) and a telescopic servo motor (5122), an automatic rotating shaft C-shaped arm (513) including a C-shaped mechanical arm (5131) and a rotating servo motor (5132), an integrated coordinate and position interactive navigator (73344) of a three-dimensional four-axis dual digital X-ray fluoroscopy system is arranged around the automatic rotating shaft C-shaped arm (513), a BD GPS timing component four (7324) of a time system (732) is arranged in a fluoroscopy machine control debugger (53), an integrated coordinate and position interactive navigator (73344) of a three-dimensional four-axis dual digital X-ray fluoroscopy system and a BD of the time system (732) are arranged in the fluoroscopy machine control debugger (53), The GPS timing component 4 (7324) constitutes the automatic navigation control system of the three-dimensional four-axis dual digital X-ray fluoroscopy system (5) and the four-dimensional coordinate data information control system of the target motion image collected by the flat panel detector (523). The two sets of fluoroscopy mechanisms (52) include control software and imaging software systems, X-ray sources (522), flat panel detectors (523), and are interconnected with the integrated control system (6), auxiliary treatment system (7), and digital tracking system (3). The X-ray sources (522) and flat panel detectors (523) of the two sets of fluoroscopy mechanisms (52) are arranged opposite to each other on the C-shaped mechanical arm (5131). The two sets of fluoroscopy mechanisms (52) are arranged crosswise on the C-shaped mechanical arm (5131). An ionization chamber detector (524) is arranged on the rear side of each flat panel detector (523). The power supply and high voltage generator are adjusted. The control system (731) provides a continuously adjustable high voltage of 28-150 kV for the X-ray source (522). The X-ray source (522), the ionization chamber detector (524), the integrated control system (6), and the auxiliary treatment system (7) are connected to realize automatic adjustment of image brightness and contrast, obtain typical characteristic data of the target and target movement in the three-dimensional image, and use the target tracking mathematical modeling software system in the computer system (72) and the data collected simultaneously by the tracker to jointly establish a digital tracking model for tracking the target. The three-dimensional four-axis dual digital X-ray fluoroscopy system (5) is connected to the digital tracking system (3), the four-dimensional six-axis collaborative treatment bed (4), the integrated control system (6), and the auxiliary treatment system (7). The automatically suspended four-axis robot C-arm (51) is installed on the treatment room structure, ceiling or wall through a structural member.

5. The precision radiotherapy system based on a four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator according to claim 2, characterized in that: The auxiliary treatment system (7) includes a human-computer interaction system (71), a computer system (72), and a support system (73). The human-computer interaction system (71) includes a radiotherapy physician workstation (711), an imaging workstation (712), an operation panel (713), a radiotherapy plan CT simulation verification system (714), interactive software, and imaging software. The computer system (72) includes hardware, software, network and communication, and an intelligent cloud. It has the functions of intelligently processing image information, intelligently extracting typical feature data, intelligently collecting body surface position information and target position information, and intelligently establishing a digital tracking model for tracking targets. It has the functions of intelligent detection, identification, judgment, decision-making, optimization, selection, and execution. The system has the functions of line, feedback, correction and adaptive four-dimensional target tracking and conformal focusing, and has intelligent cloud space, cloud computing, cloud service capabilities and self-learning, self-summarization and self-improvement capabilities. The guarantee system (73) includes a power supply and high voltage generation and control system (731), a time system (732), a coordinate and position interactive navigation system (733), a dose measurement and control system (734), and a safety chain safety monitoring system (735). The power supply and high voltage generation and control system (731) is connected to the X-ray source (522), the radiation source (21), the human-computer interaction system (71), and the integrated control system (6). The time system (732) adopts the Beidou and GPS navigation satellite timing correction system. The BD GPS timing components are distributed in various systems and subsystems. All software runs in the time system (732). The BD of the time system (732) is set in the computer system (72). The GPS timing component 1, the coordinate and position interactive navigation system (733) includes a three-dimensional laser coordinate system (7331), a human body constraint marking system, an infrared and magnetic navigation interactive system, and an integrated coordinate and position interactive navigator. The integrated coordinate and position interactive navigator is distributed in the radiation source (21), the tracker, the four-dimensional six-axis collaborative treatment bed (4), the three-dimensional four-axis dual digital X-ray fluoroscopy system (5), and the radiotherapy room. The time system (732) and the three-dimensional laser coordinate system (7331) constitute a four-dimensional coordinate system. The four-dimensional coordinate system and the coordinate and position interactive navigator are arranged in a plurality of different locations. The interactive navigation system (733) constitutes a four-dimensional adaptive tracking focusing navigation position information control system, and is connected to the radiotherapy irradiation system (2), the digital tracking system (3), the four-dimensional six-axis collaborative treatment bed (4), the three-dimensional four-axis dual digital X-ray fluoroscopy system (5), the integrated control system (6), the human-computer interaction system (71), and the computer system (72). The dose measurement and control system (734) includes a radiation source (21) output dose measurement and control system, a target dose measurement and control system, an off-target tissue and organ dose measurement and control system, a field-target shape measurement and control correction system, and an environmental dose measurement and control system.The dose measurement and control system (734) is connected with the radiotherapy planning system (1), the radiotherapy delivery system (2), the digital tracking system (3), the four-dimensional six-axis collaborative treatment bed (4), the three-dimensional four-axis dual digital X-ray fluoroscopy system (5), the integrated control system (6), and the four-dimensional adaptive tracking focusing navigation position information control system to form a data feedback automatic control chain for the precise radiotherapy system of the four-dimensional adaptive digital tracking conformal intensity modulated focusing medical electron accelerator.

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