Medical system and control method

Abstract

The embodiment of the present specification provides a medical system, the medical system comprises a first medical device and a second medical device; the first medical device and the second medical device are provided with a passage allowing a target object to enter, the passage aperture of the first medical device is different from the passage aperture of the second medical device; the first medical device and the second medical device can relatively move. The embodiment of the present specification also provides a control method of the medical system.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of medical equipment, in particular to a medical system and a control method. BACKGROUND

[0002] Image-guided radiotherapy is a radiotherapy technology that uses various advanced imaging devices to monitor tumors and normal organs in real time before and during treatment of a patient. During treatment, the target area is usually placed at the isocenter of the device for treatment, so the medical bed needs to be moved, and the apertures of the imaging device and the radiotherapy device may be different. The device with a smaller aperture will limit the movement of the medical bed carrying the patient, thereby increasing the complexity of treatment planning and affecting the actual treatment efficiency. If the imaging device is placed far away from the radiotherapy device, although the interference problem during the movement of the medical bed can be avoided, the increase in the travel length of the medical bed will also cause problems such as sinking of the medical bed and movement of the patient after the imaging scan is completed. In addition, the arrangement of the imaging device and the radiotherapy device will also affect the later maintenance of the imaging device and the radiotherapy device. Therefore, a medical system that can solve the interference problem during the movement of the medical bed is needed. SUMMARY

[0003] One of the embodiments of the present specification provides a medical system, which comprises a first medical device and a second medical device; the first medical device and the second medical device are both provided with a passage allowing a target object to enter, the passage aperture of the first medical device is different from the passage aperture of the second medical device; the first medical device and the second medical device can move relative to each other.

[0004] In some embodiments, the central axis of the passage of the first medical device and the central axis of the passage of the second medical device are parallel.

[0005] In some embodiments, the first medical device is arranged at one end of the second medical device or inside the passage of the second medical device.

[0006] In some embodiments, the medical system further comprises a motion assembly, the first medical device moves in a plane at an arbitrary angle with respect to the extension direction of the passage of the second medical device through the motion assembly, and / or the first medical device moves along the extension direction of the passage of the second medical device through the motion assembly.

[0007] In some embodiments, the target object comprises a medical bed, and the first medical device and / or the second medical device moves correspondingly according to the movement of the medical bed.

[0008] In some embodiments, the first medical device is an imaging device, and the second medical device is a radiotherapy device.

[0009] In some embodiments, the medical system further comprises a calibration device configured to determine the relative position of the first medical device and the second medical device.

[0010] In some embodiments, the medical system further comprises a controller communicatively connected with the first medical device and the second medical device; the controller is configured to control the movement of the first medical device and / or the second medical device.

[0011] In some embodiments, the medical system further comprises a controller communicatively connected with the first medical device and the second medical device; the controller is configured to control the movement of the first medical device and / or the second medical device.

[0012] In some embodiments, the controller is configured to determine the movement parameter of the first medical device and / or the second medical device according to the medical plan information; and control the movement of the first medical device and / or the second medical device based on the movement parameter of the first medical device and / or the second medical device.

[0013] In some embodiments, the medical system further comprises a medical bed; the controller is configured to determine the movement parameter of the first medical device and / or the second medical device according to the movement information of the medical bed; and control the movement of the first medical device and / or the second medical device based on the movement parameter of the first medical device and / or the second medical device.

[0014] One of the embodiments of the present specification provides a control method of a medical system, comprising: determining a movement parameter of a first medical device and / or a second medical device; and controlling the movement of the first medical device and / or the second medical device based on the movement parameter of the first medical device and / or the second medical device.

[0015] In some embodiments, determining the movement parameter of the first medical device and / or the second medical device comprises: determining the medical plan information; determining the movement parameter of the first medical device and / or the second medical device based on the medical plan information; and / or determining the movement information of the medical bed; and determining the movement parameter of the first medical device and / or the second medical device based on the movement information of the medical bed. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present specification will be further described in the manner of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0017] Figure 1 is a structural schematic of a medical system shown in accordance with some embodiments of the present specification;

[0018] Figure 2 is a top view of a medical system shown in accordance with some embodiments of the present specification;

[0019] Figure 3 is a movement schematic of a medical system shown in accordance with some embodiments of the present specification;

[0020] Figure 4 is a movement schematic of a medical system shown in accordance with some embodiments of the present specification;

[0021] Figure 5 is a movement schematic of a medical system shown in accordance with some embodiments of the present specification;

[0022] Figure 6 is a schematic of laser calibration shown in accordance with some embodiments of the present specification;

[0023] Figure 7 is a schematic of mechanical calibration shown in accordance with some embodiments of the present specification;

[0024] Figure 8 is a flowchart of a medical system control method shown in accordance with some embodiments of the present specification;

[0025] Figure 9 is a flowchart of a medical device motion parameter determination method shown in accordance with some embodiments of the present specification;

[0026] Figure 10 is a flowchart of a medical device motion parameter determination method shown in accordance with some embodiments of the present specification. DETAILED DESCRIPTION

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some examples or embodiments of the present specification, and for those skilled in the art, the present specification can also be applied to other similar scenarios without creative labor on the basis of these drawings. Unless it is obvious from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structures or operations.

[0028] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0029] As shown in the specification and claims, unless the context clearly indicates otherwise, the words "comprise", "comprising", "consist of", "consisting of" and / or "consisting essentially of" do not preclude the addition of further steps, elements, features, components and / or the like.

[0030] Flowcharts are used in the specification to illustrate the operation of systems in accordance with embodiments of the specification. It will be understood that the acts shown in the figures are not necessarily performed in the order shown. Rather, certain acts can be performed simultaneously or in a different order than that shown. Other acts can also be added or removed from the processes.

[0031] A patient can be diagnosed, prevented, monitored, treated, alleviated, compensated for a disease or injury by using a medical device in a physical way. Some medical devices need the patient to enter the device in whole or in part, for example, imaging devices, radiotherapy devices, etc. Such devices can be provided with a passage allowing the patient to enter. When using a medical device to diagnose, prevent, monitor, treat, alleviate, compensate for a patient, a medical bed can be used to send the patient into the passage, and the medical bed can be moved to enhance the effect of the medical function (for example, the medical bed needs to be adjusted in position to facilitate radiotherapy of a lesion). For two medical devices with passages used successively or jointly (for example, imaging devices and radiotherapy devices), due to their different functions, they can have different passage apertures. The medical device with a smaller aperture can limit the movement of the medical bed carrying the patient, thereby affecting the medical effect; if the two medical devices are arranged separately, although the interference problem during the movement of the medical bed can be avoided, the problem of inaccurate lesion position after the movement of the medical bed after the patient completes a medical project can occur.

[0032] In view of this, some embodiments of the specification provide a medical system including a first medical device and a second medical device capable of relative movement. The first medical device and the second medical device can move according to a medical plan or follow the movement of a medical bed, thereby avoiding the interference problem caused by the different passage apertures of the first medical device and the second medical device during the movement of the medical bed. In addition, since the first medical device and the second medical device can move relative to each other, they can also be separated for maintenance. The medical system provided by some embodiments of the specification can also be applicable to two medical devices with the same aperture, for example, to facilitate separation for maintenance. The medical system provided by some embodiments of the specification can also be used in other scenarios, for example, at least one medical device needs to be kept moving during treatment.

[0033] Figure 1 is a structural schematic diagram of a medical system 100 according to some embodiments of the present specification. The medical system 100 related to the embodiments of the present specification will be described in detail below. It should be noted that the following embodiments are only used to explain the present application and do not constitute a limitation on the present application.

[0034] As shown in Figure 1 , the medical system 100 can include a first medical device 110 and a second medical device 120, wherein the first medical device 110 and the second medical device 120 are both provided with a passage allowing a target object to enter, the passage aperture of the first medical device is different from the passage aperture of the second medical device; the first medical device 110 and the second medical device 120 can move relative to each other.

[0035] Medical devices are instruments, apparatus, implements, materials, or other articles, either singly or in combination, intended for use in the diagnosis, cure, mitigation, treatment, or prevention of disease in man or other animals, and include the necessary software. Medical devices include diagnostic devices (e.g., imaging devices, etc.), therapeutic devices (e.g., radiotherapy devices, etc.), and auxiliary devices (e.g., medical photography and video recording devices, etc.).

[0036] In some embodiments, the first medical device 110 and the second medical device 120 can be any of the above medical devices that can be used for the human body. For example, the first medical device 110 can be an imaging device, and the second medical device 120 can be a radiotherapy device. For another example, the first medical device 110 and the second medical device 120 can be different imaging devices. In some embodiments, the imaging devices can include any combination of CT, MRI, DR, PET, SPECT, or PET-CT, PET-MR, etc.

[0037] In some embodiments, the first medical device 110 and the second medical device 120 are provided with a passage, which is a hole for the target object (e.g., a patient) to enter, and the first medical device 110 and the second medical device 120 can correspondingly implement their medical functions after the target object enters the corresponding hole. In some embodiments, the passage can be a hollow hole with both ends open, or a hole with one end closed and one end open; the hole can be cylindrical, prismatic, or other irregular shapes. The following description of the passage is based on the premise that the passage is cylindrical, and the essential functions of the passage of other shapes are the same as those of the cylindrical passage, which will not be described again.

[0038] Figure 2 is a top view of a medical system according to some embodiments of the present specification. The target object is the functional object of the medical device, for example, the medical device is a radiotherapy device, and the target object is the person receiving radiotherapy. Specifically, the target object can be the medical object of the medical device, i.e., the patient 130, as shown in Figure 2The target object can also include a medical bed 140 for carrying the patient 130, a support for supporting and moving the medical bed 140, etc.

[0039] In some embodiments, the central axis of the passage of the first medical device 110 can be arranged at any angle with the central axis of the passage of the second medical device 120, i.e., the passage of the first medical device 110 and the passage of the second medical device 120 can be at any angle, and the patient 130 can enter the passage of the second medical device 120 to complete the medical function of the second medical device 120 after completing the medical function of the first medical device 110 in the passage of the first medical device 110. In some embodiments, the central axis of the passage of the first medical device 110 can be parallel to the central axis of the passage of the second medical device 120, i.e., the passage of the first medical device 110 and the passage of the second medical device 120 can be parallel, and the patient 130 can easily enter the passage of the second medical device 120 to complete the medical function of the second medical device 120 after completing the medical function of the first medical device 110 in the passage of the first medical device 110; or the patient 130 can enter the passages of the first medical device 110 and the second medical device 120, and the patient 130 can complete the medical functions of the first medical device 110 and the second medical device 120 without moving again. In a specific embodiment, the first medical device 110 is an imaging device, and the second medical device 120 is a radiotherapy device, at least a part of the patient 130 enters the passages of the imaging device and the radiotherapy device (for example, the head is in the passage of the imaging device, and the body is in the passage of the radiotherapy device), and the region of interest of the patient 130 can be located at the imaging isocenter and the treatment isocenter, the imaging device can first complete imaging, and then the radiotherapy device performs radiotherapy, wherein the region of interest is a key region of interest for imaging or treatment, which usually corresponds to the lesion region of the patient 130.

[0040] In some embodiments, the passage aperture of the first medical device 110 can be smaller than the passage aperture of the second medical device 120. In a specific embodiment, the first medical device 110 is an imaging device, and the second medical device 120 is a radiotherapy device, and due to the limitation of the aperture of the imaging device by the indicators such as signal acquisition, image quality, and low dose, the aperture of the imaging device is usually smaller than the aperture of the radiotherapy device.

[0041] In some embodiments, the first medical device 110 can be arranged at one end of the second medical device 120, i.e., the first medical device 110 is arranged in parallel with the second medical device 120 along the extension of the central axis of the channel of the second medical device 120, in which case the working surface of the first medical device 110 and the isocenter of the second medical device 120 can be different. In some embodiments, the first medical device 110 can be arranged inside the channel of the second medical device 120, in which case the aperture of the channel of the first medical device 110 is smaller than the aperture of the channel of the second medical device 120, and the isocenter of the first medical device 110 and the isocenter of the second medical device 120 can be the same (e.g., the first medical device 110 is an imaging device, and the second medical device 120 is a radiotherapy device, and the imaging isocenter of the imaging device and the treatment isocenter of the radiotherapy device can be the same) or not completely the same (e.g., the first medical device 110 is an imaging device, and the second medical device 120 is a radiotherapy device, and the imaging isocenter of the imaging device and the treatment isocenter of the radiotherapy device can partially overlap).

[0042] In some embodiments, the relative movement of the first medical device 110 and the second medical device 120 can be achieved by a movement assembly. The movement assembly can be a mechanical structure, such as a slide rail, a bearing, etc. In some embodiments, the first medical device 110 can move in a plane at an arbitrary angle (e.g., 35°, 78°, 150°, 245°, etc.) to the extension direction of the channel of the second medical device 120 by the movement assembly. In some embodiments, the first medical device 110 can move in a plane perpendicular (i.e., 90°) to the extension direction of the channel of the second medical device 120 by the movement assembly. In some embodiments, the first medical device 110 can move along the extension direction of the channel of the second medical device 120 by the movement assembly.

[0043] In some embodiments, a slide rail can be arranged in the channel of the second medical device 120, and the first medical device 110 can be mounted on the slide rail and moved in the channel of the second medical device 120. Specifically, when the first medical device 110 is an imaging device and the second medical device 120 is a radiotherapy device, the treatment area can be monitored in real time by the imaging device while the patient is treated by the radiotherapy device, and precise radiotherapy of the lesion can be achieved. The imaging device can move on the slide rail while the treatment is being performed, and the image-guided radiotherapy device can be flexibly adjusted to create various treatment plans from positioning, planning, to treatment implementation and verification, and precise treatment can be achieved. In some embodiments, other devices capable of moving the first medical device 110, such as linear bearings and linear guide rails, can also be arranged in the channel of the second medical device 120, so that the first medical device 110 (e.g., an imaging device) can move in the channel of the second medical device 120 and image in real time.

[0044] In some embodiments, the first medical device 110 is not only capable of moving inside the channel of the second medical device 120, but also capable of moving from inside the channel of the second medical device 120 to one end of the second medical device 120, so as to avoid limiting the movement of the medical bed 140. In some embodiments, the first medical device 110 can be moved before and after treatment to facilitate the patient 130 to get on and off the bed.

[0045] In some embodiments, the first medical device 110 and the second medical device 120 are capable of relative movement. The relative movement can be that one is fixed and only the other moves, for example, the second medical device 120 is fixed and the position of the first medical device 110 changes relative to the second medical device 120; the relative movement can also be that both move, so that the positions of both change relative to the initial positions.

[0046] In some embodiments, the first medical device 110 and the second medical device 120 can be installed on the rack through a slide rail, and the first medical device 110 and the second medical device 120 can move along the slide rail to achieve relative movement. In some embodiments, the first medical device 110 and the second medical device 120 can be manually driven to move along the slide rail, or a control driving motor can be used to drive the first medical device 110 and the second medical device 120 to move along the slide rail, and no limitation is made thereto.

[0047] In some embodiments, the first medical device 110 and the second medical device 120 can be moved according to medical needs. For example, the first medical device 110 and / or the second medical device 120 can move according to the movement of the target object, so as to avoid the limitation of medical devices with different channel diameters on treatment, and also to reduce the medical surface and achieve precise medical treatment.

[0048] In some embodiments, the target object can include the medical bed 140, and the first medical device 110 and / or the second medical device 120 can move correspondingly according to the movement of the medical bed 140 to avoid restricting the movement of the medical bed 140. For example only, the distance between one side of the medical bed 140 along the width direction of the bed plate and the inner wall of the passage of the first medical device 110 is A, and the distance between the side and the inner wall of the passage of the second medical device 120 is B, where A is less than B. When the medical bed 140 moves to the side along the width direction of the bed plate, and the moving distance is less than A, the medical bed 140 will not collide with the first medical device 110 and the second medical device 120, and the first medical device 110 and the second medical device 120 do not need to move. When the medical bed 140 moves to the side along the width direction of the bed plate and the moving distance is greater than A and less than B, the first medical device 110 moves synchronously according to the moving distance of the medical bed 140 to avoid collision between the medical bed 140 and the first medical device 110. In some embodiments, the medical bed 140 can move in any direction, and based on avoiding collision between the movement of the medical bed 140 and the first medical device 110 and / or the second medical device 120, the first medical device 110 and / or the second medical device 120 can move synchronously in the same direction according to the movement of the medical bed 140. In some embodiments, the body of the patient 130 can exceed the size of the medical bed 140, and at this time, whether the first medical device 110 and / or the second medical device 120 moves with the medical bed 140 can be determined based on whether the body of the patient collides with the first medical device 110 and / or the second medical device 120. For more information about the first medical device 110 and / or the second medical device 120 moving correspondingly according to the movement of the medical bed 140, please refer to Figure 8 、 Figure 9 and Figure 10 and the related descriptions, which will not be repeated here.

[0049] For example only, the first medical device 110 is an imaging device, and the second medical device 120 is a radiotherapy device. Since the radiotherapy device has very high precision requirements, if it moves, it will seriously affect the precision of radiotherapy. On the other hand, the radiotherapy device often has a larger volume and heavier mass relative to the imaging device, so the position of the radiotherapy device can be fixed and only the imaging device can move.

[0050] Figure 3is a mobile schematic view of a medical system according to some embodiments of the present specification. In some embodiments, the first medical device 110 is capable of moving in a plane parallel to the cross section of the passage of the second medical device 120. For example only, the medical bed 140 (carrying the patient 130) is capable of moving in multiple dimensions (e.g., translation, up and down movement, tilting movement, etc.) towards any direction side wall within the passage of the second medical device 120, the first medical device 110 is capable of moving in the same direction following the movement of the medical bed 140. As shown in Figure 3 , when the first medical device 110 is located at one end of the second medical device 120, the first medical device 110 is capable of moving in the same direction following the movement of the medical bed 140 to avoid the aperture of the passage of the first medical device 110 limiting the movement of the medical bed 140. When the first medical device 110 is located inside the second medical device 120, the first medical device 110 is capable of moving following the movement of the medical bed 140 or moving according to the medical plan.

[0051] Figure 4 is a mobile schematic view of a medical system according to some embodiments of the present specification. In some embodiments, the first medical device 110 is capable of moving away from or approaching the second medical device 120 along the direction of the passage extension of the second medical device 120. For example only, after the first medical device 110 completes the medical treatment for the patient 130 (on the medical bed 140), the first medical device 110 is capable of moving away from the second medical device 120 along the direction of the passage extension of the second medical device 120 until the first medical device 110 is separated from the second medical device 120, as shown in Figure 4 , at this time, any movement of the medical bed 140 (carrying the patient 130) within the passage of the second medical device 120 will not be affected by the first medical device 110. After the treatment of the second medical device 120 is completed, the first medical device 110 is capable of moving towards the second medical device 120 along the direction of the passage extension of the second medical device 120 to facilitate the next treatment operation. In addition, since the volume and mass of the first medical device 110 and the second medical device 120 are both large, and the components of the medical devices are usually complex to install, the medical system 100 with fixed relative positions will bring inconvenience to maintenance. The relative positions of the first medical device 110 and the second medical device 120 can be separated to facilitate later device maintenance, and the difficulty of maintenance work will be greatly reduced.

[0052] In some embodiments, when the first medical device 110 moves towards the second medical device 120, the first medical device 110 can be moved to contact the second medical device 120, as shown in Figure 4 . In some embodiments, when the first medical device 110 moves towards the second medical device 120, the first medical device 110 can also be moved to the inside of the passage of the second medical device 120.

[0053] Figure 5is a mobile schematic view of a medical system according to some embodiments of the present specification. As shown in Figure 5 The first medical device 110 can move in a plane parallel to the cross section of the passage of the second medical device 120, while also making a movement away from or approaching along the extension direction of the passage of the second medical device 120; the first medical device 110 can be arranged at the head end, foot end or trunk of the patient 130 according to the need, and the first medical device 110 can also be arranged at any desired position according to the position and stroke of the medical bed 140.

[0054] In some embodiments, the medical system 100 further comprises a calibration device for determining the relative position of the first medical device 110 and the second medical device 120. The calibration device can include a laser calibration device, a mechanical calibration device and any other device that can be used for the alignment of the position of the devices.

[0055] Figure 6 is a schematic view of a laser calibration according to some embodiments of the present specification. As shown in Figure 6 The calibration device can include a laser generating device 150 and a laser receiving device 160. By way of example only, the laser generating device 150 can be arranged on the mounting frame at the end of the second medical device 120, and the laser path emitted by the laser generating device 150 is in line with the central axis of the second medical device 120; the laser receiving device 160 can be arranged on the mounting frame at the end of the first medical device 110, and the laser receiving device 160 is arranged on the extension line of the central axis of the first medical device 110 for receiving the laser emitted by the laser generating device 150. When the laser receiving device 160 can receive the laser emitted by the laser generating device 150, it indicates that the central axes of the first medical device 110 and the second medical device 120 are in line, thereby ensuring the coaxiality of the initial positions of the first medical device 110 and the second medical device 120.

[0056] Figure 7 is a schematic view of a mechanical calibration according to some embodiments of the present specification. As shown in Figure 7 The calibration device can include a pin 170 and a pin hole arranged on the first medical device 110 and the second medical device 120, respectively, and only when the positions of the first medical device 110 and the second medical device 120 are in the initial position (e.g., the same central axis position), the pin 170 can be inserted into its corresponding pin hole.

[0057] In some embodiments, the medical system further comprises a controller (not shown in the figures) communicatively connected with the first medical device 110 and the second medical device 120. In some embodiments, the communicative connection can comprise a wired connection, a wireless connection, or a combination of both. The wired connection can comprise a connection through a cable, an optical cable, a telephone line, or the like, or any combination thereof. The wireless connection can comprise a connection through Bluetooth, Wi-Fi, WiMax, WLAN, ZigBee, a mobile network (e.g., 3G, 4G, or 5G, or the like), or the like, or any combination thereof. In some embodiments, the controller can be used to control the movement of the first medical device 110 and / or the second medical device 120. For details about controlling the movement of the medical device, reference can be made to Figure 8 and the description thereof, which will not be repeated here.

[0058] In some embodiments, the controller can determine the movement parameters of the first medical device 110 and / or the second medical device 120 according to the medical plan information; the controller can control the movement of the first medical device 110 and / or the second medical device 120 based on the movement parameters of the first medical device 110 and / or the second medical device 120. For details about controlling the movement of the medical device according to the medical plan information, reference can be made to Figure 8 and Figure 9 and the description thereof, which will not be repeated here.

[0059] In some embodiments, the medical system 100 further comprises a medical bed 140; the controller determines the movement parameters of the first medical device 110 and / or the second medical device 120 according to the movement information of the medical bed 140; the controller controls the movement of the first medical device 110 and / or the second medical device 120 based on the movement parameters of the first medical device 110 and / or the second medical device 120. For details about controlling the movement of the medical device according to the movement information of the medical bed 140, reference can be made to Figure 8 and Figure 8 and the description thereof, which will not be repeated here.

[0060] Figure 8 is a flowchart of a method for controlling the medical system 100 according to some embodiments of the present specification. The method for controlling the medical system 100 according to the embodiments of the present specification will be described in detail below. It should be noted that the following embodiments are merely used to explain the present application and do not constitute a limitation of the present application. The flow 800 can be performed by the medical system 100. As shown in Figure 9 , the flow 800 comprises:

[0061] Step 810, determining the movement parameters of the first medical device 110 and / or the second medical device 120.

[0062] The motion parameter is parameter information related to the motion of the medical device, including but not limited to, moving direction, moving speed, moving distance, etc. The determination of the motion parameter can refer to Figure 10 and Figure 9 and the related description, which will not be repeated here.

[0063] Step 820, based on the motion parameter of the first medical device 110 and / or the second medical device 120, controlling the motion of the first medical device 110 and / or the second medical device 120.

[0064] In some embodiments, the controller can send relevant instructions to the medical system 100 to control the first medical device 110 and the second medical device 120 based on the motion parameter of the first medical device 110 and / or the second medical device 120. For example, the first medical device 110 and the second medical device 120 can be driven to move by a driving motor respectively, and the controller can control the opening or closing of the driving motor by sending instructions to the medical system 100, thereby controlling the moving distance of the first medical device 110 and the second medical device 120.

[0065] Figure 9 is a flowchart of a medical device motion parameter determination method according to some embodiments of the present specification. The medical device motion parameter determination method related to the embodiments of the present specification will be described in detail below. It should be noted that the following embodiments are only used to explain the present application and do not constitute a limitation of the present application. The flow 900 can be executed by the medical system 100. As shown in Figure 10 , the flow 900 includes:

[0066] Step 910, determining the medical plan information.

[0067] The medical plan information is a design scheme for the medical process, and the medical plan information can include but is not limited to: medical content (such as radiotherapy, etc.), medical time, medical process, etc. The medical plan information can be formulated by medical staff before the medical process according to the condition of the patient 130, and the medical plan information can also be automatically set by the medical system (such as factory default).

[0068] Step 920, determining the motion parameter of the first medical device 110 and / or the second medical device 120 based on the medical plan information.

[0069] In some embodiments, the motion parameters of the first medical device 110 and / or the second medical device 120 can be included in the medical plan information, i.e., the corresponding motion of the first medical device 110 and / or the second medical device 120 is considered in the formulated medical plan, and the controller can directly obtain the motion parameters of the first medical device 110 and / or the second medical device 120 according to the medical plan information. In some embodiments, the motion parameters of the first medical device 110 and / or the second medical device 120 can be pre-stored in the medical plan information, which are pre-set (e.g., manually set by medical staff according to the condition of the patient 130). In some embodiments, the motion parameters of the first medical device 110 and / or the second medical device 120 in the medical plan information can be calculated by a pre-set related algorithm, which can change according to the change of the current medical plan information.

[0070] Figure 10 is a flowchart of a medical device motion parameter determination method according to some embodiments of the present specification. The medical device motion parameter determination method related to the embodiments of the present specification will be described in detail below. It should be noted that the following embodiments are only used to explain the present application and do not constitute a limitation of the present application. The flow 1000 can be executed by the medical system 100. As shown in ​ , the flow 1000 includes:

[0071] Step 1010, determining the motion information of the medical bed 140.

[0072] The motion information of the medical bed 140 is the parameter information related to the motion of the medical bed 140, including but not limited to the motion direction, motion distance, motion speed, etc. of the medical bed 140. In some embodiments, the motion information of the medical bed 140 can be pre-set by medical staff, for example, set according to the treatment needs of the patient 130. In some embodiments, the motion of the medical bed 140 can be controlled by medical staff in real time, and the current motion information of the medical bed 140 can be obtained by setting a sensor on the medical bed 140.

[0073] Step 1020, determining the motion parameters of the first medical device 110 and / or the second medical device 120 based on the motion information of the medical bed 140.

[0074] In some embodiments, the controller can acquire the motion information of the medical bed 140 in real time, and determine the motion parameters of the first medical device 110 and / or the second medical device 120 accordingly. For example only, after the medical bed 140 carrying the patient 130 moves to a certain position and stops moving, the treatment is started, and the controller can determine the corresponding motion parameters of the first medical device 110 and / or the second medical device 120 according to the corresponding motion information during the movement of the medical bed 140. For another example, during the treatment, the medical bed 140 carrying the patient 130 keeps moving, and the controller can determine the corresponding motion parameters of the first medical device 110 and / or the second medical device 120 according to the corresponding motion information during the movement of the medical bed 140.

[0075] The medical system provided by some embodiments of the present specification can bring beneficial effects, including but not limited to: (1) by the medical device capable of intelligently following the movement of the medical bed, the problem that the movement of the medical bed is limited by the medical device is solved; (2) the medical system can control the first medical device and / or the second medical device to move according to the medical plan and the movement of the medical bed, which reduces the complexity of the planning of the medical plan, improves the treatment effect and treatment efficiency, and realizes precise radiotherapy; (3) the relative movement of the medical device is realized, and the problem that the fixed multiple devices are difficult to be maintained and repaired respectively is solved; (4) by setting the calibration device, it is ensured that the medical devices capable of relative movement can be reset to the initial position, which is convenient to use. It should be noted that different embodiments can have different beneficial effects, and in different embodiments, the beneficial effects that can be produced can be any one or a combination of the above, or any other beneficial effects that can be obtained.

[0076] The above has described the basic concept, and it is obvious that the above detailed disclosure is only taken as an example and does not limit the present specification. Although it is not explicitly stated here, those skilled in the art can make various modifications, improvements and corrections to the present specification. Such modifications, improvements and corrections are suggested in the present specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present specification.

[0077] Meanwhile, specific words are used in the present specification to describe the embodiments of the present specification. As "one embodiment", "an embodiment", and / or "some embodiments" means a certain feature, structure or characteristic related to at least one embodiment of the present specification. Therefore, it should be emphasized and noted that the "an embodiment" or "one embodiment" or "one alternative embodiment" mentioned in different positions in the present specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present specification can be properly combined.

[0078] Furthermore, the order of the processing elements and sequences described in this specification are not intended to be construed as a limitation, unless specifically stated, but are included to provide a complete description of one or more embodiments of the present specification. Regardless of the particular sequence of processing elements and sequences, however, the description herein of a process should be understood to include any and all combinations of one or more elements, and sequences that can be perceived as either open-ended or specific.

[0079] Similarly, it is to be noticed that the term "comprising", used in the description, should not be interpreted as being restricted only to the elements or steps listed thereafter; it does not exclude other elements or steps. It is thus to be interpreted as specifying the presence of the stated elements or steps as well as the presence of yet unrecited elements or steps. Furthermore, the word "a" or "an" preceding an element or step of the description does not exclude the presence of a plurality of such elements or steps, that is, "a" or "an" means one or more.

[0080] Some embodiments use numerical descriptors of components, quantities of attributes. It should be understood that such numerical descriptors used in the description of embodiments, in some examples, are modified by the adjectives "about", "approximately", or "generally". Unless otherwise stated, "about", "approximately", or "generally" indicates that the stated numerical value is allowed to vary by ±20%. Accordingly, in some embodiments, numerical values used in the specification and claims are approximations that can vary depending on the desired characteristics of the individual embodiments. In some embodiments, numerical values should be considered in the context of the number of significant digits and errors inherent to some measurements. Although the numerical ranges and parameters setting forth the broadest scope of some embodiments of the specification are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable. The numerical values set forth in the specific examples are provided to be as precise as reasonably possible. However, some variations may

[0081] Each patent, patent application, patent publication, and other material, such as articles, books, specifications, publications, documents, and the like, referenced herein are hereby incorporated by reference in their entirety for the teachings relevant to the sentence and / or paragraph in which the reference is made. Discrepancies between applications history documents and the present specification, other than the broadest scope of the claims, are excepted, as are documents that limit the claims in scope, either currently or after addition to the specification. It is specifically intended that the description, definitions, and / or terminology used in the material incorporated by reference into this specification be interpreted as consistent with this specification as a whole. It is to be understood that the phraseology and terminology employed herein are for the purpose of description and illustration, and should not be regarded as limiting.

[0082] Finally, it should be understood that the embodiments described herein are only given by way of example and that other modifications can occur to persons skilled in the art. Therefore, the scope of the present description is not intended to be limited to the embodiments described herein but is only limited by the claims that follow.

Claims

1. A medical system, characterized by The medical system comprises a first medical device and a second medical device; The first medical device and the second medical device are both provided with a passage allowing a target object to enter, and the passage aperture of the first medical device is different from the passage aperture of the second medical device; The first medical device and the second medical device can move relative to each other, the target object comprises a medical bed, the medical bed can move in the passage of the first medical device and / or the second medical device, and the first medical device and / or the second medical device move correspondingly according to the movement of the medical bed to avoid interference caused by the different passage apertures of the first medical device and the second medical device during the movement of the medical bed.

2. The medical system of claim 1, wherein, The central axis of the passage of the first medical device is parallel to the central axis of the passage of the second medical device.

3. The medical system of claim 1, wherein, The first medical device is arranged at one end of the second medical device or inside the passage of the second medical device.

4. The medical system of claim 1, wherein, The medical system further comprises a movement assembly, the first medical device moves in a plane at an arbitrary angle with respect to the extension direction of the passage of the second medical device through the movement assembly, and / or the first medical device moves along the extension direction of the passage of the second medical device through the movement assembly.

5. The medical system of claim 1, wherein, The first medical device is an imaging device, and the second medical device is a radiotherapy device.

6. The medical system of claim 1, wherein, The medical system further comprises a calibration device for determining the relative positions of the first medical device and the second medical device.

7. The medical system of claim 1, wherein, The medical system further comprises a controller, which is in communication connection with the first medical device and the second medical device; the controller is used to control the movement of the first medical device and / or the second medical device.

8. The medical system of claim 7, wherein, The controller determines the movement parameters of the first medical device and / or the second medical device according to medical plan information; The controller controls the movement of the first medical device and / or the second medical device based on the movement parameters of the first medical device and / or the second medical device.

9. The medical system of claim 7, wherein, The medical system further comprises a medical bed; the controller determines the movement parameters of the first medical device and / or the second medical device according to the movement information of the medical bed; The controller controls the movement of the first medical device and / or the second medical device based on the movement parameters of the first medical device and / or the second medical device.

10. A control method of a medical system, characterized in that, The medical system comprises a first medical device and a second medical device; The first medical device and the second medical device are both provided with a passage allowing a target object to enter, and the passage aperture of the first medical device is different from the passage aperture of the second medical device; The first medical device and the second medical device are capable of relative motion, the target object comprises a medical bed, the medical bed is capable of motion in a passage of the first medical device and / or the second medical device, and the first medical device and / or the second medical device is capable of corresponding motion according to motion of the medical bed to avoid interference caused by different passage apertures of the first medical device and the second medical device during movement of the medical bed; The control method comprises: determining motion parameters of the first medical device and / or the second medical device; controlling motion of the first medical device and / or the second medical device based on the motion parameters of the first medical device and / or the second medical device.

11. The control method according to claim 10, characterized by, Determining motion parameters of the first medical device and / or the second medical device comprises: determining medical plan information; determining motion parameters of the first medical device and / or the second medical device based on the medical plan information; and / or determining motion information of the medical bed; determining motion parameters of the first medical device and / or the second medical device based on the motion information of the medical bed.

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