An image-guided radiotherapy apparatus and control method

Abstract

The present application relates to a kind of image guided radiotherapy device and control method.According to a specific embodiment, the radiotherapy device includes: treatment unit, which includes treatment head, the treatment head is used to generate the ray of radiotherapy;Imaging unit is used to image the target area of patient, the imaging unit is integrally installed with the treatment head;And planning unit is connected with the treatment unit and the imaging unit by cable.The radiotherapy device of the present application can be suitable for external radiotherapy and intraoperative radiotherapy, and has higher radiotherapy precision.

Description

Technical Field

[0001] This invention relates generally to the field of radiotherapy equipment, and in particular to a radiotherapy device and control method. Background Technology

[0002] Radiation therapy is one of the most important methods in cancer treatment and holds a significant position in the field. Based on the patient's exposure status, radiotherapy can be divided into external beam radiation therapy (EMBPT) and intraoperative radiation therapy (IRT). During EMBPT, the patient is conscious, and the radiation passes through the skin and normal tissues to reach the tumor area, killing tumor cells while causing some damage to normal tissues or organs. During IRT, the patient is anesthetized, and after the tumor is surgically removed, the radiation directly irradiates the fully exposed tumor bed or residual lesion area, minimizing collateral damage to normal tissues or organs.

[0003] External beam radiotherapy typically uses a C-arm linear accelerator, which rotates around the patient via a rotating gantry to deliver radiation. Early intraoperative radiotherapy was also performed using a C-arm linear accelerator, requiring the patient to be transferred from the operating room to the accelerator room, which posed a significant risk of infection.

[0004] Existing radiotherapy devices cannot simultaneously perform external beam radiotherapy and intraoperative radiotherapy, resulting in poor versatility. For example, existing external beam radiotherapy devices are immobile and require dedicated shielded rooms, making them unsuitable for intraoperative radiotherapy. Furthermore, existing intraoperative radiotherapy devices are complex in structure and inconvenient to operate, lacking image guidance and planning systems, thus failing to achieve high-precision radiotherapy. Summary of the Invention

[0005] To address the aforementioned deficiencies in existing technologies, this invention proposes an image-guided radiotherapy device and control method that simultaneously supports intraoperative radiotherapy and conventional external beam radiotherapy. Furthermore, it acquires image information of the treatment area through an optical imaging system to achieve simulated positioning, thus meeting the high-precision operation requirements for both intraoperative and external beam radiotherapy.

[0006] According to one aspect of the present invention, an image-guided radiotherapy apparatus is provided, comprising: a treatment unit including a treatment head for generating radiotherapy rays; an imaging unit for imaging a patient target area, the imaging unit being integrally mounted with the treatment head; and a planning unit connected to the treatment unit and the imaging unit via a cable.

[0007] In some embodiments, the treatment unit further includes: a chassis; a fixed frame fixedly connected to the chassis; a motion assembly mounted on the fixed frame, the treatment head mounted on the motion assembly; a baffle assembly movably disposed on the chassis; and an applicator assembly coaxially disposed below the treatment head.

[0008] In some embodiments, the treatment head includes a beam module and a display screen for displaying an image of the target area and / or beam parameters of the beam module.

[0009] In some embodiments, the treatment head is configured to move the motion components via a force-controlled handle.

[0010] In some embodiments, the chassis includes a base, a first support leg, and a second support leg, wherein the first support leg and the second support leg are fixedly connected to both sides of the base. The first support leg, the second support leg, and / or the base are provided with mounting holes for mounting anchor bolts and / or mounting interfaces for mounting rollers and trolleys. The clamping assembly includes a translational motion platform and a clamping blocker. The translational motion platform is slidably mounted on the first support leg and the second support leg. The clamping blocker is movably mounted on the translational motion platform relative to the support leg. The clamping blocker is a heavy metal block that is thick in the middle and thin at the edges.

[0011] In some embodiments, the applicator assembly includes an adapter and an applicator, the applicator being arranged coaxially with the adapter below the treatment head.

[0012] In some embodiments, the imaging unit includes a camera and a light source, the camera being used to acquire image information of the target area, and the light source being mounted below the treatment head.

[0013] In some embodiments, the camera includes two cameras symmetrically mounted on both sides of the treatment head.

[0014] In some embodiments, the imaging unit further includes an image acquisition control module configured to adjust imaging parameters and segment the generated image.

[0015] According to another aspect of the present invention, a control method for a radiotherapy apparatus is provided, the control method being used to control the radiotherapy apparatus described above, the method comprising the steps of: positioning the radiotherapy apparatus such that the center point of the treatment area coincides with the virtual isocenter of the radiotherapy apparatus; acquiring an optical image of the treatment area using an imaging unit; generating an anatomical contour of a target area based on the optical image using a planning unit; and the planning unit determining dimensional parameters and / or motion parameters of the treatment unit based on the anatomical contour, and sending the motion parameters to the treatment unit for execution.

[0016] In some implementations, acquiring an optical image of the treatment area includes pushing the treatment unit near the patient so that the center point of the treatment area coincides with a virtual isocenter, and then acquiring an optical surface image of the treatment area according to instructions.

[0017] In some implementations, the virtual isocenter can be set at any location in a spatial region and determined by one or more reference points in that spatial region, wherein the reference points can be fixed relative to the position of the fixed gantry and are located in the plane of left-right symmetry of the treatment unit.

[0018] In some implementations, the camera in the imaging unit can move around a virtual isocenter under the drive of a multi-degree-of-freedom motion unit to align with the treatment area, and acquire optical surface image information of the treatment area according to the instructions of the image acquisition control module. The optical surface image may include visible light images and / or fluorescence images, and image segmentation is performed to determine the contour of the treatment area.

[0019] In some implementations, the planning unit can identify the contour image information of the treatment area and generate the anatomical structure contour of the target area; alternatively, it can be manually drawn by the physician based on the optical surface image of the treatment area.

[0020] In some implementations, the planning unit may also register the optical surface image of the treatment area with other modal images to obtain a fused image.

[0021] In some implementations, when the radiotherapy device is used for fixed-angle irradiation, the size / motion parameters of the treatment unit may include parameters such as the type or size of the irradiator, the placement angle, the virtual isocenter coordinates, and the translation distance of the beam blocker.

[0022] In some implementations, when the radiotherapy device is used for scanning irradiation, the size / motion parameters of the treatment unit may include parameters such as the size of the light-limiting tube, the initial placement angle, the virtual isocenter coordinates, the scanning range, and the scanning path.

[0023] This invention provides a radiotherapy device and control method that can be used for both external radiotherapy and intraoperative radiotherapy, making it highly versatile. By integrating an optical imaging unit and a planning unit, high-precision radiotherapy is achieved, allowing the rays emitted from the treatment head to accurately irradiate the pre-identified target area. Furthermore, multi-degree-of-freedom motion enables more complex scanning irradiation, avoiding damage to organs at risk and improving the radiotherapy effect.

[0024] Certain aspects, advantages, and novel features of the invention have been described above for the purpose of summarizing the objectives of this application. It should be understood that not all of these advantages need to be realized according to any particular embodiment of the invention. Therefore, the invention may be implemented or practiced in a manner that realizes or optimizes one or more advantages taught herein, without necessarily realizing the other advantages taught or shown herein. Attached Figure Description

[0025] The following discussion of at least one example, with reference to the accompanying drawings, is not intended to be drawn to scale. The drawings are included to provide illustration and further understanding of the various aspects and examples, and are incorporated into and constitute a part of this specification, but are not intended to define limitations of this application. In the drawings, each identical or substantially identical component shown in the various figures is represented by the same numerals. For clarity, not every component is labeled in every figure. In the figures:

[0026] Figure 1 This is a schematic diagram of a radiotherapy device according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of an optical imaging unit according to an embodiment of the present invention;

[0028] Figure 3 This is a flowchart of a control method for a radiotherapy device according to an embodiment of the present invention. Detailed Implementation

[0029] To make the technical means, creative features, achieved objectives and effects of this invention readily understandable, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and this invention is not limited to the precise forms of these exemplary embodiments.

[0030] Figure 1 A schematic diagram of a radiotherapy device according to an embodiment of the present invention is shown. Figure 1 As shown, the radiotherapy apparatus of this embodiment may include: a treatment unit 100, an imaging unit 200, and a planning unit 300. The treatment unit 100 and the imaging unit 200 are integrally installed and can be connected to the planning unit 300 via cables, optical fibers, or other connecting lines 400, enabling bidirectional transmission of data such as images and treatment plans.

[0031] The treatment unit 100 may include treatment components for implementing radiotherapy, such as a treatment head 110 for generating radiation beams, while the imaging unit 200 may include imaging components for imaging a target area of ​​the patient. Figure 1 As shown, the imaging unit and the treatment head can be integrally installed in the housing, with their positions relatively fixed. During radiotherapy, the imaging unit can be used to acquire images of the irradiation site and determine the target area. The rays emitted by the treatment head can precisely irradiate the target area, thereby realizing image-guided radiotherapy and improving the accuracy of radiotherapy.

[0032] In one embodiment of the present invention, the treatment unit may further include a multi-degree-of-freedom motion assembly 120, a fixed frame 130, a chassis 140, a beam-blocking assembly 150, and an applicator assembly 160. The treatment head 110 is mounted on the multi-degree-of-freedom motion assembly 120, which can drive the treatment head and imaging unit 200 to move. The multi-degree-of-freedom motion assembly 120 is mounted on the fixed frame 130. The fixed frame 130 is fixedly disposed on the chassis 140 and can be fixedly connected to the chassis 140. The beam-blocking assembly 150 is movably arranged on the chassis 140 and can be used to shield a portion of the radiation emitted by the treatment head during radiotherapy, thereby preventing beam leakage and enabling the radiotherapy device of the present invention to be flexibly applied to various scenarios. The applicator assembly 160 is detachably mounted below the treatment head 110 and the imaging unit 200. For example, the applicator assembly 160 can be coaxially arranged below the treatment head 110 to guide the radiation emitted by the treatment head to the patient's target area in a certain shape.

[0033] In one embodiment, the fixed frame 130 has a hollow structure, in which accessories of some treatment units 100 and imaging units 200 can be arranged, such as connecting components, solid-state modulators, motion controllers, water chillers, etc., which can be installed in the frame to make the overall treatment device more compact and easier to operate. Figure 1 As shown, the fixed frame 130 consists of three sections and is S-shaped overall, namely, a first section, a second section, and a third section from top to bottom, wherein the length of each section is less than the overall length of the fixed frame. In one embodiment, the motion component 120 is at least partially embedded in the fixed frame 130, for example, it is connected to the first and second sections of the fixed frame 130, thereby shortening the overall length of the radiotherapy device and improving the applicability of the device.

[0034] Continue to refer to Figure 1The treatment head 110 may include a beam module 111 and a display screen 112 for displaying images of the target area and / or beam parameters of the beam module. The beam module 111 generates a beam, which may be an electron beam and / or X-rays. The beam energy is adjustable to meet different radiation requirements; in a specific example, the beam is an electron beam of 6-12 MeV. The display screen 112 can be connected to the imaging unit and planning unit 300 to receive image data and beam parameters, and display this data so that doctors or relevant personnel can access relevant radiotherapy data online. The multi-degree-of-freedom motion assembly 120 may include multiple robotic arms, such as electrically, pneumatically, or hydraulically driven robotic arms, and can perform multiple translational and rotational movements manually or under program control, thereby enabling the applicator mounted below the treatment head 110 to perform fixed-angle irradiation or scanning irradiation of the treatment site. In one example, the multi-degree-of-freedom motion component 120 can be controlled by a force control handle, that is, the treatment head 110 can move by manipulating the multi-degree-of-freedom motion component 120 through the force control handle. For example, two force control handles 121 are installed on both sides of the treatment head 110 for easy operation, or the multi-degree-of-freedom motion component 120 can be remotely moved by a hand control box hanging on one side of the rack 130.

[0035] The chassis 140 may include a base 141, a first support leg 142, and a second support leg 143. The first support leg 142 and the second support leg 143 are fixedly connected to both sides of the base 141. The first support leg 142, the second support leg 143, and / or the base 141 are provided with mounting holes 144 for mounting anchor bolts and / or mounting interfaces for mounting rollers 145 and trolleys 146. The chassis 140 can be fixed to the ground with anchor bolts, allowing the radiotherapy device to be used for conventional external beam radiotherapy. Alternatively, the rollers and trolley can be pivotally mounted on the chassis 140, allowing the radiotherapy device to be moved between operating rooms for flexible intraoperative radiotherapy. Figure 1 The device may be equipped with four casters 145, which are respectively installed below the first support leg 142 and the second support leg 143. The casters 145 may be ordinary casters or tottenham wheels. A trolley 146 may be installed on the side of the fixed frame 130 opposite to the multi-degree-of-freedom motion assembly 120. For example, the trolley 146 may be fixedly connected to the base 141. The trolley may be configured to be manually or electrically actuated for translating and turning the radiotherapy device.

[0036] The restraint assembly 150 includes a translational motion platform 151 and a restraint blocker 152. The translational motion platform 151 is slidably mounted on the first support leg 142 and the second support leg 143. The restraint blocker 152 is mounted on the translational motion platform 151 and can perform three-dimensional motion orthogonally relative to the support legs 142 and 143. Figure 1As shown, the beam blocker 152 can be a circular metal block. In one example, the beam blocker 152 can be selected as a heavy metal block (lead block, etc.) that is thicker in the middle and thinner at the edges to absorb excess radiation after passing through the patient. For example, the thickness of the beam blocker decreases from the center to the edge. In one example, the translational motion platform 151 of the beam blocker assembly 150 can have translational motion degrees of freedom in the front-back and left-right directions through a slide rail mechanism, or it can have translational motion degrees of freedom in the front-back, left-right, and up-down directions through a slide rail mechanism or lifting mechanism to achieve a larger range of motion for the beam blocker 152, thereby better adapting to intraoperative radiotherapy. In one example, the translational motion platform 151 and the multi-degree-of-freedom motion assembly 120 can be controlled collaboratively, that is, the treatment head 110 and the beam blocker 152 can move synchronously so that the axis of the beam emitted by the treatment head 110 during treatment can be collinear with the center of the beam blocker 152.

[0037] As previously described, the applicator assembly 160 may be positioned below the treatment head 110 to guide the beam emitted from the treatment head to the target area in a desired shape. In one embodiment, refer to... Figure 2 The diagram illustrates the structural composition of an applicator assembly 160, which may include a separate adapter 161 and an applicator 162, the applicator 162 being coaxially arranged with the adapter 161 below the treatment head 110. For example, the adapter 161 is fixedly mounted in a housing that accommodates the treatment head 110, and the applicator 162 is fastened to the adapter 161 using a snap-fit ​​or threaded connection. Figure 2 In the example, adapter 161 is cylindrical with a central through-hole to facilitate installation and connection with the illuminator 162. Figure 2 As shown, the irradiator can be selected from different sizes of cylindrical or square light-limiting tubes 162 for fixed-angle irradiation or scanning irradiation, or balloon-shaped irradiators 163 and hemispherical irradiators 164 for intraoperative radiotherapy requiring spherical or hemispherical dose distribution, depending on the different radiotherapy applications. Figure 2 As shown, the irradiator assembly may include a cylindrical or square light-limiting tube, a balloon-shaped irradiator, and a hemispherical balloon-shaped irradiator. The balloon-shaped irradiator 163 or the hemispherical balloon-shaped irradiator 164 may include a hollow shell with an opening, at which a scattering foil (which may be made of a high atomic number material such as tungsten) may be disposed to scatter the X-ray beam from the treatment head 110, forming a uniform dose distribution outside the shell of the balloon-shaped irradiators 163 and 164. The opening of the balloon-shaped irradiator shell may be provided with a connecting structure such as a snap-fit ​​to connect to the light-limiting tube; alternatively, both may be designed as a single unit and mounted below the treatment head 110 via an adapter.

[0038] Continue to refer to Figure 2It also shows a schematic diagram of the structure of an optical imaging unit according to an embodiment of the present invention, such as... Figure 2 As shown, the imaging unit 200 may include a camera 210 for acquiring target area image information and a light source 230. The camera 210 may be installed in a housing that houses the treatment head 110, and the light source 230 is installed below the treatment head to provide illumination during imaging. Figure 2 As shown, the light source 230 can be mounted below the camera 210 and positioned around the adapter 161. Two or more light sources 230 can be arranged around the axis of the treatment head; for example, two light sources 230 can be configured with their optical axes parallel to the optical axis of the camera 210 to assist in target imaging.

[0039] like Figure 2 As shown, camera 210 may include two cameras 210, powered by power source 220, and controlled by image acquisition control module 240 of imaging unit 200. Camera 210 may be a dual-spectrum camera, capable of both visible light and fluorescence imaging. The two cameras 210 may be symmetrically mounted on both sides of treatment head 110 to form binocular vision, thereby better acquiring image information of the treatment area. The optical axes of the two cameras 210 intersect the axis of treatment head 110 at a single point. Image acquisition control module 240 may be configured to adjust imaging parameters and segment the generated image to delineate the contour of the treatment target area. Alternatively, camera 210 may also employ a single camera for visible light or fluorescence imaging, which may be mounted on one side of treatment head 110, and can also acquire image information of the treatment area.

[0040] return Figure 1 The radiotherapy device of the present invention may further include a planning unit 300, which is connected to the treatment unit and the imaging unit via cables. The planning unit 300 may include a hardware system and a software system. The hardware system includes components such as a computer 310, a display 320, a keyboard 330, and a mouse 340. The software system includes, but is not limited to, one or more modules such as a patient data transmission module, an image data processing module, a contour definition module, a planning and dose calculation module, a planning evaluation module, and a system configuration module for target area image processing and radiotherapy planning. For example, after receiving the target area image acquired by the imaging unit 200, the image data processing module performs image recognition to generate an anatomical structure contour. Then, the planning module can determine the size and / or motion parameters of each component (treatment unit, imaging unit) of the radiotherapy device based on information such as the anatomical structure contour. The functions of these modules will be described in more detail below in conjunction with the control method of the device.

[0041] According to the embodiments disclosed in this invention, the radiation irradiation device, through the specific structural arrangement of the treatment unit, imaging unit, etc., can take into account both external radiotherapy and intraoperative radiotherapy. Furthermore, through the flexible arrangement of the applicator assembly and the multi-degree-of-freedom motion assembly, the device can be applied to radiotherapy in various scenarios and provide more complex scanning irradiation. In addition, by integrating the optical imaging unit and the planning unit, high-precision radiotherapy is achieved, and the beam can be accurately irradiated on the target area identified in advance through image recognition, which can avoid damage to organs at risk and improve the radiotherapy effect.

[0042] Figure 3 This is a flowchart of a control method for a radiotherapy device according to an embodiment of the present invention. Figure 3 As shown, the control method for a radiotherapy device may include the following steps: Step 410, positioning the radiotherapy device such that the center point of the treatment area coincides with the virtual isocenter of the radiotherapy device; Step 420, acquiring an optical image of the treatment area using an imaging unit; Step 430, generating an anatomical contour of the target area based on the optical image using a planning unit; and Step 440, the planning unit determining the size parameters and / or motion parameters of the treatment unit based on the anatomical contour, wherein the determined parameters may, for example, be combined with... Figure 1-2 The size or position of the applicator or light limiter of the described radiotherapy device is associated so that the determined motion parameters can be sent to the treatment unit for execution to control the radiotherapy operation of the radiotherapy device.

[0043] In step 410, for example, the radiotherapy device is first pushed near the patient lying on the treatment bed. At this time, the treatment unit 100 is positioned above the patient, and the motion components are adjusted manually or electrically to make the center point of the (patient's) treatment area coincide with the virtual isocenter of the (treatment device). Positioning the radiotherapy device based on the virtual isocenter allows it to be moved as needed, facilitating intraoperative radiotherapy and other operations. The virtual isocenter can be set at any location within a spatial region, for example, determined by one or more reference points within that spatial region. These reference points can be fixed relative to the fixed gantry 130 and located within the plane of symmetry of the treatment unit. For example, the spatial region can be a cubic space, with the geometric center of the cubic space serving as the reference point.

[0044] In step 420, the optical imaging unit 200 can be used to acquire an optical surface image of the treatment target area. Since the imaging unit is integrated with the treatment unit, the camera 210 in the imaging unit can move around a virtual isocenter under the drive of the multi-degree-of-freedom motion component 120 to align with the treatment area. According to the instructions of the image acquisition control module 240, it acquires optical surface image information of the treatment area, such as visible light images or fluorescence images, and performs image segmentation to determine the contour of the treatment area and thus determine the target area.

[0045] In step 430, the target area image information obtained in step 420 can be transmitted to the planning unit 300. The contour definition module of the planning unit can identify the contour image information of the treatment area and generate the anatomical structure and contour of the target area. In different embodiments, various appropriate image processing algorithms and target recognition algorithms can be used to analyze and identify the color, geometry, and other image information of the treatment area. Alternatively, it can be manually drawn by the doctor based on the optical surface image of the treatment area.

[0046] In one embodiment, the image data processing module of the planning unit 300 can also register the optical surface image of the treatment area with the modal image of the treatment site (e.g., EPID, CBCT, MRI, etc.) to obtain a fused image, thereby better determining planning information to protect organs at risk.

[0047] In step 440, the planning unit 300 can determine the size, motion, and other parameters of the treatment unit 110 based on the anatomical structure contour or fused image determined in step 430.

[0048] For example, when the radiotherapy apparatus is used for fixed-angle irradiation, the planning module of the planning unit 300 can determine the size / motion parameters of the treatment unit based on information such as the shape, position, and size of the anatomical structure contour or fused image. These parameters may include the type or size of the irradiator, placement angle, virtual isocenter coordinates, and the blocking range or translation distance of the beam blocker. In some embodiments, when the radiotherapy apparatus is used for scanning irradiation, the size / motion parameters of the treatment unit may include the irradiator size, initial placement angle, virtual isocenter coordinates, scanning range, and scanning path. The determined size parameters may be displayed, for example, on the display 320 of the planning unit, and the determined motion parameters may be sent to the control device of the radiotherapy apparatus for the treatment unit 110 to perform corresponding motion operations.

[0049] Understandably, after determining the size and motion parameters of the treatment unit 110, the operator can select the appropriate applicator and coaxially mount it below the treatment head 110. Then, the operator can use the force control handle 121 to guide the movement of the treatment head so that the center point of the applicator's end coincides with the virtual isocenter, allowing the radiation beam to pass through the applicator and be aimed at the tumor bed. During radiotherapy, the control device of the radiotherapy apparatus can drive the treatment head to move according to the determined motion parameters to perform fixed-angle irradiation or scanning irradiation. During radiotherapy, the optical imaging unit 200 can display the acquired tumor bed image in real time on the display 320 of the planning unit 300 and / or the display screen 112 of the treatment head to monitor the tumor bed status.

[0050] The principles of the invention have been described above with reference to specific embodiments. Those skilled in the art will understand that the invention is not limited to the above embodiments, but many modifications and variations in detail and form can be made without departing from the spirit and scope of the invention, such as certain variations, modifications, alterations, additions, and sub-combinations of the disclosed embodiments. The scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An image-guided radiotherapy device, comprising: A treatment unit, comprising a treatment head for generating radiation therapy rays; An imaging unit for imaging the patient's target area, the imaging unit being integrally mounted with the treatment head; A housing for accommodating the treatment head and the imaging unit; as well as A planning unit, which is connected to the treatment unit and the imaging unit via cables; The imaging unit includes a camera mounted within the housing and two or more light sources. These light sources provide illumination during camera imaging and are arranged around the axis of the treatment head. The treatment unit also includes: Chassis; A fixed frame is fixedly connected to the chassis; A motion assembly, which is mounted on and at least partially embedded in the fixed frame, wherein the treatment head is mounted on the motion assembly; A restraint assembly, movably disposed on the chassis; and An irradiator assembly, which is coaxially arranged below the treatment head, The applicator assembly includes an adapter and an applicator, wherein the applicator and the adapter are coaxially arranged below the treatment head, and the adapter is fixedly mounted on the bottom of the housing. Furthermore, the two or more light sources are mounted below the camera and arranged to surround the adapter.

2. The radiotherapy device according to claim 1, wherein, The treatment head includes a beam module and a display screen for displaying an image of the target area and / or the beam parameters of the beam module.

3. The radiotherapy device according to claim 1, wherein, The treatment head is configured to move by controlling the motion components via a force control handle.

4. The radiotherapy device according to claim 1, wherein, The chassis includes a base, a first support leg, and a second support leg, wherein the first support leg and the second support leg are fixedly connected to both sides of the base. The first support leg, the second support leg, and / or the base are provided with mounting holes for mounting anchor bolts and / or mounting interfaces for mounting rollers and trolleys. The clamping assembly includes a translational motion platform and a clamping blocker. The translational motion platform is slidably mounted on the first support leg and the second support leg. The clamping blocker is movably mounted on the translational motion platform relative to the support leg. The clamping blocker is a heavy metal block that is thick in the middle and thin at the edges.

5. The radiotherapy device according to claim 1, wherein, The camera includes two cameras symmetrically mounted on both sides of the treatment head.

6. The radiotherapy device according to claim 1, wherein, The imaging unit also includes an image acquisition and control module, which is configured to adjust imaging parameters and perform segmentation processing on the generated image.

7. The radiotherapy device according to claim 1, wherein, The planning unit is configured to generate an anatomical contour of the target area based on the optical image acquired by the imaging unit, and to determine the size parameters and / or motion parameters of the treatment unit based on the anatomical contour. When the radiotherapy device is used for fixed-angle irradiation, the size parameters and / or motion parameters of the treatment unit include the type or size of the irradiator, the placement angle, the virtual isocenter coordinates, and the translation distance of the beam blocker. When the radiotherapy device is used for scanning irradiation, the size parameters and / or motion parameters of the treatment unit include the size of the light-limiting tube, the initial placement angle, the virtual isocenter coordinates, the scanning range, and the scanning path.

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