System and Method for Controlling the Movement of a Radiotherapy Device in a Treatment Room

Abstract

This application relates to a system and method for controlling the movement of an in-room radiotherapy device, and belongs to the field of medical technology. The system includes a computer device, a motion control handle, and a motion device controller; the computer device is communicatively connected to the motion control handle, the motion control handle is communicatively connected to the motion device controller, the computer device is communicatively connected to the motion device controller, and the motion device controller is used to control the in-room radiotherapy device. The computer device is used to confirm data and generate control signals, and the motion device controller is used to actually drive the in-room radiotherapy device. During use, the computer device can determine the initial position of the in-room radiotherapy device and monitor it during the control process. Staff only need to control the motion control handle, which reduces the operation difficulty of the radiotherapy device, improves the use safety, and meets the use requirements of hospital medical staff.

Description

Technical Field

[0001] This application relates to the field of medical technologies, and particularly to a system and method for controlling the movement of a radiotherapy device in a treatment room. Background Art

[0002] In the field of radiotherapy treatment applications, radiotherapy devices such as medical robots are usually used to treat patients in a treatment room.

[0003] In the related art, when a patient is receiving treatment in a treatment room, medical staff will be located outside the treatment room and control the radiotherapy device in the treatment room to achieve radiotherapy treatment for the patient.

[0004] However, the operation of the radiotherapy device in the related art is relatively complex and requires distributed debugging operations, which is highly professional. Its safety and operation complexity cannot meet the needs of hospital medical staff. Summary of the Invention

[0005] The system and method for controlling the movement of a radiotherapy device in a treatment room according to this application can reduce the operation difficulty of the radiotherapy device and meet the usage requirements of hospital medical staff. The technical solution is as follows:

[0006] On the one hand, a system for controlling the movement of a radiotherapy device in a treatment room is provided. The system includes a computer device, a motion control handle, and a motion device controller;

[0007] The computer device is communicatively connected to the motion control handle, the motion control handle is communicatively connected to the motion device controller, the computer device is communicatively connected to the motion device controller, and the motion device controller is used to control the radiotherapy device in the room;

[0008] The motion control handle is used to synchronously send a start control signal to the computer device and the motion device controller;

[0009] The motion device controller is used to, in response to receiving the start control signal, determine the pose state of the radiotherapy device in the room based on the control signal; generate pose feedback data based on the pose state; and send the pose feedback data to the computer device;

[0010] The computer device is used to receive the pose feedback data and the start control signal; generate a control signal based on the pose feedback data and the start control signal, and send the control signal to the motion device controller; and send a motion feedback signal to the motion control handle;

[0011] The motion device controller is used to receive the control signal; and drive the radiotherapy device in the room based on the control signal;

[0012] A motion control handle for receiving motion feedback signals.

[0013] On the other hand, a method for controlling the movement of a radiotherapy device in a treatment room is provided. This method is applied to a computer device within the system for controlling the movement of a radiotherapy device in a treatment room as described above. The method includes:

[0014] Receiving pose feedback data and a start control signal;

[0015] Generating a control signal based on the pose feedback data and the start control signal, and sending the control signal to the motion device controller;

[0016] Sending a motion feedback signal to the motion control handle.

[0017] The beneficial effects brought by the technical solution provided in this application at least include:

[0018] Through the settings of the computer device, the control handle, and the motion device controller, after the system is determined to be started by the motion control handle, the three perform information interaction to confirm the usable state of the radiotherapy device in the treatment room. The computer device confirms the data and generates the control signal, and the motion device controller realizes the actual drive of the radiotherapy device in the treatment room. During the use process, the computer device can determine the initial position of the radiotherapy device and monitor it during the control process. The staff only needs to control the motion control handle, which reduces the operation difficulty of the radiotherapy device, improves the use safety, and meets the use needs of hospital medical staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 Shows a schematic structural diagram of a system for controlling the movement of a radiotherapy device in a treatment room provided by an exemplary embodiment of this application.

[0021] Figure 2 Shows a schematic structural diagram of another system for controlling the movement of a radiotherapy device in a treatment room provided by an exemplary embodiment of this application.

[0022] Figure 3 Shows a flowchart of a method for controlling the movement of a radiotherapy device in a treatment room provided by an exemplary embodiment of this application.

[0023] Figure 4The flowchart shows another method for controlling the movement of a radiotherapy device in a treatment room provided by an exemplary embodiment of the present application.

[0024] Figure 5 The schematic structural diagram of a movement control handle provided by an exemplary embodiment of the present application is shown. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0026] Figure 1 The schematic structural diagram of a system for controlling the movement of a radiotherapy device in a treatment room is shown. Please refer to Figure 1 , the system for controlling the movement of the radiotherapy device in the treatment room includes a computer device 101, a movement control handle 102, and a movement device controller 103.

[0027] In the embodiment of the present application, the movement control handle is a control device on the side of medical staff. The medical staff can send control signals to the computer device and the movement device controller through the operation of the movement control handle.

[0028] The movement device controller is a device that is communicatively connected to the radiotherapy device and directly controls the radiotherapy device. Optionally, the movement device controller is implemented as an industrial personal computer. In the embodiment of the present application, the movement device controller can send signals that can be directly received and responded to by the radiotherapy device, such as pulse signals.

[0029] The computer device is a device for data transceiver and data processing. In the embodiment of the present application, the computer device can be implemented as a personal computer or an industrial computer. When the computer device receives the data sent by the movement control handle and the movement device controller, it will receive, check, process, and forward the data, so that the control handle can obtain data feedback, and the movement device controller can further determine the state of the radiotherapy device and control the radiotherapy device when permission is obtained.

[0030] In this case, the movement control handle is used to synchronously send a start control signal to the computer device and the movement device controller, and the start control signal is used to start the radiotherapy device in the treatment room and instruct the radiotherapy device in the treatment room to execute an action;

[0031] The movement device controller is used to, in response to receiving the start control signal, determine the pose state of the radiotherapy device in the treatment room based on the control signal; generate pose feedback data based on the pose state; and send the pose feedback data to the computer device;

[0032] A computer device for receiving pose feedback data and start control signals, generating control signals based on the pose feedback data and start control signals, sending the control signals to a motion device controller, and sending motion feedback signals to a motion control handle.

[0033] A motion device controller for receiving control signals and driving an indoor radiotherapy device based on the control signals.

[0034] A motion control handle for receiving motion feedback signals.

[0035] In summary, in the system provided by the embodiment of the present application, through the settings of the computer device, the control handle, and the motion device controller, after the system is determined to start by the motion control handle, the three perform information interaction to confirm the usable state of the indoor radiotherapy device, and the computer device performs data confirmation and generation of control signals, and the motion device controller realizes the actual driving of the indoor radiotherapy device. During the use process, the computer device can determine the initial position of the indoor radiotherapy device and monitor it during the control process. The staff only needs to control the motion control handle, which reduces the operation difficulty of the radiotherapy device, improves the use safety, and meets the use requirements of hospital medical staff.

[0036] Figure 2 The structural schematic diagram of another system for controlling the motion of an indoor radiotherapy device provided by an exemplary embodiment of the present application is shown. Please refer to Figure 2 , the system for controlling the motion of the indoor radiotherapy device includes the computer device 201, the motion control handle 202, and the motion device controller 203 in the system shown in Figure 1 .

[0037] In an optional embodiment, please refer to Figure 2 . The indoor radiotherapy device is configured with a servo motor 207, and the motion device controller 203 is communicatively connected to the servo motor 207. The signal sent by the motion device controller 203 to the servo motor 207 is a pulse signal.

[0038] In an optional embodiment, please refer to Figure 2 . The computer device 201 includes a host computer 2011 and a lower computer, and the lower computer is implemented as a Programmable Logic Controller (PLC) device 2012. The PLC device 2012 has the function of obtaining the safety interlock information of the system, and can perform confirmation of safety signals and startup timing interaction to ensure that the system is in a safe state.

[0039] In an alternative embodiment, corresponding to the case where the slave computer is implemented as a PLC device 2012, the system further includes a switch 204, and the switch 204 is communicatively connected to the PLC device 2011. Correspondingly, the system further includes an original radiotherapy device controller 205, and the original radiotherapy device controller 205 is communicatively connected to the switch 204.

[0040] In the embodiment of the present application, the motion control handle is connected to an adapter 206 through a Controller Area Network (CAN) bus. The adapter 206 is configured to convert CAN bus signals into Transmission Control Protocol / Internet Protocol (TCP / IP) signals and send them to the switch.

[0041] In the embodiment of the present application, please refer to Figure 2 , the system further includes an original radiotherapy device controller 205, which is implemented as a distributed combination of controllers for complex control of the radiotherapy device and is directly communicatively connected to the switch.

[0042] Figure 3 The flowchart of a method for controlling the movement of a radiotherapy device in a treatment room provided by an exemplary embodiment of the present application is shown. Taking the method applied to a computer device in the system for controlling the movement of a radiotherapy device in a treatment room shown in any of the above embodiments as an example, the method includes:

[0043] Step 301, receiving pose feedback data and a start control signal.

[0044] In the embodiment of the present application, the start of the system is triggered by an operator's operation on the motion control handle. As described in the above embodiment, after receiving the start control signal, the motion device controller obtains the pose state of the current radiotherapy device, generates pose feedback data, and sends it to the computer device. The computer device then receives the pose feedback data and the start control signal and starts the data processing process.

[0045] Step 302, generating a control signal based on the pose feedback data and the start control signal, and sending the control signal to the motion device controller.

[0046] This process is that the computer device determines the pose feedback data and starts to match the control signal, so as to control the radiotherapy device in the treatment room to move. At this time, the computer device sends control signals to the motion device controller respectively, and sends motion feedback signals to the motion control handle at the same time. Among them, the control signal is used to make the motion controller aware of the operations that the radiotherapy device needs to perform, and further drive the radiotherapy device; the motion feedback signal is used to make the motion control handle aware that the radiotherapy device has started to move and can perform subsequent operation processing.

[0047] Step 303: Send a motion feedback signal to the motion control handle.

[0048] In one example, when the motion control handle receives the motion feedback signal, the motion control handle can execute the subsequent process. Optionally, before the motion control handle receives the motion feedback signal, the motion control handle is in a locked state, and the staff cannot send new instructions.

[0049] Figure 4 The flowchart of another method for controlling the movement of the radiotherapy device in the treatment room provided by an exemplary embodiment of the present application is shown. Taking the application of this method in the system for controlling the movement of the radiotherapy device in the treatment room as an example, this process includes:

[0050] Step 401: The motion control handle synchronously sends a start control signal to the computer device and the motion device controller.

[0051] In the embodiment of the present application, the start control signal is used to start the radiotherapy device in the room and instruct the radiotherapy device in the room to perform actions. In the embodiment of the present application, the functions of the motion control handle correspond to the integrated buttons. Please refer to Figure 5 , and this motion control handle includes:

[0052] (1) Indicator light 501, which lights up after the system initialization is successful;

[0053] (2) Handle status light 502, which represents different states through different colors, indicates the current operating state of the handle (such as not lit for normal state), and the system operating state (such as yellow when the system is in the locked state, red when the system encounters an emergency, etc.)

[0054] (3) First automatic operation button 503, operating this button can move the radiotherapy device to the treatment position

[0055] (4) Second automatic operation button 504, operating this button can move the radiotherapy device to the upper bed position

[0056] (5) Speed status indicator light 505, 1 grid lit represents low speed, 2 grids lit represents medium speed, 3 grids lit represents high speed

[0057] (6) Speed adjustment button 506. The system defaults to medium speed when powered on. Press it to switch to high speed, and press it again to switch to low speed.

[0058] (7) Up and down direction control buttons 507. Among them, the left button controls the radiotherapy device to move upward, and the right button controls the radiotherapy device to move downward.

[0059] (8) Head and foot direction control buttons 508. The left button controls the radiotherapy device to move left, and the right button controls the radiotherapy device to move right.

[0060] (9) Front and back direction control buttons 509. The left button controls the radiotherapy device to move forward, and the right button controls the radiotherapy device to move backward.

[0061] (10) Pitch direction control buttons 510. The left button controls the radiotherapy device to lift its head, and the right button controls the radiotherapy device to lower its head.

[0062] (11) Yaw direction control buttons 511. The left button controls the radiotherapy device to yaw left, and the right button controls the radiotherapy device to yaw right.

[0063] (12) Roll direction control buttons 512. The left button controls the radiotherapy device to tilt left, and the right button controls the radiotherapy device to yaw right.

[0064] (13) Enable button 513 of the control handle. All movements must hold both sides of the handle simultaneously to control the movement in other directions.

[0065] (14) Control line 514 of the control handle. The mobile signal communication method is transmitted to the upper computer through a network cable. The enable hardware signal and the emergency stop hardware signal are transmitted to the interlock interface of the radiotherapy device to meet the requirements of relevant regulations.

[0066] (15) Handle emergency stop button 515. In an emergency, after the operator presses it, the radiotherapy device can be immediately stopped from moving.

[0067] Step 402: The motion device controller responds to the received start control signal and determines the pose state of the indoor radiotherapy device based on the control signal.

[0068] This process is the process of determining the state pose of the radiotherapy device after the motion device controller receives the start control signal.

[0069] Step 403: Generate pose feedback data based on the pose state.

[0070] After determining the pose state, the motion device controller generates pose feedback data, which can be collected by sensors installed on the radiotherapy device.

[0071] Step 404: Send the pose feedback data to the computer device.

[0072] This process is the process in which the motion device controller sends the pose feedback data.

[0073] Step 405: The computer device receives the pose feedback data and the start control signal.

[0074] Step 406: The computer device performs a heartbeat interaction match with the motion control handle based on the start control signal.

[0075] In the embodiment of the present application, the computer device needs to confirm whether the motion control handle has the operation authority for the motion device controller. Optionally, this process is completed by means of a heartbeat interaction match.

[0076] In some other embodiments of the present application, in addition to performing a heartbeat match with the motion control handle, the computer device also performs a heartbeat match with the motion device controller.

[0077] Step 407: In response to passing the heartbeat interaction match, the computer device generates a control signal based on the pose feedback data.

[0078] Step 408: In response to passing the heartbeat interaction match, the computer device obtains the handle hardware version number and the handle serial number corresponding to the control handle.

[0079] In the embodiment of the present application, when passing the heartbeat interaction match, the computer device will obtain the data corresponding to the motion device controller and the motion control handle. In the embodiment of the present application, the obtained data is the pose feedback data, the handle hardware version number, and the handle serial number.

[0080] Step 409: The computer device generates a control signal based on the pose feedback data and the start control signal.

[0081] This process is the process in which the computer device generates a control signal.

[0082] Step 410: The computer device sends the control signal to the motion device controller.

[0083] Step 411: The computer device sends a motion feedback signal to the motion control handle.

[0084] The processes described in Steps 410 to 411 are the processes in which the computer device sends signals to the motion device controller and the motion control handle respectively. In the embodiment of the present application, the signal sent by the computer device to the control handle is used to indicate that the radiotherapy device can move according to the instructions of the staff, and the signal sent by the computer device to the motion device controller is used to indicate the motion device controller to control the radiotherapy device.

[0085] Step 412, the motion device controller receives a control signal.

[0086] Step 413, the motion device controller generates a control pulse signal based on the control signal.

[0087] Step 414, the motion device controller sends the control pulse signal to the servo motor.

[0088] The process described in steps 412 to 414 is that the motion device controller receives a control signal, generates a control pulse signal in the form of a pulse signal, sends it to the radiotherapy device, and controls the movement of the radiotherapy device.

[0089] Step 415, the motion control handle receives a motion feedback signal.

[0090] Step 416, the motion control handle controls the indicator light to emit light in response to receiving the motion feedback signal.

[0091] This process is that the motion control handle receives a motion feedback signal and controls the indicator light to emit light.

[0092] In summary, the method provided by the embodiment of the present application, through the settings of the computer device, the control handle, and the motion device controller, after the system is determined to start by the motion control handle, the three perform information interaction to confirm the usable state of the indoor radiotherapy device, and the computer device performs data confirmation and generation of control signals, and the motion device controller realizes the actual drive of the indoor radiotherapy device. During the use process, the computer device can determine the initial position of the indoor radiotherapy device and monitor it during the control process, and the staff only needs to control the motion control handle, which reduces the operation difficulty of the radiotherapy device, improves the use safety, and meets the use needs of hospital medical staff.

[0093] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A system for controlling the movement of a radiotherapy device in a treatment room, characterized in that, The system for controlling the movement of the radiotherapy device in the treatment room includes a computer device, a motion control handle, and a motion device controller; The computer device is communicatively connected to the motion control handle, the motion control handle is communicatively connected to the motion device controller, the computer device is communicatively connected to the motion device controller, and the motion device controller is used to control the radiotherapy device in the room; The motion control handle is used to synchronously send a start control signal to the computer device and the motion device controller, and the start control signal is used to start the radiotherapy device in the room and instruct the radiotherapy device in the room to perform an action; The motion device controller is used to, in response to receiving the start control signal, determine the pose state of the radiotherapy device in the room based on the control signal; generate pose feedback data based on the pose state; send the pose feedback data to the computer device; The computer device is used to receive the pose feedback data and the start control signal; generate a control signal based on the pose feedback data and the start control signal; send the control signal to the motion device controller; send a motion feedback signal to the motion control handle; The computer device is further used to, in response to receiving the start control signal, perform heartbeat interaction matching with the motion control handle based on the start control signal; in response to passing the heartbeat interaction matching, generate the control signal based on the pose feedback data; The computer device is further used to, in response to passing the heartbeat interaction matching, obtain the handle hardware version number and the handle serial number corresponding to the control handle; The motion device controller is used to receive the control signal; drive the radiotherapy device in the room based on the control signal; The motion control handle is used to receive the motion feedback signal.

2. The system according to claim 1, wherein The radiotherapy device in the room is configured with a servo motor; The motion device controller is communicatively connected to the servo motor; The motion device controller is further used to generate a control pulse signal based on the control signal; send the control pulse signal to the servo motor.

3. The system according to claim 1, wherein The computer device includes a host computer and a slave computer; The slave computer is implemented as a programmable logic controller (PLC) device.

4. The system according to claim 3, wherein The system further includes a switch; The switch is communicatively connected to the PLC device.

5. The system according to claim 4, characterized in that, The system further includes an original radiotherapy device controller; The original radiotherapy device controller is communicatively connected to the switch.

6. The system according to claim 1, wherein The motion device controller is further used to generate a drive feedback signal, and the drive feedback signal is used to indicate the movement condition of the radiotherapy device in the room; send the drive feedback signal to the computer device; The computer device is used to receive the drive feedback signal.

7. The system according to claim 1, wherein The motion control handle is configured with an indicator light; The motion control handle is further used to, in response to receiving the motion feedback signal, control the indicator light to emit light.

8. A method for controlling the movement of a radiotherapy device in a treatment room, characterized in that, The method is applied to a computer device in the system for controlling the movement of the radiotherapy device in the treatment room according to any one of claims 1 to 7, and the method includes: Receive pose feedback data and a start control signal; Generate a control signal based on the pose feedback data and the start control signal, and send the control signal to the motion device controller; Send the motion feedback signal to the motion control handle.

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