Multi-leaf collimator and driving method thereof

Abstract

The present invention provides a multi-leaf collimator and a driving method thereof, which relate to the field of medical equipment technology. The multi-leaf collimator includes a base, a box assembly and a blade assembly; the box assembly includes two boxes arranged opposite to each other; the blade assembly includes a first drive motor, a second drive motor, a first drive rod, a second drive rod, a plurality of first electromagnetic drive members, a plurality of second electromagnetic drive members and a plurality of blades. With each blade respectively engaged with a first electromagnetic drive member and a second electromagnetic drive member, the first drive motor drives the first drive rod to rotate forward, and the second drive motor drives the second drive rod to rotate reversely. The first electromagnetic drive member corresponding to each blade can be selectively adsorbed or separated from the first drive rod, and the second electromagnetic drive member corresponding to each blade can be selectively adsorbed or separated from the second drive rod, thereby reducing the number of motors, thereby reducing the failure rate of the multi-leaf collimator, and also reducing the weight, volume and manufacturing cost of the multi-leaf collimator.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a multi-leaf collimator and a driving method thereof. Background Art

[0002] Radiotherapy equipment is a medical device that uses radiation to treat tumors. The radiotherapy equipment includes a treatment head, which includes a radiation source, a pre-collimator and a multi-leaf collimator. The radiation beam emitted by the radiation source first passes through the pre-collimation hole on the pre-collimator for initial conformity, and then passes through the final collimation hole on the multi-leaf collimator for final conformity to limit the radiation range of the radiation beam, so that the final irradiation field adapts to the shape of the patient's tumor.

[0003] In the related technology, the multi-leaf collimator includes a base, a guide rail and two relatively arranged boxes. The two boxes are slid on the guide rails. Each box is equipped with a box motor, a box screw and a box nut connecting the box motor and the box. The box motor drives the box to move through the box screw and the box nut. Multiple blades are arranged in each box. Each blade is equipped with a blade motor, a blade screw and a blade nut. The blade motor drives the blade to move through the blade screw and the blade nut.

[0004] However, the multi-leaf collimator has a high failure rate during use. Summary of the Invention

[0005] The present invention provides a multi-leaf collimator and a driving method thereof, so as to solve the problem of high failure rate of the multi-leaf collimator during use.

[0006] In one aspect, the present invention provides a multi-leaf collimator comprising a base, a housing assembly, and a leaf assembly;

[0007] The box assembly includes two boxes arranged opposite to each other, and the two boxes are arranged on the base;

[0008] The blade assembly is provided on each box body, and the blade assembly includes a first drive motor, a second drive motor, a first drive rod, a second drive rod, a plurality of first electromagnetic drive parts, a plurality of second electromagnetic drive parts and a plurality of blades. The first drive motor is used to drive the first drive rod to rotate forward, and the second drive motor is used to drive the second drive rod to rotate reversely. The plurality of blades are slid in the box body, and the plurality of blades are arranged parallel to each other. Each of the blades is respectively engaged with a first electromagnetic drive part and a second electromagnetic drive part. The first electromagnetic drive part corresponding to each blade is connected to the first drive rod, and the second electromagnetic drive part corresponding to each blade is connected to the second drive rod. The first electromagnetic drive part corresponding to each blade can be selectively adsorbed or separated from the first drive rod, and the second electromagnetic drive part corresponding to each blade can be selectively adsorbed or separated from the second drive rod. Each blade is used to move forward or backward through the corresponding first electromagnetic drive part and the second electromagnetic drive part.

[0009] Optionally, the first electromagnetic driving member and the second electromagnetic driving member each include a gear body, an electromagnet, a spring, and a cover plate; the electromagnet includes a first portion and a second portion, the spring abuts between the first portion and the second portion, the cover plate is fixedly connected to the gear body, the first portion and the second portion are respectively slidably disposed between the gear body and the cover plate, and the electromagnet can drive the gear body to rotate;

[0010] The electromagnet of the first electromagnetic driving member is used to cause the first and second parts to compress the spring and be attracted to the first driving rod when power is supplied, and to cause the first and second parts to separate from the first driving rod under the action of the spring when power is removed;

[0011] The electromagnet of the second electromagnetic driving component is used to make the first part and the second part compress the spring and adsorb to the second driving rod after power is turned on, and the electromagnet of the second electromagnetic driving component is used to make the first part and the second part separate from the second driving rod under the action of the spring after power is turned off.

[0012] Optionally, a soft iron is provided between the electromagnet of the first electromagnetic driving member and the first driving rod, the soft iron is provided with a convex key, the first driving rod is provided with a first keyway, the convex key of the soft iron is clamped in the first keyway of the first driving rod, the electromagnet of the first electromagnetic driving member is used to make the first part and the second part compress the spring and adsorb to the soft iron when power is applied, and the electromagnet of the first electromagnetic driving member is used to make the first part and the second part separate from the soft iron under the action of the spring when power is removed;

[0013] The soft iron is arranged between the electromagnet of the second electromagnetic driving component and the second driving rod, the second driving rod is provided with a second keyway, the convex key of the soft iron is stuck in the second keyway of the second driving rod, the electromagnet of the second electromagnetic driving component is used to make the first part and the second part compress the spring and adsorb with the soft iron after power is turned on, and the electromagnet of the second electromagnetic driving component is used to make the first part and the second part separate from the soft iron under the action of the spring after power is turned off.

[0014] Optionally, the gear body is provided with a first guide groove and a second guide groove, the extension direction of the first guide groove is the same as the extension direction of the second guide groove, the first part of the electromagnet is provided with a first guide protrusion, the second part of the electromagnet is provided with a second guide protrusion, the first guide protrusion is slidably disposed in the first guide groove, and the second guide protrusion is slidably disposed in the second guide groove;

[0015] The electromagnet of the first electromagnetic driving member is used to drive the gear body of the first electromagnetic driving member to rotate through the first guide protrusion and the second guide protrusion after being energized;

[0016] The electromagnet of the second electromagnetic driving member is used to drive the gear body of the second electromagnetic driving member to rotate through the first guide protrusion and the second guide protrusion after being energized.

[0017] Optionally, the first part and the second part are both U-shaped, the first part is provided with a first hole, the second part is provided with a second hole, the first hole and the second hole are arranged opposite to each other, and the spring abuts between the first hole and the second hole.

[0018] Optionally, the blade assembly further includes a first coupling and a second coupling, the housing is provided with a first fixing seat and a connecting plate, the first drive motor and the second drive motor are respectively fixed to the connecting plate of the housing, the first coupling is connected between the first drive motor and the first drive rod, and the second coupling is connected between the second drive motor and the second drive rod;

[0019] The first driving rod and the second driving rod are rotatably connected to the first fixing seat respectively.

[0020] Optionally, a positioning piece is provided between adjacent first electromagnetic driving members, the positioning piece is fixedly connected to the first driving rod, and the positioning piece is used to prevent the plurality of first electromagnetic driving members from axially shifting in the axial direction of the first driving rod;

[0021] The positioning piece is provided between adjacent second electromagnetic driving members, and the positioning piece is fixedly connected to the second driving rod. The positioning piece is used to prevent the plurality of second electromagnetic driving members from axially moving in the axial direction of the second driving rod.

[0022] Optionally, the box assembly further includes guide rails, sliders and a driving structure, each box is fixedly connected to two sliders, the sliders on each box are respectively slid on the two guide rails, each box is configured with a driving structure, and the driving structure is used to move the box on the two guide rails.

[0023] Optionally, the driving structure includes a box motor, a second fixed seat, a third fixed seat, a box coupling, a ball screw and a light rod, the second fixed seat and the second fixed seat are respectively fixed on the base, the second fixed seat and the third fixed seat are arranged opposite to each other, the box motor is fixed on the second fixed seat, the box coupling is connected between the box motor and the screw of the ball screw, the third fixed seat is provided with a bearing, the screw is installed on the bearing, the light rod is fixed between the second fixed seat and the third fixed seat, the light rod is arranged parallel to the screw, the nut of the ball screw is fixedly connected to the connecting plate of the box, and the connecting plate is slidably arranged on the light rod.

[0024] In another aspect, the present invention provides a method for driving a multi-leaf collimator, which is used for the multi-leaf collimator as described above, comprising:

[0025] The first driving motor on each housing of the multi-leaf collimator drives the first driving rod to rotate forward, and the second driving motor drives the second driving rod to rotate reversely.

[0026] Obtaining the moving direction and target moving distance of each blade in the two boxes;

[0027] determining, according to the moving direction of each blade, a first electromagnetic driving member adsorbed to the first driving rod and a second electromagnetic driving member adsorbed to the second driving rod;

[0028] determining the adsorption time of each first electromagnetic driving component and each second electromagnetic driving component that need to be adsorbed according to the target moving distance of each blade;

[0029] Each of the blades reaches a respective target position.

[0030] Optionally, when each of the blades reaches its respective target position, the method further includes obtaining the number of rotations of each of the first electromagnetic driving components and each of the second electromagnetic driving components that are adsorbed, and determining the actual movement distance of each of the blades according to the number of rotations of each of the first electromagnetic driving components and each of the second electromagnetic driving components; or

[0031] The rotation speed of each of the first electromagnetic driving components and each of the second electromagnetic driving components that are attracted is obtained, and the actual movement distance of each of the blades is determined according to the rotation speed of each of the first electromagnetic driving components and each of the second electromagnetic driving components.

[0032] Optionally, when each of the blades reaches its respective target position, each of the blades starts to move at the same time, and each of the blades reaches its respective target position at a different time; or,

[0033] Each of the blades does not start moving at the same time, and each of the blades reaches its respective target position at the same time; or,

[0034] Each of the blades starts to move at the same time, and each of the blades reaches its respective target position at the same time.

[0035] The present invention provides a multi-leaf collimator and a driving method thereof, wherein each leaf is respectively engaged with a first electromagnetic driving component and a second electromagnetic driving component, the first electromagnetic driving component corresponding to each leaf is connected to a first driving rod, and the second electromagnetic driving component corresponding to each leaf is connected to a second driving rod, a first driving motor drives the first driving rod to rotate forward, and a second driving motor drives the second driving rod to rotate reversely, the first electromagnetic driving component corresponding to each leaf can be selectively adsorbed or separated from the first driving rod, and the second electromagnetic driving component corresponding to each leaf can be selectively adsorbed or separated from the second driving rod, and each leaf is moved forward or backward by the corresponding first electromagnetic driving component and the second electromagnetic driving component, thereby reducing the number of motors, thereby reducing the failure rate of the multi-leaf collimator, and further reducing the weight, volume and manufacturing cost of the multi-leaf collimator. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 A schematic top view of a multi-leaf collimator provided in an embodiment of the present invention;

[0038] Figure 2 for Figure 1 A schematic diagram of the main view of the multi-leaf collimator in FIG.

[0039] Figure 3 for Figure 1 Schematic diagram of the left side of the multi-leaf collimator in FIG;

[0040] Figure 4 for Figure 2 AA section diagram in FIG;

[0041] Figure 5 for Figure 1 BB cross-section diagram;

[0042] Figure 6 for Figure 4 An exploded view of the first driving rod, soft iron, positioning piece and first electromagnetic driving member;

[0043] Figure 7 for Figure 1 Schematic diagram of the structure of the box;

[0044] Figure 8 for Figure 1 Schematic diagram of the structure of the blade;

[0045] Figure 9 for Figure 8 A schematic diagram of another state structure of the blade in FIG;

[0046] Figure 10 for Figure 6 Schematic diagram of the structure of the gear body;

[0047] Figure 11 for Figure 6 Exploded diagram of the electromagnet and spring;

[0048] Figure 12 for Figure 6 Schematic diagram of the structure of soft iron;

[0049] Figure 13 The present invention provides a flowchart of a method for driving a multi-leaf collimator.

[0050] Description of reference numerals:

[0051] 10-base; 101-through hole; 21-box; 211-first fixed seat; 212-connecting plate; 213-slide; 22-guide rail; 23-drive structure; 231-box motor; 232-second fixed seat; 233-third fixed seat; 234-box coupling; 2341-screw; 2342-nut; 235-polished rod; 24-slider;

[0052] 30-blade assembly; 31-first drive motor; 32-second drive motor; 33-first drive rod; 3301-first keyway; 331-soft iron; 3311-convex key; 332-positioning piece; 34-second drive rod; 35-first electromagnetic drive member; 351-gear body; 3511-first guide groove; 3512-second guide groove; 352-electromagnet; 3521-first part; 3522-second part; 35 23-first guide protrusion; 3524-second guide protrusion; 3525-first hole; 353-spring; 354-cover plate; 36-second electromagnetic drive member; 37-blade; 3701-guide key; 371-blade body; 3711-arc surface; 3712-convex surface; 3713-groove; 372-first extension plate; 3721-tooth; 373-second extension plate; 38-first coupling; 39-second coupling. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0055] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "fixed," and the like should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0057] In the above description, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0058] In the related art, a multi-leaf collimator includes a base, a guide rail, and two relatively arranged boxes. The two boxes are slid on the guide rails. Each box is equipped with a box motor, a box screw and a box nut connecting the box motor and the box. The box motor drives the box to move through the box screw and the box nut. A plurality of blades are arranged in each box. Each blade is equipped with a blade motor, a blade screw and a blade nut. The blade motor drives the blade to move through the blade screw and the blade nut. However, when the number of blades of a multi-leaf collimator is hundreds, the number of blade motors is also hundreds. During use, the multi-leaf collimator has a high failure rate. In addition, hundreds of blade motors need to be started and stopped repeatedly, which can easily cause the motor to overheat and be damaged.

[0059] To solve the above problems, the present invention provides a multi-leaf collimator and a driving method thereof, wherein each leaf is engaged with a first electromagnetic driver and a second electromagnetic driver, the first electromagnetic driver corresponding to each leaf is connected to a first drive rod, the second electromagnetic driver corresponding to each leaf is connected to a second drive rod, the first drive motor drives the first drive rod to rotate forward, and the second drive motor drives the second drive rod to rotate reversely, the first electromagnetic driver corresponding to each leaf can be selectively attracted to or separated from the first drive rod, and the second electromagnetic driver corresponding to each leaf can be selectively attracted to or separated from the second drive rod, and each leaf is moved forward or backward by the corresponding first electromagnetic driver and the second electromagnetic driver, thereby reducing the number of motors and thus reducing the failure rate of the multi-leaf collimator. The motor in this embodiment can be in constant rotation, which can reduce the frequency of repeated starting of the motor. The reduced number of motors can improve the heat dissipation conditions of the motor, thereby reducing the failure rate of the motor.

[0060] The multi-leaf collimator and the driving method thereof provided by the embodiments of the present invention are described in detail below with reference to specific embodiments.

[0061] Figure 1 A schematic top view of a multi-leaf collimator provided in an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the main view of the multi-leaf collimator in FIG. Figure 3 for Figure 1 Schematic diagram of the left side of the multi-leaf collimator in FIG;

[0062] Figure 4 for Figure 2 AA section diagram in FIG; Figure 5 for Figure 1 Schematic diagram of the BB cross section.

[0063] like Figures 1 to 5 As shown, an embodiment of the present invention provides a multi-leaf collimator, including a base 10 , a box assembly and a leaf assembly 30 .

[0064] The base 10 may be circular in shape and made of metal. The base 10 has a through hole 101 through which radiation passes.

[0065] The box assembly includes two boxes 21 arranged opposite to each other. The two boxes 21 are arranged on the base 10 .

[0066] The two boxes 21 can be fixed on the base 10. In other implementations, the two boxes 21 can be slidably mounted on the base 10, which will not be specifically described here.

[0067] like Figure 1 and 4As shown, each box body 21 is provided with a blade assembly 30, and the blade assembly 30 includes a first drive motor 31, a second drive motor 32, a first drive rod 33, a second drive rod 34, a plurality of first electromagnetic drive members 35, a plurality of second electromagnetic drive members 36 and a plurality of blades 37. The first drive motor 31 is used to drive the first drive rod 33 to rotate forward, and the second drive motor 32 is used to drive the second drive rod 34 to rotate reversely. The plurality of blades 37 are slidably arranged in the box body 21, and the plurality of blades 37 are arranged parallel to each other. Each blade 37 is respectively connected to a first electromagnetic drive member 35 and a The second electromagnetic driving member 36 is engaged, the first electromagnetic driving member 35 corresponding to each blade 37 is connected to the first driving rod 33, and the second electromagnetic driving member 36 corresponding to each blade 37 is connected to the second driving rod 34. The first electromagnetic driving member 35 corresponding to each blade 37 can be selectively adsorbed or separated from the first driving rod 33, and the second electromagnetic driving member 36 corresponding to each blade 37 can be selectively adsorbed or separated from the second driving rod 34. Each blade 37 is used to move forward or backward through the corresponding first electromagnetic driving member 35 and second electromagnetic driving member 36.

[0068] In this embodiment, in addition to the first drive motor 31 driving the first drive rod 33 to rotate forward, the first drive rod 33 can also be driven forward by a hydraulic cylinder, a pneumatic cylinder, etc.; in addition to the second drive motor 32 driving the second drive rod 34 to rotate reversely, the second drive rod 34 can also be driven reversely by a hydraulic cylinder, a pneumatic cylinder, etc.

[0069] The first driving rod 33 may be cylindrical in shape. The second driving rod 34 may have the same shape as the first driving rod 33 .

[0070] The first electromagnetic driver 35 and the blade 37 can be driven by the first electromagnetic driver 35 to move the blade 37 by meshing the gear and the rack. In other embodiments, the first electromagnetic driver 35 and the blade 37 can also be driven by the first electromagnetic driver 35 to move the blade 37 by meshing the worm gear or the bevel gear.

[0071] The movement mode between the second electromagnetic driving member 36 and the blade 37 is the same as the movement mode between the first electromagnetic driving member 35 and the blade 37 .

[0072] The front end of the blade 37 is provided with an arcuate surface 3711, and multiple blades 37 can form a beam-conforming area with an arc-shaped boundary, which can reduce the penumbra formed when the beam passes through the multi-leaf collimator, thereby improving the treatment accuracy; the front end of the blade 37 is provided with a convex surface 3712 and a groove 3713, and the convex surface 3712 between adjacent blades 37 is located in the groove 3713, which can avoid light leakage between adjacent blades 37.

[0073] When energized, the first electromagnetic driver 35 generates an electromagnetic force that can attract the first drive rod 33. When energized, the second electromagnetic driver 36 generates an electromagnetic force that can attract the second drive rod 34. This arrangement can improve the stability between the first electromagnetic driver 35 and the first drive rod 33, and between the second electromagnetic driver 36 and the second drive rod 34.

[0074] After the first electromagnetic driving component 35 is energized, it is adsorbed onto the first driving rod 33. After being adsorbed onto the first driving rod 33, the first electromagnetic driving component 35 can rotate along with the first driving rod 33, and at the same time, the first electromagnetic driving component 35 drives the blade 37 to move forward; after the first electromagnetic driving component 35 is powered off, it is separated from the first driving rod 33. After being separated from the first driving rod 33, the first electromagnetic driving component 35 cannot rotate along with the first driving rod 33, and at the same time, the blade 37 stops moving.

[0075] After the second electromagnetic driving member 36 is energized, it is adsorbed onto the second driving rod 34. After being adsorbed onto the second driving rod 34, the second electromagnetic driving member 36 can rotate along with the second driving rod 34, and at the same time, the second electromagnetic driving member 36 drives the blade 37 to move backward; after the second electromagnetic driving member 36 is powered off, it is separated from the second driving rod 34. After being separated from the second driving rod 34, the second electromagnetic driving member 36 cannot rotate along with the second driving rod 34, and at the same time, the blade 37 stops moving.

[0076] The blade 37 moves toward the center of the base 10 as forward movement; the blade 37 moves away from the center of the base 10 as backward movement.

[0077] When the forward movement of the blade 37 is determined, the first drive motor 31 drives the first drive rod 33 to rotate forward, and the second drive motor 32 drives the second drive rod 34 to rotate counterclockwise. The control system of the radiotherapy equipment energizes the first electromagnetic drive member 35 corresponding to the blade 37 and adsorbs it to the first drive rod 33, and de-energizes the second electromagnetic drive member 36 corresponding to the blade 37 and separates it from the second drive rod 34. The first electromagnetic drive member 35 drives the blade 37 to move forward; when the backward movement of the blade 37 is determined, the first drive motor 31 drives the first drive rod 33 to rotate forward, and the second drive motor 32 drives the second drive rod 34 to rotate counterclockwise. The control system of the radiotherapy equipment de-energizes the first electromagnetic drive member 35 corresponding to the blade 37 and separates it from the first drive rod 33, and energizes the second electromagnetic drive member 36 corresponding to the blade 37 and adsorbs it to the second drive rod 34. The second electromagnetic drive member 36 drives the blade 37 to move backward.

[0078] Each leaf 37 moves independently, without affecting each other. Once the shape of the patient's tumor is determined, the radiotherapy system's control system determines the desired shape of the multi-leaf collimator's leaves 37 based on the tumor's shape. The control system then determines the movement direction and target movement distance of each leaf 37 based on the desired shape. Based on the movement direction of each leaf 37, the control system determines the first electromagnetic drive member 35 to be attracted to the first drive rod 33 and the second electromagnetic drive member 36 to be attracted to the second drive rod 34. Based on the target movement distance of each leaf 37, the control system then determines the desired attachment time for each first electromagnetic drive member 35 and each second electromagnetic drive member 36.

[0079] It should be noted that when the adsorption time of each first electromagnetic driving component 35 and each second electromagnetic driving component 36 that needs to be adsorbed reaches, the power to each first electromagnetic driving component 35 and each second electromagnetic driving component 36 that needs to be adsorbed is cut off.

[0080] The multi-leaf collimator provided by the present invention includes two housings 21, each of which is equipped with two first drive motors 31 and two second drive motors 32. This reduces the number of motors, thereby lowering the failure rate of the multi-leaf collimator and reducing the manufacturing cost, weight, and volume of the multi-leaf collimator. Furthermore, compared to the related art method of using a screw and nut to power the blades, this embodiment uses a first electromagnetic driver 35 and a second electromagnetic driver 36 to power the blades 37, which not only reduces the failure rate of the multi-leaf collimator but also allows it to carry more blades 37.

[0081] In addition, the motor in this embodiment can be in rotation all the time, which can reduce the frequency of repeated starting of the motor. The number of motors is reduced, which can improve the heat dissipation conditions of the motor, thereby reducing the failure rate of the motor.

[0082] Figure 6 for Figure 4 An exploded view of the first driving rod, soft iron, positioning piece and first electromagnetic driving member;

[0083] Figure 7 for Figure 1 Schematic diagram of the structure of the box; Figure 8 for Figure 1 Schematic diagram of the structure of the blade; Figure 9 for Figure 8 A schematic diagram of another state structure of the blade in FIG; Figure 10 for Figure 6 Schematic diagram of the structure of the gear body; Figure 11 for Figure 6 Exploded diagram of the electromagnet and spring; Figure 12 for Figure 6 Schematic diagram of the structure of soft iron in.

[0084] Alternatively, as Figure 4 、 Figure 6 and Figure 11 As shown, the first electromagnetic driver 35 and the second electromagnetic driver 36 each include a gear body 351, an electromagnet 352, a spring 353, and a cover plate 354. The electromagnet 352 includes a first portion 3521 and a second portion 3522. The spring 353 abuts between the first portion 3521 and the second portion 3522. The cover plate 354 is fixedly connected to the gear body 351. The first portion 3521 and the second portion 3522 are respectively slidably disposed between the gear body 351 and the cover plate 354. The electromagnet 352 can drive the gear body 351 to rotate. With this arrangement, compared to the related art in which a screw and nut are used to power the blades, in this embodiment, the first electromagnetic driver 35 and the second electromagnetic driver 36 are used to power the blades 37. The thickness of the first and second electromagnetic drivers 35 and 36 is relatively small, which can reduce the thickness of each blade 37, thereby constructing a precise radiation field shape, achieving a good conformal effect, and accurately delivering radiation doses.

[0085] The first electromagnetic driving component 35 and the second electromagnetic driving component 36 have the same structure.

[0086] like Figure 8 and Figure 9 As shown, the blade 37 includes a blade body 371, a first extension plate 372, and a second extension plate 373. The first extension plate 372 and the second extension plate 373 are respectively fixedly connected to the blade body 371 and are arranged opposite to each other. The arcuate surface 3711, the convex surface 3712, and the groove 3713 are provided on the blade body 371.

[0087] The first extension plate 372 is provided with teeth 3721 . The gear body 351 abuts between the first extension plate 372 and the second extension plate 373 , and the gear body 351 meshes with the teeth 3721 .

[0088] The cover plate 354 may be cylindrical in shape, and the cover plate 354 and the gear body 351 may be fixedly connected by bolts.

[0089] When the electromagnet 352 of the first electromagnetic driving member 35 is energized, the first part 3521 and the second part 3522 compress the spring 353 and are attracted to the first driving rod 33, and the electromagnet 352 rotates with the first driving rod 33; when the electromagnet 352 of the first electromagnetic driving member 35 is de-energized, the first part 3521 and the second part 3522 are separated from the first driving rod 33 under the action of the spring 353, and the electromagnet 352 does not rotate with the first driving rod 33.

[0090] When the electromagnet 352 of the second electromagnetic driving member 36 is energized, the first part 3521 and the second part 3522 compress the spring 353 and are attracted to the second driving rod 34, and the electromagnet 352 rotates with the second driving rod 34; when the electromagnet 352 of the second electromagnetic driving member 36 is de-energized, the first part 3521 and the second part 3522 are separated from the second driving rod 34 under the action of the spring 353, and the electromagnet 352 does not rotate with the second driving rod 34.

[0091] Furthermore, if Figure 6 and Figure 12 As shown, a soft iron 331 is arranged between the electromagnet 352 of the first electromagnetic driving member 35 and the first driving rod 33, the soft iron 331 is provided with a convex key 3311, the first driving rod 33 is provided with a first key groove 3301, and the convex key 3311 of the soft iron 331 is stuck in the first key groove 3301 of the first driving rod 33.

[0092] The electromagnet 352 of the first electromagnetic driving component 35 is used to make the first part 3521 and the second part 3522 compress the spring 353 and adsorb with the soft iron 331 after power is turned on, and the electromagnet 352 rotates with the first driving rod 33; the electromagnet 352 of the first electromagnetic driving component 35 is used to make the first part 3521 and the second part 3522 separate from the soft iron 331 under the action of the spring 353 after power is turned off, and the electromagnet 352 does not rotate with the first driving rod 33.

[0093] A soft iron 331 is provided between the electromagnet 352 of the second electromagnetic driving member 36 and the second driving rod 34 . The second driving rod 34 is provided with a second keyway. The convex key 3311 of the soft iron 331 is clamped in the second keyway of the second driving rod 34 .

[0094] The electromagnet 352 of the second electromagnetic driving component 36 is used to make the first part 3521 and the second part 3522 compress the spring 353 and adsorb with the soft iron 331 after power is turned on, and the electromagnet 352 rotates with the second driving rod 34; the electromagnet 352 of the second electromagnetic driving component 36 is used to make the first part 3521 and the second part 3522 separate from the soft iron 331 under the action of the spring 353 after power is turned off, and the electromagnet 352 does not rotate with the second driving rod 34.

[0095] Alternatively, as Figure 10 and Figure 11As shown, a first guide groove 3511 and a second guide groove 3512 are provided on the gear body 351, and the extension direction of the first guide groove 3511 is the same as the extension direction of the second guide groove 3512. A first guide protrusion 3523 is provided on the first part 3521 of the electromagnet 352, and a second guide protrusion 3524 is provided on the second part 3522 of the electromagnet 352. The first guide protrusion 3523 is slidably disposed in the first guide groove 3511, and the second guide protrusion 3524 is slidably disposed in the second guide groove 3512.

[0096] The first guide groove 3511 may be in a square shape. The second guide groove 3512 may have the same shape as the first guide groove 3511 .

[0097] The first guide protrusion 3523 may be in the shape of a square. The shape of the second guide protrusion 3524 is the same as that of the second guide protrusion 3524.

[0098] When the electromagnet 352 of the first electromagnetic driving member 35 is energized, the first part 3521 and the second part 3522 compress the spring 353 and are attracted to the first driving rod 33. The electromagnet 352 rotates along with the first driving rod 33. The electromagnet 352 drives the gear body 351 of the first electromagnetic driving member 35 to rotate through the first guide protrusion 3523 and the second guide protrusion 3524.

[0099] After the electromagnet 352 of the second electromagnetic driving member 36 is energized, the first part 3521 and the second part 3522 compress the spring 353 and are attracted to the second driving rod 34. The electromagnet 352 rotates with the second driving rod 34. The electromagnet 352 drives the gear body 351 of the second electromagnetic driving member 36 to rotate through the first guide protrusion 3523 and the second guide protrusion 3524.

[0100] Alternatively, as Figure 11 As shown, both the first portion 3521 and the second portion 3522 are U-shaped. The first portion 3521 is provided with a first hole 3525, and the second portion 3522 is provided with a second hole. The first hole 3525 and the second hole are arranged opposite each other, and the spring 353 abuts between the first hole 3525 and the second hole. This arrangement prevents the spring 353 from being separated from the electromagnet 352 through the first hole 3525 and the second hole.

[0101] The first hole 3525 may be cylindrical in shape. The second hole may have the same shape as the first hole 3525 .

[0102] Alternatively, as Figure 4 and Figure 7As shown, the blade assembly 30 also includes a first coupling 38 and a second coupling 39. The box body 21 of the box body assembly is provided with a first fixed seat 211 and a connecting plate 212. The first drive motor 31 and the second drive motor 32 are respectively fixed on the connecting plate 212 of the box body. The first coupling 38 is connected between the first drive motor 31 and the first drive rod 33, and the second coupling 39 is connected between the second drive motor 32 and the second drive rod 34.

[0103] The first driving rod 33 and the second driving rod 34 are rotatably connected to the first fixing seat 211 respectively.

[0104] The box body 21 is further provided with a slide groove 213 , and the blade 37 is provided with a guide key 3701 , which is slidably arranged in the slide groove 213 .

[0105] The first drive motor 31 drives the first drive rod 33 in forward rotation via the first coupling 38. The first drive motor 31 is equipped with an encoder, and the control system of the radiotherapy system can obtain the rotational speed of the first drive motor 31 through the encoder. The rotational speed of the first drive motor 31 is equivalent to the rotational speed of the first drive rod 33. When the first electromagnetic driver 35 is attracted to the first drive rod 33, the rotational speed of the first drive rod 33 is equivalent to the rotational speed of the first electromagnetic driver 35. The rotational speed of the first electromagnetic driver 35 and the circumference of the first electromagnetic driver 35 can be used to calculate the linear velocity of the first electromagnetic driver 35. The target movement distance of the blade 37 and the linear velocity of the first electromagnetic driver 35 can be used to calculate the attraction time of the first electromagnetic driver 35, that is, the total time the first electromagnetic driver 35 is energized, and therefore the total duration of the meshing movement of the first electromagnetic driver 35 and the blade 37.

[0106] The second drive motor 32 drives the second drive rod 34 in reverse rotation via a second coupling 39. The second drive motor 32 is equipped with an encoder, and the control system of the radiotherapy system can obtain the rotational speed of the second drive motor 32 through the encoder. The rotational speed of the second drive motor 32 is equivalent to the rotational speed of the second drive rod 34. When the second electromagnetic driver 36 is attracted to the second drive rod 34, the rotational speed of the second drive rod 34 is equivalent to the rotational speed of the second electromagnetic driver 36. The rotational speed of the second electromagnetic driver 36 and the circumference of the second electromagnetic driver 36 can be used to calculate the linear velocity of the second electromagnetic driver 36. The target movement distance of the blade 37 and the linear velocity of the second electromagnetic driver 36 can be used to calculate the attraction time of the second electromagnetic driver 36, that is, the total time the second electromagnetic driver 36 is energized, and therefore the total duration of the meshing movement of the second electromagnetic driver 36 and the blade 37.

[0107] Alternatively, as Figure 6As shown, a positioning piece 332 is provided between adjacent first electromagnetic driving members 35 , and the positioning piece 332 is fixedly connected to the first driving rod 33 . The positioning piece 332 is used to prevent the plurality of first electromagnetic driving members 35 from axially moving in the axial direction of the first driving rod 33 .

[0108] A positioning piece 332 is provided between adjacent second electromagnetic driving members 36 . The positioning piece 332 is fixedly connected to the second driving rod 34 . The positioning piece 332 is used to prevent the plurality of second electromagnetic driving members 36 from axially moving in the axial direction of the second driving rod 34 .

[0109] The positioning piece 332 may be cylindrical in shape.

[0110] The positioning piece 332 and the first driving rod 33 can be fixedly connected by a snap connection or by welding, and no specific setting is made here.

[0111] The positioning piece 332 and the second driving rod 34 can be fixedly connected by snapping or welding, and no specific settings are given here.

[0112] Alternatively, as Figures 1 to 3 As shown, the box assembly further includes guide rails 22, sliders 24, and a drive mechanism 23. Each box 21 is fixedly connected to two sliders 24. The sliders 24 on each box 21 slide on two guide rails 22, respectively. Each box 21 is equipped with a drive mechanism 23 for moving the box 21 on the two guide rails 22. This arrangement allows for adjustment of the spacing between the two boxes 21, thereby increasing the diversity of the radiation beam conformal area enclosed by the multiple blades 37 and thereby accommodating tumors of varying shapes.

[0113] The radiotherapy device has a control system, which can control the driving structure 23 . The control system controls the box 21 to move to the target position through the driving structure 23 .

[0114] The driving structure 23 may include a box motor 231, a second fixed seat 232, a third fixed seat 233, a box coupling 234, a ball screw and a light rod 235. The second fixed seat 232 and the third fixed seat 233 are respectively fixed on the base 10, and the second fixed seat 232 and the third fixed seat 233 are arranged opposite to each other. The box motor 231 is fixed on the second fixed seat 232, and the box coupling 234 is connected between the box motor 231 and the screw 2341 of the ball screw. A bearing is provided on the third fixed seat 233, and the screw 2341 is installed on the bearing. The light rod 235 is fixed between the second fixed seat 232 and the third fixed seat 233. The light rod 235 is arranged parallel to the screw 2341. The nut 2342 of the ball screw is fixedly connected to the connecting plate 212 of the box 21, and the connecting plate 212 is slidably arranged on the light rod 235.

[0115] The nut 2342 and the connecting plate 212 may be fixedly connected by bolts.

[0116] The box motor 231 drives the screw 2341 of the ball screw to rotate through the box coupling 234 , and the screw 2341 of the ball screw drives the nut 2342 to move. The nut 2342 drives the box 21 and the slider 24 to move on the two guide rails 22 through the connecting plate 212 .

[0117] Figure 13 The present invention provides a flowchart of a method for driving a multi-leaf collimator.

[0118] like Figure 13 As shown, an embodiment of the present invention provides a driving method for a multi-leaf collimator, which is used for the multi-leaf collimator as described above, comprising:

[0119] S100 , the first driving motor 31 on each box 21 drives the first driving rod 33 to rotate forward, and the second driving motor 32 drives the second driving rod 34 to rotate reverse.

[0120] The first drive motor 31 drives the first drive rod 33 to rotate forward through the first coupling 38 .

[0121] The second drive motor 32 drives the second drive rod 34 to reversely rotate through the second coupling 39 .

[0122] S200 , obtaining the moving direction and target moving distance of each blade 37 in the two boxes 21 .

[0123] Among them, after the shape of the patient's tumor is determined, the control system of the radiotherapy equipment determines the shape that the leaves 37 of the multi-leaf collimator need to form according to the shape of the patient's tumor, and the control system then determines the movement direction and target movement distance of each leaf 37 according to the shape to be formed.

[0124] S300 , according to the moving direction of each blade 37 , determining the first electromagnetic driving member 35 adsorbed to the first driving rod 33 and the second electromagnetic driving member 36 adsorbed to the second driving rod 34 .

[0125] The control system determines the first electromagnetic driving member 35 adsorbed to the first driving rod 33 and the second electromagnetic driving member 36 adsorbed to the second driving rod 34 according to the moving direction of each blade 37 .

[0126] It should be noted that the multiple first electromagnetic driving members 35 can be adsorbed with the first driving rod 33 at the same time or at different times; the multiple second electromagnetic driving members 36 can be adsorbed with the second driving rod 34 at the same time or at different times.

[0127] S400 , determining the adsorption time of each first electromagnetic driving member 35 and each second electromagnetic driving member 36 that need to be adsorbed according to the target moving distance of each blade 37 .

[0128] The control system determines the adsorption time of each first electromagnetic driving member 35 and each second electromagnetic driving member 36 that need to be adsorbed according to the target moving distance of each blade 37 .

[0129] When the first electromagnetic driver 35, which needs to be attracted, is powered on within the adsorption time, the first electromagnetic driver 35 in the adsorption state continues to be powered on; when the second electromagnetic driver 36, which needs to be attracted, is powered on within the adsorption time, the second electromagnetic driver 36 in the adsorption state continues to be powered on. It should be noted that the first electromagnetic driver 35 can be powered on continuously or intermittently; the second electromagnetic driver 36 can be powered on continuously or intermittently.

[0130] When the power-on time of the first electromagnetic driving component 35 that needs to be adsorbed reaches the adsorption time, the power is cut off for the first electromagnetic driving component 35 in the adsorption state, that is, the first electromagnetic driving component 35 is separated from the first driving rod 33; when the power-on time of the second electromagnetic driving component 36 that needs to be adsorbed reaches the adsorption time, the power is cut off for the second electromagnetic driving component 36 in the adsorption state, that is, the second electromagnetic driving component 36 is separated from the second driving rod 34.

[0131] S500 , each blade 37 reaches its respective target position.

[0132] Among them, the first electromagnetic driving member 35 adsorbed on the first driving rod 33 drives the corresponding blade 37 to move forward, and each blade 37 reaches its respective target position after the power-on time reaches the adsorption time; the second electromagnetic driving member 36 adsorbed on the second driving rod 34 drives the corresponding blade 37 to move backward, and each blade 37 reaches its respective target position after the power-on time reaches the adsorption time.

[0133] It should be noted that each blade 37 can begin moving simultaneously and reach their respective target positions at different times. Alternatively, each blade 37 can begin moving at different times, with the blade 37 farther from the target position beginning to move first, ultimately leading each blade 37 to their respective target positions simultaneously. Alternatively, each blade 37 can begin moving simultaneously, with the blade 37 with the longest attachment time moving continuously while the other blades 37 adjust their on / off times based on their respective attachment times, ultimately leading each blade 37 to their respective target positions simultaneously. In other implementations, by defining the on / off times for each blade 37, the method by which each blade 37 reaches its target position can be customized.

[0134] Optionally, when each blade 37 reaches its respective target position, the method further includes obtaining the number of rotations of each first electromagnetic driving member 35 and each second electromagnetic driving member 36 that are adsorbed.

[0135] The number of rotations of the first electromagnetic driver 35 can be obtained as follows: the first drive motor 31 is equipped with an encoder, and the control system of the radiotherapy device can obtain the number of rotations of the first drive motor 31 when the first electromagnetic driver 35 and the first drive rod 33 are attracted to each other through the encoder. The number of rotations of the first drive motor 31 is equal to the number of rotations of the first drive rod 33, and the number of rotations of the first drive rod 33 is equal to the number of rotations of the first electromagnetic driver 35. It should be noted that the first electromagnetic driver 35 and the first drive rod 33 can be attracted to each other continuously or intermittently.

[0136] In the above manner, the number of rotations of each adsorbed first electromagnetic driving member 35 can be obtained.

[0137] The number of rotations of the second electromagnetic driver 36 can be obtained as follows: the second drive motor 32 is equipped with an encoder, and the control system of the radiotherapy device can use the encoder to obtain the number of rotations of the second drive motor 32 when the second electromagnetic driver 36 and the second drive rod 34 are attracted to each other. The number of rotations of the second drive motor 32 is equal to the number of rotations of the second drive rod 34, and the number of rotations of the second drive rod 34 is equal to the number of rotations of the second electromagnetic driver 36. It should be noted that the second electromagnetic driver 36 and the second drive rod 34 can be attracted to each other continuously or intermittently.

[0138] In the above manner, the number of rotations of each adsorbed second electromagnetic driving member 36 can be obtained.

[0139] The actual moving distance of each blade 37 is determined according to the number of rotations of each first electromagnetic driving member 35 and each second electromagnetic driving member 36 .

[0140] The control system of the radiotherapy device stores the displacement of the blade 37 caused by one rotation of the first electromagnetic driver 35 and the displacement of the blade 37 caused by one rotation of the second electromagnetic driver 36. The displacement of the blade 37 caused by one rotation of the first electromagnetic driver 35 is equal to the displacement of the blade 37 caused by one rotation of the second electromagnetic driver 36.

[0141] The actual moving distance of each blade 37 can be determined by multiplying the number of rotations of each adsorbed first electromagnetic driving member 35 and the single-turn displacement of the blade 37 and the product of the number of rotations of each adsorbed second electromagnetic driving member 36 and the single-turn displacement of the blade 37.

[0142] The actual movement distance of each blade 37 and its target movement distance can be compared to determine the movement error of each blade 37. This movement error can be used to determine whether the radiotherapy device is faulty. In one alternative embodiment, the radiotherapy device requires that the movement error of each blade 37 be between -0.1 mm and 0.1 mm. If the movement error of each blade 37 is not within this range, it can be determined that the radiotherapy device is faulty.

[0143] Optionally, when each blade 37 reaches its respective target position, the method further includes obtaining the rotational speed of each first electromagnetic driving member 35 and each second electromagnetic driving member 36 that is adsorbed.

[0144] The number of rotations of the first electromagnetic driver 35 can be obtained as follows: the first drive motor 31 is equipped with an encoder, and the control system of the radiotherapy device can obtain the speed of the first drive motor 31 when the first electromagnetic driver 35 and the first drive rod 33 are attracted to each other through the encoder. The speed of the first drive motor 31 is equal to the speed of the first drive rod 33, and the speed of the first drive rod 33 is equal to the speed of the first electromagnetic driver 35. The product of the speed of the first electromagnetic driver 35 and the adsorption time of the first electromagnetic driver 35 can be used to obtain the number of rotations of the first electromagnetic driver 35. It should be noted that the first electromagnetic driver 35 and the first drive rod 33 can be attracted to each other continuously or intermittently.

[0145] In the above manner, the number of rotations of each adsorbed first electromagnetic driving member 35 can be obtained.

[0146] The number of revolutions of the second electromagnetic driver 36 can be obtained as follows: the second drive motor 32 is equipped with an encoder, and the control system of the radiotherapy device can use the encoder to obtain the speed of the second drive motor 32 when the second electromagnetic driver 36 is attracted to the second drive rod 34. The speed of the second drive motor 32 is equivalent to the speed of the second drive rod 34, and the speed of the second drive rod 34 is equivalent to the speed of the second electromagnetic driver 36. The product of the speed of the second electromagnetic driver 36 and the adsorption time of the second electromagnetic driver 36 can be used to obtain the number of revolutions of the second electromagnetic driver 36. It should be noted that the second electromagnetic driver 36 and the second drive rod 34 can be attracted continuously or intermittently.

[0147] In the above manner, the number of rotations of each adsorbed second electromagnetic driving member 36 can be obtained.

[0148] The actual moving distance of each blade 37 is determined according to the rotation speed of each first electromagnetic driving member 35 and each second electromagnetic driving member 36 .

[0149] The number of rotations of each adsorbed first electromagnetic driving member 35 can be obtained through the rotation speed and adsorption time of each adsorbed first electromagnetic driving member 35 .

[0150] The number of rotations of each adsorbed second electromagnetic driving member 36 can be obtained through the rotation speed and adsorption time of each adsorbed second electromagnetic driving member 36 .

[0151] The actual moving distance of each blade 37 can be determined by multiplying the number of rotations of each adsorbed first electromagnetic driving member 35 and the single-turn displacement of the blade 37 and the product of the number of rotations of each adsorbed second electromagnetic driving member 36 and the single-turn displacement of the blade 37.

[0152] The actual movement distance of each blade 37 and its target movement distance can be compared to determine the movement error of each blade 37. This movement error can be used to determine whether the radiotherapy device is faulty. In one alternative embodiment, the radiotherapy device requires that the movement error of each blade 37 be between -0.1 mm and 0.1 mm. If the movement error of each blade 37 is not within this range, it can be determined that the radiotherapy device is faulty.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-leaf collimator, characterized in that: Includes a base, a box assembly and a blade assembly; The box assembly includes two boxes arranged opposite to each other, and the two boxes are arranged on the base; The blade assembly is provided on each box body, and the blade assembly includes a first drive motor, a second drive motor, a first drive rod, a second drive rod, a plurality of first electromagnetic drive members, a plurality of second electromagnetic drive members and a plurality of blades, wherein the first drive motor is used to drive the first drive rod to rotate forward, and the second drive motor is used to drive the second drive rod to rotate reversely, the plurality of blades are slidably arranged in the box body, and the plurality of blades are arranged parallel to each other, each of the blades is respectively engaged with a first electromagnetic drive member and a second electromagnetic drive member, the first electromagnetic drive member corresponding to each blade is connected to the first drive rod, and the second electromagnetic drive member corresponding to each blade is connected to the second drive rod, the first electromagnetic drive member corresponding to each blade can be selectively adsorbed or separated from the first drive rod, and the second electromagnetic drive member corresponding to each blade can be selectively adsorbed or separated from the second drive rod, and each blade is used to move forward or backward through the corresponding first electromagnetic drive member and the second electromagnetic drive member; The first electromagnetic driving member and the second electromagnetic driving member each include a gear body, an electromagnet, a spring, and a cover plate; the electromagnet includes a first portion and a second portion, the spring abuts between the first portion and the second portion, the cover plate is fixedly connected to the gear body, the first portion and the second portion are respectively slidably disposed between the gear body and the cover plate, and the electromagnet can drive the gear body to rotate; The electromagnet of the first electromagnetic driving member is used to cause the first and second parts to compress the spring and be attracted to the first driving rod when power is supplied, and to cause the first and second parts to separate from the first driving rod under the action of the spring when power is removed; The electromagnet of the second electromagnetic driving member is used to cause the first and second parts to compress the spring and be attracted to the second driving rod when power is supplied, and the electromagnet of the second electromagnetic driving member is used to cause the first and second parts to separate from the second driving rod under the action of the spring when power is removed; A soft iron is provided between the electromagnet of the first electromagnetic driving member and the first driving rod, the soft iron is provided with a convex key, the first driving rod is provided with a first keyway, the convex key of the soft iron is clamped in the first keyway of the first driving rod, the electromagnet of the first electromagnetic driving member is used to cause the first part and the second part to compress the spring and adsorb to the soft iron when power is applied, and the electromagnet of the first electromagnetic driving member is used to cause the first part and the second part to separate from the soft iron under the action of the spring when power is removed; The soft iron is arranged between the electromagnet of the second electromagnetic driving component and the second driving rod, the second driving rod is provided with a second keyway, the convex key of the soft iron is stuck in the second keyway of the second driving rod, the electromagnet of the second electromagnetic driving component is used to make the first part and the second part compress the spring and adsorb with the soft iron after power is turned on, and the electromagnet of the second electromagnetic driving component is used to make the first part and the second part separate from the soft iron under the action of the spring after power is turned off.

2. The multi-leaf collimator according to claim 1, wherein: The gear body is provided with a first guide groove and a second guide groove, the extension direction of the first guide groove is the same as the extension direction of the second guide groove, the first part of the electromagnet is provided with a first guide protrusion, the second part of the electromagnet is provided with a second guide protrusion, the first guide protrusion is slidably disposed in the first guide groove, and the second guide protrusion is slidably disposed in the second guide groove; The electromagnet of the first electromagnetic driving member is used to drive the gear body of the first electromagnetic driving member to rotate through the first guide protrusion and the second guide protrusion after being energized; The electromagnet of the second electromagnetic driving member is used to drive the gear body of the second electromagnetic driving member to rotate through the first guide protrusion and the second guide protrusion after being energized.

3. The multi-leaf collimator according to claim 1, wherein: The first part and the second part are both U-shaped, the first part is provided with a first hole, the second part is provided with a second hole, the first hole and the second hole are arranged opposite to each other, and the spring abuts between the first hole and the second hole.

4. The multi-leaf collimator according to any one of claims 1 to 3, characterized in that: The blade assembly further includes a first coupling and a second coupling, the box body is provided with a first fixing seat and a connecting plate, the first drive motor and the second drive motor are respectively fixed to the connecting plate of the box body, the first coupling is connected between the first drive motor and the first drive rod, and the second coupling is connected between the second drive motor and the second drive rod; The first driving rod and the second driving rod are rotatably connected to the first fixing seat respectively.

5. The multi-leaf collimator according to claim 4, characterized in that A positioning piece is provided between adjacent first electromagnetic driving members, the positioning piece is fixedly connected to the first driving rod, and the positioning piece is used to prevent the plurality of first electromagnetic driving members from axially moving in the axial direction of the first driving rod; The positioning piece is provided between adjacent second electromagnetic driving members, and the positioning piece is fixedly connected to the second driving rod. The positioning piece is used to prevent the plurality of second electromagnetic driving members from axially moving in the axial direction of the second driving rod.

6. The multi-leaf collimator according to claim 4, characterized in that The box assembly also includes guide rails, sliders and a driving structure. Each box is fixedly connected to two sliders. The sliders on each box are slidably mounted on the two guide rails. Each box is equipped with a driving structure, which is used to move the box on the two guide rails.

7. The multi-leaf collimator according to claim 6, characterized in that The driving structure includes a box motor, a second fixed seat, a third fixed seat, a box coupling, a ball screw and a polished rod. The second fixed seat and the second fixed seat are respectively fixed on the base, the second fixed seat and the third fixed seat are arranged opposite to each other, the box motor is fixed on the second fixed seat, the box coupling is connected between the box motor and the screw of the ball screw, a bearing is provided on the third fixed seat, the screw is installed on the bearing, the polished rod is fixed between the second fixed seat and the third fixed seat, the polished rod is arranged parallel to the screw, the nut of the ball screw is fixedly connected to the connecting plate of the box, and the connecting plate is slidably arranged on the polished rod.

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