Radiation irradiation system and stage control method therefor

Abstract

The present application provides a kind of radiotherapy system and its control method of support platform, radiotherapy system includes radioactive ray generating device, control device, analog positioning chamber, irradiation chamber and the same first, second support platform respectively arranged in analog positioning chamber, irradiation chamber, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of supporting first, second support platform, the same first, second support platform positioning device of

Description

Technical Field

[0001] This invention relates in one aspect to a radiation irradiation system, and in another aspect to a method for controlling a stage in a radiation irradiation system. Background Technology

[0002] With the development of atomic science, radiation therapy, such as cobalt-60, linear accelerators, and electron beams, has become one of the main methods of cancer treatment. However, traditional photon or electron therapy is limited by the physical conditions of radiation itself. While killing tumor cells, it also damages a large amount of normal tissue along the beam path. In addition, due to the different sensitivities of tumor cells to radiation, traditional radiation therapy is often ineffective for more radiation-resistant malignant tumors (such as glioblastoma multiforme and melanoma).

[0003] To reduce radiation damage to surrounding normal tissues, the concept of targeted therapy in chemotherapy has been applied to radiotherapy. Furthermore, for highly radiation-resistant tumor cells, radiation sources with high relative biological effectiveness (RBE) are being actively developed, such as proton therapy, heavy ion therapy, and neutron capture therapy. Neutron capture therapy combines these two concepts; for example, boron neutron capture therapy utilizes the specific accumulation of boron-containing drugs on tumor cells, combined with precise neutron beam modulation, to provide a better cancer treatment option than traditional radiation.

[0004] In radiotherapy, a positioning device on the treatment table is used to align the radiation beam with the tumor cells inside the patient's body, enabling precise treatment while minimizing radiation damage to surrounding healthy tissues. In neutron capture therapy, the rapid and accurate positioning of the treatment table and the patient is crucial to both treatment effectiveness and patient comfort.

[0005] Therefore, it is necessary to propose a new technical solution to address the above problems. Summary of the Invention

[0006] To address the aforementioned problems, the present invention provides a radiation irradiation system, comprising a radiation generating device, a control device, a simulation positioning chamber, an irradiation chamber, and identical first and second mounting platforms respectively disposed within the simulation positioning chamber and the irradiation chamber. The radiation generating device generates a beam and has a beam outlet located within the irradiation chamber. The simulation positioning chamber is provided with a simulated beam outlet identical to the beam outlet. The simulation positioning chamber and the irradiation chamber are further provided with first and second mounting platform positioning devices capable of supporting the first and second mounting platforms, and simulating positioning and irradiation of the subjects on the first and second mounting platforms using the first and second mounting platform positioning devices. Positioning is achieved by having the first and second platform positioning devices identically configured in the simulation positioning chamber and the irradiation chamber, respectively, and having the same positional relationship with the simulated beam outlet and the beam outlet. A control device is connected to both the first and second platform positioning devices. The irradiated object is positioned identically on both platforms. In the simulation positioning chamber, the first platform positioning device determines the simulated positioning position of the first platform. In the irradiation chamber, the control device controls the second platform positioning device to move the second platform to the simulated positioning position and determine the irradiation position of the second platform. The irradiated object on the second platform is then irradiated by the beam at the irradiation position. Simulated positioning within the simulation positioning chamber saves time compared to positioning the irradiated object in the irradiation chamber, increasing the utilization rate of the irradiation chamber. Using the same platform positioning device in both the simulation positioning chamber and the irradiation chamber makes irradiation positioning more convenient, faster, and more accurate.

[0007] As a preferred embodiment, the radiation irradiation system further includes a treatment planning device. The treatment planning device generates treatment planning data to determine the placement of the irradiated body on the first platform in the simulation positioning chamber. The treatment planning device or the control device calculates the treatment planning coordinates of the first platform based on the treatment planning data and the placement of the irradiated body. The control device moves the first platform to the treatment planning position determined by the treatment planning coordinates via a first platform positioning device and determines the simulated positioning position of the first platform. By automatically calculating the coordinates of the treatment planning position of the platform and automatically controlling the platform to move to the treatment planning position via the platform positioning device, high positioning accuracy and speed are achieved.

[0008] Furthermore, identical laser positioning devices with the same positional relationship are respectively installed in the simulation positioning chamber and the irradiation chamber. The irradiated object is marked with a mark corresponding to the position where the laser generated by the laser positioning device hits the irradiated object. Based on the mark, it can be determined that the irradiated object has the same position in both the simulation positioning chamber and the irradiation chamber. The laser positioning device makes positioning more convenient and faster.

[0009] As a preferred embodiment, the simulation positioning room and the irradiation room are respectively equipped with identical optical verification devices with the same positional relationship. The optical verification devices are capable of acquiring images of the position of the platform and the irradiated body, transmitting the data to the control module for comparison with the treatment plan data, and making real-time adjustments or executing other treatment controls based on the results.

[0010] As a preferred embodiment, the radiation irradiation system further includes a transport vehicle and a transport vehicle positioning device. The first and second mounting platforms are the same mounting platform. The mounting platform can be supported and positioned by the transport vehicle and transferred from the simulation positioning room to the irradiation room. The transport vehicle is fixed at the same starting position in the simulation positioning room and the irradiation room respectively by the transport vehicle positioning device.

[0011] Furthermore, the radiation irradiation system also includes a stage locking mechanism. At the same starting position, the control device can control the first and second stage positioning devices to connect to the stage respectively and lock them to the stage respectively through the stage locking mechanism.

[0012] As a preferred embodiment, the radiation irradiation system is a neutron capture therapy system, and the radiation generating device includes a neutron generating device and a beam shaper. The beam shaper can adjust the neutron beam generated by the neutron generating device to a preset beam quality. The neutron beam generated by the neutron generating device is directed by the beam shaper to the irradiated body on the stage in the irradiation chamber.

[0013] Furthermore, the neutron generating device includes an accelerator and a target. The charged particle lines generated by the accelerator interact with the target to generate neutron lines. The beam shaping body includes a reflector, a decelerator, a thermal neutron absorber, a radiation shield, and a beam exit. The decelerator slows down the neutrons generated from the target to the ultrathermal neutron energy region. The reflector surrounds the decelerator and guides deviated neutrons back to the decelerator to improve the intensity of the ultrathermal neutron beam. The thermal neutron absorber is used to absorb thermal neutrons to avoid excessive doses to superficial normal tissues during treatment. The radiation shield is used to shield neutrons and photons that leak from outside the beam exit.

[0014] Another aspect of the present invention provides a method for controlling a stage in a radiation irradiation system. The radiation irradiation system includes a radiation generating device, a treatment planning device, a simulation positioning chamber, an irradiation chamber, and identical first and second stages respectively disposed in the simulation positioning chamber and the irradiation chamber. First and second stage positioning devices capable of supporting the first and second stages are respectively disposed in the simulation positioning chamber and the irradiation chamber. The first and second stage positioning devices have identical arrangements and positional relationships in the simulation positioning chamber and the irradiation chamber. The stage control method includes: placing the irradiated body on the first stage according to... The treatment plan data generated by the treatment planning device is used to fix the position of the irradiated body. The treatment plan position of the first placement stage is calculated based on the treatment plan data and the placement of the irradiated body. The first placement stage positioning device is controlled to move the first placement stage to the treatment plan position and determine the simulated positioning position. The irradiated body is placed on the second placement stage in the same position as on the first placement stage. The second placement stage positioning device is controlled to move the second placement stage to the simulated positioning position and determine the irradiation position. The irradiated body on the second placement stage is irradiated by the beam generated by the radiation generating device at the irradiation position. Simulated positioning in the simulation positioning room saves time spent locating the irradiated body in the irradiation room, increasing the utilization rate of the irradiation room. By automatically calculating the coordinates of the treatment plan position of the placement stage, and using the same placement stage positioning device to automatically control the movement of the placement stage in both the simulation positioning room and the irradiation room, irradiation positioning becomes more convenient, faster, and more accurate.

[0015] As a preferred embodiment, the radiation irradiation system further includes a transport vehicle and a transport vehicle positioning device. The first and second mounting platforms are the same mounting platform. The control method further includes: before placing the irradiated body on the mounting platform: fixing the transport vehicle in the simulation positioning chamber using the transport vehicle positioning device and positioning the mounting platform on the transport vehicle, thereby positioning the mounting platform in an initial position; connecting the first mounting platform positioning device to the mounting platform and locking it in the simulation positioning chamber; after determining the simulated positioning position: moving the mounting platform to the initial position and supporting it with the transport vehicle; unlocking the first mounting platform positioning device from the mounting platform and moving the mounting platform and the irradiated body on the mounting platform to the irradiation chamber; positioning the mounting platform in the initial position in the irradiation chamber using the transport vehicle positioning device, and connecting the second mounting platform positioning device to the mounting platform and locking it in the mounting platform.

[0016] The radiation irradiation system and its stage control method of the present invention save the time of positioning the irradiated body in the irradiation room by simulating positioning in the simulation positioning room, thereby increasing the utilization rate of the irradiation room; the same stage positioning device is used in both the simulation positioning room and the irradiation room, making irradiation positioning more convenient, faster and more accurate. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the neutron capture therapy system according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram showing the positioning of the treatment table in the neutron capture therapy system according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the treatment table positioning device of the neutron capture therapy system according to an embodiment of the present invention;

[0020] Figure 4 for Figure 3 A diagram in another direction;

[0021] Figure 5 This is a schematic diagram of the modules of the neutron capture therapy system according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the treatment table transport vehicle and the transport vehicle positioning mechanism of the neutron capture therapy system according to an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the state of the treatment table positioning device of the neutron capture therapy system in different positions according to an embodiment of the present invention;

[0024] Figure 8 for Figure 7 A top view parallel to the ground;

[0025] Figure 9 for Figure 8 Sectional view in the OO plane;

[0026] Figure 10 This is a flowchart of the treatment table control method of the neutron capture therapy system according to an embodiment of the present invention;

[0027] Figure 11 This is a flowchart illustrating the method for controlling the treatment table to move away from the beam exit in a neutron capture therapy system according to an embodiment of the present invention. Detailed Implementation

[0028] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement them based on the description.

[0029] like Figure 1In this embodiment, the radiation irradiation system is preferably a boron neutron capture therapy system 100, including a neutron generating device 10, a beam shaper 20, a collimator 30, and a treatment table 40. The neutron generating device 10 includes an accelerator 11 and a target material T. The accelerator 11 accelerates charged particles (such as protons, deuterons, etc.) to produce a charged particle line P, such as a proton beam. The charged particle line P irradiates the target material T and interacts with it to produce a neutron beam (neutron beam) N. The target material T is preferably a metallic target. A suitable nuclear reaction is selected based on the required neutron yield and energy, the available energy and current of the accelerated charged particles, and the physicochemical properties of the metallic target. Commonly discussed nuclear reactions include... 7 Li(p,n) 7 Be and 9 Be(p,n) 9 B. Both of these reactions are endothermic. The energy thresholds for the two nuclear reactions are 1.881 MeV and 2.055 MeV, respectively. Since the ideal neutron source for boron neutron capture therapy is hyperthermic neutrons at the keV energy level, theoretically, if protons with energies only slightly above the threshold are used to bombard a lithium metal target, relatively low-energy neutrons can be produced, which can be used clinically without much slowing treatment. However, the interaction cross-section between lithium metal (Li) and beryllium metal (Be) targets and protons at the threshold energy is not high. To generate a sufficiently large neutron flux, higher-energy protons are usually chosen to initiate the nuclear reaction. An ideal target should have high neutron yield, a neutron energy distribution close to the hyperthermic neutron energy region (described in detail below), minimal strong penetration radiation, safety, low cost, ease of operation, and high temperature resistance. However, in reality, it is impossible to find a nuclear reaction that meets all the requirements. In the embodiments of this invention, a target made of lithium metal is used. However, as is well known to those skilled in the art, the target material T can also be made of metallic materials other than lithium and beryllium, such as tantalum (Ta) or tungsten (W); the target material T can be in the shape of a disc, or other solid shapes, or a liquid (liquid metal). The accelerator 11 can be a linear accelerator, a cyclotron, a synchrotron, or a synchrotron-cyclotron, and the neutron generating device 10 can be a nuclear reactor without an accelerator and target material. Regardless of whether the neutron source for boron neutron capture therapy originates from the nuclear reaction between charged particles and the target material in a nuclear reactor or accelerator, the resulting field is actually a mixed radiation field, meaning the beam contains neutrons and photons ranging from low to high energy. For boron neutron capture therapy of deep tumors, the higher the content of radiation other than hyperthermic neutrons, the greater the proportion of non-selective dose deposition in normal tissues; therefore, these radiations that cause unnecessary doses should be minimized. Furthermore, for the normal tissues of the irradiated body, excessive amounts of various types of radiation should be avoided, as this also causes unnecessary dose deposition.

[0030] The neutron beam N generated by the neutron generating device 10 is sequentially irradiated onto the irradiated body 200 on the treatment table 40 via the beam shaper 20 and collimator 30. The beam shaper 20 can adjust the beam quality of the neutron beam N generated by the neutron generating device 10, and the collimator 30 is used to focus the neutron beam N, so that the neutron beam N has high targeting during treatment. The positions of the treatment table 40 and the irradiated body 200 can also be adjusted so that the beam is aimed at the tumor cells M in the irradiated body 200. These adjustments can be performed manually or automatically through a series of control mechanisms (detailed below). It is understood that the present invention may also be without a collimator, and the beam directly irradiates the irradiated body 200 on the treatment table 40 after exiting the beam shaper 20.

[0031] The beam shaping body 20 further includes a reflector 21, a retarder 22, a thermal neutron absorber 23, a radiation shield 24, and a beam exit 25. Since the neutrons generated by the neutron generating device 10 have a wide energy spectrum, besides the superthermal neutrons needed for treatment, it is necessary to minimize the content of other types of neutrons and photons to avoid harm to operators or the irradiated body. Therefore, the neutrons exiting the neutron generating device 10 need to pass through the retarder 22 to adjust the fast neutron energy (>40 keV) to the superthermal neutron energy range (0.5 eV-40 keV) and minimize the thermal neutrons (<0.5 eV). The retarder 22 is made of a material with a large interaction cross-section with fast neutrons and a small interaction cross-section with superthermal neutrons. As a preferred embodiment, the retarder 22 is made of D2O, AlF3, or Fluental. TMThe reflector 21 is made of at least one of CaF2, Li2CO3, MgF2, and Al2O3; the reflector 21 surrounds the retarder 22 and reflects neutrons that diffuse through the retarder 22 back to the neutron beam N to improve neutron utilization. It is made of a material with strong neutron reflection capability. In a preferred embodiment, the reflector 21 is made of at least one of Pb or Ni; the retarder 22 has a thermal neutron absorber 23 at its rear, made of a material with a large cross-section for interaction with thermal neutrons. In a preferred embodiment, the thermal neutron absorber 23 is made of Li-6. To absorb thermal neutrons passing through the retarder 22 and reduce the thermal neutron content in the neutron beam N, thus avoiding excessive doses to superficial normal tissues during treatment, it is understood that the thermal neutron absorber can also be integrated with the retarder, the retarder material containing Li-6; the radiation shield 24 is used to shield neutrons and photons leaking from outside the beam exit 25, the material of the radiation shield 24 includes at least one of photon shielding material and neutron shielding material, as a preferred embodiment, the material of the radiation shield 24 includes photon shielding material lead (Pb) and neutron shielding material polyethylene (PE). The collimator 30 is located at the rear of the beam exit 25, the superheated neutron beam from the collimator 30 irradiates the irradiated body 200, and after passing through superficial normal tissues, it is retarded into thermal neutrons to reach the tumor cells M. It is understandable that the beam shaper 20 can have other structures, as long as it can obtain the superheated neutron beam required for treatment; for ease of description, when a collimator 30 is provided, the outlet of the collimator 30 can also be regarded as the beam outlet 25 described below.

[0032] After the irradiated body 200 takes or injects a boron-containing (B-10) drug, the boron-containing drug selectively accumulates in tumor cells M. Then, taking advantage of the high capture cross-section of the boron-containing (B-10) drug for thermal neutrons, by... 10 B(n,α) 7 Li neutron capture and nuclear fission reaction produce 4 He and 7 Li has two heavily charged particles. The average energy of these two charged particles is approximately 2.33 MeV, exhibiting high linear energy transfer (LET) and a short range. The linear energy transfer and range of the alpha particle are 150 keV / μm and 8 μm, respectively. 7 Li heavy particles have a range of 175 keV / μm and 5 μm. The total range of the two particles is about the size of a cell. Therefore, the radiation damage to organisms can be limited to the cellular level, which can achieve the purpose of killing tumor cells locally without causing too much damage to normal tissues.

[0033] In this embodiment, a radiation shielding device 50 is also provided between the irradiated body 200 and the beam outlet 25 to shield the radiation from the beam exiting the beam outlet 25 to the normal tissues of the irradiated body. It is understood that the radiation shielding device 50 may not be provided. The boron neutron capture therapy system 100 is housed entirely in a concrete building. Specifically, the boron neutron capture therapy system 100 also includes an irradiation chamber 101 and a charged particle beam generation chamber 102. The irradiated body 200 on the treatment table 40 undergoes neutron beam N irradiation treatment in the irradiation chamber 101. The charged particle beam generation chamber 102 at least partially houses the accelerator 11. The beam shaper 20 is at least partially housed within the partition wall 103 between the irradiation chamber 101 and the charged particle beam generation chamber 102. It is understood that the partition wall 103 can completely separate the irradiation chamber 101 and the charged particle beam generation chamber 102; or it can be a partial partition between the irradiation chamber 101 and the charged particle beam generation chamber 102, with the irradiation chamber 101 and the charged particle beam generation chamber 102 being interconnected. There can be one or more target materials T, and the charged particle beam P can selectively interact with one or more target materials T or simultaneously with multiple target materials T to generate one or more therapeutic neutron beams N. Corresponding to the number of target materials T, there can also be one or more beam shapers 20, collimators 30, and treatment tables 40; multiple treatment tables can be arranged in the same irradiation chamber, or each treatment table can be provided with a separate irradiation chamber. The irradiation chamber 101 and the charged particle beam generation chamber 102 are spaces formed by a concrete wall W (including the partition wall 103), and the concrete structure can shield neutrons and other radiation leaked during the operation of the boron neutron capture therapy system 100. The boron neutron capture therapy system 100 may also include a preparation room, a control room, and other spaces for auxiliary treatment (not shown). Each irradiation room may be equipped with a preparation room for pre-treatment preparations such as injecting boron drugs and simulating treatment plans. The control room is used to control the accelerator, beam transmission unit, treatment table positioning device, etc., and to control and manage the entire irradiation process. The management personnel can also monitor multiple irradiation rooms simultaneously from the control room. The boron neutron capture therapy system 100 may also include a simulation positioning room 104 (detailed below) for simulating the positioning of the irradiated body 200 before irradiation treatment. The simulation positioning room 104 is equipped with a simulated beam outlet 25' that is the same as the beam outlet 25, saving the time of positioning the irradiated body 200 in the irradiation room 101 and increasing the utilization rate of the irradiation room 101. It can be understood that the simulation positioning room can also be used as a preparation room.

[0034] Combination Figure 2The neutron capture therapy system 100 also includes a treatment table positioning device 60 and a control device 70. The treatment table 40 and the irradiated body 200 on the treatment table 40 are supported by the treatment table positioning device 60. The control device 70 is connected to the treatment table positioning device 60 and can control the treatment table positioning device 60. The control device 70 can also be connected to the neutron generating device 10 and can control the neutron generating device 10 to irradiate the irradiated body 200 on the treatment table 40 with a neutron beam N. In this embodiment, identical treatment table positioning devices 60 and 60' are respectively installed in the irradiation chamber 101 and the simulation positioning chamber 104, and have the same positional relationship with the beam exit 25 and the simulated beam exit 25'. That is, the same XYZ coordinate system of the treatment table 40 and the treatment table positioning devices 60 and 60' is defined in the irradiation chamber 101 and the simulation positioning chamber 104, with a reference point at a certain distance from the center of the beam exit 25 and the simulated beam exit 25' along the N direction of the neutron beam as the origin. The treatment table positioning devices 60 and 60' are used to perform the simulation positioning and irradiation positioning of the treatment table 40 and the irradiated body 200 on the treatment table 40, respectively. The use of the same treatment table positioning device makes the irradiation positioning more convenient, faster, and more accurate. For ease of description, only the structure of the treatment table positioning device 60 in the irradiation chamber 101 will be described in detail below.

[0035] like Figures 3-5As shown, in one embodiment, the treatment table positioning device 60 includes a positioning mechanism 61, which includes a linear shaft 611 and a robotic arm 612. The robotic arm 612 is disposed between the linear shaft 611 and the treatment table 40, connecting the treatment table 40 to the linear shaft 611 via the robotic arm 612 and enabling the treatment table 40 and the robotic arm 612 to translate together along the linear shaft 611. In this embodiment, the linear shaft 611 is installed on the ceiling 1011 of the irradiation chamber 101, and the robotic arm 612 extends generally toward the floor 1012 of the irradiation chamber 101. It is understood that the linear shaft 611 can also be installed on other surfaces, such as walls or floors. The linear shaft 611 is constructed as a slide rail 6111 fixed to the ceiling 1011 and a support 6112 connected to the robotic arm 612. The support 6112 slides along the slide rail 6111. It is understood that other configurations are also possible. The linear axis is directly fixed to the ceiling 1011 without additional linear axis fixing mechanisms such as steel gantry frames, reducing the amount of steel used in the irradiation chamber and preventing secondary radiation caused by neutron activation of the fixing mechanism. The robotic arm 612 is a multi-axis robotic arm connecting the support 6112 and the treatment table 40. The treatment table positioning device 60 also includes a drive mechanism 62 to drive the movement of the linear axis 611 and the robotic arm 612, and the control device 70 controls the drive mechanism 62. The extension direction 6113 of the linear axis 611 is parallel to the direction of the neutron beam N emanating from the beam outlet 25 and irradiating the irradiated body on the treatment table 40. Thus, during the positioning of the treatment table, the robotic arm 612 moves as a whole in a direction parallel to the direction of the neutron beam N. Most of the robotic arm is located in the space between the slide rail and the neutron beam outlet, reducing the radioactivity generated by neutron activation of various components of the robotic arm and the resulting shortened lifespan. The distance H1 from the sliding surface S of the slide rail 6111 and support 6112 to the center of the beam outlet 25 in a direction perpendicular to the sliding surface S is less than 2 meters, providing sufficient operating space for the treatment table positioning device 60 to position the treatment table 40 relative to the beam outlet 40 in the desired position. In this embodiment, the sliding surface S is parallel to the plane of the ceiling. It is understood that the treatment table positioning device 60 may also have other configurations, such as excluding the linear axis 611, with the treatment table 40 connected to and supported by the robotic arm 612; or the robotic arm 612 may include more or fewer arms.

[0036] Sensors 80 can be installed on the treatment table 40 or the treatment table positioning device 60, such as... Figure 5As shown, sensor 80 is mounted on positioning mechanism 61 and treatment table 40. In one embodiment, sensor 80 is an anti-collision sensor mounted on treatment table 40 and robotic arm 612. When the edge of treatment table or robotic arm comes into contact with other objects or other objects reach the sensor's set range, the sensor is triggered to emit a signal and transmit it to control device 70. Control device 70 controls drive mechanism 62 to stop driving the movement of positioning mechanism 61, that is, controls treatment table 40 to stop moving. Anti-collision sensor can be a mechanical sensor, photoelectric sensor, radar sensor, ultrasonic sensor, laser rangefinder, etc. It can be understood that anti-collision sensor can also emit human body perception signals, and the operator can manually control drive mechanism to stop driving based on the perceived signals; or it can not control treatment table to stop moving, but perform other safety operations, such as performing reverse movement before collision.

[0037] The control device 70 includes at least one user interface 71, allowing the operator to interactively control the treatment table positioning device 60. The control device 70 also includes a system control module 72 and a positioning control module 73. The user interface 71 is connected to the system control module 72, and the system control module 72 is connected to the positioning control module 73. The positioning control module 73 is connected to and controls the drive mechanism 62. When the system control module 72 receives a command from the user interface 71, it transmits the command to the positioning control module 73, which then automatically controls the movement of the positioning mechanism 61. The position information of the positioning mechanism 61 can be fed back to the system control module 72 via the positioning control module 73 and transmitted to the user interface 71 for status indication. The operating status or data of the drive mechanism 62 is also fed back to the system control module 72 via the positioning control module 73. The system control module 72 or the positioning control module 73 controls the drive mechanism 62 based on this information, and the system control module 72 can also transmit this information to the user interface 71 for status indication. Sensor 80 is also connected to system control module 72. After receiving the signal from sensor 80, system control module 72 sends instructions to positioning control module 73 to control the movement of treatment table positioning device 60, and transmits the signal from sensor 80 to user interface 71 for status indication. It can be understood that system control module 72 and positioning control module 73 can be integrated together, or they can be separate hardware components.

[0038] The neutron capture therapy system 100 also includes a treatment planning device 90. The treatment planning device 90 performs dose simulation calculations and generates a treatment plan (e.g., using a Monte Carlo simulation program) based on the parameters of the therapeutic neutron beam N generated by the neutron generating device 10 and medical imaging data of the irradiated site. The treatment plan determines the position of the irradiated site relative to the neutron generating device 10 and the corresponding irradiation time during treatment. A control device 70 (system control module 71) is connected to the treatment planning device 90 and receives the treatment plan data, thereby controlling the movement of the treatment table positioning devices 60 and 60' and the neutron beam N generated by the neutron generating device 10 according to the treatment plan data.

[0039] Before starting irradiation treatment, the irradiated body 200 is simulated and positioned in the simulation positioning room 104 according to the treatment plan pre-defined by the treatment planning device 90. First, the treatment table positioning device 60' is connected to the treatment table 40, such as... Figure 6 In this embodiment, the treatment table 40 is placed on a treatment table transport vehicle 401. The transport vehicle 401 is positioned within the simulation positioning chamber 104 (irradiation chamber 101) by a transport vehicle positioning mechanism 402. At least two holes 4021 (not shown) are provided on the floor of the simulation positioning chamber 104 (irradiation chamber 101), and at least two pins 4022 are correspondingly provided on the transport vehicle 401. The pins 4022 are inserted into the holes 4021 for positioning. It can be understood that other methods can also be used to position the transport vehicle 401. The relative position of the treatment table 40 on the transport vehicle 401 is also determined, such as by a limiting mechanism 403 (e.g., a boss provided on the transport vehicle) to limit the position of the treatment table 40. Therefore, when the treatment table 40 is placed on the positioned transport vehicle 401, its position relative to the simulation positioning chamber 104 (irradiation chamber 101) is determined. At this time, the treatment table 40 is installed in the simulation positioning chamber 104 at the initial position A (with the same positional relationship as the irradiation chamber 101). The control device 70 controls the treatment table positioning device 60' in the simulation positioning chamber 104 to move to a position where it can be connected to the treatment table 40, and controls the locking mechanism 404 to lock the treatment table positioning device 60' to the treatment table 40. The specific structure of the locking mechanism 404 (clamping assembly) will not be described in detail here. Please refer to the patent application published on May 4, 2021, with publication number CN112741967A and invention title "Neutron Capture Therapy System", which is quoted in full here.

[0040] Then, the irradiated body 200 is placed on the treatment table 40. The irradiated body 200 is positioned and fixed according to the position of the irradiated part relative to the neutron generating device 10 during irradiation treatment, as determined by the pre-established treatment plan. The treatment planning device 90 or the control device 70 calculates the coordinate position of the treatment table 40 determined by the treatment plan based on the current positioning. The relative position of the irradiated body and the treatment table can be determined by scanning the positioned irradiated body and the treatment table using CT, optical scanning, etc., so that the coordinates of the treatment table determined by the treatment plan can be calculated based on the position of the irradiated part relative to the neutron generating device 10 during irradiation treatment. It can be understood that the coordinate position of the treatment table 40 can also be calculated by other methods.

[0041] The control device 70 automatically controls the treatment table positioning device 60' to move the treatment table 40 from the initial position A to the coordinate position (treatment plan position B) based on the calculated coordinates. After the treatment table 40 moves to the coordinate position (treatment plan position B), the operator can further adjust and determine the simulated positioning position C through the user interface 71 as needed. If an error occurs during the movement of the treatment table 40 and the treatment table positioning device 60', the movement path of the treatment table positioning device 60' will be recalculated or the treatment plan will be regenerated. By automatically calculating the coordinates of the treatment plan position of the treatment table and automatically controlling the movement of the treatment table to the treatment plan position through the treatment table positioning device, the positioning accuracy is high and the speed is fast.

[0042] Next, the control device 70 sends a command indicating that the simulation positioning is complete via the user interface 71. The control device 70 records the coordinate position at this time (simulation positioning position C) and controls the treatment table positioning device 60 to return the treatment table 40 to the initial position A (the treatment table 40 is placed on the transport vehicle 401 after positioning). The control device 70 controls the locking mechanism 403 to unlock, release the treatment table 40, and controls the treatment table positioning device 60 to move to a position separated from the treatment bed 40. The transport vehicle positioning mechanism 402 is released, and the transport vehicle 401 transports the treatment table 40 and the irradiated body 200 to the irradiation room 101.

[0043] Upon arrival at the irradiation chamber 101, irradiation positioning begins. The transport vehicle 401 within the irradiation chamber 101 is equipped with the same transport vehicle positioning mechanism 402 as the one in the simulation positioning chamber 104. This means the transport vehicle 401 can be positioned within the irradiation chamber using the transport vehicle positioning mechanism 402, maintaining the same fixed position as in the simulation positioning chamber 104. Then, the treatment table positioning device 60 within the irradiation chamber 101 is moved to a position (initial position A) where it can connect to the treatment table 40, and the locking mechanism 403 locks the treatment table positioning device 60 to the treatment table 40. The control device 70 controls the treatment table 40 to move to the simulated positioning position C based on the coordinates determined by the simulation positioning. Further adjustments can be made via the user interface 71 as needed. Once the position is reached, the irradiation position D is determined. The operator then exits the irradiation chamber 101 and releases the transport vehicle positioning mechanism 402 to move the transport vehicle 401 out. The simulation positioning in the simulation positioning chamber 104 saves the working time of positioning the irradiated body 200 before irradiation treatment in the irradiation chamber 101. While performing simulation positioning, another irradiated body can also be irradiated, increasing the utilization rate of the equipment. In one embodiment, when the treatment table positioning devices 60 and 60' are locked and connected to the treatment table 40, and the treatment table 40 needs to move from the initial position A, the treatment table positioning devices 60 and 60' can be controlled to first raise the treatment table 40, then release the transfer cart positioning mechanism 402 to move the transfer cart 401 out, and then control the treatment table positioning devices 60 and 60' to move further, preventing position interference between the treatment table positioning devices 60 and 60' and the transfer cart 401.

[0044] In one embodiment, identical laser positioning devices 601 and 601' with the same positional relationship are installed in both the irradiation chamber 101 and the simulation positioning chamber 104. The operator can mark the irradiated object 200 based on the position of the laser beam generated by the laser positioning device hitting the irradiated object 200, and adjust or verify the position of the irradiated object 200 in both the simulation positioning chamber 104 and the irradiation chamber 101 based on the marked positions, ensuring that the irradiated object 200 has the same position in both chambers. The laser positioning devices make positioning more convenient and faster.

[0045] The lasers generated by the laser positioning devices 601 and 601' can also determine positions that coincide with the central axes X and X' of the beam exits 25 and 25', such as... Figure 2 As shown, the position where the laser generated by the laser positioning devices 60 and 60' hits the irradiated body 200 represents the position where the central axis of the beam from the beam outlets 25 and 25' is incident on the irradiated body 200. The incident point of the beam central axis simulated according to the treatment plan is marked on the irradiated body 200 by the voxel prosthesis tissue model, so that the beam incident position determined during simulation positioning and irradiation treatment is more accurate.

[0046] Identical optical verification devices 602 and 602' with the same positional relationship can also be installed in the irradiation chamber 101 and the simulation positioning chamber 104 to acquire images of the position of the treatment table 40 and the irradiated body 200, transmit the data to the system control module 72, compare it with information such as the treatment plan, and make adjustments or execute other treatment controls based on the results. The system control module 72 can also receive other data information, such as data from the neutron generator and information about the irradiated body, and control the neutron generator and other devices.

[0047] After the positions of the treatment table 40 and the irradiated body 200 are adjusted, the treatment table 40 is in irradiation position D. The operator sends a command to start irradiation through the user interface 71. After determining that the conditions for starting irradiation have been met, the system control module 72 controls the neutron generating device 10 to start generating a neutron beam N to irradiate the irradiated body 200 on the treatment table 40. After the predetermined irradiation time is reached (such as the irradiation time determined by the treatment plan data), the system control module 72 controls the neutron generating device 10 to stop irradiating the irradiated body 200 on the treatment table 40 with the neutron beam N, and transmits information to the user interface 71 to indicate the end of treatment. After the treatment is completed, the system control module 72 sends a command to the positioning control module 73 to control the treatment table positioning device 60 to move the treatment table 40 from the irradiation position D to the end position E, away from the beam exit 25. Even after the N-neutron beam irradiation is stopped, a significant amount of residual radiation will remain at the beam exit 25. Moving the treatment table 40 away from the beam exit 25 can prevent the irradiated body 200 from continuing to be exposed to residual radiation after treatment, thus reducing unnecessary radiation dose. (See also...) Figures 7-9This is a schematic diagram showing the state of the treatment table 40 and the treatment table positioning device 60 in different positions after treatment. After treatment, firstly, the linear axis 611 is controlled to move the treatment table 40 from the irradiation position D away from the beam exit 25 along the extension direction 6113 parallel to the linear axis 611, so as to realize that the treatment table 40 quickly moves away from the beam exit 25 and minimizes the residual radiation exposure to the irradiated body 200 after treatment; secondly, the robotic arm 612 is controlled to move the treatment table 40 to the second intermediate position G, where the extension direction 41 of the treatment table 40 is basically parallel to the extension direction 6113 of the linear axis 611, to prevent the treatment table 40 from interfering with the transfer bed or blocking the shielding door exit of the irradiation chamber 101 at the end position E, thus facilitating the irradiated body 200 to leave the irradiation chamber 101; finally, the robotic arm 612 is controlled to move the treatment table 40 close to the ground from the second intermediate position G to the end position E, which facilitates the irradiated body 200 to leave the irradiation chamber 101. After the irradiated body 200 leaves, the locking mechanism 403 can be unlocked to send the treatment table 40 back to the simulation positioning room 104; or the locking mechanism 403 can be unlocked first to send the irradiated body 200 and the treatment table 40 out of the irradiation room 101 together. After the irradiated body 200 leaves the treatment table 40, the treatment table 40 can be sent back to the simulation positioning room 104, such as by the transport vehicle 401. At this time, the end position E can be the same as the initial position A. The transport vehicle 401 is also positioned in the irradiation room 101 by the transport vehicle positioning mechanism 402. The robotic arm 612 moves the treatment table 40 to the initial position A (end position E) on the transport vehicle 401. At the end position E, the minimum distance H2 between the treatment table 40 and the plane perpendicular to the neutron beam N direction where the center of the beam outlet 25 is located is not less than 2500mm, ensuring that it will not be exposed to a large dose of residual radiation; at the end position E, the height H3 of the bearing surface 42 of the treatment table 40 from the ground is not greater than 600mm, facilitating the transfer of the irradiated body 200 or the treatment table 40.

[0048] After treatment, the system control module 72 can automatically control the treatment table 40 to move away from the beam exit 25 based on the signal indicating that the irradiation time has been reached or the signal indicating that the irradiation of the neutron beam N has been stopped; alternatively, the operator can input the instruction to move the treatment table away from the beam exit on the user interface 71 based on the treatment completion status indication, such as by clicking the corresponding button on the human-machine interaction control interface 713, and then the system control module 72 controls the treatment table 40 to move away from the beam exit 25 according to the instruction.

[0049] like Figure 10 In simple terms, the treatment table control method of this embodiment includes:

[0050] S10: Connect the treatment table positioning device 60' in the simulation positioning room 104 to the treatment table 40 and lock it to the treatment table 40. Then, fix the irradiated body 200 on the treatment table 40 according to the treatment plan data. Then, calculate the treatment plan coordinates of the treatment table 40, i.e. the coordinates of the treatment plan position B, according to the treatment plan data and the position of the irradiated body 200.

[0051] S20: According to the treatment plan coordinates, control the treatment table positioning device 60' to move the treatment table 40 to the treatment plan position B, and further adjust it to the simulated positioning position C as needed. Record the coordinates of the simulated positioning position C. It can be understood that the simulated positioning position C is the treatment plan position B.

[0052] S30: Unlock the treatment table positioning device 60' from the treatment table 40, and move the treatment table 40 and the irradiated body 200 on the treatment table 40 to the irradiation chamber 101, and connect the treatment table positioning device 60 in the irradiation chamber 101 to the treatment table 40 and lock it to the treatment table 40.

[0053] S40: According to the coordinates of the simulated positioning position C, the treatment table positioning device 60 moves the treatment table 40 to the simulated positioning position C, and then further adjusts it to the irradiation position D as needed, and then begins to irradiate the irradiated body 200 with the neutron beam N. It can be understood that the irradiation position D is the simulated positioning position C.

[0054] S50: After the treatment is completed, that is, after the irradiation of the irradiated body 200 with the neutron beam N is stopped, the treatment table positioning device 60 is controlled to move the treatment table 40 to the end position E, that is, to control the treatment table 40 away from the beam outlet 25.

[0055] It is understood that step S20 may also include recalculating the movement path of the treatment table positioning device 60' or regenerating the treatment plan if an error occurs during the process of moving the treatment table 40 to the treatment plan position B.

[0056] like Figure 11 Specifically, the method of controlling the treatment table 40 away from the beam exit 25 in step S50 further includes:

[0057] S51: Control the linear axis 611 to move the treatment table 40 from the irradiation position D away from the beam exit 25 along the extension direction 6113 parallel to the linear axis 611 to the first intermediate position F;

[0058] S52: Control the robotic arm 612 to move the treatment table 40 to a second intermediate position G in which the extension direction 41 of the treatment table 40 is substantially parallel to the extension direction 6113 of the linear axis 611.

[0059] S53: Control the robotic arm 612 to move the treatment table 40 close to the ground from the second intermediate position G to the end position E.

[0060] The command input on user interface 71 to move the treatment table away from the beam exit can be executed automatically and continuously via a single button for steps S51-S53, or stepwise via three buttons corresponding to steps S51-S53 respectively, or other configuration methods. It can be understood that steps S51 and S53 can also involve first controlling the robotic arm 612 to move the treatment table 40 closer to the ground, and then controlling the linear axis 611 to move the treatment table 40 away from the beam exit 25 along an extension direction 6113 parallel to the linear axis 611. Step S52 can also follow S53; or simultaneously controlling the linear axis 611 and the robotic arm 612 to move the treatment table 40 to the final position E. It can be understood that, depending on specific needs, the height of the treatment table relative to the ground at the final position E can also be a different position compared to the height of the treatment table relative to the ground at the irradiation position D.

[0061] The above-mentioned positions AG are all based on the preset reference points on the treatment table 40. It is understood that a transport vehicle may not be set up. The same treatment table is set up in the simulation positioning room and the irradiation room respectively, and the irradiated body is positioned in the same way in the simulation positioning room and the irradiation room (such as by the positioning mechanism set on the treatment table) and the same initial position is determined (such as by the laser positioning device).

[0062] In this embodiment, the concrete wall is made of boron-containing barite concrete with a thickness of over 1m and a density of 3g / cc. Boron-containing concrete has better neutron absorption properties, which not only enhances the radiation shielding effect of the concrete but also reduces the neutron exposure of metallic materials within the concrete. It is understood that other thicknesses or densities are possible, or other materials can be used, and the thickness, density, or material of the concrete wall can vary in different parts. It is also understood that this invention can be applied to other types of neutron irradiation systems; it can also be applied to other radiation irradiation systems, such as proton therapy systems and heavy ion therapy systems. In this case, the neutron generating device can be replaced with other radiation generating devices, and the concrete material can be replaced as needed; the treatment table can also be a platform for other irradiated objects.

[0063] Although the illustrative specific embodiments of the present invention have been described above to enable those skilled in the art to understand the invention, it should be understood that the invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the invention as defined and determined by the appended claims, and are all within the scope of protection claimed by the present invention.

Claims

1. A radiation irradiation system, comprising a radiation generating device, a control device, a simulation positioning chamber, an irradiation chamber, and identical first and second mounting platforms respectively disposed in the simulation positioning chamber and the irradiation chamber, wherein the radiation generating device is used to generate a beam and has a beam outlet, the beam outlet being located in the irradiation chamber, and the simulation positioning chamber is provided with a simulated beam outlet identical to the beam outlet, characterized in that, The simulated positioning chamber and the irradiation chamber are respectively equipped with identical first and second platform positioning devices. The first platform positioning device supports the first platform in the simulated positioning chamber, and the second platform positioning device supports the second platform in the irradiation chamber. The simulated positioning and irradiation positioning of the first and second platforms and the irradiated objects on them are performed using the first and second platform positioning devices, respectively. The first and second platform positioning devices have identical configurations in the simulated positioning chamber and the irradiation chamber, and have the same positional relationship with the simulated beam outlet and the beam outlet, respectively. The control device is connected to the first and second platform positioning devices, respectively. The irradiated object is positioned in the first and second platforms... The radiation irradiation system includes a treatment planning device. The first stage has the same placement position. In the simulation positioning chamber, the first stage positioning device determines the simulated positioning position of the first stage. In the irradiation chamber, the control device controls the second stage positioning device to move the second stage to the simulated positioning position and determine the irradiation position of the second stage. The irradiated body on the second stage is irradiated by the beam at the irradiation position. The system also includes a treatment planning device. The treatment planning data generated by the treatment planning device determines the placement of the irradiated body on the first stage in the simulation positioning chamber. The treatment planning device or the control device calculates the treatment plan coordinates of the first stage based on the treatment plan data and the placement of the irradiated body.

2. The radiation irradiation system according to claim 1, characterized in that, The control device moves the first placement platform to the treatment plan position determined by the treatment plan coordinates through the first placement platform positioning device and determines the simulated positioning position of the first placement platform.

3. The radiation irradiation system according to claim 2, characterized in that, The simulation positioning room and the irradiation room are respectively equipped with the same laser positioning device with the same positional relationship. The irradiated body is provided with a mark corresponding to the position on the irradiated body where the laser generated by the laser positioning device hits the irradiated body. According to the mark, it can be determined that the irradiated body has the same position in the simulation positioning room and the irradiation room.

4. The radiation irradiation system according to claim 1, characterized in that, The simulation positioning room and the irradiation room are respectively equipped with identical optical verification devices with the same positional relationship. The optical verification devices can acquire images of the position of the platform and the irradiated body, and transmit the data to the control module for comparison with the treatment plan data.

5. The radiation irradiation system according to claim 1, characterized in that, The radiation irradiation system also includes a transport vehicle and a transport vehicle positioning device. The first and second mounting platforms are the same mounting platform. The mounting platform can be supported and positioned by the transport vehicle and transferred from the simulation positioning room to the irradiation room. The transport vehicle is fixed at the same starting position in the simulation positioning room and the irradiation room respectively by the transport vehicle positioning device.

6. The radiation irradiation system according to claim 5, characterized in that, The radiation irradiation system also includes a stage locking mechanism. At the same starting position, the control device can control the first and second stage positioning devices to connect to the stage respectively and lock them to the stage respectively through the stage locking mechanism.

7. The radiation irradiation system according to claim 1, characterized in that, The radiation irradiation system is a neutron capture therapy system. The radiation generating device includes a neutron generating device and a beam shaper. The beam shaper can adjust the neutron beam generated by the neutron generating device to a preset beam quality. The neutron beam generated by the neutron generating device is directed by the beam shaper to the irradiated body on the stage in the irradiation chamber.

8. The radiation irradiation system according to claim 7, characterized in that, The neutron generating device includes an accelerator and a target. The charged particle lines generated by the accelerator interact with the target to generate neutron lines. The beam shaping body includes a reflector, a decelerator, a thermal neutron absorber, a radiation shield, and a beam exit. The decelerator slows down the neutrons generated from the target to the ultrathermal neutron energy region. The reflector surrounds the decelerator and guides deviated neutrons back to the decelerator to increase the intensity of the ultrathermal neutron beam. The thermal neutron absorber is used to absorb thermal neutrons to avoid excessive doses to superficial normal tissues during treatment. The radiation shield is used to shield neutrons and photons that leak from outside the beam exit.

9. A method for controlling a stage in a radiation irradiation system, the radiation irradiation system comprising a radiation generating device, a treatment planning device, a simulation positioning chamber, an irradiation chamber, and identical first and second stages respectively disposed in the simulation positioning chamber and the irradiation chamber, characterized in that, The simulation positioning chamber and the irradiation chamber are respectively equipped with first and second platform positioning devices capable of supporting the first and second platforms, respectively. The first platform positioning device supports the first platform in the simulation positioning chamber, and the second platform positioning device supports the second platform in the irradiation chamber. The first and second platform positioning devices have the same configuration and the same positional relationship in the simulation positioning chamber and the irradiation chamber, respectively. The platform control method includes: The irradiated body is positioned and fixed on the first mounting platform according to the treatment plan data generated by the treatment planning device, and the treatment plan position of the first mounting platform is calculated based on the treatment plan data and the positioning of the irradiated body. The first placement stage positioning device is controlled to move the first placement stage to the treatment plan position and the simulated positioning position is determined; The object to be irradiated is positioned on the second platform in the same way as on the first platform. The second platform positioning device is controlled to move the second platform to the simulated positioning position, and the irradiation position is determined. The second platform positioning device is then controlled to move the second platform to the irradiation position.

10. The stage control method according to claim 9, characterized in that, The radiation irradiation system further includes a transport vehicle and a transport vehicle positioning device, wherein the first and second mounting platforms are the same mounting platform, and the mounting platform control method further includes: Before placing the irradiated body on the platform: The transfer vehicle is fixed in the simulated positioning room by the transfer vehicle positioning device and the platform is placed on the transfer vehicle for positioning, so that the platform is in the initial position. In the simulated positioning room, the first platform positioning device is connected to the platform and locked to the platform. After determining the simulated location: The platform is moved to the initial position and supported by the transfer vehicle; Unlock the first platform positioning device from the platform, and move the platform and the irradiated body on the platform to the irradiation chamber. In the irradiation chamber, the platform is positioned in the initial position using the transfer vehicle positioning device, and the second platform positioning device is connected to and locked to the platform.

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