Multi-angle shared rotating radiotherapy head system and treatment terminal

Abstract

The present invention relates to a multi-angle shared rotating radiotherapy head system and a treatment terminal. The treatment head system comprises: a base plate, on which an outer guide rail and an inner guide rail are arranged at the same center of a target; a treatment head fixed on a support plate, and the support plate is slidably connected with the outer guide rail and the inner guide rail through a slider; an outer transmission mechanism and an inner transmission mechanism, which are co-centeredly assembled on the base plate and are used to drive the support plate to slide along the outer guide rail and the inner guide rail, thereby driving the treatment head to rotate; a control mechanism, which is used to control the outer transmission mechanism and the inner transmission mechanism to drive the treatment head to rotate around the rotation axis of the target center in a differential manner. The treatment head system has a compact structure, and the positioning accuracy of pure rolling and zero backlash pin gear transmission is high. One treatment head can realize multi-angle irradiation of the same target point in the treatment room, which has significant advantages in the current mainstream multi-angle irradiation treatment field.

Description

Technical Field

[0001] The invention relates to a multi-angle shared rotating radiotherapy head system and a treatment terminal, belonging to the technical field of radiotherapy. Background Art

[0002] In radiotherapy, particle beams generated by accelerators are usually used to irradiate human cancer cells, and the most commonly used particles are protons and carbon ions. Carbon ions have more significant advantages in linear energy density, relative biological effects, and side scattering, and can produce DNA double-strand breaks (DSBs) that are difficult to repair, and are usually used as the best choice for cancer treatment.

[0003] The high-energy particles produced by the impact of an accelerated particle beam on a solid (target) are used to destroy tumor cells. The treatment head is a commonly used device in radiotherapy. The treatment head receives the particle beam and expands its nearly point-like source into a cone through the treatment head to irradiate the patient's surface to form an irradiation field. The treatment head mainly includes: a ridge filter that longitudinally broadens the energy of the beam to cover the depth of the tumor; in order to avoid or reduce damage to surrounding healthy tissues, a multi-leaf collimator composed of very thick membranes made of heavy metal is usually used to form an irradiation field in the horizontal direction that is consistent with the projection shape of the tumor; a body surface compensator that stops the beam at the trailing edge of the tumor to protect the normal tissue behind the tumor, ensuring that the tumor is effectively treated with minimal side effects without harming normal tissue.

[0004] When using ion beams to treat cancer, if only one irradiation direction is used, the normal cells between the skin and the tumor will receive at least 1 / 3 of the tumor radiation dose, causing varying degrees of damage. In order to reduce this damage and increase the focal-to-skin ratio of the treatment, a course of treatment requires irradiation from different directions, dividing the total dose into multiple radiation directions, so that the dose received by normal tissues is greatly reduced.

[0005] Therefore, conventional fixed treatment terminals use beams of different angles to achieve different irradiation angles. Commonly used ones are horizontal terminals, 45-degree terminals, and vertical terminals. One terminal corresponds to one beam and one treatment head. With the development of radiotherapy technology, two-angle irradiation is achieved in one treatment room. Usually, there are vertical + horizontal terminals and 45-degree + horizontal terminals. The current practice is to configure two sets of treatment heads. The recently developed rotating combined beam can achieve three or even more treatment angles in one terminal. In this way, tumor patients can complete all irradiation angles in one treatment room during one treatment, reducing the time spent on switching treatment rooms and the time for patients to reposition before irradiation, greatly improving treatment efficiency. However, the current practice is to equip one treatment angle with a fixed treatment head. In this way, a single-room multi-treatment angle terminal needs to be equipped with multiple treatment heads. In order to solve the problems of the same target at different irradiation angles in the same terminal, large space occupied by multiple treatment heads, high cost, and mutual interference between treatment heads at different angles, a new treatment head is urgently needed. Summary of the invention

[0006] In view of the above technical problems, the present invention provides a multi-angle shared rotating radiotherapy head system and a treatment terminal, so that only one set of treatment heads needs to be set up in a treatment room, and a beam delivery solution for the same target at multiple angles in a single room can be achieved by rotating the treatment heads.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A multi-angle shared rotating radiotherapy head system, comprising:

[0009] A bottom plate, wherein an outer guide rail and an inner guide rail are arranged on the bottom plate, and the outer guide rail and the inner guide rail are arranged cocentrically;

[0010] The treatment head is fixed on the support plate, and the support plate is slidably connected with the outer guide rail and the inner guide rail through a slider;

[0011] An outer transmission mechanism and an inner transmission mechanism, which are co-centrically mounted on the bottom plate and are used to drive the support plate to slide along the outer guide rail and the inner guide rail, thereby driving the treatment head to rotate around the target point;

[0012] The control mechanism is used to control the outer transmission mechanism and the inner transmission mechanism to drive the treatment head to rotate around the rotation axis of the target center in a differential manner.

[0013] The multi-angle shared rotating radiotherapy head system, preferably, the internal transmission mechanism includes an inner pin gear ring, a pin shaft and a cycloidal gear, the inner pin gear ring is detachably mounted on the base plate, the upper and lower ends of the inner wall of the inner pin gear ring extend protrusions toward the center of the target to form an annular accommodating cavity, the pin shafts are in a plurality of numbers and are detachably mounted in the accommodating cavity at intervals, and the cycloidal gear is connected to the pin shaft in a backlash-free meshing transmission manner.

[0014] In the multi-angle shared rotational radiotherapy head system, preferably, the cycloid gear is circumferentially connected to the flange shaft through a key, one end of the flange shaft is connected to the support plate, and the other end is connected to the second reducer of the internal transmission mechanism, an arc-shaped cavity is provided on the base plate to accommodate the other end of the flange shaft, and the second reducer is mounted on the base plate.

[0015] The multi-angle shared rotating radiotherapy head system is preferably provided with through holes for accommodating the pin shaft at the upper and lower ends of the accommodating cavity, and a bearing is installed in the through hole, and the two ends of the pin shaft are connected with the inner ring of the bearing by interference fit, and the outer ring of the bearing is connected with the through hole by transition fit.

[0016] In the multi-angle shared rotating radiotherapy head system, preferably, the bearing is positioned and installed on the upper and lower end surfaces of the accommodating cavity through the bearing cover and the pin shaft shoulder to achieve the rotation of the pin shaft on the inner pin gear ring.

[0017] The multi-angle shared rotation radiotherapy head system, preferably, the internal transmission mechanism also includes a first support plate, a third guide rail and a fourth guide rail, the second reducer is bolted to the first support plate, the first support plate is slidably connected to the third guide rail and the fourth guide rail through a slider, and the third guide rail and the fourth guide rail are cocentrically detachably connected to the base plate.

[0018] The multi-angle shared rotational radiotherapy head system, preferably, the internal transmission mechanism also includes a second servo motor, the second servo motor is connected to the second reducer via a flange, and the third guide rail and the fourth guide rail support and guide the second reducer and the second servo motor.

[0019] The multi-angle shared rotating radiotherapy head system preferably comprises a first reducer and a first servo motor, wherein the first reducer is bolted to the second support plate, the second support plate is slidably connected to the first guide rail and the second guide rail through a slider, and the first guide rail and the second guide rail are detachably connected to the base plate with the bull's eye.

[0020] In the multi-angle shared rotating radiotherapy head system, preferably, the bearing is a rolling bearing.

[0021] A second aspect of the present invention provides a treatment terminal, comprising a treatment system of a multi-angle shared rotating radiotherapy head as described in any one of the above.

[0022] The present invention adopts the above technical solution, which has the following advantages:

[0023] 1. The treatment system of the present invention comprises a treatment head composed of a ridge filter, a stripe ionization chamber, a multi-page collimator, a body surface compensator, concentrically arranged arc inner and outer guide rails, high-precision pure rolling pin-tooth differential inner and outer transmission mechanisms, and a fan-shaped base plate for mounting the treatment head guide rails and transmission mechanisms. Under the guidance of the arc guide rails, the treatment head realizes fixed-axis rotation around the target through the differential of the transmission mechanism, and is connected to the fixed-angle beam line or the rotating combined beam line accordingly, so that multi-angle beam delivery to the same target can be achieved.

[0024] 2. Tumor patients often need multi-angle irradiation in one treatment to reduce the damage to normal cells along the beam path. The present invention can greatly simplify the investment in treatment heads in the treatment room through the above technical innovations. One treatment head can meet the beam delivery requirements of multiple irradiation angles. It has the advantages of compact structure, low cost, high positioning accuracy, etc., and is easy to promote and apply on a large scale in the field of multi-angle radiotherapy.

[0025] 3. In traditional fixed treatment rooms, in order to achieve multiple treatment angles, multiple treatment heads are often set up in one treatment room, and the most common treatment heads in the world are dual treatment heads. With the emergence of rotating combined beam lines, more than three treatment angles can be achieved in a single treatment room. If three treatment heads are arranged at the same time to achieve irradiation of the same target, the treatment heads occupy a large space and the mutual interference problem is prominent. The treatment head system disclosed in the present invention has a compact structure, pure rolling, zero backlash pin gear transmission, high positioning accuracy, and is easy to achieve multi-angle irradiation of the same target, which has significant advantages in today's mainstream multi-angle irradiation treatment field.

[0026] 4. The multi-angle shared rotating treatment head system of the present invention is not only suitable for heavy ion therapy, but also can be used for proton therapy. It is a universal solution in the field of radiotherapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A front view of a treatment head provided by an embodiment of the present invention when the treatment head is at 0°;

[0028] Figure 2 A front view of the treatment head provided by the embodiment of the present invention rotated 45 degrees;

[0029] Figure 3 A front view of the treatment head provided by this embodiment of the present invention rotated 90 degrees;

[0030] Figure 4A rear view of the treatment head provided by the embodiment of the present invention rotated 45 degrees;

[0031] Figure 5 for Figure 2 C-direction view;

[0032] Figure 6 for Figure 2 AA section view;

[0033] Figure 7 for Figure 6 A partial enlarged view of point B in the middle;

[0034] Figure 8 is a horizontal axonometric view of the treatment head of this embodiment of the present invention;

[0035] The marks in the figure are as follows:

[0036] 1-treatment head; 2-support plate; 3-external guide rail; 4-inner guide rail; 5-bottom plate; 6-external transmission mechanism; 615-first reducer; 616-first servo motor; 7-internal transmission mechanism; 701-inner pin gear ring; 702-pin shaft; 703-first angular contact ball bearing; 704-upper bearing cover; 705-upper step surface; 706-second angular contact ball bearing; 707-lower bearing cover; 708-lower step surface; 709-cycloid gear; 710-connecting bolt; 711-accommodating chamber; 712-flange shaft; 713-third angular contact ball bearing; 714-nut; 715-second reducer; 716-second servo motor; 717-screw; 8-first guide rail; 9-second guide rail; 10-third guide rail; 11 fourth guide rail; 12-first support plate; 13-second support plate; 14-rotation axis. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. The embodiments of the present invention and all other embodiments obtained by ordinary persons in the art without creative work are within the scope of protection of the present invention.

[0038] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second", "third", "fourth" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0039] For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside", "outside", "inner side", "outer side", "below", "above", etc. Such spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures.

[0040] At present, one treatment angle of the irradiation terminal is equipped with one fixed treatment head, so a single-room multi-treatment angle terminal needs to be equipped with multiple treatment heads. The purpose of the present invention is to address the problems in the existing single-room dual-angle fixed treatment room and combined rotating beam multi-room multi-angle treatment room, in which one treatment head corresponds to one treatment angle, the treatment heads are repeatedly set, the cost is high, the space is large, and it is difficult to achieve the same target at multiple angles in a single room. A rotating treatment head that can be shared by multiple angles and can be expanded to more angles is proposed. This can greatly simplify the investment in treatment heads in the treatment room. One treatment head can meet multiple irradiation angles. It has the advantages of compact structure, low cost, high positioning accuracy, etc., and is convenient for large-scale promotion and application.

[0041] The present invention is explained in detail below with reference to the accompanying drawings.

[0042] like Figure 1-4 As shown, the multi-angle shared rotational radiotherapy head system involved in the present invention comprises: a treatment head 1, which is mounted and fixed on a support plate 2, and the support plate 2 is slidably connected with an outer guide rail 3 and an inner guide rail 4 through a slider, so as to guide and position the rotational movement of the treatment head 1. The outer guide rail 3 and the inner guide rail 4 are concentrically mounted on a fan-shaped bottom plate 5 by countersunk screws, and the outer guide rail 3 and the inner guide rail 4 are designed to be arc-shaped, so that the treatment head 1 can achieve concentric rotation through the outer guide rail 3 and the inner guide rail 4. The outer transmission mechanism 6 and the inner transmission mechanism 7 are concentrically mounted on the fan-shaped bottom plate 5 close to the outer guide rail 3 and the inner guide rail 4 respectively. Two arc-shaped cavities are provided at corresponding positions on the fan-shaped bottom plate 5.

[0043] Furthermore, the treatment head 1 mainly includes: a ridge filter that longitudinally broadens the energy of the beam to cover the depth of the tumor; a stripe ionization chamber that diagnoses the beam position and current intensity; in order to avoid or reduce damage to surrounding healthy tissues, a multi-leaf collimator composed of very thick heavy metal diaphragms is usually used to form an irradiation field in the horizontal direction that is consistent with the projection shape of the tumor; a body surface compensator that stops the beam at the trailing edge of the tumor to protect the normal tissue behind the tumor, thereby ensuring that the tumor is effectively treated with minimal side effects without harming normal tissues.

[0044] The external transmission mechanism 6 and the internal transmission mechanism 7 have the same structure, and the internal transmission mechanism 7 is taken as an example for detailed description. Figure 7 As shown, the internal transmission mechanism 7 includes an inner pin gear ring 701, a pin shaft 702 and a cycloidal gear 709. The inner pin gear ring 701 is concentrically fastened to the fan-shaped base plate 5 by connecting bolts 710. The upper and lower ends of the inner wall of the inner pin gear ring 701 extend and protrude toward the center of the target to form an annular accommodating cavity 711. A plurality of pin shafts 702 are detachably assembled in the accommodating cavity 711 at intervals. The cycloidal gear 709 is meshed and driven with the pin shaft 702 without backlash. Sufficient space is left in the accommodating cavity 711 to allow the cycloidal gear 709 to have sufficient meshing area for transmission meshing with the pin shaft 702.

[0045] The first angular contact ball bearing 703 (rolling bearing) is installed at one end of the pin shaft 702, and the second angular contact ball bearing 706 is installed at the other end. The two ends of the pin shaft 702 are connected with the inner rings of the first angular contact ball bearing 703 and the second angular contact ball bearing 706 by interference fit. The outer rings of the first angular contact ball bearing 703 and the second angular contact ball bearing 706 are connected with the through hole transition fit on the inner pin gear ring 701. The axial ends of the first angular contact ball bearing 703 and the second angular contact ball bearing 706 are positioned by the upper bearing cap 704 and the lower bearing cap 707 and the pin shaft 702 shoulders respectively and are installed on the upper step surface 705 and the lower step surface 708, so as to realize the self-rotation of the pin shaft 702 on the inner pin gear ring 701. In this way, the meshing transmission process of the epicycloid gear 709 and the pin shaft 702 is pure rolling friction, stable operation, and minimal wear. The epicycloid gear 709 and the pin shaft 702 adopt zero-backlash pure rolling meshing, constant transmission ratio, high precision, stable and reliable structure, and no noise. The pin shaft 702 is installed in a detachable manner, which is convenient for later maintenance and replacement. It is easier to process the cycloid gear than the large ring gear and it is easier to obtain high precision.

[0046] Furthermore, if Figure 7As shown, the flange shaft 712 is circumferentially fixedly connected to the cycloid gear 709 through a key, one end of the flange shaft 712 is connected to the support plate 2 through the third angular contact ball bearing 713, and the other end of the flange shaft 712 is connected to the second reducer 715 through a flange. The second reducer 715 is bolted to the first support plate 12, and the first support plate 12 is slidably connected to the third guide rail 10 and the fourth guide rail 11 through a slider. The third guide rail 10 and the fourth guide rail 11 are designed to be arc-shaped, and the third guide rail 10 and the fourth guide rail 11 are concentrically connected to the fan-shaped bottom plate 5 through countersunk bolts (the third guide rail 10 and the fourth guide rail 11 are located on the lower end surface of the bottom plate 5, and the cycloid gear 709 is located on the upper end surface of the bottom plate 5). The third guide rail 10 and the fourth guide rail 11 support and guide the second reducer 715 and the second servo motor 716 to ensure the flexibility and accuracy of the steering of the treatment head 1. The second servo motor 716 is flange-bolted to the second reducer 715. In particular, the second servo motor 716 ensures through a control algorithm (control mechanism, commonly used controller) that the inner transmission mechanism 7 drives the treatment head 1 to rotate through the same central angle at the same time under the guidance of the inner guide rail 4 and the outer guide rail 3, and the cycloid gear 709 meshes with the pin shaft 702 to run differentially, and the treatment head 1 is driven to rotate around the rotation axis 14 passing through the target point in a differential manner.

[0047] Further, the external transmission mechanism 6 includes a first reducer 615 and a first servo motor 616. The first reducer 615 is bolted to the second support plate 13. The second support plate 13 is slidably connected to the first guide rail 8 and the second guide rail 9 through a slider. The first guide rail 8 and the second guide rail 9 are concentrically connected to the fan-shaped bottom plate 5 through a countersunk bolt. The first guide rail 8 and the second guide rail 9 support and guide the first reducer 615 and the first servo motor 616 to ensure the flexibility and accuracy of the treatment head 1. The first servo motor 616 is flange-bolted to the first reducer 615. In particular, the first reducer 615 ensures that the external transmission mechanism 6 drives the treatment head 1 to rotate through the same central angle at the same time under the guidance of the inner guide rail 4 and the outer guide rail 3 through a control algorithm, and the cycloid gear of the external transmission mechanism 6 is engaged with the pin shaft for differential operation, and the treatment head 1 is driven to rotate around the rotation axis 14 passing through the target point in a differential manner.

[0048] The multi-angle common rotating treatment head of the present invention is not only suitable for installation in a horizontal plane, but also suitable for installation in a vertical plane, or installation at any other angle. The present invention does not limit the installation angle of the treatment head.

[0049] The treatment head 1 of the present invention realizes fixed-axis rotation around the target point through the differential of the transmission mechanism under the guidance of the arc-shaped guide rail, and is correspondingly connected with the fixed-angle beam or the rotating combined beam to realize multi-angle irradiation treatment.

[0050] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-angle shared rotating radiotherapy head system, It is characterized in that include: A bottom plate (5), wherein an outer guide rail (3) and an inner guide rail (4) are arranged on the bottom plate (5), and the outer guide rail (3) and the inner guide rail (4) are co-centrically arranged; The treatment head (1) is fixed on a support plate (2), and the support plate (2) is slidably connected to the outer guide rail (3) and the inner guide rail (4) via a sliding block; An outer transmission mechanism (6) and an inner transmission mechanism (7), which are co-centrically mounted on the base plate (5) and are used to drive the support plate (2) to slide along the outer guide rail (3) and the inner guide rail (4), thereby driving the treatment head (1) to rotate around the center of the target; A control mechanism, used for controlling the outer transmission mechanism (6) and the inner transmission mechanism (7) to drive the treatment head (1) to rotate around a rotation axis (14) of the target center in a differential manner; The inner transmission mechanism (7) comprises an inner pin gear ring (701), a pin shaft (702) and a cycloidal gear (709); the inner pin gear ring (701) is detachably mounted on the bottom plate (5); the inner wall of the inner pin gear ring (701) has upper and lower ends extending toward the center of the target to form an annular accommodating cavity (711); the pin shafts (702) are provided in a plurality of numbers and are detachably mounted in the accommodating cavity (711) at intervals; the cycloidal gear (709) is connected to the pin shaft (702) in a backlash-free meshing transmission manner; The epicycloid gear (709) is circumferentially connected to the flange shaft (712) via a key; one end of the flange shaft (712) is connected to the support plate (2), and the other end is connected to the second reducer (715) of the internal transmission mechanism (7); an arc-shaped cavity for accommodating the other end of the flange shaft (712) to pass through is provided on the bottom plate (5); and the second reducer (715) is mounted on the bottom plate (5); The internal transmission mechanism (7) further comprises a first support plate (12), a third guide rail (10) and a fourth guide rail (11); the second reducer (715) is bolted to the first support plate (12); the first support plate (12) is slidably connected to the third guide rail (10) and the fourth guide rail (11) via a slider; the third guide rail (10) and the fourth guide rail (11) are cocentrically detachably connected to the base plate (5).

2. The multi-angle shared rotating radiotherapy head system according to claim 1, It is characterized in that The upper and lower ends of the accommodating cavity (711) are provided with through holes for accommodating the pin shaft (702) to pass through, a bearing is installed in the through hole, the two ends of the pin shaft (702) are connected to the inner ring of the bearing by interference fit, and the outer ring of the bearing is connected to the through hole by transition fit.

3. The multi-angle shared rotating radiotherapy head system according to claim 2, It is characterized in that The bearing is positioned and installed on the upper and lower end surfaces of the accommodating cavity (711) through the bearing cover and the shoulder of the pin shaft (702), so as to enable the pin shaft (702) to rotate on the inner pin gear ring (701).

4. The multi-angle shared rotating radiotherapy head system according to claim 1, It is characterized in that The inner transmission mechanism (7) further comprises a second servo motor (716), the second servo motor (716) being connected to the second reducer (715) via a flange, and the third guide rail (10) and the fourth guide rail (11) supporting and guiding the second reducer (715) and the second servo motor (716).

5. The multi-angle shared rotating radiotherapy head system according to claim 1, It is characterized in that The external transmission mechanism (6) comprises a first reducer (615) and a first servo motor (616); the first reducer (615) is bolted to the second support plate (13); the second support plate (13) is slidably connected to the first guide rail (8) and the second guide rail (9) via a slider; the first guide rail (8) and the second guide rail (9) are cocentrically detachably connected to the base plate (5).

6. The multi-angle shared rotating radiotherapy head system according to claim 2, It is characterized in that The bearing is a rolling bearing.

7. A treatment terminal, It is characterized in that A multi-angle shared rotating radiotherapy head system comprising any one of claims 1-6.

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