Radiotherapy device, radiotherapy system and control method

Abstract

The application belongs to the technical field of high-end medical equipment, and discloses a radiotherapy device, a radiotherapy system and a control method, the radiotherapy device comprising: an outer gantry, an inner gantry, a first image guiding system and a second image guiding system. The outer gantry is fixed with a particle accelerator, the inner gantry has opposite first and second ends, and the inner gantry is provided with a treatment head. The first image guiding system comprises a first ray generating device and a first image processing device, the second image guiding system comprises a second ray generating device and a second image processing device, the first ray generating device and the first image processing device are arranged close to the first and second ends of the inner gantry respectively, and the second ray generating device and the second image processing device are arranged on both sides of the inner gantry. The radiotherapy device shortens the overall length of treatment, improves the use efficiency of the radiotherapy device, better ensures the treatment effect, and makes proton therapy accessible.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-end medical equipment, in particular to a radiotherapy device, a radiotherapy system and a control method. BACKGROUND

[0002] Radiotherapy is a treatment method that uses high-energy particle beams to penetrate human tissues and destroy cancer cells' DNA, thereby inhibiting the growth, division and proliferation of tumor cells, and ultimately leading to the death of tumor cells, so as to achieve the purpose of treatment. Radiotherapy devices can provide more accurate and effective treatment and reduce side effects during treatment, thereby improving the quality of life of patients. Among them, the image-guided system is an important part of the clinical process of radiotherapy and is a decisive condition for the accurate arrival of the tumor particle beam at the center point. The image-guided system in the radiotherapy device is used to position the patient by intersecting two pairs of ball tubes and flat panel detectors, so as to meet the purpose of tumor and treatment center registration.

[0003] In the prior art, due to the requirements of the treatment room space and the requirements of the isocenter imaging, the ball tube or the flat panel detector of the image-guided system needs to be manually moved during actual use to enable the image-guided system to scan the patient. This movement of the device affects the treatment efficiency and is not conducive to improving the use efficiency of the radiotherapy device.

[0004] Therefore, the existing radiotherapy device needs to be further improved. SUMMARY

[0005] The purpose of the present application is to provide a radiotherapy device, a radiotherapy system and a control method, which not only shortens the overall treatment time and improves the use efficiency of the radiotherapy device, but also ensures the treatment effect.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] The present application provides a radiotherapy device, comprising:

[0008] An outer gantry, wherein a particle accelerator is fixed on the outer gantry, and the particle accelerator is arranged to be driven to rotate together by the rotating movement of the outer gantry;

[0009] An inner gantry, wherein the inner gantry is fixed and has opposite first and second ends, the second end is located above the first end, and a treatment head is arranged on the inner gantry, and the treatment head can move back and forth along the inner gantry between the first and second ends of the inner gantry;

[0010] The first image guiding system comprises a first ray generating device for generating rays and a first image processing device for receiving rays, and the second image guiding system comprises a second ray generating device for generating rays and a second image processing device for receiving rays, the rays generated by the first ray generating device and the rays generated by the second ray generating device are arranged perpendicularly to each other; the first ray generating device and the first image processing device are respectively arranged at the first end and the second end of the inner gantry and are located outside the inner gantry in the height direction;

[0011] The first ray generating device and the first image processing device are movable in a second direction different from the height direction relative to the inner gantry, the first ray generating device is arranged to move away from the first end of the inner gantry before the treatment head moves to the first end of the inner gantry, and the first image processing device is arranged to move away from the second end of the inner gantry before the treatment head moves to the second end of the inner gantry.

[0012] The second ray generating device and the second image processing device are respectively arranged on the two sides of the inner gantry in a third direction perpendicular to the height direction and the second direction, the movement path of the treatment head is located between a first straight line where the first ray generating device moves and a second straight line where the first image processing device moves, and the movement paths of the first ray generating device and the first image processing device do not intersect with the rotation movement path of the particle accelerator.

[0013] Preferably, the rays generated by the first ray generating device and the rays generated by the second ray generating device are arranged perpendicularly to each other.

[0014] Preferably, the first ray generating device is arranged on the side of the inner gantry facing away from the treatment head, the first end of the inner gantry is provided with a first notch to expose the side of the first ray generating device facing the first image processing device; and / or,

[0015] The first image processing device is arranged on the side of the inner gantry facing away from the treatment head, and the second end of the inner gantry is provided with a second notch to expose the side of the first image processing device facing the first ray generating device.

[0016] Preferably, the first notch and the second notch are at least partially aligned in the height direction and extend through the inner gantry in the height direction, and the second ray generating device and the second image processing device are fixed.

[0017] Preferably, a first guide rail is arranged below the first end of the inner gantry, and the first radiation generating device is arranged on the first guide rail and is capable of moving back and forth along the first guide rail to avoid collision between the first radiation generating device and the treatment head; and / or,

[0018] A second guide rail is arranged above the second end of the inner gantry, and the first image processing device is arranged on the second guide rail and is capable of moving back and forth along the second guide rail to avoid collision between the first image processing device and the treatment head, and the second guide rail is parallel to the first guide rail.

[0019] Preferably, a driving assembly and a control assembly are further included, the control assembly includes a controller for controlling the driving assembly, and the driving assembly is used for driving the first radiation generating device and / or the first image processing device and / or the treatment head to move;

[0020] The driving assembly includes a first driving device for driving the first radiation generating device to move back and forth along the first guide rail; and / or,

[0021] The driving assembly further includes a second driving device for driving the first image processing device to move back and forth along the second guide rail; and / or,

[0022] The driving assembly further includes a third driving device for driving the treatment head to move back and forth along the inner gantry between the first end of the inner gantry and the second end of the inner gantry.

[0023] Preferably, the control assembly further includes a first position sensor connected with the first driving device, and the first position sensor is used for detecting the rotational movement of the first driving device to obtain the position information of the first radiation generating device; and / or,

[0024] The control assembly further includes a second position sensor connected with the second driving device, and the second position sensor is used for detecting the rotational movement of the second driving device to obtain the position information of the first image processing device; and / or,

[0025] The control assembly further includes a third position sensor connected with the first radiation generating device, and the third position sensor is used for detecting the position information of the first radiation generating device; and / or,

[0026] The control assembly further comprises a fourth position sensor connected with the first image processing device, the fourth position sensor being configured to detect position information of the first image processing device; and / or,

[0027] The control assembly further comprises a fifth position sensor connected with the third driving device, the fifth position sensor being configured to detect rotational movement of the third driving device to obtain position information of the treatment head; and / or,

[0028] The control assembly further comprises a sixth position sensor connected with the treatment head, the sixth position sensor being configured to detect position information of the treatment head.

[0029] Preferably, a first limiting device is arranged on a path of movement of the first ray generating device, the first limiting device being configured to limit a movement position of the first ray generating device; and / or,

[0030] A second limiting device is arranged on a path of movement of the first image processing device, the second limiting device being configured to limit a movement position of the first image processing device.

[0031] A radiotherapy system, comprising: the radiotherapy device, the treatment bed and the treatment room as described in any one of the preceding embodiments, the treatment room having two side walls, a floor and a top surface opposite to the floor, the second ray generating device and the second image processing device being arranged on the two opposite side walls respectively, the treatment bed being installed in the treatment room through a mechanical arm, and the particle accelerator being configured to generate a particle beam and treat a patient through the treatment head.

[0032] Preferably, a first end of the inner gantry is arranged below the floor of the treatment room, and a third gap is arranged on the floor of the treatment room to expose a side of the first ray generating device facing the first image processing device.

[0033] Preferably, the third gap penetrates the floor in a height direction, and the second guide rail is located in the top surface and does not expose the top surface.

[0034] A control method of a radiotherapy system uses the radiotherapy system as described in any one of the preceding embodiments, and comprises the following steps:

[0035] Before moving the patient to a setup position, the treatment head is controlled to be located at neither the first end nor the second end of the inner gantry;

[0036] The first ray generating device and the first image processing device are controlled to be located at the first end of the inner gantry and the second end of the inner gantry respectively;

[0037] After the patient is moved to the positioning position, the first image guiding system and the second image guiding system scan the patient and acquire the patient's affected area image;

[0038] The mechanical arm moves the patient's affected area to the isocenter of the radiotherapy device according to the patient's affected area image;

[0039] The treatment head moves along the inner gantry according to the patient's affected area image to change the direction of the particle beam irradiating the patient's affected area, and the controller controls the driving assembly to move the first radiation generating device of the first image guiding system out of the first end of the inner gantry and / or the first image processing device out of the second end of the inner gantry before the treatment head moves to the first end and / or the second end of the inner gantry.

[0040] Preferably, the direction in which the first radiation generating device moves out of the first end of the inner gantry is the same as the direction in which the first image processing device moves out of the second end of the inner gantry, and the first image guiding system is not in the path of the particle accelerator rotation.

[0041] Compared with the prior art, the present application has at least the following advantages:

[0042] The radiotherapy device, radiotherapy system and control method of the present application have the following advantages: BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a schematic diagram of part of the structure of the radiotherapy device of an embodiment of the present application.

[0044] Figure 2 is a schematic diagram of part of the structure of the radiotherapy system of an embodiment of the present application.

[0045] Figure 3 is a schematic diagram of another angle of part of the structure of the radiotherapy system of an embodiment of the present application.

[0046] Figure 4is a structural schematic diagram of a radiotherapy system of an embodiment of the present application.

[0047] Figure 5 is another partial structural schematic diagram of a radiotherapy device of an embodiment of the present application.

[0048] Figure 6 is a flow schematic diagram of a control method of a radiotherapy system of an embodiment of the present application.

[0049] In the figure: 100, a radiotherapy system; 1, a radiotherapy device; 11, an inner gantry; 111, a first end; 1111, a first notch; 1112, a first guide rail; 112, a second end; 1121, a second notch; 1122, a second guide rail; 12, a treatment head; 13, a first image guidance system; 131, a first ray generating device; 132, a first image processing device; 14, a second image guidance system; 141, a second ray generating device; 142, a second image processing device; 15, a driving assembly; 151, a second driving device; 16, a control assembly; 161, a controller; 17, a treatment bed; 18, a mechanical arm; 19, a particle accelerator; 2, a treatment room; 21, a side wall; 22, a ground; 221, a third notch; 200, an outer gantry; 201, a first machine arm; 202, a second machine arm; 203, a connecting arm. DETAILED DESCRIPTION

[0050] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any number of manners, and are not limited to the embodiments described herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the inventive concept to those skilled in the art. Like reference numerals refer to like elements throughout the various drawings, and thus a repeated description of like elements will be omitted.

[0051] The words expressing position and direction described in the present application are described with reference to the drawings, but changes can be made according to needs, and the changes are included in the protection scope of the present application.

[0052] Referring to Figures 1 to 5 , the present application provides a radiotherapy device 1, which can be installed in a treatment room 2, and the radiotherapy device 1 comprises an outer gantry 200, an inner gantry 11, a treatment head 12, a first image guidance system 13, and a second image guidance system 14. The particle accelerator 19 is fixed on the outer gantry 200, the treatment head 12 is installed on the inner gantry 11, the first ray generating device 131 and the first image processing device 132 of the first image guidance system 13 are respectively arranged near the two ends of the inner gantry 11, and the second ray generating device 141 and the second image processing device 142 of the second image guidance system 14 are respectively arranged on the two sides of the inner gantry 11.

[0053] Specifically, with reference to Figure 5 , the outer gantry 200 is fixed with a particle accelerator 19, and the particle accelerator 19 can be mounted on the outer gantry 200, i.e., the rotating gantry. The outer gantry 200 is in the shape of a U as a whole, and the outer gantry 200 can include a first arm 201, a second arm 202, and a connecting arm 203. The first arm 201 and the second arm 202 are arranged parallel to each other, and the first arm 201 and the second arm 202 are arranged at two ends of the connecting arm 203, respectively. The first arm 201 and the second arm 202 are arranged perpendicular to the connecting arm 203, respectively. The connecting arm 203 is used to carry and fix the particle accelerator 19. The connecting arm 203 is divided into two sections arranged at intervals, and the particle accelerator 19 is fixed between the two sections of the connecting arm 203. In an alternative embodiment, the connecting arm 203 can also be arranged as a continuous section. The first arm 201, the second arm 202, and the connecting arm 203 are preferably made of a material with high structural strength to ensure that the first arm 201, the second arm 202, and the connecting arm 203 have sufficient structural strength and can withstand the weight of the particle accelerator 19, avoiding deformation of the first arm 201, the second arm 202, and the connecting arm 203 during use. The rotation axis of the first arm 201 and the second arm 203 can pass through the isocenter of the radiotherapy device 1, or in other words, the rotation axis of the first arm 201 and the second arm 202 can pass through the isocenter of the particle beam of the particle accelerator 19.

[0054] With reference to Figure 1 , Figure 2 , Figure 3 , the inner gantry 11 can be in the shape of a C as a whole, and the inner gantry 11 is fixed and immovable. The inner gantry 11 has a first end 111 and a second end 112 arranged oppositely. In this embodiment, the inner gantry 11 can be arranged in the height direction, i.e., the vertical direction. The second end 112 of the inner gantry 11 is arranged above the first end 111 of the inner gantry 11. The inner gantry 11 is provided with a treatment head 12, which is movably arranged on the inner gantry 11. The treatment head 12 can irradiate the particle beam generated by the particle accelerator 19 to the affected part of the patient. Specifically, the treatment head 12 can be arranged to penetrate the inner and outer surfaces of the C-shaped inner gantry 11. The treatment head 12 can move back and forth along the inner gantry 11 between the first end 111 of the inner gantry 11 and the second end 112 of the inner gantry 11. In this way, the particle beam can be irradiated to the affected part of the patient from different directions, improving the treatment effect.

[0055] As a preferred mode, the inner gantry 11 can be a part of a circle as a whole, the center of the circle of the inner gantry 11 coincides with the isocenter of the radiotherapy device 1, and the treatment head 12 can rotate around the isocenter of the radiotherapy device 1 at all times. When the diseased part of the patient is located at the isocenter, the range of the particle beam does not need to be adjusted, and the treatment head 12 can accurately irradiate the particle beam to the diseased part of the patient from different directions, so as to improve the accuracy and speed of treatment and better guarantee the treatment effect.

[0056] The first image guiding system 13 can image the diseased part of the patient from the first imaging path, and the first image guiding system 13 can image the diseased part of the patient from the second imaging path.

[0057] Specifically, the first image guiding system 13 can include a first ray generating device 131 for generating rays and a first image processing device 132 for receiving rays. When the first ray generating device 131 and the first image processing device 132 are oppositely arranged, the first ray generating device 131 generates rays, and the first image processing device 132 can receive the rays to generate images or provide signals to a computer for processing to generate images based on the received rays. The first ray generating device 131 and the first image processing device 132 can be respectively located at the first end 111 of the inner gantry 11 and the second end 112 of the inner gantry 11, i.e., the first ray generating device 131 and the first image processing device 132 are oppositely arranged in the vertical direction, and in the height direction, the first ray generating device 131 and the first image processing device 132 can be respectively located at the outer side of the inner gantry 11. At this time, the first ray generating device 131 and the first image processing device 132 are located in the first imaging path, and can image the diseased part of the patient, such as the tumor site, to realize positioning of the diseased part.

[0058] The first ray generating device 131 and the first image processing device 132 can move in a second direction different from the height direction with respect to the inner gantry 11, the first ray generating device 131 is arranged to leave the first end 111 of the inner gantry 11 before the treatment head 12 moves to the first end 111 of the inner gantry 11, and the first image processing device 132 is arranged to leave the second end 112 of the inner gantry 11 before the treatment head 12 moves to the second end 112 of the inner gantry 11.

[0059] The second image guiding system 14 can comprise a second ray generating device 141 for generating rays and a second image processing device 142 for receiving rays, when the second ray generating device 141 and the second image processing device 142 are oppositely arranged, the second ray generating device 141 generates rays, the second image processing device 142 can receive rays to generate images or provide signals to a computer for processing to generate images based on the received rays. The second ray generating device 141 and the second image processing device 142 can be respectively arranged on two sides of the inner stand 11 along a third direction, the two sides of the inner stand 11 are the two sides of the first end 111 of the inner stand 11 and the second end 112 of the inner stand 11, that is, the second ray generating device 141 and the second image processing device 142 are oppositely arranged in the horizontal direction, at this time, the second ray generating device 141 and the second image processing device 142 are located in the second imaging path, and the second ray generating device 141 and the second image processing device 142 can be respectively arranged on the two side walls 21 of the treatment room 2, and the second ray generating device 141 and the second image processing device 142 are preferably respectively fixedly installed on the two side walls 21 of the treatment room 2, in use, the positions of the second ray generating device 141 and the second image processing device 142 are fixed and do not need to be adjusted.

[0060] The third direction is perpendicular to the height direction and the second direction, and the movement path of the treatment head 12 is located between the first straight line where the first ray generating device 131 moves and the second straight line where the first image processing device 132 moves, and the movement paths of the first ray generating device 131 and the first image processing device 132 do not intersect with the rotation movement path of the particle accelerator 19. The first ray generating device 131 and the second ray generating device 141 can both be X-ray tubes, and the X-ray tubes are used to generate X-rays. The first image processing device 132 and the second image processing device 142 can both be flat panel detectors.

[0061] The first imaging path and the second imaging path are arranged to intersect each other, that is, the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 can be arranged to intersect each other, and the intersection point of the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 is preferably coincided with the isocenter of the radiotherapy device 1. The patient's affected area can be positioned and moved to the isocenter of the radiotherapy device 1 through the imaging of the first image guiding system 13 and the imaging of the second image guiding system 14.

[0062] As a preferred mode, the first imaging path and the second imaging path are arranged perpendicular to each other, that is, the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 are arranged perpendicular to each other, that is, the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 are arranged orthogonally, so that the imaging of the first image guiding system 13 and the imaging of the second image guiding system 14 are arranged orthogonally. In this way, the accuracy of positioning, imaging and treatment can be improved, thereby improving the effect of treatment and the safety of the patient.

[0063] In the present application, by arranging the first ray generating device 131 and the first image processing device 132 of the first image guiding system 13 near the first end 111 of the inner gantry 11 and the second end 112 of the inner gantry 11 respectively, and arranging the second ray generating device 141 and the second image processing device 142 of the second image guiding system 14 on both sides of the inner gantry 11, during use, the first ray generating device 131 and the first image processing device 132 of the first image guiding system 13 do not need to be moved manually, and during the process of moving the patient to the positioning position, the first ray generating device 131 and the first image processing device 132 of the first image guiding system 13 are intelligently moved to the first end of the inner gantry and the second end of the inner gantry. Not only does this save the time of moving the equipment and shorten the length of the treatment process, thereby improving the use efficiency of the radiotherapy equipment 1, but it also avoids errors caused by manually moving the equipment, improves the accuracy of positioning the affected part of the patient, ensures that the particle beam can accurately irradiate the affected part of the patient, and further ensures the treatment effect.

[0064] In a specific embodiment, with reference to Figure 1 , Figure 2 , Figure 3 , the first ray generating device 131 can be arranged on the side of the inner gantry 11 facing away from the treatment head 12, that is, the first ray generating device 131 can be arranged on the outer surface of the inner gantry 11, so that the first ray generating device 131 is not in the rotation path of the treatment head 12, thereby increasing the rotation range of the treatment head 12 and further expanding the treatment range of the treatment head 12. The first end 111 of the inner gantry 11 can be provided with a first notch 1111 to expose the side of the first ray generating device 131 facing the first image processing device 132, so that when the first ray generating device 131 and the first image processing device 132 are arranged opposite to each other, the X-rays generated by the first ray generating device 131 can pass through the patient to generate an image at the first image processing device 132.

[0065] The first image processing device 132 can also be arranged on the side of the inner gantry 11 opposite the treatment head 12, i.e. the first image processing device 132 can be arranged on the outer surface of the inner gantry 11, so that the first image processing device 132 is not in the rotation path of the treatment head 12, increasing the rotation range of the treatment head 12, and thus expanding the treatment range of the treatment head 12. The second end 112 of the inner gantry 11 is provided with a second notch 1121 to expose the side of the first image processing device 132 facing the first ray generating device 131, so that when the first image processing device 132 and the first ray generating device 131 are arranged opposite each other, the first image processing device 132 can receive the X-rays generated by the first ray generating device 131.

[0066] The first notch 1111 and the second notch 1121 are at least partially aligned in the height direction and extend through the inner gantry 11 in the height direction, so that the first ray generating device 131 and the first image processing device 132 can at least partially overlap, i.e. to ensure that the first image processing device 132 can receive the rays emitted by the first ray generating device 131. The size of the first notch 1111 and the second notch 1121 needs to meet the FOV (Field of View) requirement of the first image guiding system 13, and in this embodiment, the FOV of the first image guiding system 13 needs to reach 27cm*27cm. In a specific embodiment, a first guide rail 1112 can be arranged below the first end 111 of the inner gantry 11, and the first guide rail 1112 can be arranged horizontally, i.e. the first guide rail 1112 is arranged parallel to the ground 22 of the treatment room 2, and the first ray generating device 131 can be arranged on the first guide rail 1112 and can move back and forth along the first guide rail 1112 to avoid collision between the first ray generating device 131 and the treatment head 12. That is, when the treatment head 12 rotates towards the first end 111 of the gantry and approaches the first end 111 of the inner gantry 11, the first ray generating device 131 moves along the first guide rail 1112 away from the first end 111 of the inner gantry 11 to avoid collision between the first ray generating device 131 and the treatment head 12, and when the treatment head 12 rotates away from the first end 111 of the inner gantry 11, the first ray generating device 131 can move along the first guide rail 1112 towards the first end 111 of the inner gantry 11, so that the first ray generating device 131 is located in the first imaging path, ensuring that the first image guiding system 13 can image the patient without delay, shortening the length of the patient imaging preparation process before treatment and the overall length of treatment, and improving the use efficiency of the radiotherapy equipment 1.

[0067] The second end 112 of the inner gantry 11 can also be provided with a second guide rail 1122, which can be horizontally arranged, that is, the second guide rail 1122 is arranged in parallel with the ground 22 of the treatment room 2, and the first image processing device 132 can be arranged on the second guide rail 1122 and can move back and forth along the second guide rail 1122 to avoid collision between the first image processing device 132 and the treatment head 12. That is, when the treatment head 12 rotates towards the second end 112 of the gantry and approaches the second end 112 of the inner gantry 11, the first image processing device 132 moves along the second guide rail 1122 away from the second end 112 of the inner gantry 11 to avoid collision between the first image processing device 132 and the treatment head 12, and when the treatment head 12 rotates away from the second end 112 of the inner gantry 11, the first image processing device 132 can move along the second guide rail 1122 towards the second end 112 of the inner gantry 11 to make the first image processing device 132 located in the first imaging path, ensuring that the first image guidance system 13 does not delay imaging of the patient, shortening the overall duration of treatment, and improving the use efficiency of the radiotherapy equipment 1.

[0068] The first guide rail 1112 and the second guide rail 1122 are preferably arranged in parallel with each other, and the first guide rail 1112 and the second guide rail 1122 can be rigid slides, for example, rigid runners, which can improve the repeatability of the first ray generating device 131 and the first image processing device 132. The length of the first guide rail 1112 and the second guide rail 1122 can meet the time and distance of the treatment head 12 entering and leaving.

[0069] As a preferred mode, the radiotherapy equipment 1 can further include a driving assembly 15 and a control assembly 16, the control assembly 16 can include a controller 161, the driving assembly 15 and the controller 161 can be connected by wires, the driving assembly 15 and the controller 161 can be wirelessly connected, the controller 161 can be used to control the driving assembly 15, the driving assembly 15 can be used to drive the first ray generating device 131 and / or the first image processing device 132 to move, and the driving assembly 15 can also be used to drive the treatment head 12 to move. The driving assembly 15 can be one or more of various power equipment such as pneumatic, electric, hydraulic, etc. By driving the first ray generating device 131, the first image processing device 132 and the treatment head 12 to move through the driving assembly 15, automation operation is realized, the moving accuracy and efficiency of the first ray generating device 131, the first image processing device 132 and the treatment head 12 are improved, and the use efficiency of the radiotherapy equipment 1 is improved and the treatment effect is improved.

[0070] Specifically, the driving assembly 15 can comprise a first driving device (not shown) for driving the first ray generating device 131 to move back and forth along the first guide rail 1112, so as to move the first ray generating device 131 into or out of the first end 111 of the inner gantry 11, i.e. to move the first ray generating device 131 into or out of the first imaging path.

[0071] The driving assembly 15 can further comprise a second driving device 151 for driving the first image processing device 132 to move back and forth along the second guide rail 1122, so as to move the first image processing device 132 into or out of the second end 112 of the inner gantry 11, i.e. to move the first image processing device 132 into or out of the first imaging path.

[0072] The driving assembly 15 can further comprise a third driving device (not shown) for driving the treatment head 12 to move back and forth along the inner gantry 11 between the first end 111 of the inner gantry 11 and the second end 112 of the inner gantry 11, so as to irradiate the particle beam to the diseased part of the patient from different directions, and better guarantee the treatment effect.

[0073] Specifically, the control assembly 16 can further comprise a first position sensor (not shown) connected with the first driving device, and the first position sensor can also be connected with the controller 161. The first position sensor is used for detecting the rotating movement of the first driving device to obtain the position information of the first ray generating device 131. The first position sensor is, for example, a rotary encoder. When the first position sensor is coupled on the first driving device, the first position sensor can detect the rotating number and rotating direction of the first driving device, i.e. through calculation, the distance of the movement of the first ray generating device 131 can be obtained, so as to obtain the real-time position information of the first ray generating device 131. Through comparison between the real-time position information of the first ray generating device 131 and the preset position information of the first ray generating device 131, it can be judged whether the first ray generating device 131 reaches the first imaging path.

[0074] The first position sensor can feed back the position information of the first ray generating device 131 to the controller 161, and the controller 161 controls the rotation of the first driving device according to the feedback information of the first position sensor. In this way, the position of the first ray generating device 131 can be accurately controlled, so as to ensure that the first ray generating device 131 reaches the first imaging path.

[0075] The control assembly 16 can further comprise a second position sensor (not shown) connected with the second driving device 151, and the second position sensor can also be connected with the controller 161. The second position sensor is used to detect the rotational movement of the second driving device 151 to obtain the position information of the first image processing device 132. The second position sensor can be the same type of sensor as the first position sensor. For example, the second position sensor is a rotary encoder. When the second position sensor is coupled to the second driving device 151, the second position sensor can detect the number of rotations and the direction of rotation of the second driving device 151, that is, the distance moved by the first image processing device 132 can be calculated to obtain the real-time position information of the first image processing device 132. By comparing the real-time position information of the first image processing device 132 with the preset position information of the first image processing device 132, it can be determined whether the first image processing device 132 reaches the first imaging path.

[0076] The second position sensor can feed back the position information of the first image processing device 132 to the controller 161. The controller 161 controls the rotation of the second driving device 151 according to the feedback information of the second position sensor, so as to accurately control the position of the first image processing device 132 to ensure that the first image processing device 132 reaches the first imaging path.

[0077] The control assembly 16 can further comprise a third position sensor (not shown) connected with the first ray generating device 131, and the third position sensor can also be connected with the controller 161. The third position sensor is used to detect the real-time position information of the first ray generating device 131. By comparing the real-time position information of the first ray generating device 131 with the preset position information of the first ray generating device 131, it can be determined whether the first ray generating device 131 reaches the first imaging path.

[0078] The controller 161 controls the rotation of the first driving device according to the feedback information of the third position sensor, so as to further accurately control the position of the first ray generating device 131. The third position sensor can be a sliding rheostat, a tensile displacement sensor, etc. In the embodiment, the third position sensor is a sliding rheostat. The third position sensor can be arranged on the moving path of the first ray generating device 131. For example, the third position sensor is preferably arranged on the first guide rail 1112. The first ray generating device 131 is provided with a contact part (not shown) connected with the third position sensor. The number of contact parts can be one or more. The third position sensor obtains the position information of the first ray generating device 131 by obtaining the position of the contact part on the third position sensor, that is, the third position sensor can obtain the real-time position information of the first ray generating device 131 to ensure that the first ray generating device 131 reaches the first imaging path.

[0079] The control assembly 16 can further comprise a fourth position sensor (not shown) connected with the first image processing device 132, and the fourth position sensor can also be connected with the controller 161. The fourth position sensor is configured to detect real-time position information of the first image processing device 132. By comparing the real-time position information of the first image processing device 132 with preset position information of the first image processing device 132, it can be determined whether the first image processing device 132 reaches the first imaging path.

[0080] The controller 161 controls the second driving device 151 to rotate according to the feedback information of the fourth position sensor, so as to further accurately control the position of the first image processing device 132. The fourth position sensor and the third position sensor can be the same type of sensor. The fourth position sensor can be a sliding rheostat, a tensile displacement sensor, etc. In the embodiment, the fourth position sensor is a sliding rheostat. The fourth position sensor can be arranged on the moving path of the first image processing device 132. For example, the fourth position sensor is preferably arranged on the second guide rail 1122. The first image processing device 132 is provided with a contact part (not shown) connected with the fourth position sensor. The number of the contact part can be one or more. The fourth position sensor obtains the position information of the first image processing device 132 by obtaining the position of the contact part on the fourth position sensor, i.e., the fourth position sensor can obtain the real-time position information of the first image processing device 132 to ensure that the first image processing device 132 reaches the first imaging path.

[0081] In some embodiments, the control assembly 16 can further comprise a fifth position sensor (not shown) and / or a sixth position sensor (not shown). The fifth position sensor can be the same type of sensor as the first position sensor and the second position sensor. The fifth position sensor is connected with the third driving device, and the fifth position sensor can also be connected with the controller 161. The fifth position sensor is configured to detect the rotational movement of the third driving device to obtain the position information of the treatment head 12. The sixth position sensor can be the same type of sensor as the third position sensor and the fourth position sensor. The sixth position sensor is connected with the treatment head 12, and the sixth position sensor can also be connected with the controller 161. The sixth position sensor is configured to detect the real-time position information of the treatment head 12.

[0082] In the present application, after the controller 161 obtains the position information of the treatment head 12 through the fifth position sensor and / or the sixth position sensor, the controller 161 can control the first driving device to drive the first ray generating device 131 to move back and forth along the first guide rail 1112 to avoid collision between the first ray generating device 131 and the treatment head 12. That is, when the treatment head 12 rotates towards the first end 111 of the gantry and approaches the first end 111 of the inner gantry 11, the first driving device drives the first ray generating device 131 to move away from the first end 111 of the inner gantry 11 along the first guide rail 1112 to avoid collision between the first ray generating device 131 and the treatment head 12, and when the treatment head 12 rotates away from the first end 111 of the inner gantry 11, the first driving device drives the first ray generating device 131 to move towards the first end 111 of the inner gantry 11 along the first guide rail 1112 to make the first ray generating device 131 located in the first imaging path, ensuring that the first image guidance system 13 does not delay imaging of the patient, shortening the overall treatment time and improving the use efficiency of the radiotherapy equipment 1.

[0083] The controller 161 can also control the second driving device 151 to drive the first image processing device 132 to move back and forth along the second guide rail 1122 to avoid collision between the first image processing device 132 and the treatment head 12. That is, when the treatment head 12 rotates towards the second end 112 of the gantry and approaches the second end 112 of the inner gantry 11, the second driving device 151 drives the first image processing device 132 to move away from the second end 112 of the inner gantry 11 along the second guide rail 1122 to avoid collision between the first image processing device 132 and the treatment head 12, and when the treatment head 12 rotates away from the second end 112 of the inner gantry 11, the second driving device 151 drives the first image processing device 132 to move towards the second end 112 of the inner gantry 11 along the second guide rail 1122 to make the first image processing device 132 located in the first imaging path, ensuring that the first image guidance system 13 does not delay imaging of the patient, reducing the time for the patient to wait for treatment after entering the treatment room, shortening the overall treatment time and improving the use efficiency of the radiotherapy equipment 1.

[0084] As an example, assuming that the moving speed of the treatment head 12 is 1 r / s (revolutions per second), when the treatment head 12 enters a 10 cm distance from the first ray generating device 131 or the first image processing device 132, the controller 161 controls the first ray generating device 131 to move out of the first imaging path along the first guide rail 1112 at a speed of 1 cm / s or the first image processing device 132 to move out of the first imaging path along the second guide rail 1122 at a speed of 1 cm / s, to provide space for the movement of the treatment head 12. After the treatment head 12 leaves the area, the first ray generating device 131 or the first image processing device 132 can be moved back to the first imaging path, ensuring that the clinical imaging workflow is not delayed.

[0085] As a preferred mode, a first limiting device (not shown) can be arranged on the path of the movement of the first ray generating device 131, and the first limiting device is used to limit the movement position of the first ray generating device 131. The first limiting device can be arranged on the first guide rail 1112, or the first limiting device can be arranged on the first ray generating device 131, or the first limiting device is arranged on both the first guide rail 1112 and the first ray generating device 131. In the embodiment, the first limiting device is arranged on the first guide rail 1112, and the first limiting device can be arranged at both ends of the first guide rail 1112, which not only prevents the first ray generating device 131 from falling off the first guide rail 1112, but also ensures that the first ray generating device 131 moves to the first imaging path, and improves the positioning accuracy of the first ray generating device 131.

[0086] A second limiting device (not shown) can also be arranged on the path of the movement of the first image processing device 132, and the second limiting device is used to limit the movement position of the first image processing device 132. The second limiting device can be arranged on the second guide rail 1122, or the second limiting device can be arranged on the first image processing device 132, or the second limiting device is arranged on both the second guide rail 1122 and the first image processing device 132. In the embodiment, the first limiting device is arranged on the second guide rail 1122, and the second limiting device can be arranged at both ends of the second guide rail 1122, which not only prevents the first image processing device 132 from falling off the second guide rail 1122, but also ensures that the first image processing device 132 moves to the first imaging path, and improves the positioning accuracy of the first image processing device 132.

[0087] The first and second limiting devices are preferably the same type of components, and can be a hard limiting component such as a limiting block, etc. The first and second limiting devices can also be a sensor such as a Hall switch, a proximity switch, etc. The first and second limiting devices can be connected to the controller 161. When the first radiation generating device 131 moves to the first limiting device, the first limiting device can feed back the position information of the first radiation generating device 131 to the controller 161, and the controller 161 controls the driving assembly 15 to stop operation according to the feedback information of the first limiting device. When the first image processing device 132 moves to the second limiting device, the second limiting device can feed back the position information of the first image processing device 132 to the controller 161, and the controller 161 controls the driving assembly 15 to stop operation according to the feedback information of the first image processing device 132.

[0088] With reference to Figures 1 to 5 The present application also provides a radiation therapy system 100, which comprises the aforementioned radiation therapy device 1, a treatment bed 17 and a treatment room 2. The treatment room 2 has two side walls 21 and a floor 22 and a top surface (not shown) opposite to the floor 22. The second radiation generating device 141 and the second image processing device 142 can be arranged on the two opposite side walls 21 respectively. The treatment bed 17 can be installed in the treatment room 2 by the mechanical arm 18. The treatment bed 17 is used to support a patient. The mechanical arm 18 can adjust the position of the treatment bed 17 from six degrees of freedom, so as to ensure that the affected part of the patient is adjusted to the isocenter of the radiation therapy device 1. The treatment bed 17 can also be arranged as a treatment chair in addition to the shape shown in the figure. Figure 4 The particle accelerator 19 is used to generate a particle beam and treat the affected part of the patient through the treatment head 12. The particle can be a proton or a heavy ion.

[0089] The first end 111 of the inner gantry 11 can be arranged below the ground 22 of the treatment room 2, and the ground 22 of the treatment room 2 is provided with a third gap 221 penetrating the ground 22 along the height direction, so that one side of the first ray generating device 131 facing the first image processing device 132 is exposed. When the first ray generating device 131 and the first image processing device 132 are arranged opposite to each other, the X-rays generated by the first ray generating device 131 can pass through the patient and form an image at the first image processing device 132, that is, the X-rays generated by the first ray generating device 131 can pass through the patient and form an image at the first image processing device 132 after passing through the first gap 1111 and the third gap 221 in turn. The second guide rail 1122 is located in the top surface and does not expose the top surface, that is, the second guide rail 1122 does not extend downwardly out of the top surface along the height direction. The third gap 221 can also expose the first end 111 of the inner gantry 11, and the treatment head 12 can move to the third gap 221 and cover the first gap 1111, which better realizes the miniaturization of the radiotherapy system 100, provides a wider movement space for the movement of the treatment head 12, expands the rotation range of the treatment head 12, and is beneficial to providing radiotherapy for the patient at a preset angle.

[0090] With reference to Figure 6 The application also provides a control method of a radiotherapy system, using the radiotherapy system 100 described above, comprising the following steps: S100-S500.

[0091] Step S100: Before moving the patient to the positioning position, control the treatment head 12 not to be located at the first end 111 or the second end 112 of the inner gantry 11.

[0092] Specifically, before moving the patient to the positioning position, the positioning position can be the center of the inner gantry, the controller 161 obtains the position information of the treatment head 12 through the fifth position sensor and / or the sixth position sensor, and then controls the third driving device to drive the treatment head 12 to move along the inner gantry 11, so that the treatment head 12 is not located at the first end 111 or the second end 112 of the inner gantry 11.

[0093] Step S200: Control the first ray generating device 131 and the first image processing device 132 to be located at the first end 111 of the inner gantry 11 and the second end 112 of the inner gantry 11, respectively.

[0094] Specifically, the controller 161 acquires the position information of the treatment head 12 through the fifth position sensor and / or the sixth position sensor, and confirms that the treatment head 12 is not located at the first end 111 or the second end 112 of the inner gantry 11, and then controls the first driving device to drive the first ray generating device 131 to move along the first guide rail 1112 to the first end 111 of the inner gantry 11, and controls the second driving device to drive the first image processing device 132 to move along the second guide rail 1122 to the second end 112 of the inner gantry 11, so that the first ray generating device 131 and the first image processing device 132 are located in the first imaging path.

[0095] Step S300: After moving the patient to the positioning position, the first image guide system 13 and the second image guide system 14 scan the patient and acquire the image of the affected part of the patient.

[0096] Specifically, the patient lies on the treatment bed 17, and after moving the patient to the positioning position, the positioning position can be the center of the inner gantry, the first ray generating device 131 and the first image processing device 132 are located in the first imaging path, the first image guide system 13 can image the affected part of the patient from the first imaging path, the second ray generating device 141 and the second image processing device 142 are located in the second imaging path, and the first image guide system 13 can image the affected part of the patient from the second imaging path. In this embodiment, the first imaging path and the second imaging path are arranged perpendicular to each other, so that the imaging of the first image guide system 13 and the imaging of the second image guide system 14 are arranged orthogonally. In this way, the accuracy of positioning, imaging and treatment can be improved, and the effect of radiotherapy and the safety of the patient can be better guaranteed.

[0097] Step S400: The mechanical arm 18 moves the affected part of the patient to the isocenter of the radiotherapy device 1 according to the image of the affected part of the patient.

[0098] Specifically, the position information of the affected part of the patient can be determined according to the imaging of the first image guide system 13 and the imaging of the second image guide system 14, and the mechanical arm 18 moves the affected part of the patient to the isocenter of the radiotherapy device 1 according to the position information of the affected part of the patient, and the accelerator is used to generate a particle beam and treat the affected part of the patient through the treatment head 12.

[0099] Step S500: The treatment head 12 moves along the inner gantry 11 according to the image of the affected part of the patient, so as to change the direction of the particle beam irradiating the affected part of the patient. Before the treatment head 12 moves to the first end 111 and / or the second end 112 of the inner gantry 11, the controller 161 controls the driving assembly 15 to move the first ray generating device 131 of the first image guide system 13 out of the first end 111 of the inner gantry 11 and / or to move the first image processing device 132 out of the second end 112 of the inner gantry 11.

[0100] Specifically, the first image guidance system 13 and the second image guidance system 14 scan the patient in real time and obtain real-time images of the patient's affected area, and the treatment head 12 can determine the treatment effect of the patient's affected area according to the image change of the patient's affected area, control the treatment head 12 to move along the inner gantry 11 to change the direction of the particle beam irradiating the patient's affected area, and treat the patient's affected area from different directions to better guarantee the treatment effect.

[0101] The controller 161 can obtain real-time position information of the treatment head 12 through the fifth position sensor and / or the sixth position sensor, control the driving assembly 15 to move the first image guidance system 13 into or out of the first end 111 and / or the second end 112 of the inner gantry 11, that is, control the driving assembly 15 to move the first image guidance system 13 into or out of the first imaging path. When the treatment head 12 rotates towards the first end 111 of the gantry and approaches the first end 111 of the inner gantry 11, the first driving device drives the first ray generating device 131 to move along the first guide rail 1112 in a direction away from the first end 111 of the inner gantry 11, so as to avoid collision between the first ray generating device 131 and the treatment head 12. When the treatment head 12 rotates away from the first end 111 of the inner gantry 11, the first driving device drives the first ray generating device 131 to move along the first guide rail 1112 towards the first end 111 of the inner gantry 11, so that the first ray generating device 131 is located in the first imaging path, ensuring that the first image guidance system 13 does not delay imaging of the patient, shortening the overall treatment time and improving the use efficiency of the radiotherapy equipment 1. When the treatment head 12 moves to the first end 111 of the inner gantry 11 and enters the third gap 221, the treatment head 12 covers the first gap 1111 in the height direction, better realizing the small integration of the radiotherapy system 100.

[0102] When the treatment head 12 rotates towards the second end 112 of the gantry and approaches the second end 112 of the inner gantry 11, the second driving device 151 drives the first image processing device 132 to move along the second guide rail 1122 in a direction away from the second end 112 of the inner gantry 11, so as to avoid collision between the first image processing device 132 and the treatment head 12. When the treatment head 12 rotates away from the second end 112 of the inner gantry 11, the second driving device 151 drives the first image processing device 132 to move along the second guide rail 1122 towards the second end 112 of the inner gantry 11, so that the first image processing device 132 is located in the first imaging path, ensuring that the first image guidance system 13 does not delay imaging of the patient, shortening the overall treatment time and improving the use efficiency of the radiotherapy equipment 1.

[0103] The first ray generating device 131 moves in the same direction as the first image processing device 132 moves out of the second end 112 of the inner gantry 11, and the first image guiding system 13 is not in the path of the rotational movement of the particle accelerator 19.

[0104] Although the embodiments of the present application have been shown and described above, it should be understood by those skilled in the art that the above-mentioned embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application without departing from the principles and spirits of the present application, and all of these changes should be within the protection scope of the claims of the present application.

Claims

1. A radiotherapy apparatus, characterized in that, The application relates to a particle accelerator comprising: an outer gantry on which a particle accelerator is fixed, the particle accelerator being arranged to rotate together with the outer gantry under the rotation of the outer gantry; an inner gantry which is fixed and has opposite first and second ends, the second end being above the first end, the inner gantry being provided with a treatment head which can move back and forth along the inner gantry between the first and second ends of the inner gantry; a first image guiding system comprising a first ray generating device for generating rays and a first image processing device for receiving rays, and a second image guiding system comprising a second ray generating device for generating rays and a second image processing device for receiving rays, the rays generated by the first ray generating device and the rays generated by the second ray generating device being arranged to cross each other; the first ray generating device and the first image processing device being respectively located at the first and second ends of the inner gantry and being located outside the inner gantry in a height direction; the first ray generating device and the first image processing device being movable relative to the inner gantry in a second direction different from the height direction, the first ray generating device being arranged to leave the first end of the inner gantry before the treatment head reaches the first end of the inner gantry when the treatment head moves towards the first end of the inner gantry, and the first image processing device being arranged to leave the second end of the inner gantry before the treatment head reaches the second end of the inner gantry when the treatment head moves towards the second end of the inner gantry; the second ray generating device and the second image processing device being respectively arranged on the two sides of the inner gantry in a third direction perpendicular to the height direction and the second direction, the movement path of the treatment head being located between a first straight line in which the first ray generating device moves and a second straight line in which the first image processing device moves, and the movement paths of the first ray generating device and the first image processing device not intersecting the rotation movement path of the particle accelerator; wherein the first ray generating device is arranged on a side of the inner gantry facing away from the treatment head, and the first end of the inner gantry is provided with a first gap to expose a side of the first ray generating device facing towards the first image processing device; the first image processing device is arranged on a side of the inner gantry facing away from the treatment head, and the second end of the inner gantry is provided with a second gap to expose a side of the first image processing device facing towards the first ray generating device; the first ray generating device and the second ray generating device are both X-ray tubes for generating X-rays; the first gap and the second gap are at least partially aligned in the height direction and extend through the inner gantry in the height direction, the first end of the inner gantry being arranged below the ground of a treatment room, and the ground of the treatment room is provided with a third gap to expose a side of the first ray generating device facing towards the first image processing device.

2. The radiation treatment device of claim 1, wherein, the rays generated by the first ray generating device and the rays generated by the second ray generating device are arranged to be perpendicular to each other.

3. The radiation treatment device of claim 1, wherein, The second ray generating device and the second image processing device are fixed.

4. The radiation treatment device of claim 1, wherein, A first guide rail is arranged below the first end of the inner frame, and the first ray generating device is arranged on the first guide rail and can move back and forth along the first guide rail to avoid collision between the first ray generating device and the treatment head; and / or, A second guide rail is arranged above the second end of the inner frame, and the first image processing device is arranged on the second guide rail and can move back and forth along the second guide rail to avoid collision between the first image processing device and the treatment head, and the second guide rail is parallel to the first guide rail.

5. The radiation treatment device of claim 4, wherein, Further comprising a driving assembly and a control assembly, the control assembly comprising a controller for controlling the driving assembly, and the driving assembly is used for driving the first ray generating device and / or the first image processing device and / or the treatment head to move; The driving assembly comprises a first driving device for driving the first ray generating device to move back and forth along the first guide rail; and / or, The driving assembly further comprises a second driving device for driving the first image processing device to move back and forth along the second guide rail; and / or, The driving assembly further comprises a third driving device for driving the treatment head to move back and forth along the inner frame between the first end of the inner frame and the second end of the inner frame.

6. The radiotherapy device of claim 5, wherein, The control assembly further comprises a first position sensor connected with the first driving device, and the first position sensor is used for detecting the rotational movement of the first driving device to obtain the position information of the first ray generating device; and / or, The control assembly further comprises a second position sensor connected with the second driving device, and the second position sensor is used for detecting the rotational movement of the second driving device to obtain the position information of the first image processing device; and / or, The control assembly further comprises a third position sensor connected with the first ray generating device, and the third position sensor is used for detecting the position information of the first ray generating device; and / or, The control assembly further comprises a fourth position sensor connected with the first image processing device, and the fourth position sensor is used for detecting the position information of the first image processing device; and / or, The control assembly further comprises a fifth position sensor connected with the third driving device, and the fifth position sensor is used for detecting the rotational movement of the third driving device to obtain the position information of the treatment head; and / or, The control assembly further comprises a sixth position sensor connected with the treatment head, and the sixth position sensor is used for detecting the position information of the treatment head.

7. The radiation treatment device of claim 1, wherein, A first limiting device is arranged on the path of movement of the first ray generating device, and the first limiting device is used for limiting the movement position of the first ray generating device; and / or, The second limiting device is arranged on the path of the first image processing device and is used for limiting the moving position of the first image processing device.

8. A radiotherapy system, characterized by, Comprise: The radiotherapy device, the treatment bed and the treatment room according to any one of claims 1-7, wherein the treatment room has two side walls, a floor and a top surface opposite to the floor, the second ray generating device and the second image processing device are arranged on the two opposite side walls respectively, the treatment bed is installed in the treatment room through a mechanical arm, and the particle accelerator is used for generating a particle beam and treating a patient through the treatment head.

9. The radiotherapy system of claim 8, wherein, The third gap penetrates the floor along the height direction, and the second guide rail is located in the top surface without exposing the top surface.

Images