Multi-chamber transport device, transport method and related equipment for radiotherapy

Abstract

The present invention provides a multi-chamber transfer device, a transfer method and related equipment for radiotherapy, which relate to the field of particle radiotherapy technology; wherein the device includes: a transfer track, a sitting or lying device, multiple positioning rooms and treatment rooms; each of the positioning rooms includes at least one sitting or lying device; each of the sitting or lying devices is arranged on the transfer track, and the transfer track runs through multiple positioning rooms and treatment rooms; the method includes a treatment plan; according to a first treatment plan, the position and angle of the sitting or lying device of the first patient are adjusted; through the transfer track, the adjusted sitting or lying device is moved to the treatment position in the treatment room, and the positioning time of the sitting or lying device of the second patient is determined according to the treatment time of the first treatment plan, the preset positioning time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track; flexible switching between multiple positioning rooms and treatment rooms is achieved, thereby greatly improving treatment efficiency and reducing overall costs, and the particle radiotherapy system is more compact.

Description

Technical Field

[0001] The present invention relates to the technical field of particle radiotherapy, and in particular to a multi-chamber transport device, a transport method and related equipment for radiotherapy. Background Art

[0002] In the field of cancer treatment, radiotherapy is an important treatment method, and continuous technological advancement is of great significance for improving treatment efficacy and reducing side effects. Although traditional photon radiotherapy can kill tumor cells to a certain extent, due to the limitations of its dose distribution and penetration ability, it is often difficult to achieve precise targeting of tumor tissue and may cause unnecessary damage to surrounding healthy tissue.

[0003] With the rapid advancement of medical physics and engineering, particle radiotherapy has emerged as an advanced radiotherapy technique. Particle radiotherapy, particularly proton and heavy ion radiotherapy, has become a research hotspot in cancer treatment due to its unique physical properties and precise dose distribution. Particle radiotherapy allows for more precise control of the dose and range of radiation, enabling precise targeting of tumor cells while minimizing damage to surrounding healthy tissue.

[0004] However, the complexity and relatively high cost of particle radiotherapy equipment hinder its widespread adoption. Traditional single-room treatment systems can only treat one patient at a time, leaving room for improvement in treatment efficiency and impacting the utilization of core components such as particle accelerators. Multi-room treatment systems typically utilize multiple treatment rooms for treating patients, but these systems often come with complex particle beam transport lines and magnet systems, increasing equipment costs while reducing system flexibility and convenience.

[0005] Therefore, how to design a particle therapy device that can improve treatment efficiency, reduce costs and increase equipment flexibility has become an urgent problem to be solved. Summary of the Invention

[0006] Based on the above problems, the present invention provides a multi-room transfer device, transfer method and related equipment for radiotherapy. By setting up a positioning room, a movable treatment chair or treatment bed, and a transfer track, flexible switching between multiple positioning rooms and treatment rooms can be achieved, thereby greatly improving treatment efficiency and reducing overall costs.

[0007] In one aspect, the present invention provides a multi-chamber transport device for radiotherapy, comprising:

[0008] Transfer rails, sitting and lying equipment, multiple positioning rooms, treatment rooms and movable screen doors;

[0009] Each of the positioning rooms includes an entrance and at least one sitting or lying device;

[0010] Each of the sitting and lying devices is arranged on the transfer track, and the transfer track runs through a plurality of positioning rooms and treatment rooms; the treatment rooms have an isocenter;

[0011] The positioning room comprises at least a first positioning room and a second positioning room, the first positioning room and the second positioning room are respectively located on both sides of the treatment room, and are separated from or connected to the treatment room by a movable shielding door;

[0012] The transfer track includes a first track, the first track includes a first section extending from the first positioning room to the treatment position of the treatment room and a second section extending from the second positioning room to the treatment position of the treatment room; the first section is only used for the movement of the sitting and lying equipment in the first positioning room between the first positioning room and the treatment room, and the second section is only used for the movement of the sitting and lying equipment in the second positioning room between the second positioning room and the treatment room; the sitting and lying equipment in the first positioning room and the sitting and lying equipment in the second positioning room are not located in the treatment room at the same time;

[0013] Each positioning room is equipped with a virtual isocenter and imaging equipment;

[0014] The virtual isocenter is used to simulate the treatment point of the treatment beam in the treatment room; the line connecting the virtual isocenters is parallel to the first track, and the isocenter of the treatment room is located on the line;

[0015] The shooting range of the imaging device covers the treatment target area and is used to determine the position and posture of the patient's treatment target area.

[0016] Preferably, when the treatment room has a sitting or lying device, the first positioning room and the second positioning room also have a sitting or lying device respectively, or the first positioning room has two sitting or lying devices and the second positioning room has no sitting or lying device.

[0017] Preferably, the first positioning chamber and the second positioning chamber are symmetrically arranged relative to the same center point.

[0018] Preferably, the transfer track further includes a second track; the second track is located in the positioning room;

[0019] The second track is connected to the first track, and a sitting or lying device is arranged on the second track; the sitting or lying device on the second track is arranged to be able to flow from the second track to the first track.

[0020] Preferably, the device further comprises a positioning component;

[0021] The positioning assembly includes a first positioning module and a second positioning module;

[0022] The first positioning module includes an encoder, and the encoder is arranged on a servo motor of the main control system;

[0023] The second positioning module includes a sensor, a potentiometer and a limit switch; the second positioning module is arranged on the transfer track.

[0024] Preferably, the sitting or lying device comprises a driving module, a sitting or lying cushion and a supporting module;

[0025] The sitting and lying cushions are movably connected to the support module, and the support module is rotatably mounted on the transfer track;

[0026] One side of the output end of the driving module is drivingly connected to the supporting module;

[0027] The other side of the output end of the driving module is driven and connected to the sitting or lying pad.

[0028] Preferably, the apparatus further comprises a calibration device, which is installed in each of the positioning rooms and is used to calibrate the virtual isocenter.

[0029] In a second aspect, the present invention provides a multi-chamber transport method for radiotherapy, the method being implemented by any of the devices of the present invention, the method comprising:

[0030] obtaining a first treatment plan for a first patient and a second treatment plan for a second patient;

[0031] According to the first treatment plan, adjusting the position and angle of the sitting and lying equipment of the first patient at a setup location; the setup location is located in a setup room;

[0032] The adjusted sitting and lying device is moved to the treatment position in the treatment room via the transfer track, and the first patient is treated according to the first treatment plan;

[0033] The positioning time of the sitting or lying device for the second patient is determined based on the treatment time of the first treatment plan, the preset positioning time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track.

[0034] Preferably, the initial positions of the sitting and lying device for the first patient and the sitting and lying device for the second patient are located in the same positioning room or different positioning rooms.

[0035] Preferably, the setup point is a virtual isocenter of a setup room; and adjusting the position and angle of the sitting and lying equipment of the first patient at the setup point according to the first treatment plan comprises:

[0036] acquiring imaging data of a first patient;

[0037] Based on the first treatment plan and the image data of the first patient, adjustment parameters of the sitting and lying device are determined through image registration, and the adjustment parameters include adjusting the position and angle; by applying the adjustment parameters, the sitting and lying device is adjusted so that the part to be treated of the first patient coincides with the virtual isocenter.

[0038] Preferably, the first positioning module and the second positioning module cooperate to position and adjust the sitting and lying device; the first positioning module is connected to the sitting and lying device, and the second positioning module is located on the transfer track.

[0039] Preferably, determining the positioning time of the sitting or lying device for the second patient based on the treatment duration of the first treatment plan, the preset positioning time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track includes:

[0040] Obtaining a preset treatment duration of the first treatment plan through the first treatment plan;

[0041] Obtaining a preset positioning time of the second treatment plan based on the machine learning model through the second treatment plan;

[0042] Obtaining, based on the moving speed and distance of the sitting and lying device, a first duration for the sitting and lying device of the first patient to move out of the treatment room and a second duration for the sitting and lying device of the second patient to move from the set-up position to the treatment position in the treatment room;

[0043] The positioning time of the sitting and lying equipment for the second patient is obtained through the preset treatment time of the first treatment plan, the preset positioning time of the second treatment plan, the first time and the second time.

[0044] Preferably, the input of the machine learning model includes:

[0045] The patient's biological characteristics, disease type and stage, historical treatment records, imaging examination data, and historical positioning time.

[0046] In a third aspect, the present invention provides a particle radiotherapy system, comprising any multi-chamber transport device of the present invention.

[0047] In a fourth aspect, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the functions of any multi-chamber transfer device of the present invention or the steps of any method of the present invention when executing the computer program.

[0048] In a fifth aspect, the present invention provides a computer-readable storage medium, characterized in that the storage medium stores computer instructions. When a computer reads the computer instructions, the computer implements the functions of any multi-chamber transfer device of the present invention or executes the steps of any method of the present invention.

[0049] Compared with the prior art, the beneficial effects of the present invention include at least the following: the particle therapy equipment with multiple positioning rooms and positioning devices of the present invention adopts high-precision guide rails and servo motor control technology to achieve precise movement and positioning of the treatment chair or treatment bed. At the same time, each positioning room is equipped with an independent imaging system to ensure the accuracy and efficiency of patient positioning. In addition, the accelerator is placed in a strongly shielded space and isolated from the treatment room by a heavy-duty shielding door, effectively protecting the safety of medical staff and the surrounding environment; the multi-chamber design of one treatment room corresponding to multiple positioning rooms allows for simultaneous or staggered positioning and treatment of patients, significantly reducing patient waiting time, improving the efficiency and smoothness of the overall treatment process, and making the particle radiotherapy system more compact, which is conducive to proton radiotherapy benefiting more patients. By accurately calculating and scheduling the movement time of sitting and lying equipment, the idle time of the treatment equipment can be maximized, improving equipment utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic diagram of a multi-chamber transport device for radiotherapy according to an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the placement positions of a multi-chamber transport device for radiotherapy according to an embodiment of the present invention;

[0052] Figure 3 Schematic diagram of the transport track of a multi-chamber transport device for radiotherapy according to an embodiment of the present invention;

[0053] Figure 4 Schematic diagram of a multi-chamber transport method for radiotherapy according to an embodiment of the present invention.

[0054] In the figure: 11, first track; 12, second track; 2, sitting and lying equipment; 3, positioning room; 31, virtual isocenter; 32, imaging equipment; 4, treatment room; 41, isocenter of treatment room; 5, shielding door; 6, accelerator; 7, operating room; 8, equipment room. DETAILED DESCRIPTION

[0055] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0056] Refer to the attached Figure 1 Some embodiments of the present invention provide a multi-chamber transport device for radiotherapy, comprising:

[0057] Transfer track, multiple sitting and lying equipment 2, multiple positioning rooms 3, treatment room 4 and movable shielding door 5;

[0058] Each of the positioning rooms 3 includes at least one sitting or lying device 2;

[0059] Each of the sitting and lying devices 2 is arranged on the transfer track, and the transfer track runs through a plurality of positioning rooms 3 and treatment rooms 4, that is, extends from the positioning room 3 to the treatment room 4; the treatment room 4 has an isocenter 41;

[0060] The sitting and lying device 2 is used to support the patient, and can be, for example, a treatment bed or a treatment chair. The patient can sit or lie down on the sitting and lying device 2.

[0061] The working principle and effect of the above technical solution are as follows: the transfer track runs through multiple positioning rooms and treatment rooms, that is, extends from multiple positioning rooms to the treatment room, providing a precise path for the movement of the sitting and lying equipment; multiple positioning rooms share a fixed radiotherapy room (treatment room), which makes the overall structure more compact and the space utilization more reasonable; there is a set of mobile drive tracks under the sitting and lying equipment, which can enable the sitting and lying equipment to move parallel along its track. The sitting and lying equipment is designed to move freely along the transfer track to meet the needs of patients in different treatment stages; a flexible transfer system is used to achieve rapid transfer of patients between different treatment stages; this equipment technology increases the utilization rate of particle radiotherapy equipment by adding movable sitting and lying equipment; when a sitting and lying equipment is undergoing treatment or before treatment, another positioning device can perform positioning work; different positioning equipment is designed to meet the needs of different patients, and medical staff can choose to use different positioning equipment according to the patient's treatment plan. After the treatment, the sitting and lying equipment is moved out of the treatment room via the track and does not need to be moved down from the track.

[0062] The movement process is fully automatic, and the track is a high-precision guide rail with an accuracy of up to 0.05mm. By moving the track and accurately locating the stop position, the patient can be accurately positioned, ensuring the effectiveness of radiotherapy. No secondary alignment is required after moving to the treatment room. Under this premise, medical staff do not need to enter the area with the strongest radiation, and can position the patient in the positioning room, which can protect the safety of medical staff to the greatest extent.

[0063] The accelerator body is located in equipment room 8 and is surrounded by concrete walls about two meters thick, which can effectively prevent radiation penetration. A particle irradiation wall is set at the front end of the treatment head, using a three-meter-thick concrete wall to minimize the impact of radiation on the external environment.

[0064] Generally, medical staff do not need to enter the treatment area and can only operate in the positioning room. After the positioning is completed, the patient is moved to the treatment room via rails for treatment.

[0065] Compared to a radiotherapy system in which the positioning room and the treatment room are shared, that is, the positioning device is directly installed in the treatment room, the device of this embodiment can increase the efficiency of the accelerator by 2 to 3 times.

[0066] Compared with traditional multi-room treatment systems, movable sitting and lying equipment can move the patient to a position closer to the accelerator. In this way, the radiotherapy system does not have a dipole magnet or a quadrupole magnet and no beam transport line.

[0067] Compared with mobile accelerometers, mobile sitting and lying devices are much lighter, so they are more convenient, faster, and save a lot of costs.

[0068] Exemplarily, the sitting and lying equipment includes a treatment bed and / or a treatment chair; the positioning rooms can be equipped with positioning chairs; or they can be equipped with positioning beds, which can be flexibly selected according to the actual situation of the hospital.

[0069] Exemplarily, in the multi-room transport device, each positioning room is provided with a virtual isocenter 31 and an imaging device 32; the virtual isocenter 31 is used to simulate the actual treatment point of the treatment beam (particle beam) in the treatment room.

[0070] The shooting (scanning) range of the imaging device 32 covers the treatment target area, and is used to determine the position and posture of the patient's treatment target area (such as the tumor site).

[0071] The principle and effect of the above technical solution are as follows: a virtual isocenter is set up in the positioning room to simulate the actual treatment point; independent imaging equipment is used to obtain images of the patient's anatomy, helping medical professionals determine the position and posture of the target area, and align and verify it with the treatment plan. Independent imaging equipment, including but not limited to X-rays and CT scans, can accurately locate the patient's position independently of each other.

[0072] Refer to the attached Figures 1 to 3 : Exemplarily, there are two positioning rooms 3, which are respectively located on both sides of the treatment room 4 and are separated from or connected to the treatment room 4 by a movable shielding door 5; the first positioning room and the second positioning room are symmetrically arranged relative to the isocenter 41.

[0073] The transfer track includes a first track 11; the first track 11 includes a first section extending from the first positioning room to the treatment position of the treatment room and a second section extending from the second positioning room to the treatment position of the treatment room; the first section is only used for the sitting and lying equipment of the first positioning room to move between the first positioning room and the treatment room, and the second section is only used for the sitting and lying equipment of the second positioning room to move between the second positioning room and the treatment room; the sitting and lying equipment of the first positioning room and the sitting and lying equipment of the second positioning room are not located in the treatment room at the same time; when there is a sitting and lying equipment in the treatment room, the first positioning room and the second positioning room also have a sitting and lying equipment respectively, or the first positioning room has two sitting and lying equipment and the second positioning room has no sitting or lying equipment.

[0074] The line connecting the virtual isocenters 31 is parallel to the first track 11 , and the isocenter 41 of the treatment room 4 is located on the line.

[0075] The principle and effect of the above technical solution are as follows: a heavy-duty shield door is used to separate the treatment room and the positioning room, and a safety zone is defined. The virtual coordinate system coordinate direction is consistent in three-dimensional space. After positioning is completed, it is only necessary to move the treatment bed and / or treatment chair on the first track 11 to the correct position along the extension direction of the first track, more efficiently positioning the patient in the correct treatment position. It also saves the design of an axis (the axis for horizontal linear motion) for the treatment chair or treatment bed body, simplifying the structure of the treatment chair or treatment bed and thus reducing product costs. The body is the part of the treatment chair or treatment bed that directly supports and contacts the patient. This solves the problem of other multi-room designs requiring complex coordinate system conversion calculations during positioning. The actual isocenter of the treatment room and the virtual isocenter of the positioning room are on the same straight line, which coincides with or is parallel to the extension direction of the first track.

[0076] The transfer track system is designed to be modular, specifically by servicing two different positioning rooms (the first and second) through different sections of the first track 11. This design allows each positioning room to independently transport its own seating and lying equipment (such as beds and treatment chairs) to the shared treatment room, thus achieving flexible resource allocation. By stipulating that seating and lying equipment from the first positioning room and those from the second positioning room cannot be located simultaneously in the treatment room, this ensures that treatment room efficiency is not impacted by equipment conflicts. This time-sharing strategy optimizes treatment room utilization and reduces wait times. Considering that different patients or treatment needs may require different types of seating and lying equipment, the system allows different seating and lying equipment to be configured in the first and second positioning rooms. This diversity ensures targeted and personalized treatment while also improving equipment utilization and adaptability. In specific circumstances (such as when a seating and lying equipment is already in the treatment room), the system allows both the first and second positioning rooms to maintain a certain number of seating and lying equipment for redundancy, or for the first positioning room to have additional equipment to cope with periods of high demand. This design enhances the system's flexibility and responsiveness.

[0077] The first setup room and the second setup room are symmetrically arranged relative to the isocenter, making the treatment process smoother. Regardless of whether the patient is transferred from the first setup room or the second setup room, they will follow a similar path to the treatment room, and the preparation and process of receiving treatment in the treatment room will also be more standardized and unified.

[0078] Exemplarily, the transfer track further includes a second track 12; the second track is located in the positioning room 3;

[0079] The second track 12 is connected to the first track 11 , and a sitting or lying device 2 is also provided on the second track 12 ; the sitting or lying device 2 on the second track 12 is configured to be able to flow from the second track 12 to the first track 11 .

[0080] By adding a second track, which is also equipped with sitting and lying equipment as a transfer position, the first step is to provide sufficient positioning and pre-treatment time for the next patient to avoid conflicts with operations in the treatment room; the second step is to reduce delays in the treatment room caused by equipment adjustments through pre-positioning and pre-treatment, thereby improving treatment efficiency.

[0081] When the sitting and lying device on the first track is performing radiotherapy in the treatment room, the sitting and lying device on the second track 12 can be moved to the leftmost positioning position on the first track 11 to simultaneously perform patient positioning and positioning work in the positioning room 3; in this way, the sitting and lying devices on the two tracks can alternately perform treatment and positioning, greatly improving the overall treatment efficiency.

[0082] The dual-track design makes the entire treatment process more flexible. In addition, in an emergency, if one sitting or lying device fails or requires special maintenance, the sitting or lying device on the other track can be quickly used to replace it, ensuring that the treatment process is not affected.

[0083] By rationally planning the layout of the first and second tracks, a more efficient treatment process can be achieved within a limited space. Although the introduction of the second track primarily affects treatment efficiency and equipment utilization, it also indirectly promotes improved treatment accuracy. This is because a more efficient treatment process means medical professionals can focus more on their work at each stage of treatment, reducing oversight or errors caused by time constraints.

[0084] Exemplarily, the device also includes a positioning component; the positioning component includes a first positioning module and a second positioning module, the first positioning module includes an encoder; the second positioning module includes a sensor, a potentiometer and a limit switch; the encoder is arranged on the servo motor of the main control system, and the second positioning module is arranged on the transfer track.

[0085] Exemplarily, the sitting or lying device 2 includes a driving module, a sitting or lying cushion, and a supporting module;

[0086] The sitting and lying cushions are movably connected to the support module, and the support module is rotatably mounted on the transfer track;

[0087] One side of the output end of the driving module is drivingly connected to the supporting module;

[0088] The other side of the output end of the driving module is driven and connected to the sitting or lying pad.

[0089] A rotating wheel is provided at the bottom of the support module, so that the driving module drives the support module to rotate, thereby driving the sitting or lying cushion to rotate. A sliding mechanism is provided between the sitting or lying cushion and the support module, and the sliding mechanism includes sliding rails in the XYZ axis direction, so that the driving module drives the sitting or lying cushion to move along the XYZ axis direction; wherein the X axis direction is the horizontal direction; or the sliding mechanism includes sliding rails in the YZ axis direction, so that the driving module drives the sitting or lying cushion to move along the YZ axis direction.

[0090] The working principle and effect of the above technical solution are as follows: the movement of the sitting and lying equipment (treatment chair or treatment bed) is controlled by a servo motor, and the motor is equipped with an encoder, which can accurately sense the position information of the treatment chair or treatment bed on it; at the same time, a position sensor, a potentiometer and a limit switch are set on the track as a dual position confirmation of the position of the treatment chair or treatment bed, so that its stop position can be accurately adjusted; within the treatment room area, the track can cooperate with the treatment chair to achieve precise positioning in the left and right directions to cooperate with treatments at different positions. This method can save the design of an axis (the axis required for horizontal linear motion) for the treatment chair or treatment bed body; for example, after the treatment chair is moved to the treatment room, if left and right positioning is required, the treatment chair body (that is, the part of the treatment chair that directly supports and contacts the patient) does not need to be moved; the left and right position of the treatment chair on the transfer track can be adjusted to achieve left and right positioning, because the irradiation position is not necessarily directly in front of the treatment chair, it may be to the left or right.

[0091] The sitting and lying equipment (treatment bed or treatment chair) has an electric or mechanical drive and can be translated, rotated and raised and lowered on multiple axes (for example: X-axis, Y-axis, Z-axis) to achieve precise position adjustment; it can also be translated only on the Y-axis and Z-axis, and the X-axis position is adjusted by controlling the transfer track, thus saving one axial design; the treatment chair (bed) has an adjustable seat (bed body) and support device to provide comfortable and stable patient positioning.

[0092] Exemplarily, the apparatus further comprises a calibration device, which is installed in each of the positioning room 3 and the treatment room 4 and is used to calibrate the virtual isocenter 31 and the isocenter 41 .

[0093] The treatment room and each setup room are equipped with mounting ports for calibration equipment. Regular calibration of the treatment room's isocenter, the setup room's virtual isocenter, the treatment couch or chair, and imaging equipment ensures accurate positioning of the couch or chair and imaging equipment relative to the isocenter. The calibration equipment can be secured via the mounting ports, allowing both the setup room and the treatment room to share a single set of calibration equipment.

[0094] The equipment used in this embodiment is compact. The treatment room, positioning room, and equipment room are all on the same floor, occupying an area of ​​approximately 14 meters by 14 meters, with a height of less than four meters. One meter of this space is buried underground for pre-embedded guide rail equipment and a sinking accelerator. The overall layout features well-arranged spaces between various devices, creating simple and convenient movement routes. After completing positioning for one patient, medical staff can quickly move to another positioning room for the next one. Each positioning room is equipped with a monitoring display, allowing medical staff to monitor patient progress at any time.

[0095] An embodiment of the present invention provides a multi-chamber transport method for radiotherapy, which is implemented by a multi-chamber transport device for radiotherapy according to an embodiment of the present application. The method includes:

[0096] obtaining a first treatment plan for a first patient and a second treatment plan for a second patient;

[0097] According to the first treatment plan, adjusting the position and angle of the sitting and lying equipment of the first patient at a setup location; the setup location is located in a setup room;

[0098] The adjusted sitting and lying device is moved to the treatment position in the treatment room via the transfer track, and the first patient is treated according to the first treatment plan;

[0099] The positioning time of the sitting or lying device for the second patient is determined based on the treatment time of the first treatment plan, the preset positioning time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track.

[0100] The working principle and effect of the above technical solution are as follows: the method first obtains a personalized treatment plan for each patient, such as a first treatment plan for the first patient and a second treatment plan for the second patient. These treatment plans contain key information such as the patient's treatment needs, treatment area, treatment dose, and treatment duration; the treatment plans are then loaded into the device control software and interpreted as machine settings.

[0101] According to the first treatment plan, medical staff precisely adjust the position and angle of the first patient's sitting and lying equipment in the positioning room; this step ensures the precise alignment of the patient and treatment equipment during treatment and is the key to the success of radiotherapy.

[0102] After the adjustment is completed, open the shielding door on the side of the positioning room where the first patient is located, then start the transfer track, and move the adjusted sitting and lying equipment to the specific treatment position in the treatment room; then close the shielding door.

[0103] In the treatment room, the first patient is treated according to the first treatment plan. During this process, the sitting and lying equipment and the treatment equipment need to maintain a stable connection and precise synchronization to ensure the accurate release of the treatment dose. When the dose set in the first treatment plan is reached, the accelerator stops emitting the beam. The dose is controlled to ensure that the accelerator stops the beam after the set treatment dose is reached.

[0104] While the first patient is receiving treatment, the positioning time of the second patient's sitting or lying device is dynamically determined based on the treatment duration of the first treatment plan, the preset positioning time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track. This allows preparations for the next patient's treatment in advance while ensuring that the current treatment is not affected.

[0105] Specifically, the optimal setup time is calculated by comprehensively considering the availability of each window time period, as well as the movement speed and stability of the sitting and lying equipment. Within this time window, the second patient's sitting and lying equipment will be moved to the setup room for adjustment, so that the treatment process can begin immediately after the first patient's treatment is completed.

[0106] Through the above-mentioned time management and positioning scheduling mechanism, the method of the present invention can achieve seamless connection and continuous treatment among multiple patients; it not only improves treatment efficiency, but also optimizes the utilization of medical resources, reduces patient waiting time and hospital operating costs.

[0107] Throughout the treatment process, the system monitors the status of the sitting and lying equipment, treatment equipment, and the patient in real time to ensure the safety and stability of the treatment process. If any abnormality occurs, an alarm mechanism will be triggered immediately and appropriate emergency measures will be taken.

[0108] In summary, the multi-room transport method for radiotherapy provided by the embodiments of the present invention achieves orderly treatment for multiple patients and optimized resource utilization through efficient time management and resource scheduling mechanisms. This not only improves treatment efficiency and patient satisfaction, but also reduces hospital operating costs and risks.

[0109] In some embodiments, the setup point is a virtual isocenter of a setup room; and adjusting the position and angle of a sitting or lying device for the first patient at the setup point according to the first treatment plan includes:

[0110] acquiring imaging data of a first patient;

[0111] Based on the first treatment plan and the image data of the first patient, adjustment parameters of the sitting and lying device are determined through image registration, and the adjustment parameters include adjusting the position and angle; by applying the adjustment parameters, the sitting and lying device is adjusted so that the part to be treated of the first patient coincides with the virtual isocenter.

[0112] The working principle and effect of the above technical solution are as follows: First, the imaging data of the first patient is obtained through medical imaging equipment (such as CT); this data provides a detailed view of the patient's internal structure, which is the basis for formulating a treatment plan and performing precise positioning.

[0113] Based on the treatment plan for the first patient, the target area defined in the treatment plan (i.e., the area to be treated) is aligned with the patient's imaging data; this process usually involves complex image processing algorithms to ensure that the target area in the treatment plan accurately corresponds to the patient's actual anatomical structure.

[0114] Through image registration, the system calculates the specific parameters that need to be adjusted for the sitting and lying device, including position and angle. These parameters are determined to ensure that the patient's treatment area coincides with the virtual center of positioning (VCP) in the positioning room. The virtual isocenter is a reference point defined in the treatment plan that ensures that the particle beam from the treatment device (such as a particle accelerator) accurately irradiates the target area.

[0115] After the adjustment parameters are obtained, the sitting and lying device is precisely adjusted through an electric or mechanical drive system; this process may involve translation, rotation and lifting operations in multiple axes to ensure that the patient on the sitting and lying device can be placed in the predetermined position and angle.

[0116] Once adjustments are complete, medical personnel can verify that the patient's treatment area is aligned with the virtual isocenter using additional imaging techniques (such as X-rays). If fine-tuning is required, the system adjusts the parameters of the sitting and lying device again until satisfactory accuracy is achieved.

[0117] Once the sitting and lying device is adjusted and verified, it can be moved on the transport track to the treatment position in the treatment room. In the treatment room, the treatment device will deliver radiation therapy to the patient's treatment area according to the treatment plan.

[0118] In summary, through the steps of image data acquisition, treatment planning and image registration, determination of adjustment parameters, adjustment of sitting and lying equipment, and verification and fine-tuning, the radiotherapy-oriented transfer method provided by the embodiment of the present invention can ensure that the patient's position and angle are accurately adjusted in the positioning room, laying a solid foundation for the subsequent treatment process.

[0119] In some embodiments, the first positioning module and the second positioning module cooperate to position and adjust the sitting and lying device; the first positioning module is connected to the sitting and lying device, and the second positioning module is located on the transfer track.

[0120] The working principle and effects of the above technical solution are as follows:

[0121] The first positioning module is directly connected to the sitting or lying device and is a direct actuator for adjusting the position and angle of the sitting or lying device. Through a precise mechanical or electric drive system, the first positioning module can realize translation, rotation and lifting operations of the sitting or lying device in multiple axes.

[0122] Specifically:

[0123] First, the first positioning module receives instructions from the control system. These instructions usually include specific parameters (such as position coordinates, angles, etc.) that need to be adjusted for the sitting or lying device.

[0124] Upon receiving the command, the first positioning module's drive system begins operating, using mechanical or electrical devices to adjust the sitting / lying device to the predetermined parameters. Once the adjustment is complete, the first positioning module feeds back the current position and angle information to the control system for verification and confirmation.

[0125] The second positioning module is installed on the transfer track and is used to determine and calibrate the movement and positioning of the sitting and lying equipment on the track.

[0126] By providing precise reference points and calibration mechanisms, the second positioning module can ensure the stability and accuracy of the sitting and lying equipment during movement.

[0127] The first and second positioning modules work together through a control system. Based on the treatment plan and the patient's imaging data, the control system calculates the required position and angle parameters for the sitting and lying device and sends them to the first and second positioning modules. The sitting and lying device is precisely adjusted based on the received parameters. For example, if left-right positioning is required after the treatment chair is moved to the treatment room, the chair itself does not need to be moved. Left-right positioning can be achieved by adjusting the chair's position on the track. This is because the irradiation position is not necessarily directly in front of the chair but may be offset to the left or right.

[0128] In some embodiments, determining the setup time of the sitting or lying device for the second patient based on the treatment duration of the first treatment plan, the preset setup time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track includes:

[0129] Obtaining a preset treatment duration of the first treatment plan through the first treatment plan;

[0130] Obtaining a preset positioning time of the second treatment plan based on the machine learning model through the second treatment plan;

[0131] Obtaining, based on the moving speed and distance of the sitting and lying device, a first duration for the sitting and lying device of the first patient to move out of the treatment room and a second duration for the sitting and lying device of the second patient to move from the set-up position to the treatment position in the treatment room;

[0132] The positioning time of the sitting and lying equipment for the second patient is obtained through the preset treatment time of the first treatment plan, the preset positioning time of the second treatment plan, the first time and the second time.

[0133] The time required to set up the sitting and lying equipment for the second patient is:

[0134] Ts=Tc-(T2b+T2)+T1z+T1+Tr

[0135] Among them, Ts is the start time of positioning the sitting and lying equipment for the second patient; T1z is the treatment duration of the first treatment plan; T2b is the pre-positioning duration of the second treatment plan, T1 is the first duration, T2 is the second duration, Tc is the estimated start time of the first treatment plan, and Tr is the duration redundancy.

[0136] The inputs to the machine learning model include:

[0137] The patient's biological characteristics, disease type and stage, historical treatment records, imaging examination data, and historical positioning time.

[0138] The working principle of the above technical solution is: the fixed value directly obtained according to the first treatment plan represents the time required for the first patient to receive treatment.

[0139] A machine learning model predicts the preset setup time for the second treatment plan based on relevant information from the second treatment plan. The model considers multiple factors, including patient biometrics (such as age and weight), disease type and stage, historical treatment history, imaging data, and historical setup times, to provide a more personalized and accurate prediction.

[0140] If the sitting / sleeping device needs to return to a different positioning room than the second patient after treating the first patient, the first duration represents the time it takes for the sitting / sleeping device to move out of the treatment room and reach the shielding door between the treatment room and the second patient's positioning room. If the sitting / sleeping device needs to return to the same positioning room as the second patient after treating the first patient, the first duration represents the time it takes for the sitting / sleeping device to move out of the treatment room and leave the first track. This duration is calculated based on the movement speed of the sitting / sleeping device and the distance it needs to move. The movement speed can be a historical average movement speed.

[0141] The second duration represents the time it takes for the sitting and lying device of the second patient to reach the treatment position in the treatment room from the setting position; it is also calculated based on the moving speed and distance.

[0142] The formula for calculating setup time (Ts) takes all of the aforementioned time parameters into account and introduces a time margin (Tr) to account for potential delays or uncertainties. T1z is the duration of the first patient's treatment, while T1 is the time it takes for the first patient's seating and reclining device to be removed from the treatment room. These two times are added together to give the total time from Tc until the first patient's treatment is complete and the seating and reclining device is removed from the treatment room. After this point, the treatment room, which treated the first patient, is free to prepare for the second patient.

[0143] Finally, Tr (time margin) is subtracted from the above result to ensure that there is a safe time buffer to cope with any possible delays before the second patient's sitting and lying equipment begins to be positioned.

[0144] In summary, this formula improves the efficiency of the entire radiotherapy process by accurately calculating the length of each time period and taking into account possible delays and uncertainties, thereby ensuring that the second patient's sitting and lying equipment can be positioned at the correct time to maximize treatment efficiency and reduce patient waiting time.

[0145] The machine learning model works as follows:

[0146] Input data includes patient biometrics, disease type and stage, historical treatment records, imaging examination data, and historical setup time. This data provides the model with rich information to learn how setup time varies across different patients and disease conditions.

[0147] A machine learning model trained using extensive historical data identifies key factors influencing setup time and predicts setup time for new patients. For a given second treatment plan, the model outputs a predicted preset setup time, T2b, which is used for subsequent time management and setup scheduling.

[0148] The above technical solution ensures a continuous and efficient treatment process by accurately calculating the length of each time period, including treatment duration, setup time, and equipment movement time. This provides accurate setup time for the second patient, avoiding unnecessary waiting and improving patient turnover throughout the radiotherapy center.

[0149] Patients are able to more accurately know when their treatment will arrive, reducing the anxiety and uncertainty that comes with waiting.

[0150] By optimizing the process, the inconvenience and delays for patients during treatment are reduced, and the overall treatment experience is improved.

[0151] Using machine learning models to predict positioning time can take into account individual differences and disease characteristics of patients and provide more personalized and accurate prediction results.

[0152] Time redundancy (Tr) is introduced to cope with possible delays or uncertainties, ensuring the flexibility and robustness of the treatment process; by reserving a time buffer, delays in the first treatment plan caused by unexpected situations are reduced, thereby improving the level of risk management.

[0153] Through precise time planning, the utilization of treatment equipment and sitting and lying equipment can be maximized and idle time can be reduced.

[0154] Medical staff can arrange their work according to a precise schedule, reducing ineffective waiting and duplication of work, and improving work efficiency.

[0155] In summary, this technical solution, through precise time calculation, intelligent prediction models, and optimized resource allocation, not only improves the efficiency of the radiotherapy process but also enhances patient satisfaction and treatment experience. It also provides strong support for hospital management, promoting the rational use of medical resources and process optimization.

[0156] In some embodiments, the method for determining the duration redundancy includes:

[0157] Collect the execution data of all treatment plans within the preset time, including the actual start time, end time, planned duration, actual duration, delays, etc.

[0158] Analyzing the execution data to obtain statistical indicators, wherein the statistical indicators include an average treatment delay time and a frequency of delays;

[0159] Set time redundancy based on statistical indicators;

[0160] For example, Tr = (1-1 / (f+1))*Ta

[0161] Where f is the frequency of delay; Ta is the average delay time for treatment.

[0162] The working principle and effect of the above technical solution are: collecting the execution data of all treatment plans within the preset time, including but not limited to the actual start time, end time, planned duration, actual duration and delay of the treatment plan.

[0163] The collected execution data is analyzed to obtain key statistical indicators, which usually include the average treatment delay time (Ta) and the frequency of delays (f, which is the ratio of the number of delays to the total number of treatment plans).

[0164] According to statistical indicators, set the time redundancy (Tr).

[0165] An example formula given here is Tr=(1-1 / (f+1.1))*Ta.

[0166] As the frequency of delays (f) increases, the time margin (Tr) does increase accordingly to better cope with potential delays. However, when f = 0, although Tr is theoretically 0, in practice a minimum time margin value may be set to ensure process flexibility and fault tolerance.

[0167] In summary, by accurately calculating the length of each time period and reasonably setting the time redundancy, it can be ensured that the second patient's sitting and lying equipment can be positioned at the correct time, thereby optimizing the radiotherapy process and improving treatment efficiency.

[0168] An embodiment of the present application provides a particle radiotherapy system, which includes any multi-chamber transport device in the embodiments of the present invention; the particles can be protons or heavy ions.

[0169] An embodiment of the present invention also provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the steps of any method described in the embodiment of the present application or the functions of any device described in the embodiment of the present application.

[0170] The embodiments of the present application also provide a computer-readable storage medium for storing a computer program. When the computer program is executed, the steps of the method in the embodiments of the present application or the functions of any device described in the embodiments of the present application are implemented. The specific implementation method is consistent with the implementation method and the technical effect achieved in the above-mentioned method embodiments, and some contents are not repeated here.

[0171] In the present application, a readable storage medium can be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, device, or device. A program product can be any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0172] A computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, or any suitable combination thereof. The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user computing device, partially on an associated device, as a standalone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0173] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limiting the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the invention without departing from the principles and purpose of the present invention. All such changes shall fall within the scope of protection of the claims of the present invention.

Claims

1. A multi-chamber transport device for radiotherapy, characterized in that: include: Transfer track, multiple sitting and lying equipment (2), multiple positioning rooms (3), treatment room (4) and movable screen door (5); Each of the positioning rooms (3) comprises an entrance and at least one sitting or lying device (2); Each of the sitting and lying devices (2) is arranged on the transfer track, and the transfer track runs through a plurality of positioning rooms (3) and treatment rooms (4); the treatment rooms (4) have an isocenter (41); The positioning room (3) comprises at least a first positioning room and a second positioning room, the first positioning room and the second positioning room are respectively located on both sides of the treatment room (4), and are separated from or connected to the treatment room (4) by a movable shielding door (5); The transfer track includes a first track (11), the first track (11) includes a first section extending from the first positioning room to the treatment position of the treatment room and a second section extending from the second positioning room to the treatment position of the treatment room; the first section is only used for the sitting and lying equipment of the first positioning room to move between the first positioning room and the treatment room, and the second section is only used for the sitting and lying equipment of the second positioning room to move between the second positioning room and the treatment room; the sitting and lying equipment of the first positioning room and the sitting and lying equipment of the second positioning room are not located in the treatment room at the same time; Each positioning room is equipped with a virtual isocenter (31) and imaging equipment (32); The virtual isocenters (31) are used to simulate treatment points of the treatment beam in the treatment room, the line connecting the virtual isocenters (31) is parallel to the first track (11), and the isocenter (41) of the treatment room (4) is located on the line; The imaging range of the imaging device (32) covers the treatment target area and is used to determine the position of the patient's treatment target area; The multi-chamber transport device further includes device control software, which is configured to: The patient's preset positioning time is determined through a machine learning model based on the patient's biological characteristics, disease type and stage, historical treatment records, imaging examination data, and historical positioning time.

2. The device according to claim 1, characterized in that When the treatment room has a sitting or lying device, the first positioning room and the second positioning room also have a sitting or lying device respectively, or the first positioning room has two sitting or lying devices and the second positioning room has no sitting or lying device.

3. The device according to claim 1, characterized in that The first positioning room and the second positioning room are symmetrically arranged relative to the isocenter (41).

4. The device according to claim 1, characterized in that The transfer track further includes a second track (12); the second track is located in the positioning room (3); The second track (12) is connected to the first track (11), and a sitting or lying device (2) is provided on the second track (12); the sitting or lying device (2) on the second track (12) is configured to be able to flow from the second track (12) to the first track (11).

5. The device according to claim 1, characterized in that The device also includes a positioning component; The positioning assembly includes a first positioning module and a second positioning module; The first positioning module includes an encoder, and the encoder is arranged on a servo motor of the main control system; The second positioning module includes a sensor, a potentiometer and a limit switch; the second positioning module is arranged on the transfer track.

6. The device according to claim 1, characterized in that The sitting or lying device includes a driving module, a sitting or lying cushion and a supporting module; The sitting and lying cushion is movably connected to the supporting module, and the supporting module is rotatably mounted on the transfer track; One side of the output end of the driving module is drivingly connected to the supporting module; The other side of the output end of the driving module is driven and connected to the sitting and lying pad.

7. The device according to claim 1, characterized in that The apparatus further comprises a calibration device, which is installed in each positioning room (3) and is used to calibrate the virtual isocenter (31).

8. A multi-chamber transport method for radiotherapy, the method being implemented by the device according to any one of claims 1 to 7, characterized in that: The method comprises: obtaining a first treatment plan for a first patient and a second treatment plan for a second patient; According to the first treatment plan, adjusting the position and angle of the sitting and lying equipment of the first patient at a setup location; the setup location is located in a setup room; Move the adjusted sitting and lying equipment to the treatment position in the treatment room via the transfer track; The positioning time of the sitting or lying device for the second patient is determined based on the treatment time of the first treatment plan, the preset positioning time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track.

9. The method according to claim 8, characterized in that The initial positions of the sitting and lying device for the first patient and the sitting and lying device for the second patient are located in the same positioning room or different positioning rooms.

10. The method according to claim 8, characterized in that The setup point is a virtual isocenter of the setup room; and adjusting the position and angle of the sitting and lying equipment of the first patient at the setup point according to the first treatment plan includes: acquiring imaging data of a first patient; determining adjustment parameters of the sitting and lying device through image registration according to the first treatment plan and the image data of the first patient, the adjustment parameters including adjustment position and angle; By applying the adjustment parameters, the sitting and lying device is adjusted so that the part to be treated of the first patient coincides with the virtual isocenter.

11. The method according to claim 8, characterized in that The first positioning module cooperates with the second positioning module to position and adjust the sitting and lying device; the first positioning module is connected to the sitting and lying device, and the second positioning module is located on the transfer track.

12. The method according to claim 8, characterized in that Determining the positioning time of the sitting or lying device for the second patient based on the treatment time of the first treatment plan, the preset positioning time of the second treatment plan, and the movement time of the sitting or lying device on the transfer track includes: Obtaining a preset treatment duration of the first treatment plan through the first treatment plan; Obtaining a preset positioning time of the second treatment plan based on the machine learning model through the second treatment plan; Obtaining, based on the moving speed and distance of the sitting and lying device, a first duration for the sitting and lying device of the first patient to move out of the treatment room and a second duration for the sitting and lying device of the second patient to move from the set-up position to the treatment position in the treatment room; The positioning time of the sitting and lying equipment for the second patient is obtained through the preset treatment time of the first treatment plan, the preset positioning time of the second treatment plan, the first time and the second time.

13. The method according to claim 12, characterized in that The inputs to the machine learning model include: The patient's biological characteristics, disease type and stage, historical treatment records, imaging examination data, and historical positioning time.

14. A particle radiotherapy system, characterized in that: The system includes any one of the multi-chamber transport devices 1-7.

15. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it realizes the functions of the multi-chamber transfer device of any one of claims 1-7 or realizes the steps of the method of any one of claims 8-13.

16. A computer-readable storage medium, characterized in that The storage medium stores computer instructions. When a computer reads the computer instructions, the computer implements the functions of the multi-chamber transport device according to any one of claims 1 to 7 or executes the steps of the method according to any one of claims 8 to 13.

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