Collimator system controlled by electronic cam, control method and electronic equipment

Abstract

The present invention provides a collimator system and control method controlled by an electronic cam, and an electronic device, comprising: a driving device is arranged at one end of a tungsten shielding block, the driving device comprises a rotation driving servo motor, and is used to control the rotation of the tungsten shielding block, thereby improving the control accuracy; the method comprises obtaining a target field of view, and calculating a first opening distance and a first rotation angle of the tungsten shielding block according to the target field of view; using electronic cam technology to control the tungsten shielding block to move synchronously according to the first opening distance and the first rotation angle, so as to obtain an actual field of view; obtaining an actual height of a ray source point according to the difference between the actual field of view and the target field of view, and calculating a second opening distance and a second rotation angle of the tungsten shielding block according to the actual height of the ray source point, and controlling the tungsten shielding block to move synchronously according to the second opening distance and the second rotation angle, so as to automatically correct the focusing deflection arc and eliminate the position deviation caused by long-term use.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic cam-controlled collimators, and in particular to an electronic cam-controlled collimator system, a control method and electronic equipment. Background Art

[0002] In the field of tumor radiotherapy, medical electron linear accelerator plays an indispensable and key role as the most widely used treatment equipment, and the collimator system is one of the key components that determines the accuracy of radiotherapy.

[0003] The size and dose rate distribution of the penumbra are one of the key factors in the effect of imaging therapy. The penumbra is mainly divided into two types: geometric penumbra and penetrating penumbra. The existing technical solutions are divided into two types: focusing type and non-focusing type. The tungsten shielding block of the focusing collimator has a straight cross-section, and the non-focusing type has a circular arc cross-section. The tungsten shielding block of the focusing collimator is provided with a cam groove or an arc guide rail for rotation limit. This allows the tungsten shielding block to focus and rotate with the linear motion when the focusing collimator switches between different specifications of radiation fields, so as to ensure that the edge of the tungsten shielding block is coplanar with the established radiation field edge line and the source point connection line at the isocenter. This can avoid uneven dose rate (penetrating penumbra) caused by unequal thickness of shielding materials on the radiation light path to the greatest extent, but requires matching mechanical structures such as cam grooves or arc guide rails, which have complex structures, high failure rates, and the collimation system occupies a large space. When switching between radiation fields of different specifications, the non-focusing collimator only controls the linear motion of the tungsten shielding block. The radiation field boundary is ensured by the tangency of the arc-shaped cross-section of the tungsten shielding block with the beam boundary. Since there are many areas with uneven thickness of the shielding material in the radiation light path, the penumbra area is larger than that of the focusing collimator.

[0004] The geometric penumbra appears because the source point of the ray is not an ideal point, but has a certain size at the beam exit position. The rays emitted from different parts of the source point have a certain deviation when reaching the established radiation field. This deviation causes the formation of a geometric penumbra at the irradiation edge.

[0005] Although the focusing collimator has a smaller penetrating penumbra distribution, it is still affected by the geometric penumbra. In clinical practice, the actual radiation source point is generally accurately calculated in the radiotherapy plan, and the collimator system is adjusted with the actual source point as the reference point during installation and commissioning to correct the geometric penumbra.

[0006] In summary, although the focusing collimator has a better penumbra distribution, due to its complex structure and high failure rate, many manufacturers choose the second best option, non-focusing collimator with better stability but poor penumbra distribution. As the focusing collimator is used for a long time, it will be affected by factors such as mechanical wear and cumulative error increase. The control accuracy will also become worse and worse with the increase of use time, affecting the accuracy and results of radiotherapy.

[0007] Therefore, the prior art needs to be further developed. Summary of the invention

[0008] The purpose of the present invention is to overcome the above technical deficiencies and provide a collimator system and control method and electronic equipment controlled by an electronic cam to solve the problems existing in the prior art.

[0009] In order to achieve the above technical objectives, according to the first aspect of the present invention, the present invention provides an electronic cam-controlled collimator system, including a tungsten shielding block, at one end of which a driving device is arranged; the driving device includes a rotational drive servo motor, and the rotational drive servo motor is used to control the rotation of the tungsten shielding block.

[0010] Specifically, the driving device also includes a first lead screw, to which a rotary sliding assembly is connected, and a receiving groove is provided on the side of the rotary sliding assembly close to the tungsten shielding block, in which a first rotary bearing is installed, and the first rotary bearing is hinged to the tungsten shielding block. When the rotary sliding assembly slides up and down, it drives the tungsten shielding block and the first rotary bearing to rotate and slide relative to the rotary sliding assembly. The rotary drive servo motor is used to control the tungsten shielding block to rotate around the axis of the second rotary bearing through the rotary sliding assembly and the first rotary bearing, that is, to rotate around the axis of the second rotary bearing mounting hole.

[0011] Specifically, the accommodating groove is an elongated hole, and the accommodating groove is slidably connected to the first rotary bearing. When the rotary drive servo motor drives the first lead screw to rotate, the first rotary bearing is not constrained in the horizontal direction while the rotary sliding assembly is lifted or lowered.

[0012] Specifically, the driving device also includes a bevel gear reducer, and one side of the rotational drive servo motor is connected to the first lead screw through the bevel gear reducer. By controlling the rotation amount of the rotational drive servo motor, the first lead screw drives the rotating sliding assembly to move up and down through rotation, thereby controlling the rotation angle of the tungsten shielding block.

[0013] Specifically, the driving device also includes a driving bracket, which is hinged to the tungsten shielding block through a second rotating bearing, and the second rotating bearing is arranged in a second rotating bearing mounting hole. A rotating driving servo motor is arranged on the driving bracket, and one side of the driving bracket is connected to a transmission plate, and the transmission plate is connected to a second lead screw. A group of spur gears are arranged at one end of the second lead screw, and one side of the spur gears is connected to a linear driving servo motor, and the linear driving servo motor is used to control the tungsten shielding block to perform linear motion.

[0014] Specifically, the second lead screw is fixedly connected to the base plate via a first fixing seat and a second fixing seat.

[0015] Specifically, a sliding device is provided on the other side of the tungsten shielding block, and the sliding device includes a first bracket, which is hinged to the tungsten shielding block through a second rotating bearing, and the first bracket is fixedly connected above the linear guide rail, so that the first bracket drives the tungsten shielding block to move linearly along the guide rail direction.

[0016] According to a second aspect of the present invention, there is provided a collimator control method using electronic cam control, comprising:

[0017] S100, obtaining a target radiation field, and calculating a first opening distance and a first rotation angle of a tungsten shielding block according to the target radiation field;

[0018] S200, using electronic cam technology to enable the rotary drive servo motor and the linear drive servo motor to control the tungsten shielding block to move synchronously according to the first opening distance and the first rotation angle;

[0019] S300, obtaining the actual radiation field formed on the EPID;

[0020] S400, if there is a difference between the actual field and the target field, the actual height of the ray source point is obtained according to the difference between the actual field and the target field, and the second opening distance and the second rotation angle of the tungsten shielding block are calculated using the actual height of the ray source point, and the electronic cam technology is used to make the rotary drive servo motor and the linear drive servo motor control the tungsten shielding block to move synchronously according to the second opening distance and the second rotation angle, and jump to S300; if there is no difference between the actual field and the target field, jump to S500;

[0021] S500, the tungsten shielding block stops moving and is ready to emit a beam.

[0022] Specifically, when the upper surface of the tungsten shielding block is parallel to the horizontal plane, the plane where the upper surface of the tungsten shielding block is located is recorded as the target plane, and the actual height of the ray source point is the vertical distance from the ray source point to the target plane.

[0023] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the above-mentioned electronic cam-controlled collimator control method is implemented.

[0024] Beneficial effects:

[0025] The present invention realizes the editability of the movement of the tungsten shielding block through editable electronic cam control, greatly reduces the requirements for installation and debugging, greatly improves the control accuracy, and further improves the effect of radiotherapy. At the same time, the collimator system controlled by the electronic cam in the present invention can automatically correct the focus deflection arc during the regular self-inspection of the equipment, eliminates the position deviation caused by long-term use, thereby realizing nonlinear motion control of the tungsten shielding block, eliminating the influence caused by the assembly tolerance differences between different batches of equipment, and greatly improving the intelligence, usability and reliability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the system composition of the electronic cam-controlled collimator system provided in a specific embodiment of the present invention;

[0027] Figure 2 is a flow chart of a collimator control method of electronic cam control provided in a specific embodiment of the present invention;

[0028] Figure 3 is a flow chart of an electrical control scheme of an electronic cam-controlled collimator system provided in a specific embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of the calculation process of the electronic cam-controlled collimator control method provided in a specific embodiment of the present invention;

[0030] Figure 5 It is a schematic diagram of a cam curve obtained based on actual physics and provided in a specific embodiment of the present invention;

[0031] Figure 6 It is a schematic diagram of the structure of the receiving groove provided on the driving device provided in a specific embodiment of the present invention;

[0032] Figure 7 It is a cross-sectional view of a rotary sliding assembly and a receiving groove provided on a driving device provided in a specific embodiment of the present invention;

[0033] Figure 8 It is a structural schematic diagram of a driving bracket and a transmission plate part provided in a specific embodiment of the present invention;

[0034] The reference numerals of the above-mentioned drawings are as follows:

[0035] 1. Base plate; 2. Tungsten shielding block; 3. First bracket; 4. First rotary bearing; 5. Linear guide; 6. Driving bracket; 7. Rotary drive servo motor; 8. Bevel gear reducer; 9. First lead screw; 10. Rotary sliding assembly; 11. Transmission plate; 12. Second lead screw; 13. First fixed seat; 14. Second fixed seat; 15. Spur gear; 16. Linear drive servo motor; 17. Second rotary bearing; 101. Receiving groove; 61. Second rotary bearing mounting hole. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0037] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0038] See also Figure 1-Figure 8 This embodiment provides an electronic cam-controlled collimator system, including a tungsten shielding block 2, at one end of which a driving device is provided; the driving device includes a rotation driving servo motor 7, and the rotation driving servo motor 7 is used to control the rotation of the tungsten shielding block 2.

[0039] It is understandable that the present invention uses a rotary drive servo motor as a driving source, which significantly improves the positioning accuracy and dynamic response capability of the system. The servo motor can achieve high-precision position control, especially stable and smooth operation at low speeds, which is essential for radiotherapy accelerators that accurately control position and respond quickly. And each tungsten shielding block is equipped with an independent drive device, which means that the two tungsten shielding blocks can be controlled separately, which can achieve more complex motion trajectories and more flexible angle adjustments, and can customize the best irradiation plan for different tumor locations and morphologies.

[0040] Specifically, the driving device further includes a first lead screw 9, to which a rotary sliding assembly 10 is connected. When the first lead screw 9 rotates, the rotary sliding assembly 10 can be driven to slide up and down. A receiving groove 101 is provided on the side of the rotary sliding assembly 10 close to the tungsten shielding block 2. A first rotary bearing 4 is installed in the receiving groove 101. The first rotary bearing 4 is hinged to the tungsten shielding block 2. When the rotary sliding assembly 10 slides up and down, the tungsten shielding block 2 and the first rotary bearing 4 are driven to rotate and slide relative to the rotary sliding assembly 10. The rotary drive servo motor 7 is used to control the tungsten shielding block 2 to rotate around the axis of the second rotary bearing 17, that is, to rotate around the axis of the second rotary bearing mounting hole 61, through the rotary sliding assembly 10 and the first rotary bearing 4.

[0041] It should be noted here that the combination of the first lead screw 9 and the rotary sliding assembly 10 can achieve precise displacement control, ensuring the accuracy and stability of the position of the tungsten shielding block 2 during rotation, and the first lead screw 9 used in the present invention is a ball screw, which can convert rotational motion into linear motion and has very small friction resistance. The ball screw is mainly composed of a screw and a nut. When the screw rotates relative to the nut, the ball in the lead screw pushes the nut to move axially, and at the same time the ball rolls along the spiral groove, so that the sliding friction between the screw and the nut is converted into rolling friction between the ball and the screw nut, thereby greatly improving the transmission efficiency and making the drive device smoother and more stable when controlling the rotation of the tungsten shielding block.

[0042] Specifically, the receiving groove 101 is a long hole, and the first rotary bearing 4 is arranged in the receiving groove 101. When the rotary drive servo motor 7 drives the first lead screw 9 to rotate, while the rotary sliding assembly 10 rises and falls, the first rotary bearing 4 can rotate and reciprocate in the receiving groove 101, so that it is not constrained in the horizontal direction.

[0043] It is understandable that if Figure 6 As shown, by designing the receiving groove 101 as a long hole and making it slidably connected with the first rotating bearing 4, it is ensured that the first rotating bearing 4 can move freely in the horizontal direction without being constrained while the rotating sliding assembly 10 moves in the axial direction of the first lead screw 9. At the same time, this design provides the necessary space for the rotation of the tungsten shielding block 2, avoids lateral friction during the movement, and ensures the smoothness and accuracy of the movement.

[0044] Specifically, the driving device further includes a bevel gear reducer 8, one side of the rotation drive servo motor 7 is connected to the first lead screw 9 through the bevel gear reducer 8, and by controlling the rotation amount of the rotation drive servo motor 7, the first lead screw 9 drives the rotation slide assembly 10 to move up and down through rotation, thereby controlling the rotation angle of the tungsten shielding block 2. The use of the bevel gear reducer 8 here reduces the space requirement between the rotation drive servo motor 7 and the first lead screw 9, which is conducive to the miniaturization and compactness of the overall device.

[0045] Furthermore, the rotational drive servo motor 7 receives a command signal from a control system (such as a PLC, a computer or a dedicated servo controller), that is, a rotation amount, which usually indicates the angle or speed required to rotate. The rotational drive servo motor 7 adjusts the voltage and current of the motor according to the command signal, thereby generating corresponding torque and rotation speed.

[0046] Specifically, the driving device also includes a driving bracket 6, which is hinged to the tungsten shielding block 2 through a second rotating bearing 17, and the second rotating bearing 17 is arranged in a second rotating bearing mounting hole 61. A rotating driving servo motor 7 is arranged on the driving bracket 6, and one side of the driving bracket 6 is connected to a transmission plate 11, and the transmission plate 11 is connected to a second lead screw 12. A group of spur gears 15 are arranged at one end of the second lead screw 12, and one side of the spur gear 15 is connected to a linear driving servo motor 16, and the linear driving servo motor 16 is used to control the tungsten shielding block 2 to perform linear motion.

[0047] Furthermore, after the linear drive servo motor 16 is started, it first outputs torque through its own shaft, and the linear drive servo motor 16 drives the second lead screw 12 to rotate through a set of spur gears 15. Here, a lead screw nut system is formed between the second lead screw 12 and the transmission plate 11. As the second lead screw 12 rotates, the transmission plate 11 performs reciprocating linear motion along the second lead screw 12. The drive bracket 6 is hinged to the tungsten shielding block 2 through the second rotary bearing 17 on the one hand, and is connected to the transmission plate 11 on the other hand. Therefore, when the second lead screw 12 pushes the drive bracket 6 through the transmission plate 11, the tungsten shielding block 2 performs linear motion accordingly. The linear drive servo motor 16 indirectly and accurately controls the linear displacement of the tungsten shielding block 2 by precisely controlling the second lead screw 12. In order to ensure the smoothness of the movement, the drive bracket 6 is connected to the linear guide rail 5, and the drive bracket 6 can move back and forth along the linear guide rail 5.

[0048] Specifically, the second lead screw 12 is fixedly connected to the base plate 1 through a first fixing seat 13 and a second fixing seat 14 .

[0049] Furthermore, a base plate 1 is provided at the bottom of the electronic cam-controlled collimator system of the present invention, which serves as a mechanical interface downward for connection with the accelerator device and upward for providing a positioning and installation basis for various parts and components.

[0050] Specifically, a sliding device is provided on the other side of the tungsten shielding block 2, and the sliding device includes a first bracket 3. The first bracket 3 is hinged to the tungsten shielding block 2 through a second rotating bearing 17. The first bracket 3 is slidably connected to the linear guide rail 5. When the tungsten shielding block 2 moves linearly along the guide rail direction, the first bracket 3 can support the tungsten shielding block 2.

[0051] It should be noted here that the electronic cam-controlled collimator system in the present invention can automatically correct the focus deflection arc during the regular self-inspection of the equipment, eliminate the position deviation caused by long-term use, thereby realizing nonlinear motion control of the tungsten shielding block and eliminating the impact caused by the assembly tolerance differences between different batches of equipment, thereby greatly improving the intelligence, usability and reliability of the present invention.

[0052] See also Figure 2 , this embodiment provides a collimator control method controlled by an electronic cam, comprising:

[0053] S100, obtaining a target radiation field, and calculating a first opening distance and a first rotation angle of the tungsten shielding block 2 according to the target radiation field;

[0054] S200, using electronic cam technology to make the rotary drive servo motor 7 and the linear drive servo motor 16 control the tungsten shielding block 2 to move synchronously according to the first opening distance and the first rotation angle;

[0055] S300, obtaining the actual radiation field formed on the EPID;

[0056] S400. If there is a difference between the actual field of view and the target field of view, the actual height of the radiation source point is obtained according to the difference between the actual field of view and the target field of view, and the second opening distance and the second rotation angle of the tungsten shielding block 2 are calculated using the actual height of the radiation source point. The electronic cam technology is used to make the rotary drive servo motor 7 and the linear drive servo motor 16 control the tungsten shielding block 2 to move synchronously according to the second opening distance and the second rotation angle, and jump to S300. If there is no difference between the actual field of view and the target field of view, jump to S500.

[0057] S500: The tungsten shielding block 2 stops moving and is ready to emit a beam.

[0058] See also Figure 3 The steps for implementing the electronic cam-controlled collimator control method of the present invention are as follows:

[0059] (1) Obtain the target radiation field statement and the location of the theoretical radiation source point to be formed on the EPID;

[0060] (2) calculating a first opening distance and a first rotation angle of the tungsten shielding block 2 according to a vertical distance from a lower surface of the tungsten shielding block 2 in a horizontal state to the EPID and a vertical distance from a theoretical ray source point to an upper surface of the tungsten shielding block 2 in a horizontal state;

[0061] (3) Using electronic cam technology, the actions of the rotary drive servo motor 7 and the linear drive servo motor 16 are synchronously coordinated to ensure that the two are accurately matched in time and stroke. In this step, the motor drives the tungsten shielding block to perform initial positioning according to the parameters calculated in step 2 (the first opening distance and the first rotation angle) to obtain the actual field width;

[0062] Since the collimator system is affected by mechanical wear and cumulative error during use, the control accuracy of the collimator system gradually decreases with the increase of use time, which results in a certain difference between the actual field width and the target field width, that is, the penumbra appears, which affects the radiotherapy results.

[0063] (4) Compare the deviation between the actual radiation field and the target radiation field, and on this basis infer the height difference between the actual radiation source point and the theoretical radiation source point, that is, calculate the actual height of the radiation source point, recalculate the second opening distance and the second rotation angle of the tungsten shielding block 2 to compensate for the possible errors in the previous round, and use electronic cam technology to drive the servo motor again according to the new parameter instructions (the second opening distance and the second rotation angle) until a radiation field that fully meets the requirements is obtained.

[0064] It can be understood that through a two-stage or more-stage closed-loop control strategy, the electronic cam-controlled collimator system in the present invention can respond promptly even in the face of interference from complex environmental factors, ensuring the accuracy of the final field width, thereby achieving self-correction, a smaller penumbra size, more precise motion control, and better treatment accuracy.

[0065] Specifically, when the upper surface of the tungsten shielding block 2 is parallel to the horizontal plane, the plane where the upper surface of the tungsten shielding block 2 is located is recorded as the target plane, and the actual height of the ray source point is the vertical distance from the ray source point to the target plane.

[0066] See also Figure 4 , the calculation principle of the collimator control method of electronic cam control is explained below through a specific example.

[0067] like Figure 4As shown, H1 is the vertical distance from the lower plane of the tungsten shielding block 2 to the EPID, H2 is the vertical distance from the theoretical ray source point to the upper plane of the tungsten shielding block 2, H4 is the thickness of the tungsten shielding block 2, the above data are known conditions based on the hardware structure, H3 is the vertical distance from the actual ray source point to the upper plane of the tungsten shielding block 2, W1 is the field width required by the EPID under the theoretical ray source point, W2 is the field width formed by the EPID under the actual ray source point, W3 is the distance between the corner point of the tungsten shielding block 2 and the number axis of the beam emitted by the theoretical ray source point, that is, the first opening distance, W4 is the distance from the actual ray source point to the number axis of the beam emitted by the theoretical ray source point, Angle is the angle that the tungsten shielding block 2 needs to rotate at the theoretical ray source point, that is, the first rotation angle;

[0068] Step 1: W3 can be calculated based on the triangle similarity relationship. The calculation method is as follows:

[0069] ;

[0070] Step 2: Calculate using trigonometric functions , the calculation method is as follows:

[0071] ;

[0072] Step 3: Based on the triangle similarity relationship and the difference between the actual field width W2 and the target field width W1, the value of W4 can be obtained.

[0073] ;

[0074] Step 4: Calculate the actual height H3 of the ray source point. The calculation method is as follows:

[0075] ;

[0076] Step 5: Calculate the second opening distance W5 and the second rotation angle of the tungsten shielding block 2 according to the actual height H3 of the actual ray source point ,

[0077] ;

[0078] ;

[0079] See also Figure 5 ,The following is a specific example to illustrate the specific working principle of using electronic cam technology to control the collimator;

[0080] Take Siemens 1515T-2PN CPU as the main control unit and configure and program it on the Botu platform as an example. Add a positioning axis as the horizontal tungsten gate (tungsten shielding block) moving axis and as the guide axis for the tungsten gate rotation movement, then add a synchronous axis as the tungsten gate rotation movement axis, and a TO_Carm cam curve to define the motion position relationship between the guide axis and the synchronous axis. When editing the TO_Carm cam curve, you can draw as many points as possible in the curve according to the actual physical position relationship to obtain a more accurate position relationship. The curve is as follows: Figure 5 Shown on the left.

[0081] In the program, call MC_POWER and MC_HOME to enable the master and slave axes and return to the reference origin respectively, and then call MC_MOVEJOG and MC_MOVEABSOLUTE of the master axis to control the master axis to perform jog motion and absolute positioning motion. At the same time, it is necessary to call the interpolation cam MC_INTERPOLATECAM once when the program starts to execute in order to obtain the interpolation position relationship between the master and slave axes, and then call MC_CAMIN to start the position synchronization interpolation program of the cam transmission coupling master and slave axes.

[0082] After editing, download the program to the CPU, start the program, and call the TRACE curve to monitor the position relationship between the horizontal dock door axis and the rotary synchronous axis. It can be seen that the position of the main axis changes at a constant speed over time under absolute positioning control, and the follower axis follows the position change of the main axis and couples with the pre-defined TO-Carm curve. Compare the coupling relationship and the TRACE curve as shown in the figure. Figure 5 shown.

[0083] It should be noted here that the present invention realizes the editability of the movement of the tungsten shielding block through editable electronic cam control, which greatly reduces the installation and debugging requirements, greatly improves the control accuracy, and further improves the effect of radiotherapy. At the same time, the collimator system controlled by the electronic cam in the present invention can automatically correct the focusing deflection arc during the regular self-inspection of the equipment, eliminate the position deviation caused by long-term use, thereby realizing the nonlinear motion control of the tungsten shielding block, eliminating the impact caused by the assembly tolerance differences between different batches of equipment, and greatly improving the intelligence, usability and reliability of the present invention.

[0084] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising:

[0085] A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the electronic cam-controlled collimator control method is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0086] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0087] It should be noted here that the present invention realizes the editability of the movement of the tungsten shielding block through editable electronic cam control, which greatly reduces the installation and debugging requirements, greatly improves the control accuracy, and further improves the effect of radiotherapy. At the same time, the collimator system controlled by the electronic cam in the present invention can automatically correct the focusing deflection arc during the regular self-inspection of the equipment, eliminate the position deviation caused by long-term use, thereby realizing the nonlinear motion control of the tungsten shielding block, eliminating the impact caused by the assembly tolerance differences between different batches of equipment, and greatly improving the intelligence, usability and reliability of the present invention.

[0088] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0089] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An electronic cam-controlled collimator system, comprising a tungsten shielding block (2), characterized in that: A driving device is provided at one end of the tungsten shielding block (2); the driving device comprises a rotation driving servo motor (7), and the rotation driving servo motor (7) is used to control the rotation of the tungsten shielding block (2); The driving device further comprises a first lead screw (9), to which a rotary sliding assembly (10) is connected, a receiving groove (101) is provided on a side of the rotary sliding assembly (10) close to the tungsten shielding block (2), a first rotary bearing (4) is installed in the receiving groove (101), the first rotary bearing (4) is hinged to the tungsten shielding block (2), when the rotary sliding assembly (10) slides up and down, the tungsten shielding block (2) and the first rotary bearing (4) are driven to rotate and slide relative to the rotary sliding assembly (10), and the rotary driving servo motor (7) is used to control the tungsten shielding block (2) to rotate around the axis of the second rotary bearing (17), that is, to rotate around the axis of the second rotary bearing mounting hole (61), through the rotary sliding assembly (10) and the first rotary bearing (4); The driving device further comprises a driving bracket (6), wherein the driving bracket (6) is hingedly connected to the tungsten shielding block (2) via a second rotating bearing (17), the second rotating bearing (17) being arranged in a second rotating bearing mounting hole (61), a rotating driving servo motor (7) being arranged on the driving bracket (6), one side of the driving bracket (6) being connected to a transmission plate (11), the transmission plate (11) being connected to a second lead screw (12), one end of the second lead screw (12) being provided with a group of spur gears (15), one side of the spur gears (15) being connected to a linear driving servo motor (16), the linear driving servo motor (16) being used to control the tungsten shielding block (2) to perform linear motion.

2. The electronic cam-controlled collimator system according to claim 1, characterized in that: The receiving groove (101) is a long hole, and the receiving groove (101) is slidably connected to the first rotary bearing (4). When the rotary drive servo motor (7) drives the first lead screw (9) to rotate, the first rotary bearing (4) is not constrained in the horizontal direction while the rotary sliding assembly (10) is raised or lowered.

3. The electronic cam-controlled collimator system according to claim 1, characterized in that: The driving device further comprises a bevel gear reducer (8), one side of the rotary drive servo motor (7) is connected to a first lead screw (9) via the bevel gear reducer (8), and by controlling the rotation amount of the rotary drive servo motor (7), the first lead screw (9) drives the rotary sliding assembly 10 to move up and down through rotation, thereby controlling the rotation angle of the tungsten shielding block (2).

4. The electronic cam controlled collimator system according to claim 1, characterized in that: The second lead screw (12) is fixedly connected to the base plate (1) via a first fixed seat (13) and a second fixed seat (14).

5. The electronic cam controlled collimator system according to claim 1, characterized in that: A sliding device is provided on the other side of the tungsten shielding block (2), the sliding device comprising a first bracket (3), the first bracket (3) being hinged to the tungsten shielding block (2) via a second rotary bearing (17), the first bracket (3) being fixedly connected above the linear guide rail (5), so that the first bracket (3) drives the tungsten shielding block (2) to perform linear motion along the direction of the guide rail.

6. A collimator control method using electronic cam control, characterized in that: include: S100, obtaining a target radiation field, and calculating a first opening distance and a first rotation angle of the tungsten shielding block (2) according to the target radiation field; S200, using electronic cam technology to enable the rotary drive servo motor (7) and the linear drive servo motor (16) to control the tungsten shielding block (2) to move synchronously according to the first opening distance and the first rotation angle; S300, obtaining the actual radiation field formed on the EPID; S400, if there is a difference between the actual radiation field and the target radiation field, the actual height of the radiation source point is obtained according to the difference between the actual radiation field and the target radiation field, and the second opening distance and the second rotation angle of the tungsten shielding block (2) are calculated using the actual height of the radiation source point, and the electronic cam technology is used to control the rotary drive servo motor (7) and the linear drive servo motor (16) to control the tungsten shielding block (2) to move synchronously according to the second opening distance and the second rotation angle, and jump to S300; if there is no difference between the actual radiation field and the target radiation field, jump to S500; S500: The tungsten shielding block (2) stops moving and is ready to emit a beam.

7. The electronic cam controlled collimator control method according to claim 6, characterized in that: When the upper surface of the tungsten shielding block (2) is parallel to the horizontal plane, the plane where the upper surface of the tungsten shielding block (2) is located is recorded as the target plane, and the actual height of the ray source point is the vertical distance from the ray source point to the target plane.

8. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the electronic cam-controlled collimator control method according to claim 6 or 7 is implemented.

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