Image sensing module, treatment bed, laser lamp calibration system and radiotherapy device

Abstract

The invention relates to an image sensing module, a treatment bed and laser lamp calibration system and a radiotherapy device, and the treatment bed and laser lamp calibration system comprises a machine head laser reference module which is arranged on a machine head of radiotherapy equipment and is used for transmitting a first reference laser beam, and the first reference laser beam is parallel to the Z axis of a three-dimensional coordinate system; the rack laser reference module is arranged on the front end face of the rack of the radiotherapy equipment and used for emitting a second reference laser beam, and the second reference laser beam is parallel to the Y axis of the three-dimensional coordinate system; the positioning laser lamp modules are used for emitting positioning laser beams and located on the left side, the right side and the bed tail of the treatment bed respectively. The image sensing module is arranged on the treatment bed and used for receiving the first reference laser beam, the second reference laser beam and the positioning laser beam, and the technical problems that in the prior art, a laser lamp needs professional technical experience in combination with visual inspection debugging, the debugging result has subjectivity, and indexes cannot be specifically quantified can be solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of radiotherapy, and in particular relates to an image sensor module, a treatment bed and a laser lamp calibration system, and a radiotherapy device. Background Art

[0002] In radiotherapy and radiodiagnosis, a laser lamp is generally used to emit a precise laser beam. Doctors can determine the irradiation area of ​​the patient by observing the reflection of the laser beam on the patient's body, thereby ensuring that the irradiation is accurate.

[0003] During radiotherapy, a cross-line laser light is usually placed at the left and right ends of the radiotherapy device, and a straight-line laser light is placed at the top of the radiotherapy device. The three laser lights need to converge at the isocenter of the radiotherapy device, and the laser beams emitted by the three laser lights should overlap with each other to form two orthogonal planes. The deviation of the overlapping laser beams at each position must be ≤±0.5mm. During the entire course of radiotherapy, in order to improve the accuracy of each divided dose irradiation, it is necessary to ensure that the patient's position remains consistent during each treatment. Therefore, in clinical practice, a marker pen is generally used to draw a marking line on the laser irradiation site on the patient's body surface during the patient's initial treatment. In subsequent treatments, the marking line is compared with the laser light irradiation line to ensure consistency in the patient's position, thereby improving treatment accuracy.

[0004] In order to ensure that the laser beam emitted by the laser lamp does not deviate beyond expectations, the position of the laser beam needs to be regularly detected and adjusted. The existing detection and adjustment method is achieved by using the light field of the medical electron linear accelerator or the front pointer tooling. In essence, it is to find the accurate isocenter point in space through external indication or reference, so as to adjust the position of the laser lamp with the isocenter point as the reference benchmark. Specifically, the collimator rotation axis (beam center axis) and the rack rotation axis are found respectively through the front pointer tooling, and the coincidence point between the two axes is the isocenter point; the field light integrated in the accelerator head uses the projection of the black cross on the wall of the machine room as a reference benchmark to install and debug the laser lamp. Whether it is the light field debugging method or the front pointer tooling debugging method, the operator needs to have certain operating experience. At the same time, there are a lot of visual judgments in the debugging process, which makes the final debugging result subjective and unable to quantify specific indicators. Summary of the invention

[0005] In view of the various deficiencies in the prior art, an image sensor module, a treatment bed and a laser lamp calibration system and a radiotherapy device are proposed to solve the technical problems in the prior art that manual and visual debugging of the laser lamp requires professional technical experience, the debugging results are subjective, and specific quantifiable indicators cannot be obtained.

[0006] To achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides an image sensing module, comprising a mounting bracket, wherein an image analysis processor is disposed inside the mounting bracket, an image sensor is disposed on a side of the mounting bracket, and the image sensor is connected to the image analysis processor.

[0007] The technical solution is further configured such that a filter is provided on a surface of the image sensor away from the mounting bracket.

[0008] The technical solution is further configured such that a plurality of image sensors are provided, and the plurality of image sensors are located on different sides of the mounting bracket.

[0009] In a second aspect, the present invention provides a treatment bed and laser light calibration system, comprising: A handpiece laser reference module, which is arranged on the handpiece of the radiotherapy device, and the handpiece laser reference module emits a first reference laser beam perpendicular to its installation plane, and the first reference laser beam is parallel to the Z axis of the three-dimensional coordinate system; A rack laser reference module, which is arranged on the front end surface of the rack of the radiotherapy equipment, and the rack laser reference module emits a second reference laser beam perpendicular to its installation plane, and the second reference laser beam is parallel to the Y axis of the three-dimensional coordinate system; A positioning laser light module, used for emitting a positioning laser beam, wherein three positioning laser light modules are provided, and the three positioning laser light modules are respectively located on the left side, the right side and the end of the treatment bed; And the image sensing module is arranged on the treatment bed and is used to receive the first reference laser beam, the second reference laser beam and the positioning laser beam. The image analysis processor is respectively connected to the treatment bed, the head laser reference module, the rack laser reference module and the positioning laser light module for communication.

[0010] The technical solution is further configured as follows: the head laser reference module includes a first translation platform and a first reference laser light, the first translation platform can be moved along the X-axis and the Y-axis of the three-dimensional coordinate system, and the first reference laser light is arranged on the first translation platform.

[0011] The technical solution is further configured as follows: the rack laser reference module includes a second translation stage and a second reference laser light, the second translation stage can move along the X-axis and the Z-axis of the three-dimensional coordinate system, and the second reference laser light is arranged on the second translation stage.

[0012] The technical solution is further configured as follows: the positioning laser light module includes a positioning laser light and a third translation platform, the third translation platform is provided with an X-axis rotation component, a Y-axis rotation component and a Z-axis rotation component, the third translation platform located on the left and right sides of the treatment bed can move along the Y-axis and the Z-axis, and the third translation platform located at the end of the treatment bed can move along the X-axis and the Z-axis.

[0013] The technical solution is further configured as follows: the X-axis rotation assembly includes a first base plate and a first worm gear assembly, the first base plate is connected to the third translation platform, and the rotating shaft of the turbine of the first worm gear assembly is arranged along the X-axis of the three-dimensional coordinate system.

[0014] The present technical solution is further configured as follows: the Y-axis rotation assembly includes a second base plate and a second worm gear assembly, the rotating shaft of the turbine of the first worm gear assembly is hinged to the second base plate, the rotating shaft of the turbine of the second worm gear assembly is arranged along the Y-axis of the three-dimensional coordinate system, and the rotating shaft of the turbine of the second worm gear assembly is hinged to the second base plate.

[0015] The technical solution is further configured as follows: the Z-axis rotation assembly includes a top plate and a third worm gear assembly, the third worm gear assembly and the second worm gear assembly are respectively located on adjacent sides of the second bottom plate, the rotating shaft of the turbine of the third worm gear assembly is arranged along the Z-axis of the three-dimensional coordinate system, and the rotating shaft of the turbine of the third worm gear assembly is hinged to the top plate, and the positioning laser light is arranged on the top plate.

[0016] The technical solution is further configured such that the positioning laser light modules located on the left and right sides of the treatment bed use cross-line laser lights, and the positioning laser light module located at the end of the treatment bed uses a straight-line laser light.

[0017] In a third aspect, the present invention provides a radiotherapy device, comprising the above-mentioned treatment bed and laser light calibration system. The beneficial effects of the present invention are: By setting the head laser reference module, the frame laser reference module and the image sensor module, the isocenter calibration of the radiotherapy equipment is realized. By setting the positioning laser light module and the image sensor module, the automatic calibration of the treatment bed and the positioning laser light module is realized, which can be used for daily inspection of the radiotherapy equipment. Based on machine vision technology, the operation is simple, no manual and visual debugging is required, it does not rely on the operator's professional technical experience, and the results are quantifiable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a side view of a treatment bed and a laser light calibration device in an embodiment of the present invention; Figure 2is an isometric view of a treatment bed and a laser light calibration device according to an embodiment of the present invention; Figure 3 is a schematic diagram of an image sensing module in an embodiment of the present invention; Figure 4 is a disassembled view of an image sensor module in an embodiment of the present invention; Figure 5 is a schematic diagram of a third translation stage, an X-axis rotation assembly, a Y-axis rotation assembly, and a Z-axis rotation assembly in an embodiment of the present invention; Figure 6 is a schematic diagram of another perspective of the third translation stage, the X-axis rotation assembly, the Y-axis rotation assembly, and the Z-axis rotation assembly in the embodiment of the present invention; Figure 7 is a schematic diagram of a trajectory arc received by the image sensor in an embodiment of the present invention; Figure 8 is a schematic diagram of a positioning laser light projection received by an image sensor in an embodiment of the present invention; Fig. 9 yes Figure 8 Schematic diagram after completing the X-axis rotation adjustment; Fig.10 Schematic diagram of the position change of the projected crosshairs after the treatment bed moves linearly in an embodiment of the present invention; Fig.11 Schematic diagram of the position change of the treatment bed before and after the linear motion in the embodiment of the present invention; Fig.12 It is a schematic diagram of the linear offset after the rotation offset adjustment is completed.

[0019] In the attached drawings: 1. Image sensor module; 11. Mounting base; 12. Mounting bracket; 13. Image sensor; 14. Filter; 2. Head laser reference module; 3. Rack laser reference module; 4. Left positioning laser light module; 41. Third translation stage; 42. X-axis rotation assembly; 421. First vertical plate; 422. Worm of first worm gear assembly; 423. Turbine of first worm gear assembly; 424. First servo motor; 425. First bottom plate; 43. Y-axis rotation assembly; 431. Second Vertical plate; 432, turbine of the second turbine-worm assembly; 433, first fixed vertical plate; 434, worm of the second turbine-worm assembly; 435, second servo motor; 436, second bottom plate; 44, Z-axis rotation assembly; 441, second fixed vertical plate; 442, worm of the third turbine-worm assembly; 443, third servo motor; 444, turbine of the third turbine-worm assembly; 445, third vertical plate; 446, top plate; 45, left-side positioning laser light; 5, treatment bed; 6, end-of-bed positioning laser light module. DETAILED DESCRIPTION

[0020] 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.

[0021] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0022] According to an embodiment of the present invention, an image sensing module is provided. Figure 3 to Figure 4 The image sensing module 1 includes a mounting bracket 12, an image analysis processor is disposed inside the mounting bracket 12, an image sensor 13 is disposed on the side of the mounting bracket 12, and the image sensor 13 is connected to the image analysis processor.

[0023] In the image sensing module of this embodiment, please refer to Figure 3 to Figure 4 A filter 14 is provided on the surface of the image sensor 13 and at a side away from the mounting bracket 12 .

[0024] It should be noted that a filter 14 is provided on the outer surface of the image sensor 13 for filtering the laser beam, thereby filtering non-measurement light and improving measurement accuracy. Specifically, a plurality of image sensors 13 are provided, and the plurality of image sensors 13 are located on different sides of the mounting bracket 12 for receiving laser beams from different directions.

[0025] According to an embodiment of the present invention, a treatment bed and laser light calibration system is provided. Figure 1 and Figure 2 ,include: A handpiece laser reference module 2, which is arranged on the handpiece of the radiotherapy device, and the handpiece laser reference module 2 emits a first reference laser beam perpendicular to its installation plane, and the first reference laser beam is parallel to the Z axis of the three-dimensional coordinate system; A rack laser reference module 3, which is arranged on the front end surface of the rack of the radiotherapy equipment, and the rack laser reference module 3 emits a second reference laser beam perpendicular to its installation plane, and the second reference laser beam is parallel to the Y axis of the three-dimensional coordinate system; A positioning laser light module, used for emitting a positioning laser beam, wherein three positioning laser light modules are provided, and the three positioning laser light modules are respectively located on the left side, the right side and the end of the treatment bed 5; And an image sensor module 1, which is arranged on the treatment bed 5 and is used to receive the first reference laser beam, the second reference laser beam and the positioning laser beam.

[0026] It should be noted that by setting the head laser reference module 2, the frame laser reference module 3 and the image sensor module 1, the isocenter calibration of the radiotherapy equipment is realized, and by setting the positioning laser light module and the image sensor module 1, the automatic calibration of the treatment bed 5 and the positioning laser light module is realized, which can be used for the daily inspection of the radiotherapy equipment; based on machine vision technology, the operation is simple, no manual and visual debugging is required, it does not rely on the professional technical experience of the operator, and the results can be quantified. Among them, the first reference laser beam and the second reference laser beam are both pen-shaped laser beams.

[0027] Specifically, the image sensor module 1 is installed at the front end of the treatment bed 5 near the frame of the radiotherapy equipment. A mounting base 11 is provided below the mounting bracket 12. The mounting base 11 is used to adapt to the panel of the treatment bed 5 for connection and fixation. An image analysis processor is installed in the mounting bracket 12. The image analysis processor integrates software for analyzing and calculating the received laser beam. At the same time, the image analysis processor is respectively communicated with the treatment bed 5, the head laser reference module 2, the frame laser reference module 3 and the positioning laser light module. The posture and position of the treatment bed 5, the first reference laser beam, the second reference laser beam and the positioning laser beam can be adjusted according to the results of the received signal analysis, thereby realizing automatic control of the entire device without manual operation. Image sensors 13 for receiving laser beam projection are installed at the front, rear, top, left and right end faces of the mounting bracket 12. Preferably, the image sensor 13 is a CMOS sensor. Among them, Figure 3 , Figure 4 The rear end face structure is not shown, and the rear end face is arranged in a mirror image with the front end face.

[0028] It should be noted that the image sensor 13 in the image sensing module 1 reads the projection position of the laser beam thereon. The image sensor 13 is distributed in pixels and can locate the projection position of the laser beam to micrometer level, thus ensuring the accuracy of the calibration result.

[0029] In the treatment bed and laser light calibration system of this embodiment, please refer to Figure 1 to Figure 2 as well as Figure 7 The head laser reference module 2 includes a first translation stage and a first reference laser light, the first translation stage can move along the X-axis and the Y-axis of the three-dimensional coordinate system, and the first reference laser light is arranged on the first translation stage. Similarly, the frame laser reference module 3 includes a second translation stage and a second reference laser light, the second translation stage can move along the X-axis and the Z-axis of the three-dimensional coordinate system, and the second reference laser light is arranged on the second translation stage.

[0030] It should be noted that the first translation stage and the second translation stage are both common two-dimensional electric translation stages on the market, which are mature existing technologies and will not be described in detail here.

[0031] See also Figure 7 During calibration, the first reference laser light and the second reference laser light both use point light sources, and the laser beams (first reference laser beam, second reference laser beam) emitted by the point light sources are projected onto the image sensor module 1. First, the machine head is controlled to rotate, and the machine head will rotate along the beam center axis with the machine head laser reference module 2. The image sensor 13 on the upper end face of the mounting bracket 12 will record the motion trajectory of the point light source (the trajectory arc of the point light source along the beam center axis) during this process. The trajectory arc is the position coordinate of the projection point of the point light source. The image analysis processor performs geometric analysis on the trajectory arc to calculate the geometric center, calculates the deviation value between the projection point of the point light source and the beam center axis in the X-axis and Y-axis directions, and controls the first displacement stage to move. After completing the adjustment of the first displacement stage, the machine head can be repeatedly rotated to measure the deviation until the deviation meets the regulatory requirements. When the trajectory arc of the projection point of the point light source gradually shrinks to a point, the projection point of the point light source coincides with the beam center axis. Similarly, the image analysis processor calibrates the gantry rotation axis by projecting the gantry laser reference module 3 onto the image sensor 13 on the front face of the mounting bracket 12. The coincident coordinates of the gantry rotation axis and the beam center axis in space are the isocenter of the radiotherapy device. After the isocenter is calibrated, the image analysis processor controls the movement of the treatment bed 5 by reading the difference between the projection coordinates of the point light source and the coordinates of the geometric center of the image sensor module 1, and moves the geometric center of the image sensor module 1 to the isocenter, using the geometric center of the image sensor module as the calibration reference for positioning the laser light module.

[0032] In the treatment bed and laser light calibration system of this embodiment, please refer to Figures 1 to 6 The positioning laser light modules are respectively a left positioning laser light module 4, a right positioning laser light module and a bed end positioning laser light module 6, and the structures of the three are the same.

[0033] Taking the left-side positioning laser light module 4 as an example, the left-side positioning laser light module includes a left-side positioning laser light 45 and a third translation stage 41, on which an X-axis rotation component 42, a Y-axis rotation component 43 and a Z-axis rotation component 44 are provided. The third translation stage of the left-side positioning laser light module 4 and the right-side positioning laser light module can move along the Y-axis and the Z-axis, and the third translation stage of the bed-end positioning laser light module 6 can move along the X-axis and the Z-axis.

[0034] Specifically, the X-axis rotation assembly 42 includes a first bottom plate 425 and a first worm gear assembly. The first bottom plate 425 is connected to the third translation stage 41. The rotation axis of the worm gear 423 of the first worm gear assembly is arranged along the X-axis direction of the three-dimensional coordinate system. The worm gear 422 of the first worm gear assembly is fixed above the first bottom plate 425 by the first vertical plate 421. The worm gear 422 of the first worm gear assembly is meshed with the worm gear 423 of the first worm gear assembly. The worm gear 422 of the first worm gear assembly is controlled to rotate by the first servo motor 424, thereby realizing the rotation of the worm gear 423 of the first worm gear assembly around the X-axis, so as to achieve the purpose of rotating the left positioning laser light 45 around the X-axis direction.

[0035] Specifically, the Y-axis rotation assembly 43 includes a second bottom plate 436 and a second worm gear assembly. The rotation axis of the worm gear 432 of the second worm gear assembly is hinged to the second bottom plate 436, and the rotation axis of the worm gear 432 of the second worm gear assembly is arranged along the Y-axis of the three-dimensional coordinate system. The second bottom plate 436 is connected to the rotation axis of the worm gear 432 of the second worm gear assembly through the second vertical plate 431. The lower end of the worm gear 432 of the second worm gear assembly is meshed with the worm gear 434 of the second worm gear assembly. The worm gear 434 of the second worm gear assembly is fixed to the second bottom plate 436 through the first fixed vertical plates 433 at both ends. The other end of the worm gear 434 of the second worm gear assembly is connected to the second servo motor 435 for rotation control, so that it can rotate along the Y-axis.

[0036] Specifically, the Z-axis rotating assembly 44 includes a top plate 446 and a third worm gear assembly. The third worm gear assembly and the second worm gear assembly are respectively located on adjacent sides of the second bottom plate 436. The rotating shaft of the worm gear 444 of the third worm gear assembly is arranged along the Z axis of the three-dimensional coordinate system, and the rotating shaft of the worm gear of the third worm gear assembly is hinged to the top plate 446. The left positioning laser light 45 is arranged on the top plate 446. The top of the second bottom plate 436 is connected to the rotating shaft of the worm gear of the third worm gear assembly through the third vertical plate 445. The lower end of the worm gear 444 of the third worm gear assembly is meshed with the worm gear 442 of the third worm gear assembly. The worm gear 442 of the third worm gear assembly is fixed to the second bottom plate 436 through the second fixed vertical plates 441 at both ends. The other end of the worm gear 442 of the third worm gear assembly is connected to the third servo motor 443 for rotation control, so that it can rotate along the Z axis.

[0037] In the treatment bed and laser light calibration system of this embodiment, please refer to Figures 1 to 6 The positioning laser light modules located on the left and right sides of the treatment bed 5 use cross-line laser lights, and the positioning laser light module located at the end of the treatment bed 5 uses a straight-line laser light.

[0038] During calibration, take the left positioning laser light module 4 as an example. The left positioning laser light module 4 emits a laser beam (positioning laser beam) and projects it onto the image sensor module 1. The image sensor 13 on the left end face of the mounting bracket 12 will receive the cross-line positioning laser light projection. Please refer to Figure 8 The image analysis processor controls the X-axis rotation assembly 42 to complete the tilt deviation adjustment of the image around the X-axis until the image sensor 13 detects that the crosshairs are aligned. Fig. 9 After the X-axis rotation deviation adjustment is completed, the Y-axis and Z-axis rotation deviations need to be adjusted. The principle of detecting the Y-axis and Z-axis rotation deviations is as follows: the image analysis processor controls the treatment bed 5 to move in a straight line in a direction perpendicular to the YZ plane (along the X-axis direction), and the image sensor 13 monitors the crosshairs during the entire stroke. If the crosshairs are offset, there is a deviation. Please refer to Fig.10 , detect the offset and perform trigonometric calculations to obtain the rotation amounts of the Y-axis rotation component 43 and the Z-axis rotation component 44, see Fig.11 The image analysis processor controls the Y-axis rotation component 43 and the Z-axis rotation component 44 to rotate to complete the adjustment. After the rotation offset is adjusted, the linear offset is adjusted. Fig.12 , the image sensor 13 directly reads the offset of the X-axis and the Z-axis, and the image analysis processor controls the third displacement stage 41 to translate to complete the calibration of the left positioning laser light module 4 and the right positioning laser light module. When calibrating the bed end positioning laser light module 6, the bed end positioning laser light is a straight line laser light, so it has only three degrees of freedom deviation in space, namely the inclination deviation around the Y axis, the inclination deviation around the Z axis, and the straight line deviation along the X axis. The calibration process is consistent with the above process and will not be repeated.

[0039] A radiotherapy device comprises the above-mentioned treatment bed and the laser light calibration system.

[0040] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. An image sensing module, characterized in that: It comprises a mounting bracket, an image analysis processor is arranged inside the mounting bracket, an image sensor is arranged on the side of the mounting bracket, and the image sensor is connected to the image analysis processor.

2. The image sensor module according to claim 1, characterized in that: A filter is arranged on a surface of the image sensor away from the mounting bracket.

3. The image sensor module according to claim 1 or 2, characterized in that: A plurality of image sensors are provided, and the plurality of image sensors are located on different sides of the mounting bracket.

4. A treatment bed and laser light calibration system, characterized in that: include: A handpiece laser reference module, which is arranged on the handpiece of the radiotherapy device, and the handpiece laser reference module emits a first reference laser beam perpendicular to its installation plane, and the first reference laser beam is parallel to the Z axis of the three-dimensional coordinate system; A rack laser reference module, which is arranged on the front end surface of the rack of the radiotherapy equipment, and the rack laser reference module emits a second reference laser beam perpendicular to its installation plane, and the second reference laser beam is parallel to the Y axis of the three-dimensional coordinate system; A positioning laser light module, used for emitting a positioning laser beam, wherein three positioning laser light modules are provided, and the three positioning laser light modules are respectively located on the left side, the right side and the end of the treatment bed; And the image sensor module described in any one of claims 1-3, which is arranged on the treatment bed and is used to receive the first reference laser beam, the second reference laser beam and the positioning laser beam, and the image analysis processor is respectively communicated with the treatment bed, the head laser reference module, the rack laser reference module and the positioning laser light module.

5. The treatment bed and laser light calibration system according to claim 4, characterized in that: The machine head laser reference module includes a first translation stage and a first reference laser light. The first translation stage can move along the X-axis and the Y-axis of the three-dimensional coordinate system. The first reference laser light is arranged on the first translation stage.

6. The treatment bed and laser light calibration system according to claim 4, characterized in that: The rack laser reference module includes a second translation platform and a second reference laser light. The second translation platform can move along the X-axis and the Z-axis of the three-dimensional coordinate system. The second reference laser light is arranged on the second translation platform.

7. The treatment bed and laser light calibration system according to claim 4, characterized in that: The positioning laser light module includes a positioning laser light and a third translation platform, on which an X-axis rotation component, a Y-axis rotation component and a Z-axis rotation component are arranged. The third translation platforms located on the left and right sides of the treatment bed can move along the Y-axis and the Z-axis, and the third translation platform located at the end of the treatment bed can move along the X-axis and the Z-axis.

8. The treatment bed and laser light calibration system according to claim 7, characterized in that: The X-axis rotating assembly includes a first base plate and a first worm gear assembly. The first base plate is connected to the third translation stage. The rotating shaft of the worm gear of the first worm gear assembly is arranged along the X-axis of the three-dimensional coordinate system.

9. The treatment bed and laser light calibration system according to claim 8, characterized in that: The Y-axis rotation assembly includes a second base plate and a second worm gear assembly, the rotating shaft of the turbine of the first worm gear assembly is hinged to the second base plate, the rotating shaft of the turbine of the second worm gear assembly is arranged along the Y-axis of the three-dimensional coordinate system, and the rotating shaft of the turbine of the second worm gear assembly is hinged to the second base plate.

10. The treatment bed and laser light calibration system according to claim 9, characterized in that: The Z-axis rotation assembly includes a top plate and a third worm gear assembly. The third worm gear assembly and the second worm gear assembly are respectively located on adjacent sides of the second bottom plate. The rotating shaft of the turbine of the third worm gear assembly is arranged along the Z-axis of the three-dimensional coordinate system, and the rotating shaft of the turbine of the third worm gear assembly is hinged to the top plate, and the positioning laser light is arranged on the top plate.

11. The treatment bed and laser light calibration system according to claim 4, characterized in that: The positioning laser light modules located on the left and right sides of the treatment bed use cross-line laser lights, and the positioning laser light module located at the end of the treatment bed uses a straight-line laser light.

12. A radiotherapy device, characterized in that: It comprises the treatment bed and laser light calibration system as described in any one of claims 4-11.

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