Adaptive grating system and movement control method, and radiotherapy equipment

Abstract

The invention discloses an adaptive grating system and a movement control method, and radiotherapy equipment. The adaptive grating system comprises: two grating components, a first grating component and a second grating component, which are arranged horizontally opposite to each other, each grating component comprises a plurality of independent grating blades and a micro-motion component, and the plurality of grating blades of the first grating component and / or the plurality of grating blades of the second grating component are driven by the micro-motion component respectively to make reciprocating motion along a first axial direction; a first driving component comprises two layers of driving ends, an upper driving end and a lower driving end, which are parallel to each other, and each layer of driving ends is connected to a grating component corresponding to the grating component, and is used to drive the grating component to make reciprocating motion along the first axial direction; a second driving component, the driving end of the second driving component is connected to the first driving component, and is used to drive the grating component to make reciprocating motion along the second axial direction; the first axial direction is perpendicular to the second axial direction, and the grating blades are used to fit the edge of a target shape by moving positions in the first axial direction and the second axial direction.

Description

Technical Field

[0001] The present invention relates to the technical field of high-end medical equipment, and in particular to an adaptive grating system and radiotherapy equipment. Background Art

[0002] During treatment with a compact proton therapy system, a structure defining the edge of a proton beam spot can be used to prevent healthy tissue from being irradiated by the proton beam. For example, the structure or a portion thereof can be placed between the proton beam and healthy tissue to prevent the healthy tissue from being irradiated by the proton beam.

[0003] The multi-leaf grating assembly is the core component of the compact proton therapy system to achieve penumbra clipping of the proton beam. Proton therapy equipment generally includes a proton accelerator, a treatment head, and a rotating gantry that drives the accelerator and the treatment head to rotate. The proton accelerator is used to generate a proton beam. Driven by the rotating gantry, the treatment head irradiates the patient's treatment area at different angles to perform radiotherapy.

[0004] The multi-leaf grating assembly is generally arranged between the proton accelerator and the patient's body, usually located close to the human body, and suspended at the far end of the treatment head. In the general structural design, the multi-leaf grating assembly is telescopic in the X-axis or Y-axis direction, integrating the main displacement and the beam edge fitting. Such a design often requires that the telescopic size of the multi-leaf grating assembly in the X-axis or Y-axis direction is large enough. However, the larger the size of the multi-leaf grating assembly, the heavier its weight, which puts higher requirements on the structural rigidity of the rotating frame supporting the rotation of the treatment head, which is not conducive to further improving the moving speed and fitting accuracy of the multi-leaf grating assembly; the larger the size of the multi-leaf grating assembly, the larger its overall volume, which is not conducive to further improving the installation process. Therefore, it is necessary to further improve the existing structure. Summary of the invention

[0005] The object of the present invention is to provide a more miniaturized adaptive grating system and radiotherapy equipment.

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

[0007] According to a first aspect of the present invention, an adaptive grating system is provided, which is located behind a range adjuster along a beam irradiation direction; the adaptive grating system comprises: two grating components, a first grating component and a second grating component, which are arranged horizontally opposite to each other, each grating component comprises a plurality of independent grating blades and a micro-motion component, the plurality of grating blades of the first grating component and / or the plurality of grating blades of the second grating component are driven by the micro-motion component respectively to reciprocate along a first axial direction; the grating blades are used to block the beam adjusted by the range adjuster, an initial area is defined between the grating blades before beam irradiation, and a beam exit area is defined after beam irradiation, and the beam exit area and the beam spot have only partially the same projection along the beam irradiation direction;

[0008] A first driving component, having a first driving end for connecting to the grating component, wherein the first driving end is used to drive the grating component to reciprocate along a first axial direction, i.e., a transverse direction;

[0009] A second driving assembly having a second driving end connected to the first driving assembly, wherein the second driving end is used to drive the grating assembly to reciprocate along a second axial direction, i.e., a longitudinal direction;

[0010] Wherein, the first axial direction is perpendicular to the second axial direction, the first axial direction and the second axial direction are both perpendicular to the beam irradiation direction, and the grating blades are used to fit the edge of a preset target area by moving at the positions of the first axial direction and the second axial direction;

[0011] The grating blades are located at the bottom end of the adaptive grating system along the second axial direction, and the projections of at least part of the grating blades along the beam irradiation direction overlap with the beam spot portion;

[0012] The plurality of grating blades include a top blade located at the top and the bottom, a bottom blade, and an intermediate blade located between the top blade and the bottom blade, and when the grating blades are moving, a distance between the intermediate blades along the first axial direction is greater than a distance between the top blades along the first axial direction or / and a distance between the bottom blades along the first axial direction;

[0013] The plurality of grating blades include left blades and right blades that are relatively distributed along a first axial direction. Before the beam passes through a beam-exiting region of the beam, the right blades move rightward along the first axial direction to block the beam, and the left blades synchronously move rightward along the first axial direction and keep a distance from the right blades without blocking the beam; or the left blades move leftward along the first axial direction to block the beam, and the right blades move leftward along the first axial direction synchronously and keep a distance from the left blades without blocking the beam.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: through the first driving component and the second driving component, the grating component is caused to perform main displacement movement in the X-axis and the Y-axis respectively; the first grating component is used to preliminarily define a rough first contour of the beam-out region; and the second grating component is used to preliminarily define a rough second contour of the beam-out region opposite to the first contour; the micro-motion component is used to drive multiple grating blades of the first grating component to further define a first edge of the first contour; and the micro-motion component is used to drive multiple grating blades of the second grating component to further define a second edge of the second contour, thereby determining the beam-out region; the top blade, the bottom blade and the middle blade of the grating blade are controlled to preliminarily define the region where the beam can pass through the adaptive grating system; and the left blade and the right blade of the grating blade are controlled to further define the edge contour of the beam-out region, thereby achieving precise fitting of the beam edge, so that the beam passing through the beam-out region has a sharper spot size, which provides a guarantee for achieving a more precise radiotherapy effect. Through the multi-level controlled movement of the grating blades, the size of the grating blades is reduced, making the structure more compact and easy to install, reducing the higher requirements on the structural rigidity of the rotating frame supporting the rotation of the treatment head, ensuring that its movement speed and fitting accuracy meet the needs of radiotherapy.

[0015] In some possible implementations, the first driving end includes two layers of sub-driving ends, an upper driving end and a lower driving end, which are arranged in parallel with each other, and each sub-driving end is connected to a corresponding grating component.

[0016] In some possible implementations, the micro-motion assembly includes:

[0017] The housing comprises two loading plates, a first loading plate and a second loading plate, which are arranged opposite to each other along a third axial direction, wherein at least two grooves are arranged on the inner side of each loading plate, and a boss is arranged between two adjacent grooves;

[0018] at least two stator plates, one side of the stator plate is embedded in the groove of the first loading plate, and the other side of the stator plate is embedded in the groove of the second loading plate, and a first magnetic field can be generated between two adjacent stator plates;

[0019] At least one mover plate, the mover plate is embedded between the bosses of the first loading plate and the second loading plate, and is located between two adjacent stator plates, each of the mover plates is provided with at least one connecting rod at one end along the first axial direction, each connecting rod on the mover plate is connected to a grating blade, and the mover plate can generate a second magnetic field;

[0020] The interaction between the first magnetic field and the second magnetic field can cause the mover plate to reciprocate along a first axial direction relative to the stator plate.

[0021] In some possible embodiments, a limiting plate is respectively provided on one side of each loading plate, and each of the movable plates is respectively provided with notches at both ends along the third axial direction, and the notches have a first length in the first axial direction, and when the movable plate moves in the first axial direction exceeding the first length, the limiting plate limits the movable plate.

[0022] In some possible implementations, a plurality of channels are formed in each of the loading plates along the first axial direction, a sliding sleeve is embedded in each of the channels, a sliding rod is embedded in the sliding sleeve, and the sliding rod is connected to the grating blades.

[0023] In some possible embodiments, each of the grating blades is respectively connected to a first magnetic scale; a circuit board is provided on the first loading plate or the second loading plate, and a plurality of first reading heads are provided on the circuit board, and each of the first reading heads is respectively used to read the movement distance of the corresponding first magnetic scale in the first axial direction.

[0024] In some possible implementations, the first driving component includes:

[0025] A load-bearing bracket having a first end and a second end disposed opposite to each other;

[0026] The first stator comprises two layers of stators, an upper stator and a lower stator, which are parallel to each other, one end of each layer of stators is embedded in the first end of the bearing bracket, and the other end of each layer of stators is embedded in the second end of the bearing bracket; each layer of stators is coaxially sleeved with a first mover, and the first mover can reciprocate along a first axial direction on the stator;

[0027] A slide rail having a first end and a second end along the first axial direction, wherein the first end of the slide rail is connected to the first end of the bearing bracket, and the second end of the slide rail is connected to the second end of the bearing bracket;

[0028] Each of the movers is respectively connected to a slider, and each of the sliders is connected to one of the grating components.

[0029] In some possible implementations, a second magnetic scale is disposed on a side of the support bracket close to the slide rail, and a second reading head is disposed on the slider, and each of the second reading heads is used to read the movement distance of the corresponding grating assembly in the first axial direction.

[0030] In some possible implementations, the second drive assembly includes:

[0031] substrate,

[0032] a main stator, disposed on the substrate,

[0033] A second mover is coaxially sleeved on the main stator, and the second mover is connected to the bearing bracket;

[0034] The invention has two guide rails, a first guide rail and a second guide rail, which are arranged on the base plate and are respectively distributed in parallel on both sides of the main stator. Each guide rail is respectively slidably connected to at least one guide block, and the guide block is connected to the bearing bracket.

[0035] In some possible embodiments, the base plate is provided with a first mounting block and a second mounting block distributed on both sides of the supporting bracket, the first mounting block and the second mounting block are connected by a cross plate located above the supporting bracket, the cross plate has a first end and a second end along the first axial direction, the first end of the cross plate is connected to one end of the first drag chain, and the other end of the first drag chain is connected to one end of the supporting bracket away from the guide rail; the second end of the cross plate is connected to one end of the second drag chain, and the other end of the second drag chain is connected to the other end of the supporting bracket away from the guide rail.

[0036] In some possible implementations, a probe is installed on the first mounting block, a third magnetic scale is provided on a side of the supporting bracket close to the first guide rail, and the probe is used to read the movement distance of the grating assembly in the second axial direction.

[0037] In some possible implementations, a buffer is disposed in the second mounting block along the second axial direction, and a stopper capable of contacting the buffer is disposed at one end of the third magnetic scale away from the second mounting block.

[0038] In some possible implementations, the base plate is provided with a "U"-shaped opening, the "U"-shaped opening is embedded with a main shaft sleeve, and the main shaft sleeve is sleeved on an end of the main stator away from the slide rail.

[0039] A second aspect of the present invention provides a radiotherapy device, comprising a proton accelerator for outputting a proton beam and the above-mentioned adaptive grating system, and one or more scanning magnets for moving the proton beam relative to an irradiation target of a patient; the proton accelerator can move driven by a rotating gantry, and the adaptive grating system is between one or more of the scanning magnets and the patient.

[0040] A third aspect of the present invention provides a method for controlling movement of an adaptive grating system, the method comprising:

[0041] Acquire an initial region defined between all grating blades before beam irradiation;

[0042] determining a first edge contour of the initial area;

[0043] Acquire an initial position set under the first edge contour;

[0044] Presetting a beam-out region defined between all grating blades after beam irradiation;

[0045] determining a second edge profile of the beam-outlet area;

[0046] Acquire a beam-out position set under the second edge contour;

[0047] Acquire a first position difference set between the initial position set and the beam output position set;

[0048] Calculate a first moving distance of each of the grating blades in the first axial direction and the second axial direction based on the first position difference set;

[0049] Controlling the grating blade to move in a first axial direction and a second axial direction based on the first moving distance;

[0050] Preset beam treatment area;

[0051] Acquiring a third edge contour of the treatment area;

[0052] determining a set of treatment positions of the third edge contour;

[0053] Acquire a second position difference set between the beam-exiting position set and the treatment position set;

[0054] Based on the second position difference set, calculating a second movement distance of the left blade and the right blade in the first axial direction;

[0055] The left blade and the right blade are controlled to move in the first axial direction based on the second moving distance, so that the beam exit region and the beam spot have only partially the same projection along the beam irradiation direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 Schematic diagram of the three-dimensional structure of the adaptive grating system according to an embodiment of the present invention Figure 1 ;

[0057] Figure 2 Schematic diagram of the three-dimensional structure of the adaptive grating system according to an embodiment of the present invention Figure 2 ;

[0058] Figure 3 Schematic diagram of the three-dimensional structure of the adaptive grating system according to an embodiment of the present invention Figure 3 ;

[0059] Figure 4 Schematic diagram of the three-dimensional structure of the adaptive grating system according to an embodiment of the present invention Figure 4 ;

[0060] Figure 5Schematic diagram of the three-dimensional structure of the adaptive grating system according to an embodiment of the present invention Figure 5 ;

[0061] Figure 6 is a schematic diagram of the main structure of the grating assembly according to an embodiment of the present invention;

[0062] Figure 7 is a schematic diagram of the side view structure of the grating assembly according to an embodiment of the present invention;

[0063] Figure 8 Embodiment of the present invention Figure 7 AA cross-section diagram;

[0064] Fig. 9 is a schematic diagram of the cross-sectional structure of an upper stator or a lower stator according to an embodiment of the present invention;

[0065] Fig.10 is a schematic diagram of the cross-sectional structure of the first mover in an embodiment of the present invention;

[0066] Fig.11 is a schematic diagram of the cross-sectional structure of the main stator of an embodiment of the present invention;

[0067] Fig.12 is a schematic diagram of the cross-sectional structure of the second mover in an embodiment of the present invention;

[0068] Fig.13 It is a flow chart of the steps of the movement control method of the adaptive grating system according to an embodiment of the present invention.

[0069] In the figure: 100, grating assembly; 1, micro-motion assembly; 10, housing; 11, first loading plate; 12, second loading plate; 13, stator plate; 14, mover plate; 15, connecting rod; 16, limit plate; 17, notch; 18, slide bar; 19, first magnetic scale; 20, circuit board; 21, first reader; 2, grating blade; 30, support bracket; 31, upper stator; 32, lower stator; 33, first mover; 34, slide rail; 35, slide block; 36, second magnetic scale; 37, second reader; 40, substrate; 41, main stator; 42, The second mover; 43. Guide rail; 44. Guide block; 45. First mounting block; 46. Second mounting block; 47. Cross plate; 48. First drag chain; 49. Second drag chain; 50. Probe; 51. Third magnetic scale; 52. Buffer; 53. Stopper; 54. Main shaft sleeve; 61. First stator shaft; 62. First permanent magnet; 63. First shaft sleeve; 64. Bearing; 65. Armature silicon steel sheet slot; 66. Non-ferromagnetic spacer ring insert; 67. First armature coil; 71. Second stator shaft; 72. Second armature coil; 73. Second shaft sleeve; 74. Second permanent magnet. DETAILED DESCRIPTION

[0070] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make the present invention more comprehensive and complete and to fully convey the concepts of example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their repeated description will be omitted.

[0071] The words expressing position and direction described in the present invention are all explained by taking the accompanying drawings as examples, but they can be changed as needed, and all changes are included in the protection scope of the present invention.

[0072] See attached Figure 1-5 As shown, the adaptive grating system provided in this embodiment is located behind the range adjuster along the beam irradiation direction. The adaptive grating system includes two grating components 100, a first driving component and a second driving component.

[0073] The two grating components 100 are respectively a first grating component 100 and a second grating component 100 which are arranged horizontally opposite to each other. Each grating component 100 includes a plurality of independent grating blades 2 and a micro-motion component 1. The plurality of grating blades 2 of the first grating component 100 and / or the plurality of grating blades 2 of the second grating component 100 are respectively driven by the micro-motion component 1 to reciprocate along the first axial direction. In this embodiment, the material of the grating blades 2 can play a reliable effect on shielding the particle beam, and can be nickel, copper, tungsten or nickel-tungsten alloy.

[0074] The first driving component has a first driving end for connecting to the grating component 100, and the first driving end is used to drive the grating component to reciprocate along a first axial direction, that is, a transverse direction.

[0075] In this embodiment, the first driving assembly has two layers of sub-driving ends, an upper driving end and a lower driving end, which are arranged in parallel with each other, and each layer of sub-driving ends is connected to a corresponding grating assembly 100, and is used to drive the grating assembly 100 to reciprocate along the first axial direction. Specifically, the lower driving end of the first driving assembly drives the first grating assembly 100 to reciprocate along the first axial direction, and the upper driving end of the first driving assembly drives the second grating assembly 100 to reciprocate along the first axial direction.

[0076] The grating blade 2 can move a first maximum motion stroke in the first axial direction under the drive of the micro-motion component 1, and the grating component 100 can move a second maximum motion stroke in the first axial direction under the drive of the first driving component; the second maximum motion stroke is much larger than the first maximum motion stroke, and preferably, the second maximum motion stroke is about 10 times the first maximum motion stroke. For example, the first maximum motion stroke can be 10mm, 15mm, 20mm and 30mm, and the second maximum motion stroke can be 100mm, 150mm, 200mm and 300mm.

[0077] Specifically, driven by the first driving assembly, the displacement of the grating blade 2 in the first axial direction is X1; at the same time, driven by the micro-motion assembly 1, the displacement of the grating blade 2 in the first axial direction is X2, and finally the movement distance of the grating blade 2 in the first axial direction is X1+X2.

[0078] For example: when X1 is 40mm and X2 is 5mm, the moving distance of the grating blade 2 in the first axial direction is 45mm. When X1 is 50mm and X2 is -5mm, the moving distance of the grating blade 2 in the first axial direction is 45mm. For example: when X1 is -40mm and X2 is 5mm, the moving distance of the grating blade 2 in the first axial direction is 35mm.

[0079] The second driving assembly has a second driving end for connecting to the first driving assembly, and the second driving end is used to drive the grating assembly 100 to reciprocate along the second axial direction, ie, the longitudinal direction.

[0080] It should be noted that the grating blades 2 are used to block the beam after being adjusted by the range adjuster. An initial area is defined between the grating blades 2 before the beam irradiates the adaptive grating system, and a beam-out area is defined after the beam irradiates the adaptive grating system. The beam-out area and the beam spot have only partially the same projection along the beam irradiation direction, so that the beam spot, i.e., the light spot, can be trimmed, and the beam passing through the beam-out area has a sharper light spot to achieve more precise radiotherapy.

[0081] It should be further explained that the first axial direction is perpendicular to the second axial direction, the first axial direction and the second axial direction are both perpendicular to the beam irradiation direction, the first axial direction and the second axial direction can be the X-axis or the Y-axis, in this embodiment, the first axial direction is the X-axis, and the second axial direction is the Y-axis. The grating blade 2 is used to fit the beam-out region by moving the positions in the first axial direction and the second axial direction. In this embodiment, the beam-out region is the region where the beam passes through the adaptive grating system.

[0082] It should be further explained that, through the first driving component and the second driving component, the grating component 100 is caused to perform main displacement movements in the X-axis and the Y-axis respectively, and the first grating component 100 is used to preliminarily define a first contour of the beam-out region, and the second grating component 100 is used to define a second contour of the preliminary beam-out region that is roughly opposite to the first contour; the first edge of the first contour is further defined by driving the multiple grating blades 2 of the first grating component 100 through the micro-motion component 1, and the second edge of the second contour is further defined by driving the multiple grating blades 2 of the second grating component 100 through the micro-motion component 1, thereby achieving precise fitting of the beam-out region.

[0083] Furthermore, the grating blades 2 are located at the bottom of the adaptive grating system along the second axis, and at least part of the projection of the grating blades 2 along the beam irradiation direction overlaps with the beam spot, so that the beam is partially retained, that is, the part suitable for treating tumors is retained.

[0084] The plurality of grating blades 2 are divided into top blades located at the top and bottom ends, bottom blades, and middle blades located between the top blades and the bottom blades along the second axial direction. When the grating blades 2 are moving, the distance between the middle blades along the first axial direction is greater than the distance between the top blades along the first axial direction or / and the distance between the bottom blades along the first axial direction, so that the light spot of the beam located at the top or bottom near the initial area can be better trimmed.

[0085] The plurality of grating blades 2 include a plurality of left blades and right blades which are relatively distributed along the first axial direction. Before the beam passes through the preset treatment area, the right blade moves to the right along the first axial direction, that is, away from the center of the adaptive grating system or the center of the initial area, and is used to block the beam. The left blade moves to the right along the first axial direction synchronously and keeps a distance from the right blade without blocking the beam; or the left blade moves to the left along the first axial direction, that is, away from the center of the adaptive grating system or the center of the initial area, and is used to block the beam. The right blade moves to the left along the first axial direction synchronously and keeps a distance from the left blade without blocking the beam. In this arrangement, the moving direction of the blades not used to block the beam is taken into consideration, and the blades not used to block the beam are moved in advance, so that the blades can reach the next position where the beam needs to be adjusted more quickly, and the adjustment of the beam is faster, thereby improving the efficiency of radiotherapy. In some embodiments, the blocking beam only blocks the edge of the beam, so that the spot of the beam arriving at the treatment area is sharper, further improving the effect of radiotherapy. The treatment area can be a pre-set area to be treated for the tumor. In some embodiments, when trimming a light spot, only part of the left blades and the right blades are involved in the trimming. At the same time, the distance between the left blades and the right blades is no greater than the size of the two light spots, so that the left blades and the right blades can be more quickly mobilized to trim the light spots at different positions, thereby achieving faster adjustment of the beam.

[0086] The area where the beam can pass through the adaptive grating system is preliminarily defined by controlling the movement of the top blade, the bottom blade and the middle blade of the grating blade 2; the edge contour of the beam-out area is further defined by controlling the movement of the left blade and the right blade of the grating blade 2, thereby achieving precise fitting of the beam edge of the treatment area, so that the beam passing through the beam-out area has a sharper spot size, providing a guarantee for achieving a more precise radiotherapy effect.

[0087] In a specific embodiment, see the attached Figure 6-8 As shown, the micro-motion assembly 1 includes a housing 10 , at least two stator plates 13 and at least one mover plate 14 .

[0088] The housing 10 includes two loading plates, a first loading plate 11 and a second loading plate 12, which are arranged opposite to each other along a third axial direction. At least two grooves are arranged on the inner side of each loading plate, and a boss is arranged between two adjacent grooves. In this embodiment, the third axial direction is the Z axis.

[0089] At least two stator plates 13, in this embodiment, the number of stator plates 13 is set to 8, the stator plates 13 can be set as permanent magnets, one side of the stator plate 13 is embedded in the groove of the first loading plate 11, and the other side of the stator plate 13 is embedded in the groove of the second loading plate 12, and a first magnetic field can be generated between two adjacent stator plates 13. Specifically, the first magnetic field can be generated between two adjacent permanent magnets.

[0090] At least one mover plate 14, in this embodiment, the number of mover plates 14 is set to 7, the mover plate 14 can be set as a coil magnet, the mover plate 14 is embedded between the bosses of the first loading plate 11 and the second loading plate 12, and is located between two adjacent stator plates 13, each mover plate 14 is provided with at least one connecting rod 15 at one end along the first axial direction, the connecting rod 15 on each mover plate 14 is connected to a grating blade 2, and the mover plate 14 can generate a second magnetic field. Specifically, when the coil magnet is passed through a current, a second magnetic field will be formed around it.

[0091] The interaction between the first magnetic field and the second magnetic field can make the mover plate 14 move relative to the stator plate 13 along the first axial direction. By changing the direction of the current, the mover plate 14 can drive the grating blades 2 to reciprocate along the first axial direction, thereby achieving accurate fitting of the beam output area.

[0092] In a specific embodiment, a limiting plate 16 is provided on one side of each loading plate, and each movable plate 14 is provided with a notch 17 at both ends along the third axial direction. The notch 17 has a first length in the first axial direction. When the movable plate 14 moves in the first axial direction exceeding the first length, the limiting plate 16 limits the movable plate 14.

[0093] The first length of the notch 17 is the maximum effective stroke of the mover plate 14 and also the maximum effective stroke of the grating blade 2. The limiting plate 16 limits the mover plate 14 to prevent the grating blade 2 from moving beyond the maximum effective stroke and causing a collision.

[0094] In a specific implementation, a plurality of channels are opened in each loading plate along the first axial direction, a sliding sleeve is embedded in each channel, a sliding rod 18 is embedded in the sliding sleeve, and the sliding rod 18 is connected to the grating blade 2 .

[0095] The slide bar 18 plays a role in positioning the grating blades 2. When the mover plate 14 drives the grating blades 2 to perform reciprocating motion, the movement of the grating blades 2 is guided by the slide bar 18, thereby improving the accuracy and stability of the position movement of the grating blades 2, thereby ensuring the precise accuracy of the beam edge and further ensuring the effect of particle radiotherapy.

[0096] In a specific embodiment, each grating blade 2 is respectively connected to a first magnetic scale 19; a circuit board 20 is arranged on the first loading plate 11 or the second loading plate 12, and a plurality of first reading heads 21 are arranged on the circuit board 20, and each first reading head 21 is respectively used to read the movement distance of the corresponding first magnetic scale 19 in the first axial direction.

[0097] When the movable plate 14 drives the grating blades 2 to perform reciprocating motion, the first magnetic scale 19 moves synchronously with the grating blades 2 . Since the first reading head 21 is fixed, the first reading head 21 can read the position of the first magnetic scale 19 , thereby determining the position of each grating blade 2 .

[0098] In a specific implementation, the first driving assembly includes a supporting bracket 30 , a first stator and a slide rail 34 .

[0099] The supporting bracket 30 is an “inverted T” shaped structure, and has a first end and a second end which are oppositely arranged along a first axial direction.

[0100] The first stator includes two layers of stators, namely an upper stator 31 and a lower stator 32 which are parallel to each other. One end of each layer of stators is embedded in the first end of the supporting bracket 30, and the other end of each layer of stators is embedded in the second end of the supporting bracket 30. Each layer of stators is coaxially sleeved with a first mover 33, and the first mover 33 can reciprocate on the stator along the first axial direction.

[0101] In this embodiment, each stator layer may preferably be a permanent magnet, and each stator layer includes a first stator shaft 61, see the attached Fig. 9 As shown, the first stator shaft 61 is preferably a non-magnetic stainless steel shaft, and a plurality of first permanent magnets 62 are sleeved side by side on the first stator shaft 61, and the magnetic poles of two adjacent first permanent magnets 62 are opposite. The plurality of first permanent magnets 62 generate a third magnetic field. The pole pitch of each first permanent magnet 62 can be set according to the implementation requirements.

[0102] In this embodiment, each first mover 33 may preferably be a coil magnet. Fig.10 As shown, each first mover 33 includes a first sleeve 63, bearings 64 are embedded at both ends of the first sleeve 63, a plurality of armature silicon steel sheet slots 65 are embedded between the two bearings 64 and are spaced and distributed on two opposite sides of the sleeve, non-ferromagnetic spacer rings 66 are respectively arranged between the bearings 64 and the armature silicon steel sheet slots 65 and between two adjacent armature silicon steel sheet slots 65, and the non-ferromagnetic spacer rings 66 are arranged inside the first sleeve 63, and a plurality of first armature coils 67 are embedded in each armature silicon steel sheet slot 65. The first armature coil 67 generates a fourth magnetic field after current is passed through it. The slot spacing between two armature silicon steel sheet slots 65 on one side can be set according to the implementation needs.

[0103] The slide rail 34 has a first end and a second end along the first axial direction, the first end of the slide rail 34 is connected to the first end of the support bracket 30, and the second end of the slide rail 34 is connected to the second end of the support bracket 30; each mover is respectively connected to a slider 35, and each slider 35 is connected to a grating assembly 100. In this embodiment, the first mover 33 is connected to the housing.

[0104] Under the interaction of the third magnetic field and the fourth magnetic field, the first mover 33 can move along the first axial direction on the stator, so that the first mover 33 drives the slider 35 to move synchronously on the slide rail 34, thereby causing the grating assembly 100 to move along the first axial direction. By changing the direction of the current, the mover can drive the grating assembly 100 to reciprocate along the first axial direction, thereby limiting the approximate outline of the beam in the first axial direction.

[0105] In a specific embodiment, a second magnetic scale 36 is disposed on one side of the support bracket 30 close to the slide rail 34 , and a second reader 37 is disposed on the slider 35 . Each second reader 37 is used to read the movement distance of the corresponding grating assembly 100 in the first axial direction.

[0106] When the movable plate 14 drives the grating assembly 100 to reciprocate, the second reading head 37 moves synchronously with the slider 35. Since the second magnetic scale 36 is fixed, the second reading head 37 can read the position of the second magnetic scale 36, thereby determining the position of each grating assembly 100 in the first axial direction. The position of the multi-leaf grating 2 read by the second reading head 37 is consistent with the position of the multi-leaf grating 2 read by the first reading head 37.

[0107] In a specific embodiment, the second driving assembly includes a base plate 40, a main stator 41, a second mover 42, and two guide rails 43 including a first guide rail and a second guide rail.

[0108] The main stator 41 is disposed on the substrate 40. The main stator 41 may preferably be a coil magnet. Fig.11 As shown, the main stator 41 includes a second stator shaft 71, which is a non-magnetic stainless steel shaft, and a plurality of second armature coils 72 are arranged inside the second stator shaft 71 along the length direction. The second armature coils 72 generate a fifth magnetic field after current is passed through them.

[0109] The second mover 42 is coaxially sleeved on the main stator 41. The second mover 42 is connected to the support bracket 30. In this embodiment, the second mover 42 can preferably be a permanent magnet. Fig.12As shown, the second mover 42 includes a second sleeve 73, and a plurality of second permanent magnets 74 are respectively embedded on two opposite sides of the second sleeve 73. The plurality of second permanent magnets 74 are evenly distributed on both sides of the main stator 41, forming a "U"-shaped structure, and the magnetic poles of two adjacent second permanent magnets 74 are different. A sixth magnetic field is generated between the second permanent magnets 74.

[0110] Two guide rails 43 are arranged on the base plate 40 and are respectively distributed in parallel on both sides of the main stator 41. Each guide rail 43 is slidably connected to at least one guide block 44, and the guide block 44 is connected to the support bracket 30. The guide rail 43 has a first end along the length direction, the first end of the guide rail 43 is far away from the slide rail 34, and the second end of the guide rail 43 is close to the slide rail 34.

[0111] Under the interaction of the fifth magnetic field and the sixth magnetic field, the second mover 42 can move along the second axial direction on the main stator 41, so that the second mover 42 drives the supporting bracket 30 and the guide block 44 to move synchronously on the guide rail 43, thereby making the grating assembly 100 move along the second axial direction, and by changing the direction of the current, the second mover 42 can drive the grating assembly 100 to reciprocate along the second axial direction, thereby forming a rough outline of the beam output area in the second axial direction.

[0112] The current flows through three-phase AC power, and the magnitude of the force is controlled by controlling the magnitude of the current, and the movement speed of the second mover 42 is controlled by controlling the frequency of the current. When the proton accelerator and the treatment head in the radiotherapy equipment treat the patient, the rotating frame in the radiotherapy equipment will drive the proton accelerator and the treatment head to rotate, and the entire device will rotate around the rotating axis of the rotating frame. The weight of the bearing bracket 30 and the grating assembly 100 will interfere with the load of the second drive assembly, thereby placing higher requirements on the output control of the second drive assembly. Due to the characteristics of the U-shaped structure, the deformation of the bearing bracket 30 in the beam direction during the rotational movement will not affect the air gap on the side of the second mover 42 and the main stator 41, thereby ensuring the stability of the rigidity of the second drive assembly itself, which is conducive to the control of the output of the second drive assembly.

[0113] It should be further explained that a plurality of second armature coils 72 are arranged throughout the entire movement stroke of the second mover 42 on the main stator 41. Fig.10 As shown, there are nine second armature coils 72. This design eliminates the need for harness management for the second drive assembly and eliminates the need for additional drag chain structures corresponding to the harness.

[0114] In a specific embodiment, a first mounting block 45 and a second mounting block 46 distributed on both sides of the supporting bracket 30 are provided on the base plate 40, and the first mounting block 45 and the second mounting block 46 are connected by a horizontal plate 47 located above the supporting bracket 30, and the horizontal plate 47 has a first end and a second end along a first axial direction, and the first end of the horizontal plate 47 is connected to one end of a first drag chain 48, and the other end of the first drag chain 48 is connected to one end of the supporting bracket 30 away from the guide rail 43; the second end of the horizontal plate 47 is connected to one end of a second drag chain 49, and the other end of the second drag chain 49 is connected to the other end of the supporting bracket 30 away from the guide rail 43.

[0115] The cables of the micro-motion assembly 1 and the first driving assembly are gathered by the first drag chain 48 and the second drag chain 49 .

[0116] In a specific embodiment, a probe 50 is installed on the first mounting block 45, and a third magnetic scale 51 is provided on the side of the support bracket 30 close to the first guide rail. The probe 50 is used to read the movement distance of the grating assembly 100 in the second axial direction. In this embodiment, the probe 50 is preferably a Hall probe 50.

[0117] When the second mover 42 drives the support bracket 30 and the grating assembly 100 to reciprocate, the third magnetic scale 51 moves synchronously with the support bracket 30. Since the probe 50 is fixed, the probe 50 can read the position of the third magnetic scale 51, thereby determining the position of each grating assembly 100 in the second axial direction. The third magnetic scale 51 measures the position, which can achieve high-precision position measurement in a harsh vibration environment.

[0118] In a specific implementation, a buffer 52 is disposed in the second mounting block 46 along the second axial direction, and a stopper 53 is disposed at one end of the third magnetic scale 51 away from the second mounting block 46 .

[0119] When the second mover 42 drives the supporting bracket 30 and the grating assembly 100 to reciprocate, the stopper 53 on the third magnetic scale 51 cooperates with the buffer 52 to limit the movement of the supporting bracket 30 at the second end of the guide rail 43, and the buffer 52 is used to protect the third magnetic scale 51 and other structures.

[0120] In a specific implementation, the base plate 40 is provided with a U-shaped opening, and a main shaft sleeve 54 is embedded in the U-shaped opening. The main shaft sleeve 54 is sleeved on an end of the main stator 41 away from the slide rail 34 .

[0121] The main shaft sleeve 54 is used to limit and protect the bearing bracket 30 when it moves on the first end of the guide rail 43 .

[0122] This embodiment provides the above-mentioned radiotherapy equipment, including a particle accelerator that outputs a particle beam and the above-mentioned adaptive grating system, and one or more scanning magnets that make the particle beam move relative to the irradiation target of the patient; the particle accelerator can perform reciprocating circumferential motion driven by a rotating frame, and the adaptive grating system is between the one or more scanning magnets and the patient. In this embodiment, the adaptive grating system can automatically fit different target shapes to the beam spot based on the position change of the particle beam, i.e., the beam flow, and after the particle beam passes through the adaptive grating system, the patient's part to be treated is subjected to radiotherapy in the treatment area with the set target shape.

[0123] See attached Fig.13 As shown, this embodiment provides a movement control method of the aforementioned adaptive grating system, including steps S1 to S5.

[0124] Step S1: obtaining an initial region defined between all grating blades before beam irradiation; determining a first edge contour of the initial region; and obtaining an initial position set under the first edge contour.

[0125] Step S2: presetting a beam-out region defined between all grating blades after beam irradiation; determining a second edge contour of the beam-out region; and acquiring a beam-out position set under the second edge contour.

[0126] Step S3: Obtain a first position difference set between an initial position set and a beam-out position set; based on the first position difference set, calculate a first movement distance of each grating blade in a first axial direction and a second axial direction; and control the grating blade to move in the first axial direction and the second axial direction based on the first movement distance.

[0127] Step S4: preset a treatment area of ​​the beam; obtain a third edge contour of the treatment area; and determine a treatment position set of the third edge contour.

[0128] Step S5: Obtain a second position difference set between the beam-out position set and the treatment position set; based on the second position difference set, calculate a second movement distance of the left blade and the right blade in the first axial direction; based on the second movement distance, control the left blade and the right blade to move in the first axial direction so that the beam-out area and the beam spot have only partially the same projection along the beam irradiation direction.

[0129] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, substitute 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 should fall within the scope of protection of the claims of the present invention.

Claims

1. An adaptive grating system, characterized in that: The adaptive grating system comprises: two grating components (100) having a first grating component and a second grating component arranged horizontally opposite to each other, each grating component (100) comprising a plurality of independent grating blades (2) and a micro-motion component (1), the plurality of grating blades (2) of the first grating component and / or the plurality of grating blades (2) of the second grating component being driven by the micro-motion component (1) to reciprocate along a first axial direction; the grating blades are used to block the beam adjusted by the range adjuster, an initial area is defined between the grating blades (2) before the beam is irradiated, and a beam exit area is defined after the beam is irradiated, and the beam exit area and the beam spot have only partially the same projection along the beam irradiation direction; A first driving component, comprising a first driving end for connecting to the grating component (100), wherein the first driving end is used to drive the grating component (100) to reciprocate along a first axial direction, i.e., a transverse direction; A second driving component, comprising a second driving end for connecting to the first driving component, the second driving end being used to drive the grating component (100) to reciprocate along a second axial direction, i.e., a longitudinal direction; The first axial direction is perpendicular to the second axial direction, the first axial direction and the second axial direction are both perpendicular to the beam irradiation direction, and the grating blades (2) are used to fit the edge contour of the beam output area by moving the positions of the first axial direction and the second axial direction; The grating blades (2) are located at the bottom end of the adaptive grating system along the second axial direction, and the projection of at least part of the grating blades (2) along the beam irradiation direction overlaps with the beam spot. The plurality of grating blades (2) are divided into top blades located at the top and bottom ends, bottom blades, and middle blades located between the top blades and the bottom blades along the second axial direction, and during the movement of the grating blades (2), the distance between the middle blades along the first axial direction is greater than the distance between the top blades along the first axial direction or / and the distance between the bottom blades along the first axial direction; and / or The plurality of grating blades (2) are divided into relatively distributed left blades and right blades along a first axial direction. Before the beam passes through the beam exit region of the beam, the right blade moves rightward along the first axial direction to block the beam, and the left blade moves rightward along the first axial direction synchronously and keeps a distance with the right blade without blocking the beam; or the left blade moves leftward along the first axial direction to block the beam, and the right blade moves leftward along the first axial direction synchronously and keeps a distance with the left blade without blocking the beam.

2. The adaptive grating system according to claim 1, characterized in that: The first driving end comprises two layers of sub-driving ends, an upper driving end and a lower driving end, which are arranged in parallel with each other, and each sub-driving end is respectively connected to a corresponding grating component (100).

3. The adaptive grating system according to claim 2, characterized in that: The micro-motion component (1) comprises: The housing (10) comprises two loading plates, a first loading plate (11) and a second loading plate (12) which are arranged opposite to each other along a third axial direction, wherein at least two grooves are arranged on the inner side of each loading plate, and a boss is arranged between two adjacent grooves; at least two stator plates (13), one side of the stator plate (13) being embedded in a groove of the first loading plate (11), and the other side of the stator plate (13) being embedded in a groove of the second loading plate (12), and a first magnetic field being able to be generated between two adjacent stator plates (13); At least one mover plate (14), the mover plate (14) being embedded between bosses of the first loading plate (11) and the second loading plate (12), and being located between two adjacent stator plates (13), each mover plate (14) being provided with at least one connecting rod (15) at one end along the first axial direction, each connecting rod (15) on the mover plate (14) being connected to a grating blade (2), and the mover plate (14) being capable of generating a second magnetic field; The interaction between the first magnetic field and the second magnetic field can cause the mover plate (14) to reciprocate relative to the stator plate (13) along a first axial direction.

4. The adaptive grating system according to claim 3, characterized in that: A limiting plate (16) is provided on one side of each loading plate, and each movable plate (14) is provided with a notch (17) at both ends along the third axial direction, the notch (17) having a first length in the first axial direction, and when the movable plate (14) moves in the first axial direction beyond the first length, the limiting plate (16) limits the movable plate (14).

5. The adaptive grating system according to claim 3 or 4, characterized in that: A plurality of channels are formed in each loading plate along the first axial direction, a sliding sleeve is embedded in each channel, a sliding rod (18) is embedded in the sliding sleeve, and the sliding rod (18) is connected to the grating blade (2).

6. The adaptive grating system according to claim 5, characterized in that: Each of the grating blades (2) is respectively connected to a first magnetic scale (19); a circuit board (20) is arranged on the first loading plate (11) or the second loading plate (12); a plurality of first reading heads (21) are arranged on the circuit board (20); each of the first reading heads (21) is respectively used to read the movement distance of the corresponding first magnetic scale (19) in the first axial direction.

7. The adaptive grating system according to claim 2, characterized in that: The first driving assembly comprises: A load-bearing bracket (30) having a first end and a second end arranged opposite to each other; The first stator comprises two layers of stators, an upper stator (31) and a lower stator (32) which are parallel to each other, one end of each layer of stators being embedded in the first end of the bearing bracket (30), and the other end of each layer of stators being embedded in the second end of the bearing bracket (30); each layer of stators is coaxially sleeved with a first mover (33), and the first mover (33) can reciprocate on the stator along a first axial direction; A slide rail (34) having a first end and a second end along the first axial direction, wherein the first end of the slide rail (34) is connected to the first end of the bearing bracket (30), and the second end of the slide rail (34) is connected to the second end of the bearing bracket (30); Each of the movers is respectively connected to a slider (35), and each of the sliders (35) is connected to one of the grating components (100).

8. The adaptive grating system according to claim 7, characterized in that: A second magnetic scale (36) is arranged on one side of the supporting bracket (30) close to the slide rail (34), and a second reading head (37) is arranged on the slider (35), and each of the second reading heads (37) is used to read the movement distance of the corresponding grating assembly (100) in the first axial direction.

9. The adaptive grating system according to claim 7, characterized in that: The second drive assembly comprises: base plate(40), A main stator (41) is arranged on the substrate (40), A second mover (42) is coaxially sleeved on the main stator (41), and the second mover (42) is connected to the bearing bracket (30); Two guide rails (43), namely a first guide rail (43) and a second guide rail (43), are provided on the substrate (40) and are respectively distributed in parallel on both sides of the main stator (41); each guide rail (43) is slidably connected to at least one guide block (44); and the guide block (44) is connected to the bearing bracket (30).

10. The adaptive grating system according to claim 9, characterized in that: The base plate (40) is provided with a first mounting block (45) and a second mounting block (46) distributed on both sides of the bearing bracket (30); the first mounting block (45) and the second mounting block (46) are connected via a transverse plate (47) located above the bearing bracket (30); the transverse plate (47) has a first end and a second end along the first axial direction; the first end of the transverse plate (47) is connected to one end of a first drag chain (48), and the other end of the first drag chain (48) is connected to one end of the bearing bracket (30) away from the guide rail (43); the second end of the transverse plate (47) is connected to one end of a second drag chain (49), and the other end of the second drag chain (49) is connected to the other end of the bearing bracket (30) away from the guide rail (43).

11. The adaptive grating system according to claim 10, characterized in that: A probe (50) is mounted on the first mounting block (45), a third magnetic scale (51) is arranged on a side of the supporting bracket (30) close to the first guide rail (43), and the probe (50) is used to read the movement distance of the grating assembly (100) in the second axial direction.

12. The adaptive grating system according to claim 11, characterized in that: A buffer (52) is arranged inside the second mounting block (46) along the second axial direction, and a stopper (53) for contacting the buffer (52) is arranged at one end of the third magnetic scale (51) away from the second mounting block (46).

13. The adaptive grating system according to claim 9, characterized in that: The base plate (40) is provided with a U-shaped opening, a main shaft sleeve (54) is embedded in the U-shaped opening, and the main shaft sleeve (54) is sleeved on an end of the main stator (41) away from the slide rail (34).

14. A radiotherapy device, characterized in that: The invention comprises a particle accelerator for outputting a particle beam, i.e., a beam current, and an adaptive grating system as described in any one of claims 1 to 13, a range regulator for adjusting the energy of the particle beam, and one or more scanning magnets for moving the particle beam relative to an irradiation target of a patient; the particle accelerator can move driven by a rotating frame.

15. A method for controlling movement of an adaptive grating system, characterized in that: The method comprises: Acquire an initial region defined between all grating blades before beam irradiation; determining a first edge contour of the initial area; Acquire an initial position set under the first edge contour; Presetting a beam-out region defined between all grating blades after beam irradiation; determining a second edge profile of the beam-outlet area; Acquire a beam-out position set under the second edge contour; Acquire a first position difference set between the initial position set and the beam output position set; Calculate a first moving distance of each of the grating blades in the first axial direction and the second axial direction based on the first position difference set; Controlling the grating blade to move in a first axial direction and a second axial direction based on the first moving distance; Preset beam treatment area; Acquiring a third edge contour of the treatment area; determining a set of treatment positions of the third edge contour; Acquire a second position difference set between the beam-exiting position set and the treatment position set; Based on the second position difference set, calculating a second movement distance of the left blade and the right blade in the first axial direction; The left blade and the right blade are controlled to move in the first axial direction based on the second moving distance, so that the beam exit region and the beam spot have only partially the same projection along the beam irradiation direction.

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