Multi-leaf grating blade driving device and system, medical linear accelerator and method

Abstract

The invention belongs to the technical field of medical equipment. According to the multi-leaf grating blade driving device and system and the medical linear accelerator and method, blades are located in a through cavity of a blade mounting box, and a linear motor is fixed to the top face or the bottom face of the blade mounting box; a rotor of the linear motor is connected with the transmission mechanism, the transmission mechanism is connected with the blades, and the blades can be driven by the rotor to linearly reciprocate in the through cavity. Lead screw grooves and micro lead screw threaded holes in the blades are eliminated, so that the blades are complete in structure and convenient to machine, traditional lead screw transmission is replaced with a linear motor driving mode, cost is reduced, the problem that lead screws are prone to bending and breakage in the transmission process is solved, the lead screw shifting phenomenon is avoided, the movement speed of the blades is higher, and the service life of the blades is prolonged. The precision is higher, the radial size of the treatment head is reduced, and the development requirement for miniaturization of medical equipment is met.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a multi-leaf grating blade driving device, system, medical linear accelerator and method. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Medical linear accelerators are key medical equipment for radiotherapy, and multi-leaf gratings are key core components for carrying out precise radiotherapy, implementing conformal and intensity-modulated therapy, and improving treatment effects. Multi-leaf gratings, also known as multi-leaf collimators, multi-leaf apertures, etc., have multiple independently movable blades, each of which has a corresponding drive mechanism that drives the blades to move to the corresponding position to form the required radiation field.

[0004] At present, the multi-leaf grating blade drive mostly adopts the method of driving the screw through the coupling by the rotating motor, and the screw drives the blade to move. The movement speed of this driving method is limited, and it is limited by the processing accuracy and processing cost of the screw. The screw movement makes it difficult to further improve the positioning accuracy of the blade; moreover, the structure of the screw passing through the blade makes it difficult to process the tiny threaded holes on the high-density tungsten alloy blades and the micro screw that drives the blades, which is costly, and the screw is prone to bending or even breaking during the driving process; furthermore, because the motor occupies radial space, the radial size of the treatment head is too large, which is not conducive to the miniaturization of medical equipment. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a multi-leaf grating blade driving device, system, medical linear accelerator and method, which eliminate the screw grooves and micro screw threaded holes on the blades, so that the blade structure is complete and easy to process, and adopts a linear motor drive method to replace the traditional screw transmission, thereby reducing costs, avoiding the problem of easy bending and breaking of the screw during the transmission process, and avoiding the phenomenon of screw movement; the addition of the linear motor makes the blade move faster and with higher precision, and the linear motor is arranged on the top or bottom surface of the blade mounting box, which can reduce the radial size of the treatment head and meet the development needs of miniaturization of medical equipment.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a multi-leaf grating blade driving device.

[0007] A multi-leaf grating blade driving device comprises: a blade, a blade mounting box, a linear motor and a transmission mechanism, wherein the blade is located in a through cavity of the blade mounting box, and the linear motor is fixed to the top surface or the bottom surface of the blade mounting box; The top surface of the blade mounting box is the outer surface on the side close to the radiation source, and the bottom surface of the blade mounting box is the outer surface on the side close to the patient's skin. The mover of the linear motor is connected to the transmission mechanism, and the transmission mechanism is connected to the blade. The blade can perform linear reciprocating motion in the through cavity driven by the mover.

[0008] As a further limitation of the first aspect of the present invention, the present invention further includes a displacement sensor arranged on one side of the blade for detecting movement of the blade.

[0009] As a further limitation of the first aspect of the present invention, the displacement sensor is a laser displacement sensor, and a reflector is installed on the blade. The reflector is opposite to the laser emission window of the laser displacement sensor. When it is necessary to detect the displacement of the blade, the laser displacement sensor emits a laser beam and obtains the blade movement distance based on the reflected light of the reflector.

[0010] As a further limitation of the first aspect of the present invention, the displacement sensor is a pull-rope displacement sensor, the blade is connected to the pull rope of the pull-rope displacement sensor, the pull rope is colinear with the movement axis of the blade, and when it is necessary to detect the displacement of the blade, the pull rope moves with the blade, and the movement distance of the blade is determined according to the displacement of the pull rope.

[0011] As a further limitation of the first aspect of the present invention, the linear motor is fixed to the bottom surface of the blade mounting box, the transmission mechanism includes a first one-way transmission mechanism and a second one-way transmission mechanism, the first one-way transmission mechanism includes a first fixed pulley, a second fixed pulley and a first movable pulley, and the second one-way transmission mechanism includes a third fixed pulley, a fourth fixed pulley and a second movable pulley; The first fixed pulley is installed at the upper corner position of one end of the bottom plate of the blade installation box, the second fixed pulley is installed at the lower corner position of one end of the bottom plate of the blade installation box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is installed at the upper corner position of the other end of the bottom plate of the blade installation box, the second fixed pulley is installed at the lower corner position of the other end of the bottom plate of the blade installation box, and the second movable pulley is fixed to the other end of the mover; One end of the first steel wire rope is connected to the blade, and the first steel wire rope is connected to the pulley support seat of the second fixed pulley after passing through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence. One end of the second steel wire rope is connected to the blade, and the second steel wire rope is connected to the pulley support seat of the fourth fixed pulley after passing through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence.

[0012] As a further limitation of the first aspect of the present invention, the linear motor is fixed to the top surface of the blade mounting box, the transmission mechanism includes a first one-way transmission mechanism and a second one-way transmission mechanism, the first one-way transmission mechanism includes a first fixed pulley, a second fixed pulley and a first movable pulley, and the second one-way transmission mechanism includes a third fixed pulley, a fourth fixed pulley and a second movable pulley; The first fixed pulley is installed at the upper corner position of one end of the top plate of the blade installation box, the second fixed pulley is installed at the lower corner position of one end of the top plate of the blade installation box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is installed at the upper corner position of the other end of the top plate of the blade installation box, the second fixed pulley is installed at the lower corner position of the other end of the top plate of the blade installation box, and the second movable pulley is fixed to the other end of the mover; One end of the first steel wire rope is connected to the blade, and the first steel wire rope is connected to the pulley support seat of the second fixed pulley after passing through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence. One end of the second steel wire rope is connected to the blade, and the second steel wire rope is connected to the pulley support seat of the fourth fixed pulley after passing through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence.

[0013] As a further limitation of the first aspect of the present invention, the first steel wire rope and the second steel wire rope are both connected to a wire rope tensioner, and the first steel wire rope and the second steel wire rope are both welded and fixedly connected to the blade.

[0014] In the second aspect, the present invention provides a multi-leaf grating blade drive system, comprising a plurality of multi-leaf grating blade drive devices as described in the first aspect of the present invention, wherein linear motors are installed sideways on the top and bottom surfaces of a blade mounting box, the number of linear motors on the top and bottom surfaces is the same, and each linear motor drives one blade.

[0015] In a third aspect, the present invention provides a medical linear accelerator, comprising the multi-leaf grating blade driving system described in the second aspect of the present invention.

[0016] In a fourth aspect, the present invention provides a multi-leaf grating blade driving method, utilizing the multi-leaf grating blade driving system described in the second aspect of the present invention, including the following process: controlling each linear motor to drive the blades to perform linear motion in the corresponding through cavity until the desired radial shape is formed.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention improves the movement speed and accuracy of the blades. By adopting the innovative design of the linear motor and the transmission mechanism, the device can not only improve the movement speed of the blades, but also ensure precise positioning. The present invention can achieve full closed-loop control of the displacement of the blades, improve the positioning accuracy, and overcome the problem of screw movement in traditional screw transmission.

[0018] 2. The present invention simplifies processing and reduces costs. Since there is no need to process micro screws, and there is no need to process micro screw threaded holes and screw grooves on the blades, the blades are easier to manufacture, the cost is reduced, and the blade structure is more solid, with higher radiation protection strength and durability.

[0019] 3. The present invention improves transmission reliability and maintenance convenience. The innovative transmission mechanism avoids the risk of lead screw bending and breaking. The wire rope is directly welded to the blade, which not only simplifies the structure but also improves the overall reliability of the system. The transmission mechanism is low-cost, does not require special production, and is easy to install, so it is easy to maintain.

[0020] 4. The present invention optimizes space utilization. The designed transmission system shortens the guide rail length of the linear motor. By installing the linear motor sideways and adopting a high-density motor arrangement scheme, multiple linear motors can be compactly installed on the top and bottom surfaces of the blade mounting box, thereby optimizing space utilization and reducing the radial size of the treatment head, meeting the needs of miniaturization of medical equipment.

[0021] 5. The linear motor arrangement of the present invention is easy to expand. By optimizing the layout of the motors, the number and position of the motors can be easily increased or adjusted as needed to adapt to treatment equipment of different sizes or performance requirements. This not only makes the equipment more flexible, but also can be quickly upgraded and customized according to future technological developments and changes in demand, further improving the adaptability and long-term use value of the equipment.

[0022] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0024] Figure 1 A schematic diagram of the structure of a multi-leaf grating blade driving device provided in Example 1 of the present invention; Figure 2 The blade working stroke position state diagram of the multi-leaf grating blade driving device provided in Example 1 of the present invention; wherein, Figure 2 (A) is a schematic diagram of state 1. Figure 2 (B) is a schematic diagram of state 2. Figure 2 (C) is a schematic diagram of state 3; Figure 3 An exemplary diagram of the installation arrangement of the linear motor of the multi-leaf grating blade driving device provided in Example 1 of the present invention on the top surface of the blade mounting box; Figure 4 An exemplary diagram of the installation arrangement of the linear motor of the multi-leaf grating blade driving device provided in Example 1 of the present invention on the bottom surface of the blade mounting box; Among them, 1. blade; 2. blade mounting box; 21. through cavity; 3. linear motor; 31. mover; 32. stator; 4. first one-way transmission mechanism; 41. first fixed pulley; 42. first fixed pulley bracket; 43. second fixed pulley; 44. second fixed pulley bracket; 45. first steel wire rope; 46. first movable pulley; 5. second one-way transmission mechanism; 51. third fixed pulley; 52. third fixed pulley bracket; 53. fourth fixed pulley; 54. fourth fixed pulley bracket; 55. second steel wire rope; 56. second movable pulley; 61. first steel wire rope tensioner; 62. second steel wire rope tensioner; 7. displacement sensor; 71. pull rope. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0027] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0028] Embodiment 1: In this implementation, a multi-leaf grating blade driving device is proposed, comprising: a blade 1, a blade mounting box 2, a linear motor 3 and a transmission mechanism, wherein the blade 1 is located in a through cavity 21 of the blade mounting box 2, and the linear motor 3 is fixed to the top surface or the bottom surface of the blade mounting box 2; The top surface of the blade mounting box 2 is the outer surface on the side close to the radiation source, and the bottom surface of the blade mounting box 2 is the outer surface on the side close to the patient's skin. The linear motor 3 includes a stator 32 and a mover 31. The mover 31 of the linear motor 3 is connected to the transmission mechanism, and the transmission mechanism is connected to the blade 1. The blade 1 can perform linear reciprocating motion in the through cavity 21 driven by the mover 31.

[0029] In this implementation, preferably, the linear motor 3 is fixed to the top surface or the bottom surface of the blade mounting box 2 by means of screws; it is understandable that in some other implementations, other fixing methods may also be used, which will not be described in detail here.

[0030] In the present implementation, preferably, the shape of the linear motor 3 can be one of a flat plate type, a U-shaped groove type and a tube type. Those skilled in the art can select the shape according to the specific working conditions, which will not be described in detail here.

[0031] In the present implementation, preferably, a displacement sensor 7 for detecting the movement of the blade 1 is also included, which is arranged on one side of the blade 1. By installing the displacement sensor 7, the present invention can detect the displacement of the blade 1 when needed, and finally achieve full closed-loop control of the displacement of the blade 1, more accurately adjust the blade 1 to reach the specified position, and improve the positioning accuracy.

[0032] In order to realize the motion displacement detection of the blade 1, as an optional implementation mode of this embodiment, the displacement sensor 7 described in this embodiment is a laser displacement sensor, and a reflector (not shown) is installed on the blade 1, and the reflector is opposite to the laser emission window of the laser displacement sensor. When the displacement of the blade 1 needs to be detected, the laser displacement sensor emits a laser beam, and the laser displacement sensor obtains the displacement of the blade 1.

[0033] In order to realize the motion displacement detection of blade 1, as another optional implementation mode of this embodiment, the displacement sensor 7 in this embodiment is a pull-wire displacement sensor, and the blade 1 is connected to the pull-wire 71 of the pull-wire displacement sensor, and it is ensured that the pull-wire 71 is colinear with the movement axis of the blade 1. When it is necessary to detect the displacement of blade 1, the pull-wire 71 moves with the blade 1, and the pull-wire displacement sensor obtains the displacement of blade 1.

[0034] It should be noted that the methods for detecting the motion displacement of the blade 1 are not limited to the above two methods. Those skilled in the art can select a displacement detection method according to specific working conditions, which will not be described in detail here.

[0035] In this implementation, optionally, the linear motor 3 is fixed to the bottom surface of the blade mounting box 2, and the transmission mechanism includes a first one-way transmission mechanism 4 and a second one-way transmission mechanism 5, wherein the first one-way transmission mechanism 4 includes a first fixed pulley 41, a second fixed pulley 43 and a first movable pulley 46, and the second one-way transmission mechanism 5 includes a third fixed pulley 51, a fourth fixed pulley 53 and a second movable pulley 56; The first fixed pulley 41 is installed at the upper corner position of one end of the bottom plate of the blade installation box 2, the second fixed pulley 43 is installed at the lower corner position of one end of the bottom plate of the blade installation box 2, the first movable pulley 46 is fixed to one end of the mover 31, the third fixed pulley 51 is installed at the upper corner position of the other end of the bottom plate of the blade installation box 2, the second fixed pulley 43 is installed at the lower corner position of the other end of the bottom plate of the blade installation box 2, and the second movable pulley 56 is fixed to the other end of the mover 31; One end of the first steel wire rope 45 is connected to the blade 1, and the first steel wire rope 45 is connected to the pulley support seat of the second fixed pulley 43 after passing through the first fixed pulley 41, the second fixed pulley 43 and the first movable pulley 46 in sequence. One end of the second steel wire rope 55 is connected to the blade 1, and the second steel wire rope 55 is connected to the pulley support seat of the fourth fixed pulley 53 after passing through the third fixed pulley 51, the fourth fixed pulley 53 and the second movable pulley 56 in sequence.

[0036] In the preferred implementation, the first fixed pulley 41 is fixed to the blade mounting box 2 via a first fixed pulley bracket 42, the second fixed pulley 43 is fixed to the blade mounting box 2 via a second fixed pulley bracket 44, the third fixed pulley 51 is fixed to the blade mounting box 2 via a third fixed pulley bracket 52, and the fourth fixed pulley 53 is fixed to the blade mounting box 2 via a fourth fixed pulley bracket 54.

[0037] For easy connection, the pulley support seat of the first movable pulley 46 is connected to the mover 31 of the linear motor 3 with screws, the pulley support seat of the second movable pulley 56 is connected to the mover 31 of the linear motor 3 with screws, one end of the first steel wire rope 45 is directly welded to the blade 1, and one end of the second steel wire rope 55 is directly welded to the blade 1.

[0038] In this implementation, the first steel wire rope 45 and the second steel wire rope 55 can only transmit tension, and the first one-way transmission mechanism 4 and the second one-way transmission mechanism 5 are arranged relatively to each other, and can realize movement in two directions.

[0039] In this implementation, the first one-way transmission mechanism 4 and the second one-way transmission mechanism 5 drive the blade 1 to perform linear reciprocating motion in the through cavity 21, and adjust the position of the blade 1, so as to form the desired radiation field. The first one-way transmission mechanism 4 and the second one-way transmission mechanism 5 avoid the problem of the screw moving during the transmission process caused by the screw transmission and the problem of the screw being easily bent and broken during the transmission process. The blade 1 is directly welded to the first one-way transmission mechanism 4 and the second one-way transmission mechanism 5, and there is no need to process the micro screw threaded hole and screw groove on the blade 1, so that the blade 1 is a solid body, which is easy to process and reduces the cost.

[0040] The purpose of the first one-way transmission mechanism 4 and the second one-way transmission mechanism 5 is, on the one hand, to transmit power and convert the linear reciprocating motion of the mover 31 of the linear motor 3 into the linear reciprocating motion of the blade 1, and on the other hand, to shorten the guide rail length of the linear motor 3. After adopting the transmission mechanism, multiple linear motors 3 can be arranged on the limited outer surface of the blade mounting box 2.

[0041] The design of the first one-way transmission mechanism 4 and the second one-way transmission mechanism 5 of the present invention not only realizes high-efficiency force transmission, but also eliminates the problem of screw movement in the traditional screw transmission process, thereby greatly improving the transmission efficiency and accuracy; a linear motor 3 is used to replace the traditional rotary motor, and combined with a displacement sensor 7, a full closed-loop control of the displacement of the blade 1 is realized, ensuring the precise positioning of the blade 1, and improving the driving speed and positioning accuracy of the blade 1; the transmission mechanism designed by the present invention makes the movement stroke of the blade 1 twice the movement stroke of the mover 31 of the linear motor 3, effectively shortening the guide rail length of the linear motor 3, and providing technical support for the miniaturization and compact design of the equipment.

[0042] The first steel wire rope 45 and the second steel wire rope 55 of the present invention are directly welded to the blade 1, so there is no need to process a slender micro-screw, the screw groove and the micro-threaded hole on the blade 1, so that the blade 1 becomes a complete solid structure, which not only significantly reduces the processing difficulty and manufacturing cost, but also improves the radiation protection strength and durability of the blade 1, while avoiding the common bending and breakage problems in screw transmission, and significantly improves the overall reliability of the system.

[0043] In this implementation, optionally, the linear motor 3 is fixed to the top surface of the blade mounting box 2, and the transmission mechanism includes a first one-way transmission mechanism 4 and a second one-way transmission mechanism 5, wherein the first one-way transmission mechanism 4 includes a first fixed pulley 41, a second fixed pulley 43 and a first movable pulley 46, and the second one-way transmission mechanism 5 includes a third fixed pulley 51, a fourth fixed pulley 53 and a second movable pulley 56; The first fixed pulley 41 is installed at the upper corner position of one end of the top plate of the blade installation box 2, the second fixed pulley 43 is installed at the lower corner position of one end of the top plate of the blade installation box 2, the first movable pulley 46 is fixed to one end of the mover 31, the third fixed pulley 51 is installed at the upper corner position of the other end of the top plate of the blade installation box 2, the second fixed pulley 43 is installed at the lower corner position of the other end of the top plate of the blade installation box 2, and the second movable pulley 56 is fixed to the other end of the mover 31; One end of the first steel wire rope 45 is connected to the blade 1, and the first steel wire rope 45 is connected to the pulley support seat of the second fixed pulley 43 after passing through the first fixed pulley 41, the second fixed pulley 43 and the first movable pulley 46 in sequence. One end of the second steel wire rope 55 is connected to the blade 1, and the second steel wire rope 55 is connected to the pulley support seat of the fourth fixed pulley 53 after passing through the third fixed pulley 51, the fourth fixed pulley 53 and the second movable pulley 56 in sequence.

[0044] In this implementation, optionally, the first steel wire rope 45 and the second steel wire rope 55 are both connected with a wire rope tensioner, and the first steel wire rope 45 and the second steel wire rope 55 are both welded and fixedly connected to the blade 1. The first steel wire rope tensioner 61 and the second steel wire rope tensioner 62 are installed to tighten the first steel wire rope 45 and the second steel wire rope 55 to ensure that the first steel wire rope 45 and the second steel wire rope 55 are straight.

[0045] Figure 2 FIG. 1 is a working stroke position state diagram of a blade 1 of a multi-leaf grating blade driving device according to an embodiment of the present invention, as shown in FIG. Figure 2 As shown, from (A) to (B) and then to (C) is the process of blade 1 retracting, and from (C) to (B) and then to (A) is the process of blade 1 extending. After adopting the transmission mechanism, the movement stroke of blade 1 is twice the movement stroke of mover 31 of linear motor 3, which effectively shortens the guide rail length of linear motor 3. The purpose of shortening the guide rail length of linear motor 3 is to arrange multiple linear motors 3 on the limited outer surface of blade mounting box 2, which provides strong support for equipment miniaturization and high-density multi-blade 1 drive.

[0046] Embodiment 2: The present invention provides a multi-leaf grating blade driving system, comprising a plurality of multi-leaf grating blade driving devices as described in Example 1 of the present invention, wherein linear motors 3 are installed sideways on the top and bottom surfaces of a blade mounting box 2, the number of linear motors 3 on the top and bottom surfaces is the same, and each linear motor 3 drives a blade 1.

[0047] More specifically, the linear motor 3 is mounted sideways on the top surface of the blade mounting box 2 (eg Figure 3 as shown) and bottom surface (as Figure 4 As shown). Compared with the traditional planar installation method, the sideways installation can make full use of the space on the top and bottom surfaces of the blade installation box 2, accommodate more linear motors 3 in a limited space, reduce the radial size of the treatment head, increase the compactness of the structure, and meet the development needs of miniaturization of medical equipment. A total of forty linear motors 3 are installed on the top and bottom surfaces of a blade installation box 2 to drive forty blades 1 to achieve linear reciprocating motion, ensuring the refined driving ability of the blades 1; the linear motor 3 is designed with a shielding layer, which can effectively shield the magnetic field coupling between adjacent motors, optimize the arrangement spacing of the linear motor 3, achieve the best balance between anti-interference and compactness, and avoid mutual interference between the linear motors 3.

[0048] It can be seen that, through the innovative design of the transmission system, the present invention makes the movement stroke of the blade 1 twice the movement stroke of the mover 31 of the linear motor 3, shortens the guide rail length of the linear motor 3, and facilitates the installation of more linear motors 3; the linear motor 3 arrangement method is innovatively designed, and a high-density motor arrangement scheme is adopted. The linear motor 3 is installed sideways on the top or bottom surface of the blade mounting box 2, which optimizes the equipment space utilization, reduces the radial size of the treatment head, and meets the miniaturization development needs of medical equipment; at the same time, the shielding layer design and appropriate motor spacing are used to reduce interference between motors, so as to achieve stability and reliability under high-density motor arrangement.

[0049] It should be noted that the installation arrangement of the linear motor 3 of the present invention is not limited to the above arrangement method. Since the wire rope is bendable, the pulley does not need to be aligned with the blade 1, which further expands the available arrangement space of the linear motor 3 and makes the arrangement of the linear motor 3 easy to expand.

[0050] Embodiment 3: This implementation provides a medical linear accelerator, including the multi-leaf grating blade driving system described in Example 2 of the present invention.

[0051] Embodiment 4: The present implementation provides a multi-leaf grating blade driving method, using the multi-leaf grating blade driving system described in Example 2 of the present invention, including the following process: controlling each linear motor 3 to drive the blade 1 to perform linear motion in the corresponding through cavity 21 until the desired radial shape (such as circle, rectangle, etc.) is formed.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-leaf grating blade driving device, characterized in that: include: A blade, a blade mounting box, a linear motor and a transmission mechanism, wherein the blade is located in a through cavity of the blade mounting box, and the linear motor is fixed to the top surface or the bottom surface of the blade mounting box; The top surface of the blade mounting box is the outer surface on the side close to the radiation source, and the bottom surface of the blade mounting box is the outer surface on the side close to the patient's skin. The mover of the linear motor is connected to the transmission mechanism, and the transmission mechanism is connected to the blade. The blade can perform linear reciprocating motion in the through cavity driven by the mover.

2. The multi-leaf grating blade driving device according to claim 1, characterized in that: The invention also includes a displacement sensor which is arranged on one side of the blade and is used to detect the movement of the blade.

3. The multi-leaf grating blade driving device according to claim 2, characterized in that: The displacement sensor is a laser displacement sensor. A reflector is installed on the blade. The reflector faces the laser emission window of the laser displacement sensor. When the displacement of the blade needs to be detected, the laser displacement sensor emits a laser beam and obtains the blade movement distance based on the reflected light of the reflector.

4. The multi-leaf grating blade driving device according to claim 2, characterized in that: The displacement sensor is a pull-rope displacement sensor, the blade is connected to the pull rope of the pull-rope displacement sensor, the pull rope is colinear with the movement axis of the blade, when the displacement of the blade needs to be detected, the pull rope moves with the blade, and the movement distance of the blade is determined according to the displacement of the pull rope.

5. The multi-leaf grating blade driving device according to claim 1, characterized in that: The linear motor is fixed to the bottom surface of the blade mounting box, the transmission mechanism includes a first one-way transmission mechanism and a second one-way transmission mechanism, the first one-way transmission mechanism includes a first fixed pulley, a second fixed pulley and a first movable pulley, and the second one-way transmission mechanism includes a third fixed pulley, a fourth fixed pulley and a second movable pulley; The first fixed pulley is installed at the upper corner position of one end of the bottom plate of the blade installation box, the second fixed pulley is installed at the lower corner position of one end of the bottom plate of the blade installation box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is installed at the upper corner position of the other end of the bottom plate of the blade installation box, the second fixed pulley is installed at the lower corner position of the other end of the bottom plate of the blade installation box, and the second movable pulley is fixed to the other end of the mover; One end of the first steel wire rope is connected to the blade, and the first steel wire rope is connected to the pulley support seat of the second fixed pulley after passing through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence. One end of the second steel wire rope is connected to the blade, and the second steel wire rope is connected to the pulley support seat of the fourth fixed pulley after passing through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence.

6. The multi-leaf grating blade driving device according to claim 1, characterized in that: The linear motor is fixed on the top surface of the blade mounting box, the transmission mechanism includes a first one-way transmission mechanism and a second one-way transmission mechanism, the first one-way transmission mechanism includes a first fixed pulley, a second fixed pulley and a first movable pulley, and the second one-way transmission mechanism includes a third fixed pulley, a fourth fixed pulley and a second movable pulley; The first fixed pulley is installed at the upper corner position of one end of the top plate of the blade installation box, the second fixed pulley is installed at the lower corner position of one end of the top plate of the blade installation box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is installed at the upper corner position of the other end of the top plate of the blade installation box, the second fixed pulley is installed at the lower corner position of the other end of the top plate of the blade installation box, and the second movable pulley is fixed to the other end of the mover; One end of the first steel wire rope is connected to the blade, and the first steel wire rope is connected to the pulley support seat of the second fixed pulley after passing through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence. One end of the second steel wire rope is connected to the blade, and the second steel wire rope is connected to the pulley support seat of the fourth fixed pulley after passing through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence.

7. The multi-leaf grating blade driving device according to claim 5 or 6, characterized in that: The first steel wire rope and the second steel wire rope are both connected with a steel wire rope tensioner, and the first steel wire rope and the second steel wire rope are both welded and fixedly connected to the blade.

8. A multi-leaf grating blade driving system, characterized in that: It comprises a plurality of multi-leaf grating blade driving devices as described in any one of claims 1 to 7, wherein linear motors are installed sideways on the top and bottom surfaces of a blade mounting box, the number of linear motors on the top and bottom surfaces is the same, and each linear motor drives one blade.

9. A medical linear accelerator, characterized in that: The multi-leaf grating blade driving system comprises the multi-leaf grating blade driving system as claimed in claim 8.

10. A method for driving a multi-leaf grating blade, characterized in that: Using the multi-leaf grating blade driving system according to claim 8, The process includes: controlling each linear motor to drive the blades to move linearly in the corresponding through cavity until the required radial shape is formed.

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