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

Abstract

The present invention belongs to the field of medical equipment technology. A multi-leaf grating blade drive device, system, medical linear accelerator and method are proposed. The blades are located in the through-cavity of the blade mounting box, and the linear motor is fixed to the top or bottom surface of the blade mounting box; the mover of the linear motor is connected to the transmission mechanism, and the transmission mechanism is connected to the blades. The blades can perform linear reciprocating motion in the through-cavity driven by the mover. The present invention eliminates the screw grooves and micro screw threaded holes on the blades, making the blade structure complete and easy to process. The linear motor drive method replaces the traditional screw drive, reducing costs, avoiding the problem of easy bending and breaking of the screw during the transmission process, and avoiding the movement of the screw. The blades move faster and with higher precision, reducing the radial size of the treatment head, and meeting the development needs of miniaturization of medical equipment.

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 devices for radiotherapy, and multileaf collimators (MLACs) are crucial components for delivering precise radiotherapy, implementing conformal and intensity-modulated therapy, and improving treatment outcomes. Multileaf collimators, also known as multileaf collimators or multileaf apertures, consist of multiple independently movable blades, each with a corresponding drive mechanism that moves the blades to their desired positions to create the desired radiation field.

[0004] Currently, multi-leaf grating blades are mostly driven by a rotating motor through a coupling, which drives a lead screw, which in turn drives the blades. This drive method has limited speed and is constrained by the lead screw's machining accuracy and cost. Lead screw movement makes it difficult to further improve the positioning accuracy of the blades. Furthermore, the lead screw's structure, which penetrates the blades, makes the tiny threaded holes in the high-density tungsten alloy blades and the micro-lead screws that drive the blades difficult to process, resulting in high costs. Furthermore, the lead screw is prone to bending or even breaking during the drive process. Furthermore, the motor occupies radial space, resulting in an excessively large radial dimension of the treatment head, which is not conducive to the miniaturization of medical equipment. Summary of the Invention

[0005] In order to address the deficiencies of the prior art, the present invention provides a multi-leaf grating blade drive device, system, medical linear accelerator and method, which eliminate the lead screw grooves and micro lead screw threaded holes on the blades, making the blade structure complete and easy to process. The linear motor drive method replaces the traditional lead screw transmission, reducing costs, avoiding the problems of easy bending and breaking of the lead screw during transmission, and avoiding the movement of the lead screw. The addition of the linear motor makes the blade movement faster and more precise. 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 solutions:

[0007] In a first aspect, the present invention provides a multi-leaf grating blade driving device.

[0008] A multi-leaf grating blade drive device comprises: blades, a blade mounting box, a linear motor, and a transmission mechanism, wherein the blades are 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;

[0009] 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 under the drive of the mover.

[0010] 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.

[0011] 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, and the reflector is facing 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 the blade movement distance is obtained based on the reflected light of the reflector.

[0012] 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 collinear 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.

[0013] 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;

[0014] The first fixed pulley is mounted on the upper corner of one end of the bottom plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of one end of the bottom plate of the blade mounting box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is mounted on the upper corner of the other end of the bottom plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of the other end of the bottom plate of the blade mounting box, and the second movable pulley is fixed to the other end of the mover;

[0015] One end of the first steel wire rope is connected to the blade, and the first steel wire rope passes through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence and is connected to the pulley support seat of the second fixed pulley. One end of the second steel wire rope is connected to the blade, and the second steel wire rope passes through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence and is connected to the pulley support seat of the fourth fixed pulley.

[0016] 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;

[0017] The first fixed pulley is mounted on the upper corner of one end of the top plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of one end of the top plate of the blade mounting box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is mounted on the upper corner of the other end of the top plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of the other end of the top plate of the blade mounting box, and the second movable pulley is fixed to the other end of the mover;

[0018] One end of the first steel wire rope is connected to the blade, and the first steel wire rope passes through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence and is connected to the pulley support seat of the second fixed pulley. One end of the second steel wire rope is connected to the blade, and the second steel wire rope passes through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence and is connected to the pulley support seat of the fourth fixed pulley.

[0019] 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 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.

[0020] 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.

[0021] In a third aspect, the present invention provides a medical linear accelerator, comprising the multi-leaf grating blade drive system described in the second aspect of the present invention.

[0022] 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 required radial shape is formed.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention improves the speed and accuracy of blade movement. By adopting the innovative design of linear motor and transmission mechanism, the device can not only increase the movement speed of the blade, but also ensure precise positioning. The present invention can achieve full closed-loop control of the displacement of the blade, improve the positioning accuracy, and overcome the problem of screw movement in traditional screw transmission.

[0025] 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 thread 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.

[0026] 3. The present invention improves transmission reliability and maintenance convenience. The innovative transmission mechanism avoids the risk of bending and breaking of the screw rod. The wire rope is directly welded to the blade, which not only simplifies the structure but also improves the overall reliability of the system. Since the transmission mechanism is low-cost, does not require special production, and is simple to install, it is easy to maintain.

[0027] 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 to meet the miniaturization requirements of medical equipment.

[0028] 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.

[0029] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, 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.

[0031] Figure 1 A schematic structural diagram of a multi-leaf grating blade driving device provided in Example 1 of the present invention;

[0032] 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) in the figure is a schematic diagram of state 3;

[0033] Figure 3 An exemplary diagram of the installation arrangement of the linear motor of the multi-leaf grating blade drive device provided in Example 1 of the present invention on the top surface of the blade mounting box;

[0034] Figure 4 An exemplary diagram of the installation arrangement of the linear motor of the multi-leaf grating blade drive device provided in Example 1 of the present invention on the bottom surface of the blade mounting box;

[0035] 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

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0038] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0039] Example 1:

[0040] In this implementation, a multi-leaf grating blade drive device is proposed, comprising: a blade 1, a blade mounting box 2, a linear motor 3, and a transmission mechanism. 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 or bottom surface of the blade mounting box 2.

[0041] The top surface of the blade mounting box 2 is the outer surface near the radiation source, and the bottom surface of the blade mounting box 2 is the outer surface near 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.

[0042] In this implementation, preferably, the linear motor 3 is fixed to the top surface or bottom surface of the blade mounting box 2 using screws; it is understandable that in some other implementations, other fixing methods may also be used, which will not be described here.

[0043] In this implementation, preferably, the shape of the linear motor 3 can be one of a flat plate type, a U-shaped groove type and a tubular type. Those skilled in the art can select it according to specific working conditions, which will not be described here.

[0044] In this 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 ultimately 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.

[0045] 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. A reflector (not shown) is installed on the blade 1, and the reflector is facing 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.

[0046] In order to realize the motion displacement detection of blade 1, as another optional implementation method 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 the pull-wire 71 is ensured to be collinear with the movement axis of the blade 1. When the displacement of the blade 1 needs to be detected, the pull-wire 71 moves with the blade 1, and the pull-wire displacement sensor obtains the displacement of the blade 1.

[0047] It should be noted that the methods for detecting the motion displacement of the blade 1 are not limited to the two methods mentioned above. Those skilled in the art can select a displacement detection method according to specific working conditions, which will not be described in detail here.

[0048] 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;

[0049] The first fixed pulley 41 is mounted at the upper corner of one end of the bottom plate of the blade mounting box 2, the second fixed pulley 43 is mounted at the lower corner of one end of the bottom plate of the blade mounting box 2, the first movable pulley 46 is fixed to one end of the mover 31, the third fixed pulley 51 is mounted at the upper corner of the other end of the bottom plate of the blade mounting box 2, the second fixed pulley 43 is mounted at the lower corner of the other end of the bottom plate of the blade mounting box 2, and the second movable pulley 56 is fixed to the other end of the mover 31;

[0050] One end of the first steel wire rope 45 is connected to the blade 1, and the first steel wire rope 45 passes through the first fixed pulley 41, the second fixed pulley 43 and the first movable pulley 46 in sequence and is connected to the pulley support seat of the second fixed pulley 43. One end of the second steel wire rope 55 is connected to the blade 1, and the second steel wire rope 55 passes through the third fixed pulley 51, the fourth fixed pulley 53 and the second movable pulley 56 in sequence and is connected to the pulley support seat of the fourth fixed pulley 53.

[0051] This implementation method is preferred, the first fixed pulley 41 is fixed to the blade mounting box 2 through the first fixed pulley bracket 42, the second fixed pulley 43 is fixed to the blade mounting box 2 through the second fixed pulley bracket 44, the third fixed pulley 51 is fixed to the blade mounting box 2 through the third fixed pulley bracket 52, and the fourth fixed pulley 53 is fixed to the blade mounting box 2 through the fourth fixed pulley bracket 54.

[0052] For the convenience of 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.

[0053] 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 relative to each other, and can achieve movement in two directions.

[0054] In this embodiment, the first one-way transmission mechanism 4 and the second one-way transmission mechanism 5 drive the blade 1 to perform linear reciprocating motion within the through-hole 21, adjusting the position of the blade 1 to form the desired radiation field. The first one-way transmission mechanism 4 and the second one-way transmission mechanism 5 avoid the problems of screw movement during transmission and the problem of the screw being easily bent or broken during transmission caused by screw transmission. The blade 1 is directly welded to the first one-way transmission mechanism 4 and the second one-way transmission mechanism 5, eliminating the need to process the micro screw thread holes and screw slots on the blade 1, making the blade 1 a solid entity, easy to process, and reducing costs.

[0055] 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.

[0056] 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, combined with a displacement sensor 7, to realize full closed-loop control of the displacement of the blade 1, ensuring the precise positioning of the blade 1, and improving the speed and positioning accuracy of the blade 1 drive; 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.

[0057] 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.

[0058] 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;

[0059] The first fixed pulley 41 is mounted at the upper corner of one end of the top plate of the blade mounting box 2, the second fixed pulley 43 is mounted at the lower corner of one end of the top plate of the blade mounting box 2, the first movable pulley 46 is fixed to one end of the mover 31, the third fixed pulley 51 is mounted at the upper corner of the other end of the top plate of the blade mounting box 2, the second fixed pulley 43 is mounted at the lower corner of the other end of the top plate of the blade mounting box 2, and the second movable pulley 56 is fixed to the other end of the mover 31;

[0060] One end of the first steel wire rope 45 is connected to the blade 1, and the first steel wire rope 45 passes through the first fixed pulley 41, the second fixed pulley 43 and the first movable pulley 46 in sequence and is connected to the pulley support seat of the second fixed pulley 43. One end of the second steel wire rope 55 is connected to the blade 1, and the second steel wire rope 55 passes through the third fixed pulley 51, the fourth fixed pulley 53 and the second movable pulley 56 in sequence and is connected to the pulley support seat of the fourth fixed pulley 53.

[0061] In this implementation, optionally, the first steel wire rope 45 and the second steel wire rope 55 are both connected to a steel 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.

[0062] 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, the process from (A) to (B) to (C) represents the retraction of blade 1, while the process from (C) to (B) to (A) represents the extension of blade 1. With this transmission mechanism, the travel of blade 1 is twice the travel of mover 31 of linear motor 3, effectively shortening the length of the guide rails of linear motor 3. This shortening allows for the placement of multiple linear motors 3 within the limited outer surface of blade mounting box 2, providing strong support for equipment miniaturization and high-density drive of multiple blades 1.

[0063] Example 2:

[0064] The present invention provides a multi-leaf grating blade drive system, comprising a plurality of multi-leaf grating blade drive 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, and the number of linear motors 3 on the top and bottom surfaces is the same, and each linear motor 3 drives one blade 1.

[0065] More specifically, the linear motor 3 is mounted sideways on the top surface of the blade mounting box 2 (e.g. Figure 3 as shown) and bottom surface (as Figure 4Compared to traditional planar mounting, sideways mounting fully utilizes the space on the top and bottom surfaces of the blade mounting box 2, accommodating more linear motors 3 within the limited space. This reduces the radial dimensions of the treatment head, increases structural compactness, and meets the growing demand for miniaturized medical equipment. A total of forty linear motors 3 are mounted on the top and bottom surfaces of a blade mounting box 2, driving forty blades 1 in linear reciprocating motion, ensuring precise drive capability for the blades 1. The linear motors 3 are designed with shielding layers that effectively block magnetic field coupling between adjacent motors, optimizing the spacing between the linear motors 3 and achieving an optimal balance between anti-interference and compactness, preventing mutual interference between the linear motors 3.

[0066] 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; innovatively designs the linear motor 3 arrangement method, adopts a high-density motor arrangement scheme, and 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, through the shielding layer design and appropriate motor spacing, the interference between motors is reduced, and the stability and reliability under the high-density motor arrangement are achieved.

[0067] 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 arrangement space available for the linear motor 3 and makes the arrangement of the linear motor 3 easy to expand.

[0068] Example 3:

[0069] This implementation provides a medical linear accelerator, including the multi-leaf grating blade drive system described in Example 2 of the present invention.

[0070] Example 4:

[0071] This 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 a circle, rectangle, etc.) is formed.

[0072] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A multi-leaf grating blade drive system, characterized in that: The multi-leaf grating blade driving device comprises a plurality of multi-leaf grating blade driving devices, wherein the multi-leaf grating blade driving device comprises: A blade, a blade mounting box, a linear motor, and a transmission mechanism. The blade is located in a through cavity of the blade mounting box. The linear motor is fixed to the top or bottom surface of the blade mounting box. The linear motor is designed with a shielding layer. 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 under the drive of the mover. The linear motors are installed sideways on the top and bottom surfaces of the blade mounting box. The number of linear motors on the top and bottom surfaces is the same. Each linear motor drives one blade, and the blade motion stroke is twice the linear motor's mover motion stroke. It also includes a displacement sensor arranged on one side of the blade for detecting the movement of the blade, wherein the displacement sensor includes a laser displacement sensor and a pull rope displacement sensor; The linear motor is fixed to the bottom surface of the blade mounting box, and 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 mounted on the upper corner of one end of the bottom plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of one end of the bottom plate of the blade mounting box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is mounted on the upper corner of the other end of the bottom plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of the other end of the bottom plate of the blade mounting 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, the first steel wire rope is passed through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence, and then connected to the pulley support seat of the second fixed pulley. One end of the second steel wire rope is connected to the blade, the second steel wire rope is passed through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence, and then connected to the pulley support seat of the fourth fixed pulley. One end of the first steel wire rope is directly welded to the blade, and one end of the second steel wire rope is directly welded to the blade.

2. The multi-leaf grating blade driving system according to claim 1, wherein: The displacement sensor is a laser displacement sensor. A reflector is installed on the blade, and the reflector is facing 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 the blade movement distance is obtained based on the reflected light of the reflector.

3. The multi-leaf grating blade driving system according to claim 1, wherein: 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 collinear 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.

4. The multi-leaf grating blade driving system according to claim 1, wherein: The linear motor is fixed to the top surface of the blade mounting box, and 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 mounted on the upper corner of one end of the top plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of one end of the top plate of the blade mounting box, the first movable pulley is fixed to one end of the mover, the third fixed pulley is mounted on the upper corner of the other end of the top plate of the blade mounting box, the second fixed pulley is mounted on the lower corner of the other end of the top plate of the blade mounting 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 passes through the first fixed pulley, the second fixed pulley and the first movable pulley in sequence and is connected to the pulley support seat of the second fixed pulley. One end of the second steel wire rope is connected to the blade, and the second steel wire rope passes through the third fixed pulley, the fourth fixed pulley and the second movable pulley in sequence and is connected to the pulley support seat of the fourth fixed pulley.

5. The multi-leaf grating blade driving system according to claim 1 or 4, characterized in that: The first steel wire rope and the second steel wire rope are both connected to 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.

6. A medical linear accelerator, characterized in that: The multi-leaf grating blade driving system comprises the multi-leaf grating blade driving system according to claim 1.

7. A multi-leaf grating blade driving method, characterized in that: Utilizing the multi-leaf grating blade driving system according to claim 1, The process includes the following: 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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