Double-slip-ring and bimodal image stereotactic radiotherapy device

Abstract

The invention relates to a double-slip-ring and bimodal image stereotactic radiotherapy device, which comprises a host, a liquid medium temperature balancing device and a control system, and is characterized in that the host comprises a machine base, a CT image system, a ray source system, a rotating rack, a swinging rack, a real-time image verification system (EPID), a six-dimensional treatment bed and the like. The double-slip-ring device achieves continuous transmission of electric power, data and liquid heating media through the electric slip ring and the liquid slip ring, and rotation stability and temperature balance of equipment are ensured. The radiation source system forms a conical ray beam through the ultimate collimator, and in combination with the CT image system and the image verification system, three-dimensional positioning, real-time dose monitoring and precise treatment of tumors are accurately realized, damage to normal tissues is reduced, and the safety and effect of treatment are improved. The device has the advantages of being stable in operation, flexible in treatment and high in automation degree.

Description

Technical Field

[0001] The invention relates to the technical field of medical radiotherapy, and in particular to a dual-modality imaging stereotactic radiotherapy device based on a double slip ring technology. Background Art

[0002] With the rapid development of medical imaging technology and radiotherapy technology, stereotactic radiotherapy has become an important means of treating tumors and certain functional diseases. Traditional radiotherapy equipment usually achieves tumor positioning and treatment through fixed radiation sources and single-modality imaging systems. However, with the increasing requirements for treatment accuracy, traditional equipment has certain limitations in precise positioning, real-time dose monitoring and treatment efficiency, which are specifically reflected in the following aspects: Insufficient positioning accuracy: Traditional radiotherapy equipment mostly relies on single-modality imaging systems (such as CT, MRI, etc.) for tumor positioning, but due to the limitations of imaging modalities, the equipment has certain errors in tumor edge identification and treatment plan formulation. This error will affect the accuracy of treatment and increase the risk of damage to surrounding healthy tissues. Limited real-time monitoring capabilities: Current radiotherapy equipment usually cannot monitor the distribution of radiation dose and changes in tumor position in real time. For long-term treatment or when the tumor position may change with the patient's breathing or other physiological activities, it is difficult for traditional equipment to adjust the irradiation angle and dose distribution in real time, which may lead to a decrease in treatment effect and even cause unnecessary radiation damage to healthy tissues. Equipment rotation and temperature control issues: Stereotactic radiotherapy equipment requires precise rotation of the radiation source at multiple angles and directions during treatment to ensure that the radiation can irradiate the tumor from different angles. However, since the rotating parts of the equipment usually have power supply and cooling systems, traditional fixed cables and temperature control systems are prone to obstacles during rotation, resulting in unstable equipment operation, and may even cause equipment failure or affect treatment accuracy. In addition, the equipment is prone to generate excessive heat during long-term operation, affecting component life and work efficiency. Noise and vibration issues: During the rotation and swinging process, the structural design of traditional radiotherapy equipment is not sophisticated enough, and the rotating bracket and power transmission system often generate large noise and vibration, which not only affects the patient's treatment experience, but also increases the maintenance cost of the equipment. Lack of image verification system: Although some modern radiotherapy equipment uses image-guided systems (IGRT), these systems mostly rely on single-modality images and cannot verify the radiation dose and tumor location in real time during treatment. This makes it easy for errors in positioning and dose control to occur during treatment, resulting in unsatisfactory treatment results. Summary of the invention

[0003] The present invention aims to solve the above technical problems and provide a dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology, which realizes efficient transmission of power supply and temperature control through the combination of electric slip ring and liquid slip ring, ensuring that the device maintains stable operation during continuous rotation. At the same time, the present invention integrates KV-level CT imaging system and MV-level image verification system, which can realize accurate positioning of tumor position, real-time monitoring of dose distribution and dynamic adjustment of treatment plan during treatment, thereby greatly improving the accuracy and safety of radiotherapy.

[0004] To achieve the above-mentioned purpose, the dual slip ring and dual-modality imaging stereotactic radiotherapy device of the present invention comprises the following parts: A dual-modality imaging stereotactic radiotherapy device based on double slip ring technology comprises a main unit, a double slip ring device, a dual-modality imaging system, a six-dimensional treatment bed, an anti-collision device and a liquid medium temperature balancing device.

[0005] The host includes a base, a rotating frame, a swinging frame, a CT imaging system, a radiation source system, a real-time image verification system, a six-dimensional treatment bed, an anti-collision device, etc. Among them, the rotating frame and the swinging frame cooperate with each other, and the radiation source system forms a cone beam through a collimator and can accurately aim at the patient's tumor in three-dimensional space.

[0006] The double slip ring device includes an electric slip ring and a liquid slip ring: the electric slip ring is used to transmit power and data to the equipment on the rotating rack, ensuring that the rotating rack can still be stably powered during continuous rotation, solving the problem that traditional equipment cannot rotate continuously. The liquid slip ring is used to conduct heat medium (such as water or oil) to provide a constant temperature environment for the device on the rotating rack, ensuring the temperature balance of the equipment during operation. The slip ring structure allows the equipment to work continuously for a long time without overheating.

[0007] The dual-modality imaging system includes a KV-level CT imaging system and an MV-level image verification system. The KV-level CT imaging system is used for patient diagnosis and three-dimensional spatial positioning of tumors, providing high-precision imaging data. The MV-level image verification system is used for real-time image verification and dose monitoring, and can calibrate the position and dose distribution of tumors in real time during radiotherapy to ensure the accuracy of treatment.

[0008] The six-dimensional treatment bed can be adjusted in multiple dimensions according to the patient's treatment needs, and cooperates with the radiation source system and the imaging system to achieve precise positioning and reduce damage to normal tissues.

[0009] The anti-collision device uses optical fiber sensors and mechanical structures to ensure that the equipment will not collide during operation, thereby ensuring the safety of the equipment and patients.

[0010] The liquid medium temperature balancing device realizes temperature regulation of the equipment on the rotating rack through an external liquid heat medium conduction system, thereby preventing the equipment from being affected in operation due to overheating.

[0011] Furthermore, the host is mainly composed of the following parts: a machine base, a rotating frame, a swinging frame, a CT imaging system, a radiation source system, a real-time image verification system, a six-dimensional treatment bed, an anti-collision device, an electric slip ring, a liquid slip ring, a liquid medium temperature balance device and a control system. The various components work together through mechanical and electrical connections to ensure that the equipment can operate stably and efficiently.

[0012] Furthermore, the base serves as the supporting structure of the entire host, is located at the bottom of the host, and provides a stable foundation. The base includes: The lower part of the base: the lowest part of the base, which fixes the entire host structure to ensure the stability of the equipment during operation. Bearings at both ends: installed at both ends of the base, used to support the rotating frame so that the rotating frame can rotate smoothly and continuously. The upper part of the base: connected to the lower part of the base through bolts and positioning pins or positioning keyways, fixing the various components of the rotating and swinging frames.

[0013] Furthermore, the rotating frame is mounted on the inner ring of the bearing fixed at both ends of the base, one end of which is connected to the large sprocket through an electric slip ring, and the other end is connected to the liquid medium temperature balancing device through a liquid slip ring to achieve rotation, power supply and temperature control functions.

[0014] Furthermore, it also includes a large sprocket and a small sprocket: the large sprocket is fixed at one end of the rotating frame and flexibly connected to the small sprocket through a chain. The small sprocket is driven by a servo motor and a reducer, and the servo motor and the reducer provide rotational power, so that the rotating frame can rotate continuously and be positioned at any angle.

[0015] Furthermore, the electric slip ring is installed at one end of the rotating frame, and provides power and data transmission to various devices on the rotating frame through the electric slip ring. The electric slip ring is fixedly connected to the rotating frame, and the rotating frame is driven to rotate continuously through the servo motor and the reducer.

[0016] Furthermore, the electric slip ring is composed of two parts: a fixed part (stator): installed on the base, usually the outer shell part, not involved in the rotation, the fixed part includes a plurality of fixed terminal modules for connecting external power, data lines or control signals, and a rotating part (rotor): fixedly connected to the rotating frame and rotating with the rotating frame. The rotor is connected to the stator through an internal conductive ring, and the conductive ring is used to transfer power and data from the fixed part to the rotating part. The conductive ring is a plurality of annular conductors installed on the rotating part, and the annular conductors are connected to the rotating device to maintain the transmission of power and signals during the rotation process. An elastic brush is installed in the fixed part and contacts the conductive ring. The brush is made of a highly conductive material, such as copper or silver, to ensure that the conductive ring is always in good contact during the rotation process to avoid signal transmission interruption or power loss.

[0017] Furthermore, in order to meet the power and data requirements of different devices on the rotating rack, the electric slip ring is usually designed as a multi-channel structure. Each channel transmits different signals or power independently without interfering with each other. For example, some channels are used to transmit high-power electricity, while other channels are used to transmit low-voltage signals or data. When the rotating rack rotates continuously, the electric slip ring transmits power and signals between the stator and the rotor through its conductive ring and brush structure. The power or signal is connected to the fixed part (stator) of the electric slip ring through an external power line. The brushes in the stator always keep in contact with the conductive rings in the rotor, and even if the rotating rack is rotating, the brushes can still stably transmit current or signals to the rotor. The rotor transmits the received power or signal to each device on the rotating rack through the conductive ring. The power and signal transmission during the rotation process is continuous and stable, and will not be interrupted by rotation. This enables the equipment to maintain continuous power supply and data transmission during long-term operation, solving the problem of cable entanglement and breakage in traditional equipment.

[0018] The liquid slip ring is installed at the other end of the rotating rack. It provides continuous transmission of liquid heat medium to the equipment on the rotating rack, ensuring that the equipment on the rotating rack maintains temperature balance during operation.

[0019] The hydraulic slip ring is mainly composed of an outer ring, an inner ring, a guide pipe, a sealing device, a bearing support, a liquid medium inlet pipe and a liquid medium outlet pipe. The interaction of each part ensures the stable transmission and temperature control of the liquid on the rotating equipment.

[0020] The outer ring does not participate in the rotation and is fixed on the base of the equipment. The outer ring is responsible for connecting with the liquid medium temperature balance device, receiving the liquid heat medium from the outside, and introducing it into the rotating part. The outer ring mainly includes the external liquid medium inlet pipe: the starting point for the liquid to enter the liquid slip ring, and the external liquid medium outlet pipe: after the liquid completes the transmission and heat exchange, the liquid is returned to the external system through the outlet for circulation. The inner ring is the rotating part of the liquid slip ring and is fixed to the rotating frame. The inner ring rotates with the rotating frame, and its function is to send the liquid heat medium transmitted from the outer ring to various components of the rotating equipment through the pipeline. The rotating part includes: Liquid medium channel: multiple liquid heat medium inlet and outlet channels are designed inside the inner ring, which are connected to the liquid medium system of the rotating equipment to ensure that the heat medium can reach each device. The layout of the channel is usually a ring design to adapt to the rotation movement. Diversion structure: During the rotation of the liquid, it is necessary to ensure smooth flow, so a diversion device is provided inside the inner ring to help the liquid heat medium maintain stable flow during the rotation process and prevent the liquid from deviating from the transmission path due to centrifugal force.

[0021] In addition, the sealing structure of the liquid lubricating ring is very important, which ensures that the liquid heat medium does not leak when rotating at high speed. The sealing structure is mainly composed of the following parts: O-ring: used to seal the gap between the outer ring and the inner ring to ensure that the liquid heat medium does not leak from the connection. The O-ring is made of wear-resistant and pressure-resistant materials, which can adapt to changes in liquid pressure and long-term friction. Carbon brush seal: Carbon brush seal has self-lubricating properties, which can reduce friction during rotation while maintaining liquid sealing, thereby extending the service life of the equipment. Carbon brush seals are usually used in high-pressure and high-temperature environments, and have excellent durability and sealing effects.

[0022] Furthermore, a flow distribution and collection device is designed in the liquid lubricating ring to distribute the incoming liquid heat medium to each device on the rotating frame as required. Specifically, it includes: a liquid medium distribution device: connected to the inner ring of the liquid lubricating ring, and the liquid heat medium is adjusted in flow and pressure according to the equipment requirements through the distributor to ensure that each device can obtain the required temperature and flow. A collection device: After passing through the equipment, the liquid is gathered in the collection device, and then returned to the external system through the outlet. The collection device ensures that the liquid will not cause blockage or reflux problems after flowing through each device.

[0023] The CT imaging system is fixedly mounted on the rotating frame and is used for imaging diagnosis and three-dimensional spatial positioning of the patient. The center of the CT imaging system coincides with the rotation axis of the rotating frame, ensuring that the imaging system can perform all-round diagnosis as the rotating frame rotates.

[0024] The swing frame is installed on the rotating frame and forms a linkage structure with the rotating frame to ensure that the radiation source system can swing at a large angle during the rotation process. The swing axis of the swing frame intersects or offsets the rotation axis of the rotating frame by a certain distance to form a system isocenter, ensuring that the central axis of the conical beam of the radiation source can coincide with the system isocenter.

[0025] The radiation source system is installed on the swinging frame. The radiation source system forms a conical radiation beam through the ultimate collimator, and combines with the rotating and swinging structure to achieve accurate positioning and irradiation of the tumor. Ultimate collimator: The ultimate collimator of the radiation source system adopts a long strip design, and the aperture of the collimator is arranged in a "one" shape, that is, in a linear arrangement. This design allows the radiation beam to swing within a wider angle range, greatly expanding the irradiation coverage of the treatment equipment.

[0026] The image verification system is used for real-time image verification and dose monitoring. It is installed on a follow-up bracket that swings synchronously with the swing frame to ensure the alignment between the radiation source system and the image verification system detector plate. The image verification system and the radiation source share a radiation source for real-time calibration of the tumor position and dose: the image verification system swings to follow the radiation source, and the image verification system detector plate can swing synchronously with the radiation source through the arc guide rail, arc outer gear ring, pinion and drive assembly to achieve precise following function.

[0027] The six-dimensional treatment bed can be adjusted in multiple dimensions to facilitate patient positioning and cooperate with the rotating and swinging frames for precise treatment. Through six-dimensional adjustment, damage to the patient's normal tissues is reduced and the accuracy of radiotherapy is ensured.

[0028] The liquid medium temperature balancing device is a key component used in the present invention to ensure that the temperature of the equipment on the rotating rack remains constant. It regulates and maintains the temperature environment required during the operation of the equipment by transmitting liquid heat medium (such as coolant or heating liquid), ensuring that the equipment maintains a stable temperature during long-term operation to avoid overheating or overcooling. The following is a detailed description of the liquid medium temperature balancing device.

[0029] The liquid medium temperature balancing device includes a liquid medium box, a heater, a cooler, a circulation pump, and a sensor. The liquid medium box is used to store liquid heat medium, such as coolant or heating liquid, to provide a source of heat regulation. The heater is used to heat the liquid heat medium when the temperature needs to be increased, heat it to a set temperature, and transmit it to the rotating equipment. The cooler is used to cool the liquid heat medium when the equipment generates too much heat, reduce the temperature of the liquid, and transmit it to the rotating equipment to absorb the excess heat. The circulation pump is responsible for promoting the circulation of the liquid heat medium in the system to ensure that the liquid can flow continuously through the equipment on the rotating rack. The sensor includes a temperature sensor for real-time detection of the temperature of the heat medium to ensure that the liquid temperature is within the set range, a pressure sensor for monitoring the pressure of the liquid heat medium in the system to prevent abnormal liquid flow due to excessively high or low pressure, and a flow sensor for detecting the flow of the liquid heat medium to ensure that the liquid flow in the system meets the cooling or heating requirements of the equipment.

[0030] The liquid medium temperature balancing device ensures that the temperature of all equipment on the rotating rack is always kept within the set range through the circulation of liquid heat medium. According to the temperature requirements of the equipment on the rotating rack, the liquid medium temperature balancing device adjusts the temperature of the liquid heat medium through a heater or a cooler: when the equipment needs to be cooled, the cooler will lower the temperature of the liquid heat medium to ensure that it can take away the excess heat generated by the equipment during operation. When the equipment needs to be heated, the heater will heat the liquid heat medium to the specified temperature and transmit it to the equipment on the rotating rack to ensure that the equipment can operate normally even in a low temperature environment. The circulation pump pushes the liquid heat medium from the liquid medium box into the liquid slip ring, and transmits it to each device on the rotating rack through the liquid slip ring. After the liquid heat medium absorbs or releases heat inside the equipment, it returns to the liquid medium box through the liquid outlet pipe for recirculation. This process ensures that the liquid heat medium maintains continuous flow throughout the system and maintains the temperature balance of the equipment. The liquid medium temperature balancing device is equipped with a temperature sensor, a pressure sensor, and a flow sensor to monitor the temperature, pressure, and flow of the liquid heat medium in real time.

[0031] Furthermore, the anti-collision device includes a fiber optic sensor system, a mechanical anti-collision structure, and a control system.

[0032] Furthermore, the optical fiber sensor system includes: an optical fiber transmitting ring mechanism: installed on a fixed bracket of the device, used to transmit light and monitor whether there are objects or obstacles in the internal area of ​​the device. An optical fiber receiving ring mechanism: installed in a fixed position opposite to the transmitting ring, receiving the emitted light signal. If the light transmission is interrupted, an alarm or protection mechanism is triggered.

[0033] The mechanical anti-collision structure includes a tension detection device: installed on the external structure of the equipment to monitor the external mechanical tension when the equipment moves. If there is an external collision or obstacle that causes the tension to change, the tension detection device will send a signal to the control system. Mechanical protection device: a physical protection structure installed on the outside of the equipment to buffer or prevent external collisions from directly damaging the equipment.

[0034] The control system is installed inside the main unit of the equipment, connected to the optical fiber sensor system and the mechanical anti-collision structure, responsible for processing the signals from each sensor and making collision risk judgments. It is connected to the emergency stop device of the equipment, and when a collision risk is detected, the control system will send a signal to immediately stop the rotation or swing of the equipment.

[0035] Furthermore, the control system is used to manage the linkage work of the liquid medium temperature balancing device, the radiation source system, the rotating rack and the swing rack. The system transmits the equipment status information on the rotating rack through the electric slip ring, and adjusts the parameters such as pressure, flow, temperature, etc. in real time to ensure that the equipment is always in the best operating state. Specifically, the sensor network collects the temperature, pressure, flow and other information of the equipment in real time, and transmits these data to the control unit through the electric slip ring for processing. The control system analyzes the operating status of the equipment according to the preset algorithm and threshold range. If a parameter exceeds the set range (such as too high temperature or insufficient flow), the control unit will immediately determine the severity of the situation and take corresponding measures. The control system adjusts the liquid medium temperature balancing device, the radiation source system, the rotating rack and the swing rack through the execution unit. For example: adjust the heater or cooler to change the temperature of the liquid heat medium to ensure the temperature balance of the equipment. Adjust the output intensity and angle of the radiation source to ensure the synchronization of the radiation source and the image verification system to optimize the radiation treatment effect. Control the angle and speed of the rotating rack and the swing rack to ensure that the radiation is accurately irradiated at the predetermined tumor location. Feedback control: The system will feedback the adjusted results through sensors. If the parameters have not returned to normal after adjustment, the control system will make further adjustments until the equipment returns to the optimal state.

[0036] Alarm and protection mechanisms: When the system detects certain abnormal conditions that cannot be recovered through automatic adjustment (such as high device temperature or insufficient fluid flow), the control system will activate the alarm mechanism to remind the operator to intervene manually and trigger the safety stop mechanism when necessary to prevent damage to the equipment or risks to patients.

[0037] The beneficial effects of the present invention are embodied in many aspects, mainly including the following points: 1. Continuity of temperature control and power transmission Through the dual slip ring structure of electric slip ring and liquid slip ring, the present invention ensures that the power supply of the equipment and the transmission of liquid heat medium can be carried out continuously during the rotation process. This solves the power interruption and equipment overheating problems caused by cable entanglement or heat accumulation in traditional equipment, and significantly improves the operation stability and continuity of the equipment.

[0038] 2. High-precision image positioning and real-time monitoring The present invention adopts a dual-modality imaging system, combining a KV-level CT imaging system and an MV-level image verification system, which can accurately locate the patient's tumor during treatment and monitor the radiation dose in real time. This design greatly improves the accuracy of treatment, reduces positioning errors, ensures that the radiation is accurately aimed at the tumor site, and thus improves the treatment effect.

[0039] 3. Flexibility and wide swing range The present invention uses the linkage design of the rotating frame and the swinging frame to enable the radiation source system to swing flexibly within a large angle range. Combined with the "one" arrangement design of the long strip ultimate collimator, the swing range of the radiation source is significantly expanded, increasing the flexibility of treatment, especially providing a more flexible treatment plan for tumors in complex positions or shapes.

[0040] 4. Reduce damage to normal tissues Through the dual-modality imaging system and precise positioning of the radiation source, the present invention can accurately irradiate the tumor and avoid excessive radiation to the surrounding normal tissue. The patient's normal tissue recovers faster and suffers less damage during radiotherapy, thereby reducing side effects, improving the safety of treatment and the patient's quality of life.

[0041] 5. Improved equipment stability and reliability By adopting a double bearing structure and an anti-collision device, the device structure of the present invention is more solid, the mechanical vibration during high-speed rotation or swinging is reduced, and the stability and reliability of the device operation are enhanced. At the same time, the anti-collision device can monitor the operating status of the device in real time, avoid collisions between mechanical parts, and further improve the safety of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic structural diagram of a specific embodiment of the present invention.

[0043] Figure 2 It is a schematic structural diagram of a specific embodiment of the present invention.

[0044] Figure 3 It is a schematic cross-sectional structure diagram of a specific embodiment of the present invention.

[0045] Figure 4It is a schematic cross-sectional structure diagram of a specific embodiment of the present invention. DETAILED DESCRIPTION

[0046] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings.

[0047] A dual-modality imaging stereotactic radiotherapy device based on double slip ring technology comprises a main unit, a double slip ring device, a dual-modality imaging system, a six-dimensional treatment bed, an anti-collision device and a liquid medium temperature balancing device.

[0048] The host comprises a base 1, a rotating gantry 2, a swinging gantry 3, a CT imaging system 4, a ray source system 5, a real-time image verification system 6, a six-dimensional treatment bed, an anti-collision device 7, etc. Among them, the rotating gantry 2 and the swinging gantry 3 cooperate with each other, and the ray source system 5 forms a light beam through a collimator 8, and can accurately aim at the patient's tumor in three-dimensional space.

[0049] The double slip ring device includes an electric slip ring and a liquid slip ring: the electric slip ring is used to transmit power and data to the equipment on the rotating rack, ensuring that the rotating rack can still be stably powered during continuous rotation, solving the problem that traditional equipment cannot rotate continuously. The liquid slip ring is used to conduct heat medium (such as water or oil) to provide a constant temperature environment for the device on the rotating rack, ensuring the temperature balance of the equipment during operation. The slip ring structure allows the equipment to work continuously for a long time without overheating.

[0050] The dual-modality imaging system includes a KV-level CT imaging system 15 and a MV-level image verification system 16. The KV-level CT imaging system 15 is used for patient diagnosis and three-dimensional spatial positioning of tumors, providing high-precision imaging data. The MV-level image verification system is used for real-time image verification and dose monitoring, and can calibrate the position and dose distribution of tumors in real time during radiotherapy to ensure the accuracy of treatment.

[0051] The base 1 is located at the bottom of the main machine as the supporting structure of the entire main machine, providing a stable foundation. The base includes: The lower part of the base 101: the bottom part of the base, which fixes the entire main machine structure to ensure the stability of the equipment during operation. Bearings at both ends: installed at both ends of the base, used to support the rotating frame so that the rotating frame can rotate smoothly and continuously. The upper part of the base 102: connected to the lower part of the base through bolts and positioning pins or positioning keyways, fixing the various components of the rotating and swinging frames.

[0052] The rotating frame 2 is mounted on the inner ring of the bearing fixed at both ends of the machine base, connected to the large sprocket 9 through an electric slip ring, and connected to the liquid medium temperature balancing device through a liquid slip ring to achieve the functions of rotation, power supply and temperature control.

[0053] The large sprocket 9 is fixed at one end of the rotating frame and is flexibly connected to the small sprocket 11 through a chain 10. The small sprocket 11 is driven by a servo motor and a reducer, and the servo motor and the reducer provide rotational power, so that the rotating frame can be continuously rotated and positioned at any angle.

[0054] The liquid slip ring is installed at the other end of the rotating frame 2, and provides continuous transmission of liquid heat medium to the equipment on the rotating frame through the liquid slip ring 2, ensuring that the equipment on the rotating frame 2 maintains temperature balance during operation.

[0055] The liquid slip ring is mainly composed of an outer ring, an inner ring, a guide pipe, a sealing device, a bearing support, a liquid medium inlet pipe 16 and a liquid medium outlet pipe 17. The interaction of each part ensures the stable transmission and temperature control of the liquid on the rotating equipment.

[0056] The CT imaging system 15 is fixedly mounted on the rotating frame 2 and is used for imaging diagnosis and three-dimensional spatial positioning of the patient. The center of the CT imaging system 15 coincides with the rotation axis of the rotating frame 2, ensuring that the imaging system can perform all-round diagnosis as the rotating frame rotates.

[0057] The swing frame 3 is installed on the rotating frame 2 and forms a linkage structure with the rotating frame 2 to ensure that the ray source system 12 can swing at a large angle during the rotation process. The swing axis of the swing frame 3 intersects or offsets the rotation axis of the rotating frame 2 by a certain distance to form a system isocenter, ensuring that the beam center axis of the ray source can coincide with the system isocenter. The swing frame includes an arc gear 301 arranged thereon and a drive motor 302 matched with the arc gear 301. A follower assembly is correspondingly arranged at the bottom of the swing frame. The follower assembly 21 includes an arc outer gear ring 18 and a second drive motor 19 arranged on the follower frame. The second drive motor 18 drives the image verification system 16 to operate.

[0058] The radiation source system 12 is installed on the swing frame 3. The radiation source system 12 forms a conical radiation beam through the ultimate collimator, and combines with the rotating and swinging structure to achieve accurate positioning and irradiation of the tumor. Ultimate collimator: The ultimate collimator of the radiation source system adopts a long strip design, and the aperture of the collimator is arranged in a "one" shape, that is, in a linear arrangement. This design allows the radiation beam to swing within a wider angle range, greatly expanding the irradiation coverage of the treatment equipment.

[0059] The image verification system 13 is used for real-time image verification and dose monitoring. It is installed on a follow-up bracket that swings synchronously with the swinging frame to ensure the alignment between the radiation source system 12 and the detector plate of the image verification system 15. The image verification system 15 and the radiation source system share a radiation source for real-time calibration of the position and dose of the tumor: the image verification system 15 swings to follow the radiation source, and the image verification system detector plate can swing synchronously with the radiation source through the arc guide rail, the arc outer gear ring, the pinion and the drive assembly to achieve a precise following function. The synchronization of the radiation source system 12 and the image verification system 15 can be managed by an integrated control system to manage the movement of the radiation source system and the image verification system. The system receives data from the sensor and automatically adjusts the movement trajectory and speed of the two according to the preset treatment plan. The electric slip ring is used to transmit real-time data, so that the radiation source system and the image verification system can communicate at a high frequency to achieve synchronous adjustment.

[0060] The liquid medium temperature balancing device includes a liquid medium box, a heater, a cooler, a circulation pump, and a sensor. The liquid medium box is used to store liquid heat medium, such as coolant or heating liquid, to provide a source of heat regulation. The heater is used to heat the liquid heat medium when the temperature needs to be increased, heat it to a set temperature, and transmit it to the rotating equipment. The cooler is used to cool the liquid heat medium when the equipment generates too much heat, reduce the temperature of the liquid, and transmit it to the rotating equipment to absorb the excess heat. The circulation pump is responsible for promoting the circulation of the liquid heat medium in the system to ensure that the liquid can flow continuously through the equipment on the rotating rack. The sensor includes a temperature sensor for real-time detection of the temperature of the heat medium to ensure that the liquid temperature is within the set range, a pressure sensor for monitoring the pressure of the liquid heat medium in the system to prevent abnormal liquid flow due to excessively high or low pressure, and a flow sensor for detecting the flow of the liquid heat medium to ensure that the liquid flow in the system meets the cooling or heating requirements of the equipment.

[0061] The anti-collision device includes a fiber optic sensor system, a mechanical anti-collision structure, and a control system. The fiber optic sensor system includes: a fiber optic transmitting ring mechanism: installed on a fixed bracket of the device, used to transmit light and monitor whether there are objects or obstacles in the internal area of ​​the device. A fiber optic receiving ring mechanism: installed at a fixed position opposite to the transmitting ring, receiving the emitted light signal. If the light transmission is interrupted, an alarm or protection mechanism is triggered. The mechanical anti-collision structure includes a tension detection device: installed on the external structure of the device, monitoring the external mechanical tension when the device moves. If there is an external collision or obstacle that causes the tension to change, the tension detection device will send a signal to the control system. Mechanical protection device: a physical protection structure installed on the outside of the device, used to buffer or prevent external collisions from directly damaging the device. The control system: installed inside the device host, connected to the fiber optic sensor system and the mechanical anti-collision structure, responsible for processing signals from each sensor and making collision risk judgments. It is connected to the emergency stop device of the device. When a collision risk is detected, the control system will send a signal to immediately stop the rotation or swing of the device.

Claims

1. A dual-modality imaging stereotactic radiotherapy device based on double slip ring technology, comprising a host, a double slip ring device, a dual-modality imaging system, a six-dimensional treatment bed, an anti-collision device and a liquid medium temperature balance device, wherein the double slip ring device comprises an electric slip ring and a liquid slip ring, wherein the electric slip ring is used to transmit power and data to the equipment on the rotating frame, and the liquid slip ring is used to conduct heat medium, wherein the dual-modality imaging system comprises a CT imaging system and an image verification system, wherein the rotating frame is mounted on the inner ring of a bearing fixed at both ends of a machine base, connected to a large sprocket through an electric slip ring, and connected to a liquid medium temperature balance device through a liquid slip ring, so as to realize rotation, power supply and temperature control functions, wherein the large sprocket is fixed at one end of the rotating frame, flexibly connected to a small sprocket through a chain, and the small sprocket is driven by a servo motor and a reducer, and wherein the liquid slip ring is mounted at the other end of the rotating frame, and provides continuous transmission of liquid heat medium to the equipment on the rotating frame through the liquid slip ring, so as to ensure that the equipment on the rotating frame maintains temperature balance during operation.

2. A dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 1, characterized in that: The liquid sliding ring is composed of an outer ring, an inner ring, a guide pipe, a sealing device, a bearing support, a liquid medium inlet pipe and a liquid medium outlet pipe.

3. The dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 1, characterized in that: The CT imaging system is fixedly mounted on the rotating gantry and is used for imaging diagnosis and three-dimensional spatial positioning of patients. The center of the CT imaging system coincides with the rotation axis of the rotating gantry, ensuring that the imaging system can perform all-round diagnosis as the rotating gantry rotates.

4. The dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 1, characterized in that: The swing frame is installed on the rotating frame and forms a linkage structure with the rotating frame. The swing axis of the swing frame intersects or offsets the rotation axis of the rotating frame by a certain distance to form a system isocenter, ensuring that the beam center axis of the ray source can coincide with the system isocenter.

5. A dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 4, characterized in that: The swing frame includes an arc gear arranged thereon, and a driving motor matched with the arc gear. A follower assembly is correspondingly arranged at the bottom of the swing frame. The follower assembly includes an arc outer gear ring and a second driving motor arranged on the follower frame. The second driving motor drives the image verification system to operate.

6. The dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 4, characterized in that: The radiation source system is installed on a swinging frame. The radiation source system forms a conical radiation beam through an ultimate collimator and combines with the rotating and swinging structures to achieve precise positioning and irradiation of the tumor.

7. The dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 4, characterized in that: The ultimate collimator of the radiation source system adopts a long strip design, and the apertures of the collimator are arranged in a "one" shape, that is, in a linear arrangement.

8. The dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 4, characterized in that: The image verification system is used for real-time image verification and dose monitoring. It is installed on a follow-up bracket that swings synchronously with the swinging gantry to ensure the alignment between the radiation source system and the detector plate of the image verification system. The image verification system and the radiation source share a radiation source for real-time calibration of the tumor position and dose: the image verification system follows the radiation source through the swinging of the follow-up component.

9. The dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 1, characterized in that: The liquid medium temperature balancing device comprises a liquid medium box, a heater, a cooler, a circulation pump and a sensor.

10. The dual-modality imaging stereotactic radiotherapy device based on dual slip ring technology as claimed in claim 1, characterized in that: The anti-collision device includes a fiber optic sensor system, a mechanical anti-collision structure, and a control system. The fiber optic sensor system includes: a fiber optic transmitting ring mechanism: installed on a fixed bracket of the device, used to transmit light and monitor whether there are objects or obstacles in the internal area of ​​the device; a fiber optic receiving ring mechanism: installed in a fixed position opposite to the transmitting ring, receiving the emitted light signal, and triggering an alarm or protection mechanism if the light transmission is interrupted; the mechanical anti-collision structure includes a tension detection device: installed on the external structure of the device, monitoring the external mechanical tension when the device moves. If there is a collision or obstacle outside that causes the tension to change, the tension detection device will send a signal to the control system.

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