Mobile radiotherapy system

Abstract

The invention provides a mobile radiotherapy system. The mobile radiotherapy system comprises a host and a control panel. The main machine is composed of a machine head, a machine frame and a movable base. The mobile radiotherapy system has the advantages of being convenient to operate and move, capable of achieving 3D image guide automatic docking, high in conformity degree of an irradiation field and a treatment target area, high in dosage rate, short in treatment time, adjustable in treatment depth and the like. The X-ray radiation therapy device can complete single-time large-dose radiation therapy in the operation process, can effectively improve the local control rate of tumors, effectively reduce side effects caused by X-rays, protect surrounding normal tissues and shorten the treatment time, and has good safety, effectiveness and reliability. The mobile radiotherapy system provided by the invention is novel, reasonable and high in practicability.

Description

Technical Field

[0001] The invention provides a mobile radiotherapy system, belonging to the technical field of radiotherapy equipment. Background Art

[0002] Radiotherapy refers to local treatment through radiation to eliminate and cure the primary and metastatic lesions of local tumors. Radiotherapy, together with surgery and chemotherapy, constitute the three basic treatment methods for tumors. However, radiotherapy has the advantages of a wide range of applications, definite efficacy, simple process, few side effects, and low requirements on the patient's own conditions. About 2 / 3 of patients need radiotherapy during the treatment of cancer, which has become one of the main means of treatment.

[0003] At present, radiotherapy is usually carried out in conjunction with surgery, usually preoperative radiotherapy or postoperative radiotherapy. Preoperative radiotherapy is to reduce the size of the tumor by radiotherapy before surgery to increase the success rate of surgical resection. Postoperative radiotherapy is to perform radiotherapy on the tumor bed area and the surrounding lymphatic drainage area after surgery. The purpose is to kill tumor cells that may remain after surgery, so as to reduce the local recurrence rate and improve the cure rate. Postoperative radiotherapy is usually required to be carried out after the surgical wound heals, and radiotherapy cannot be carried out immediately after surgery. Therefore, it takes a long time to wait, which provides an opportunity for tumor cell proliferation and metastasis. Whether it is preoperative radiotherapy or postoperative radiotherapy, radiation will first pass through normal tissues and organs to reach the target area. Therefore, preoperative radiotherapy and postoperative radiotherapy have greater side effects and damage to normal tissues and organs. In addition, a course of preoperative radiotherapy and postoperative radiotherapy usually requires 20-30 irradiations, which lasts about four to six weeks, and patients have to endure more pain and inconvenience.

[0004] Intraoperative radiotherapy refers to a treatment method that fully exposes the tumor bed, residual lesions, and surrounding lymphatic drainage areas during surgery, moves the endangered organs as far as possible outside the irradiation field, and performs a single high-dose irradiation under direct vision in order to kill tumor cells to the maximum extent and prevent or reduce radiation damage to normal tissues. Immediate radiotherapy during surgery can also reduce or avoid the proliferation of residual tumor cells.

[0005] During use of existing intraoperative radiotherapy equipment, the operation and movement of the equipment require access to external power supply equipment and data cable interfaces, which makes it inconvenient to move the equipment within the operating room and transfer it between operating rooms. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a mobile radiotherapy system in view of the deficiencies in the above-mentioned prior art. The system has a novel and reasonable design, is powered by a built-in battery and has wireless remote operation of the control panel, which greatly increases the convenience of equipment movement and operation. It also has a 3D image-guided docking function, which can realize the rapid docking of the head and accessories, simplify personnel operation, increase docking efficiency, reduce the burden on medical staff, and avoid human errors.

[0007] In order to solve the above technical problems, the present invention provides a mobile radiotherapy system, characterized in that the mobile radiotherapy system comprises: A host is used for radiotherapy; a control panel is used for remote control of the host; and accessories assist the host in achieving intraoperative radiotherapy.

[0008] In some embodiments, the host comprises: The machine head has an electron linear accelerator inside to generate electron beams for radiotherapy; A machine frame, provided with a six-degree-of-freedom mechanical arm for adjusting the angle of the machine head; Mobile base, used for moving the host.

[0009] In some embodiments, a 3D camera is provided on the nose to achieve 3D image-guided docking of the nose.

[0010] In some embodiments, visual feature points / blocks are provided on the attachment.

[0011] In some embodiments, the frame is connected to the head base plate at one end and fixed to the movable base at the other end.

[0012] In some embodiments, the mobile base is provided with a plurality of supporting casters for supporting the mobile base.

[0013] In some embodiments, movable casters are provided at the bottom of the movable base, and the casters are driven by a motor to drive the movable base to move.

[0014] In some embodiments, a battery is provided in the host to provide power for the operation of the device.

[0015] In some embodiments, the host is provided with a mobile base operating handle for manipulating the movement of the device.

[0016] In some embodiments, the host is provided with a robotic arm operating handle for manipulating the movement of the robotic arm and the docking of the treatment head.

[0017] In some embodiments, the host is provided with a back panel display for displaying status device information.

[0018] In some embodiments, the control panel uses a wireless connection to remotely control the movement of the device.

[0019] In some embodiments, a method for using a mobile radiotherapy system is provided, and the method for using the mobile radiotherapy system includes: S1. Providing the mobile radiotherapy system; S2. Setting patient treatment information on the control panel; S3. Install the accessories on the patient's treatment target area and use the mobile base operating handle to move the device to the treatment area; S4, use the robot arm operating handle to complete the 3D image-guided docking; S5. The operator remotely controls on the control panel and completes the treatment.

[0020] To sum up, the design of the present invention is novel and reasonable. It is powered by a built-in battery and the control panel is wirelessly remotely operated, which greatly increases the convenience of moving and operating the equipment. It also contains a 3D image-guided docking function, which can realize the rapid docking of the head and accessories, simplify personnel operation, increase docking efficiency, reduce the burden on medical staff, and avoid human errors.

[0021] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0024] Figure 1 is a schematic structural diagram of a mobile radiotherapy system according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a mobile radiotherapy system according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of a mobile radiotherapy system according to an embodiment of the present invention; Figure 4 The present invention is a flowchart of a method for using a mobile radiotherapy system according to an embodiment of the present invention.

[0025] The reference numerals in the specification are as follows: 1. Main machine; 11. Machine head; 12. Frame; 13. Mobile base; 131. Support casters; 132. Mobile casters; 14. Mobile base operating handle; 15. Robot arm operating handle; 16 Back panel display; 2. Control panel. DETAILED DESCRIPTION The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0028] In the embodiments of the present invention, unless otherwise specified, directional words such as "up, down, top, bottom" are usually used to describe the relative positional relationship of components with respect to the directions shown in the drawings or in the vertical, perpendicular or gravity directions.

[0029] The present invention will be described in detail below in conjunction with exemplary embodiments with reference to the accompanying drawings.

[0030] The present invention provides a mobile radiotherapy system, characterized in that the mobile radiotherapy system comprises: a host (1) used for radiotherapy; a control panel (2) used for remote control of the host; and accessories to assist the host (1) in achieving intraoperative radiotherapy.

[0031] Optionally, the host comprises: a head, which is provided with an electron linear accelerator for generating electron beams for radiotherapy; a frame, which is provided with a six-degree-of-freedom mechanical arm for adjusting the angle of the head; a mobile base for moving the host; a 3D camera on the head for achieving 3D image-guided docking of the head. The attachment is provided with visual feature points / blocks. The host is provided with a mechanical arm operating handle for manipulating the movement of the mechanical arm and docking of the treatment head.

[0032] Specifically, the robot arm has six degrees of freedom, and the motion coordinates can be selected from the axis coordinates of the six axes, or can be operated using the Cartesian coordinate system with the head as the reference point, which can achieve multi-angle, large-range, and high-precision head position control. At the same time, the fixed robot arm posture can be recorded to achieve automatic switching of the robot arm posture, simplifying the operator's operation when the equipment is moved.

[0033] Furthermore, the accessories include a cylindrical light-limiting tube for forming a planar irradiation field, a spherical applicator for forming a three-dimensional spherical irradiation field, a tissue compensation block, a fixing bracket for the light-limiting tube and the applicator, etc. The light-limiting tube, the applicator, the tissue compensation block, etc. have different sizes to adapt to different irradiation target areas, and can be reused after cleaning and disinfection.

[0034] Specifically, the visual feature point is a circular pattern with three black circles and a white background, which is used to indicate the spatial three-dimensional coordinates of the attachment.

[0035] In some embodiments, the frame is connected to the head base plate at one end and fixed to the movable base at the other end.

[0036] After the surgeon completes the removal of the tumor, the patient is in an anesthetized state, and the radiation directly irradiates the fully exposed tumor bed or residual lesion area, with little collateral damage to normal tissues or organs. In the prior art, the existing external radiotherapy equipment has a complex structure, is inconvenient to move or cannot be moved, is not suitable for intraoperative radiotherapy, and can only be used in a fixed machine room. In addition, due to the complex structure and inconvenient movement of the existing intraoperative equipment, the patient can only be moved, which is not conducive to the intraoperative treatment of the patient.

[0037] In view of this, the mobile base is provided with a plurality of supporting casters for supporting the mobile base. The bottom of the mobile base is provided with mobile casters, which are driven by a motor to drive the mobile base to move. A battery is provided in the host for powering the operation of the device. The host is provided with a mobile base operating handle for manipulating the movement of the device.

[0038] Furthermore, the host charges the battery through an external power supply during daily storage, and can be powered by a built-in battery when the device is in use.

[0039] The mobile radiotherapy system powered by a built-in battery can be transferred between operating rooms, which can effectively optimize the space setting in the operating room and improve space utilization. At the same time, multiple operating rooms are equipped with one device to improve equipment utilization. The movement of the device does not require moving the patient or the treatment bed, avoiding the risk of patient transfer and simplifying the workflow of medical staff.

[0040] In some embodiments, the host is provided with a back panel display for displaying status device information. The control panel is wirelessly connected for remotely controlling device movement.

[0041] Specifically, the back panel display contains a variety of equipment information, including interlocking information, equipment status information, real-time position of the robotic arm, and treatment information. At the same time, control buttons are provided below the back panel display, including reset, emergency stop, power switch of the robotic arm and mobile base, etc.

[0042] Furthermore, the control panel is provided with a plurality of control function keys for realizing functions such as power switch, beam output, interruption, etc., which may specifically include an interruption key, a beam output key, a beam output switch, a reset key, an emergency stop key, etc.

[0043] In some embodiments, a method for using a mobile radiotherapy system is provided, and the method for using the mobile radiotherapy system includes: S1. Providing the mobile radiotherapy system; S2. Setting patient treatment information on the control panel; S3. Install the accessories on the patient's treatment target area and use the mobile base operating handle to move the device to the treatment area; S4, use the robot arm operating handle to complete the 3D image-guided docking; S5. The operator remotely controls on the control panel and completes the treatment.

[0044] Specifically, the treatment information is set by the doctor based on the patient's preoperative consultation, intraoperative pathological analysis, and the patient's tumor bed status.

[0045] Optionally, according to the needs of the treatment scenario, the robotic arm can be automatically moved to a preset position to store and transport the equipment after the treatment is completed.

[0046] To sum up, the design of the present invention is novel and reasonable. It is powered by a built-in battery and the control panel is wirelessly remotely operated, which greatly increases the convenience of moving and operating the equipment. It also contains a 3D image-guided docking function, which can realize the rapid docking of the head and accessories, simplify personnel operation, increase docking efficiency, reduce the burden on medical staff, and avoid human errors.

[0047] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

Claims

1. A mobile radiotherapy system, characterized in that: The mobile radiotherapy system comprises: Host (1), for radiotherapy; A control panel (2) for remote control of the host; The accessory (3) assists the host (1) in achieving intraoperative radiotherapy.

2. The mobile radiotherapy system according to claim 1, characterized in that: The host comprises: The machine head (11) is provided with an electron linear accelerator inside for generating electron beams for radiotherapy; A frame (12) provided with a mechanical arm with six degrees of freedom for adjusting the angle of the machine head; Mobile base, used for moving the host.

3. The mobile radiotherapy system according to claim 1, characterized in that: The machine head (11) is provided with a 3D camera for achieving 3D image-guided docking of the machine head.

4. The mobile radiotherapy system according to claim 1, characterized in that: The attachment (3) is provided with visual feature points / blocks.

5. The mobile radiotherapy system according to claim 1, characterized in that: The frame (12) is connected to the bottom plate of the machine head (11) at one end, and is fixed to the movable base (13) at the other end.

6. The mobile radiotherapy system according to claim 1, characterized in that: The mobile base (13) is provided with a plurality of supporting casters (131) for supporting the mobile base.

7. The mobile radiotherapy system according to claim 1, characterized in that: The bottom (13) of the movable base is provided with movable casters (132), which are driven by a motor to drive the movable base to move.

8. The mobile radiotherapy system according to claim 1, characterized in that: The host (1) is provided with a battery for supplying power for the operation of the device.

9. The mobile radiotherapy system according to claim 1, characterized in that: The main machine (1) is provided with a movable base operating handle (14) for manipulating the movement of the device.

10. The mobile radiotherapy system according to claim 1, characterized in that: The main machine (1) is provided with a mechanical arm operating handle (15) for manipulating the movement of the mechanical arm and the docking of the treatment head.

11. The mobile radiotherapy system according to claim 1, characterized in that: The host (1) is provided with a back panel display (16) for displaying status device information.

12. The mobile radiotherapy system according to claim 1, characterized in that: The control panel (2) adopts a wireless connection and is used for remotely controlling the movement of the device.

13. A method for using a mobile radiotherapy system, characterized in that: According to any one of claims 1-11, the method of using the mobile radiotherapy system comprises: S1. providing the mobile radiotherapy system; S2. Setting patient treatment information on the control panel; S3. Install the accessories on the patient's treatment target area and use the mobile base operating handle to move the device to the treatment area; S4, use the robot arm operating handle to complete the 3D image-guided docking; S5. The operator remotely controls on the control panel and completes the treatment.

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