A multi-angle particle therapy system without a rotating gantry and its use method

Abstract

This application discloses a multi-angle particle therapy system without a rotating gantry and its use method, relating to the technical field of particle therapy equipment. The system comprises an accelerator, an irradiation system, a control system, a patient support system, and an imaging system. The patient support system includes a holding fixture, a two-dimensional translation system, a rotation system, and a multi-degree-of-freedom mechanical positioning system. The holding fixture is connected to the two-dimensional translation system, which in turn is connected to the rotation system. The two-dimensional translation system controls the relative position of the patient and the rotation center. The rotation system rotates the patient to the angle specified in the treatment plan or cooperates with the imaging system to obtain a three-dimensional image of the patient. The irradiation system irradiates the target tumor area. The system generates a treatment plan by reconstructing a three-dimensional CT image and then performs irradiation at different angles according to the treatment plan. This system can achieve multi-angle irradiation of the patient without the use of a rotating gantry, reducing the manufacturing cycle and cost of the particle therapy system.

Description

Technical Field

[0001] The present application relates to the technical field of particle therapy equipment, and in particular to a multi-angle particle therapy system without a rotating gantry and a method for using the same. Background Art

[0002] As an advanced radiotherapy method, particle therapy has attracted considerable attention due to its advantages in precisely irradiating the target tumor while minimizing the dose to surrounding healthy tissue. In traditional particle therapy facilities, a rotating gantry is a key device for multi-angle particle beam delivery. It allows the particle beam to be flexibly adjusted around the patient, optimizing dose distribution and enhancing treatment efficacy.

[0003] In existing related patents such as invention patent 201710739399.9, patent name "Particle beam medical device and operation method thereof" and invention patent US15727544, patent name "Particle therapy device including MRI", the rotating frame structure disclosed is complex, costly and occupies a large space, which to a certain extent seriously limits the popularization and construction of particle therapy centers around the world.

[0004] Furthermore, existing particle therapy systems often require a large rotating gantry and complex beam redirection mechanisms, which not only limits the compactness of the equipment but also prolongs patient treatment time. Therefore, how to reduce reliance on the rotating mechanism while maintaining treatment accuracy, thereby lowering system complexity and cost, has become a key technical challenge that needs to be addressed in current particle therapy systems. Summary of the Invention

[0005] The main purpose of this application is to provide a multi-angle particle therapy system without a rotating gantry and a method of using the same, which can achieve multi-angle particle irradiation of patients without relying on a rotating gantry, and has the advantages of compact structure, light weight, simple maintenance, and low manufacturing cost.

[0006] The technical solutions adopted in this application are as follows:

[0007] First aspect:

[0008] A multi-angle particle therapy system without a rotating gantry includes an accelerator, an irradiation system, a control system, a patient support system, and an imaging system. The patient support system includes a holding fixture, a two-dimensional translation system, a rotation system, and a multi-degree-of-freedom mechanical positioning system. The holding fixture is used to carry and position the patient. The two-dimensional translation system, the rotation system, and the multi-degree-of-freedom mechanical positioning system are used to adjust the position of the holding fixture within the treatment room to adjust the patient's body area where the target area is located to the irradiation area of ​​the irradiation system.

[0009] The control system is used to coordinate the subsystems so that the high-energy particle beam accelerated by the accelerator passes through the irradiation system to perform multi-angle irradiation treatment on the body area of ​​the patient where the target area determined by the imaging system is located.

[0010] Optionally, the accommodating and fixing device is connected to the two-dimensional translation system, the two-dimensional translation system is connected to the rotation system, and the rotation system is connected to the multi-degree-of-freedom mechanical positioning system.

[0011] Optionally, the accommodating and fixing device includes an outer chamber, an airbag and a negative pressure positioning pad, the airbag is fixed on the inner wall of the outer chamber, and the negative pressure positioning pad is placed between the airbag and the patient.

[0012] Optionally, the outer warehouse includes two symmetrical warehouse bodies and is locked by hinges and knobs.

[0013] Optionally, the multi-degree-of-freedom mechanical positioning system includes a base, a six-dimensional mechanical swing arm structure, and a bed board. The six-dimensional mechanical swing arm structure is fixed in the treatment room through the base. The bed board is connected to the six-dimensional mechanical swing arm structure. Mounting plates for mounting the rotation system are provided at both ends of the bed board.

[0014] Optionally, the rotation system includes two rotating platforms and two rotating motors, the rotating motors are respectively fixed on the two rotating platforms, the rotating platforms are fixed on the mounting plate of the multi-degree-of-freedom mechanical positioning system, and are connected to the two-dimensional translation system.

[0015] Optionally, the two-dimensional translation system includes two two-dimensional translation modules and two translation motors, the translation motors are respectively fixed on the two two-dimensional translation modules, and the two-dimensional translation modules are respectively connected to two ends of the accommodating and fixing device through connecting rods.

[0016] Optionally, the imaging system includes an X-ray tube and a flat panel detector, and both the X-ray tube and the flat panel detector are installed in the treatment room.

[0017] Optionally, the particle therapy system is applicable to different types of particle therapy, including but not limited to proton, helium ion, and carbon ion therapy.

[0018] Second aspect:

[0019] A method for using the multi-angle particle therapy system without a rotating gantry includes the following steps:

[0020] S1: Preset the rotation angle according to the patient's CT and target area information;

[0021] S2: guide the patient into the holding and fixing device and fix the patient's position;

[0022] S3: Start the multi-degree-of-freedom mechanical positioning system to perform preliminary positioning of the patient;

[0023] S4: Start the two-dimensional translation system and adjust the patient's target area to the rotation center of the rotation system;

[0024] S5: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified angle;

[0025] S6: using an imaging system to obtain two-dimensional projection information of the patient;

[0026] S7: Perform three-dimensional reconstruction on the two-dimensional projection information to generate and store a three-dimensional CT image of the patient after rotation;

[0027] S8: Repeat steps S5-S7 for each specified angle;

[0028] S9: Generate a treatment plan based on the patient's multi-angle CT images and output the treatment plan parameters to the control system;

[0029] S10: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified irradiation angle;

[0030] S11: The accelerator outputs a beam of corresponding energy according to the treatment plan. The control system controls the irradiation system to irradiate the patient with the beam. After completing the irradiation at the current angle, the beam is turned off.

[0031] S12: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to the next illumination angle;

[0032] S13: Repeat steps S11 and S12 until the treatment plan irradiation is completed.

[0033] Another method of using the multi-angle particle therapy system without a rotating gantry is as follows:

[0034] S1: Preset the rotation angle according to the patient's CT and target area information;

[0035] S2: guide the patient into the holding and fixing device and fix the patient's position;

[0036] S3: Start the multi-degree-of-freedom mechanical positioning system to perform preliminary positioning of the patient;

[0037] S4: Start the two-dimensional translation system and adjust the patient's target area to the rotation center of the rotation system;

[0038] S5: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified angle;

[0039] S6: using an imaging system to obtain two-dimensional projection information of the patient;

[0040] S7: Perform three-dimensional reconstruction on the two-dimensional projection information to generate a three-dimensional CT image of the patient after rotation;

[0041] S8: Repeat steps S5-S7 for each specified angle;

[0042] S9: Generate a treatment plan based on the patient's multi-angle CT images and output the treatment plan parameters to the control system;

[0043] S10: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified irradiation angle;

[0044] S11: using the imaging system to obtain the two-dimensional projection information of the patient's current angle;

[0045] S12: reconstructing a three-dimensional CT image of the patient at the current angle in real time based on the two-dimensional projection information at the current angle, comparing the real-time reconstructed three-dimensional CT image with the current angle CT image used in formulating the treatment plan, and calculating the target area position deviation;

[0046] S13: Based on the target position deviation, determining whether the target position deviation exceeds a preset threshold, and if so, suspending treatment; if not, the accelerator outputs a beam of corresponding energy according to the treatment plan for irradiation treatment;

[0047] S14: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to the next illumination angle;

[0048] S15: Repeat steps S11-S14 until the treatment plan irradiation is completed.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] The embodiments of this application propose a multi-angle particle therapy system without a rotating gantry, enabling multi-angle irradiation of patients without the use of a rotating gantry. It offers advantages such as low manufacturing cost, simple maintenance, and light weight. By employing two rotating platforms and two two-dimensional translation modules, the patient's relative position to the rotation center can be adjusted and rotated to the angle specified in the treatment plan, enabling multi-angle irradiation in conjunction with the irradiation system. Furthermore, the particle therapy system's simple structure allows for a more compact equipment layout within the treatment room, reducing space requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 Schematic diagram of the three-dimensional structure of the patient support system (horizontally placed), the irradiation system (vertically placed) and the imaging system of the present invention in a first usage state;

[0052] Figure 2is a schematic diagram of the three-dimensional structure of the patient support system (vertically placed), the irradiation system (horizontally placed), and the imaging system of the present invention in a second usage state;

[0053] Figure 3 is a schematic diagram of the three-dimensional structure of the patient support system (horizontally placed), the irradiation system (horizontally placed) and the imaging system of the present invention in a third usage state;

[0054] Figure 4 A schematic diagram of the central cross-section three-dimensional structure of the accommodating and fixing device of the present invention;

[0055] Figure 5 It is a schematic diagram of the assembly connection plan structure of the two-dimensional translation system and the rotation system of the present invention;

[0056] Figure 6 It is a schematic diagram of the three-dimensional structure of the assembly connection of the two-dimensional translation system and the rotation system of the present invention;

[0057] Figure 7 A schematic diagram of the assembled and connected three-dimensional structure of the two-dimensional translation system and the rotation system of the present invention from another perspective;

[0058] Figure 8 It is a schematic diagram of the three-dimensional structure of the assembly connection between the two-dimensional translation system and the connecting rod of the present invention;

[0059] Figure 9 It is a schematic diagram of the three-dimensional structure of the assembly connection of the two-dimensional translation system, the connecting rod and the accommodating and fixing device of the present invention;

[0060] Figure 10 A schematic diagram of the assembled and connected three-dimensional structure of the two-dimensional translation system, the connecting rod and the accommodating and fixing device of the present invention from another perspective;

[0061] Figure 11 Schematic diagram of the planar structure of the multi-degree-of-freedom mechanical positioning system of the present invention;

[0062] Figure 12 A schematic diagram of the system configuration of a multi-angle particle therapy system without a rotating gantry provided in an embodiment of the present application;

[0063] Figure 13 A schematic flow chart of a method for using a multi-angle particle therapy system without a rotating gantry provided in an embodiment of the present application;

[0064] Figure 14 A flowchart illustrating another method for using the multi-angle particle therapy system without a rotating gantry provided in an embodiment of the present application.

[0065] Description of the reference numerals in the accompanying drawings:

[0066] 101-accelerator, 102-irradiation system, 103-control system, 104-imaging system, 105-patient support system, 1-accommodating fixture, 2-two-dimensional translation system, 3-rotation system, 4-multi-degree-of-freedom mechanical positioning system, 5-connecting rod, 11-negative pressure positioning pad, 12-airbag, 13-external compartment, 14-hinge, 15-knob, 21-two-dimensional translation module, 22-translation motor, 31-rotational platform, 32-rotational motor, 41-mounting plate, 42-bed board, 43-six-dimensional mechanical swing arm structure, 44-base, 61-X-ray tube 6, 62-flat panel detector, 63-conical X-ray beam. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0068] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0069] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0070] Refer to the attached Figure 12The embodiment of the present application provides a multi-angle particle therapy system without a rotating frame, which is suitable for different types of particle therapy, including but not limited to protons, helium ions, and carbon ions. The treatment system itself is equipped with a treatment room, and the patient completes the irradiation process in the treatment room. Specifically, the treatment system includes at least five subsystems: an accelerator 101, an irradiation system 102, a control system 103, an imaging system 104, and a patient support system 105. The imaging system 104 includes an X-ray tube 61 and a flat-panel detector 62. Both the X-ray tube 61 and the flat-panel detector 62 are installed in the treatment room. The X-ray tube 61 emits a conical X-ray beam 63 that passes through the patient support system 105 and irradiates the flat-panel detector 62. The accelerator 101 is connected to the irradiation system 102. The irradiation system 102, the patient support system 105, and the imaging system 104 are installed in the treatment room. The accelerator 101 is used to accelerate particles to form a high-energy particle beam for irradiation. The high-energy particle beam acts on the patient through the irradiation system 102 to complete the irradiation process. The control system 103 is connected to the irradiation system 102, the patient support system 105, and the imaging system 104 through a data interface to coordinate the work of each subsystem.

[0071] It should be noted that in this embodiment, the accelerator 101, irradiation system 102, and imaging system 104 can utilize mature components from existing particle therapy systems. Their structure, operating principles, and functional applications are substantially the same as those of the prior art. The functions of the control system 103 are also implemented based on conventional control principles, but its control targets are expanded in this embodiment. In addition to conventional control targets, control of the two-dimensional translation system 2 and the rotation system 3 has been newly added.

[0072] Among the above, Figures 1 to 3 and Figure 12 As shown, the patient support system 105 includes a accommodating fixture 1, a two-dimensional translation system 2, a rotation system 3, and a multi-degree-of-freedom mechanical positioning system 4. The accommodating fixture 1 is used to carry and position the patient, and the two-dimensional translation system 2, the rotation system 3 and the multi-degree-of-freedom mechanical positioning system 4 are used to adjust the position of the accommodating fixture 1 in the treatment room to adjust the body area where the patient's target area is located to the irradiation area of ​​the irradiation system.

[0073] Specifically, if Figures 1 to 4As shown, the accommodating and fixing device 1 consists of an outer chamber 13, an airbag 12, and a negative pressure positioning pad 11. The negative pressure positioning pad 11 is placed between the airbag 12 and the patient. The airbag 12 is fixed on the inner wall of the outer chamber 13. The thickness of the airbag 12 can be adjusted by repeated inflation and deflation. The outer chamber 13 is divided into two symmetrical chamber bodies. The chamber bodies are not limited to being made of polycarbonate, and the two chamber bodies are linked and locked by hinges 14 and knobs 15. The hinges 14 and knobs 15 can be made of zirconium oxide composite ceramics or polycarbonate. It can be understood that ceramics have extremely high hardness and wear resistance, and carbonate polyester has advantages in mechanical strength such as good toughness and impact resistance. In addition, the selection of non-metallic materials can avoid metal artifacts during imaging.

[0074] At the same time Figures 5 to 10 As shown, the 2D translation system 2 includes two sets of 2D translation modules 21 and two translation motors 22. The translation motors 22 are mounted on the two sets of 2D translation modules 21. The two ends of the outer chamber 13 are connected to the 2D translation modules 21 via connecting rods 5. The 2D translation modules 21 are mounted on the rotation system 3. In this embodiment, the 2D translation modules are high-precision electric translation stages. After connecting the two ends of the outer chamber 13 to the 2D translation modules 21, the movement of the 2D translation modules 21 drives the outer chamber 13 to move in a direction perpendicular to the axis of the outer chamber 13, thereby adjusting the relative position between the patient's target area and the rotation center of the rotation system 3.

[0075] It should be noted here that if Figure 9 and Figure 10 As shown, the connecting rod 5 is connected to one end of the outer warehouse 13 with a truncated cone-shaped connecting seat, the connecting seat is fixedly connected to the lower part of the outer warehouse 13, and the connecting seat and the upper part of the outer warehouse 13 are in a non-fixed connection state (it can be understood that the upper half has an arc-shaped hole structure that is not connected to the connecting seat), so that the outer warehouse 13 can be opened.

[0076] It is easy to understand that the connecting rod 5 serves as a transmission connection component between the accommodating and fixing device 1 and the two-dimensional translation module 21. One end of the connecting rod 5 is fixedly connected to the lower structure of the accommodating and fixing device 1 (i.e., the outer warehouse 13) through a truncated cone-shaped connecting seat, and the other end is connected to the slider structure of the two-dimensional translation module 21. When the two-dimensional translation module 21 moves, the connecting rod 5 can drive the accommodating and fixing device 1 as a whole to achieve synchronous translation in a plane perpendicular to the axis of the outer warehouse 13.

[0077] Of course, it is also important to emphasize that the movement of the holding fixture 1 within the plane depends on the two-dimensional translation module 21 configured in the system. The plane where the two-dimensional translation module 21 moves can be defined as the XY plane. The two-dimensional translation module 21 is an existing mature high-precision electric slide assembly, which usually adopts a cross-stacked structure. Figures 5 to 10As shown, the two-dimensional translation module includes two sets of linear guide motion mechanisms arranged perpendicular to each other. Conventionally, each set of linear guide motion mechanisms includes a linear guide, a slider, an electric motor and a transmission mechanism. The transmission mechanism is used to convert the rotational motion of the electric motor into the linear motion of the slider along the linear guide. Common types of transmission mechanisms include a synchronous belt mechanism or a ball screw mechanism. Taking one set of horizontally placed linear guide motion mechanisms as an example, when the corresponding electric motor is started, the electric motor rotates to drive the connected transmission mechanism to operate. The transmission mechanism converts the rotational motion into the linear motion of the slider along the guide rail, thereby driving the connecting structure (such as the accommodating fixing device) to move in the horizontal direction. If the slider needs to move in the vertical direction, it is necessary to start the electric motor corresponding to the vertically placed linear guide motion mechanism, which drives the corresponding transmission mechanism to drive the slider to move in the vertical direction. Among them, one set of guide rails of the two-dimensional translation module 21 is fixedly mounted on the other set of sliders to achieve independent motion control in the X-axis and Y-axis directions.

[0078] In this embodiment, the two two-dimensional translation modules 21 are respectively located at the two ends of the accommodating fixture 1 and are connected to the accommodating fixture 1 through a connecting rod 5. The control system 103 drives the two two-dimensional translation modules 21 to move on the X-axis and Y-axis respectively, thereby realizing the synchronous movement of the accommodating fixture 1 in a plane perpendicular to the rotation axis (i.e., the XY plane).

[0079] Among the above, Figures 1 to 3 as well as Figures 5 to 9 As shown, the rotation system 3 includes two rotating platforms 31 and two rotating motors 32. The rotating motors 32 are respectively installed on the two rotating platforms 31. The rotating motors 32 drive the rotating platforms 31 to rotate. The two-dimensional translation module 21 is installed on the rotating platforms 31 to realize the rotation of the two-dimensional translation module 21 and the outer chamber 13 together. Figure 11 As shown, the multi-degree-of-freedom mechanical positioning system 4 includes a base 44, a six-dimensional mechanical swing arm structure 43, and a bed board 42 with mounting plates 41 at both ends. The rotating platform 31 is installed on the mounting plate 41, the bed board 42 is connected to the six-dimensional mechanical swing arm structure 43, and the six-dimensional mechanical swing arm structure 43 is installed on the base 44, and the base 44 is fixed in the treatment room.

[0080] It can be imagined that the workflow of the containment and fixation device when in use is as follows: open the outer chamber 13, lay the negative pressure positioning pad 11 on the surface of the airbag 12, guide the patient into the containment and fixation device 1, adjust the thickness of the airbag 12 and evacuate the negative pressure positioning pad 11, so that the negative pressure positioning pad 11 is tightly adsorbed on the patient's body surface to complete the patient's position fixation, and rotate the knob 15 to lock the hatch of the outer chamber 13; the two-dimensional translation module 21 controls the containment and fixation device 1 to move in a plane perpendicular to the axis of the outer chamber 13, and adjusts the patient's target area to the center of rotation; start the rotating platform 31 to drive the containment and fixation device 1 and the two-dimensional translation system 2 to rotate to the specified angle. It can be understood that the rotating platform 31 is a turntable structure well known in the art.

[0081] It should be noted that: in the above embodiment, the two-dimensional translation module 21 is fixedly mounted on the rotating platform 31 to form an integrated linkage rotating structure, and the connection method between the two-dimensional translation module 21 and the rotating platform 31 can be a detachable connection or an indirect connection, specifically including but not limited to the following forms: for example, direct fixation by bolts, or indirect connection through the use of intermediate connecting components (such as flanges, connecting plates, etc.).

[0082] The rotating platform 31 is driven by a rotating motor and rotates around its own central axis. Since the two-dimensional translation module 21 is fixedly installed on the rotating platform 31, when the rotating platform 31 rotates, the two-dimensional translation module 21 as part of its overall structure also rotates synchronously, thereby driving the accommodating and fixing device 1 connected to it to rotate.

[0083] In this embodiment, the patient support system 105 can be placed horizontally or vertically. Figure 1 and Figure 2 Different placement methods are suitable for different treatment scenarios, which improves the versatility and flexibility of the system. In addition, the patient support system 105 can be used in conjunction with the vertical fixed beam irradiation method and the horizontal fixed beam irradiation method in the horizontal placement state. For details, see Figure 1 and Figure 3 It should be noted that the placement of the patient support system 105 does not affect the specific usage of the particle therapy system.

[0084] In the above embodiment, it should be emphasized that: the rotation system 3 includes two rotating platforms 31, and the rotational movement of the patient support system 105 is a rotation around the axis formed by the rotation centers connecting the two rotating platforms 31. That is, the rotation axis of the patient support system 105 is an axis determined by the structure of the rotating platforms 31, and the specific direction is determined by the actual layout, such as Figure 1 As shown, when the patient support system 105 is placed horizontally, the rotation axis is parallel to the floor of the treatment room; Figure 2As shown, when the patient support system 105 is positioned vertically, the axis of rotation is perpendicular to the treatment room floor.

[0085] For ease of explanation, taking the case where the patient support system 105 is placed horizontally as an example, this embodiment also provides a method for using a multi-angle particle therapy system without a rotating gantry, such as Figure 13 The specific implementation steps are as follows:

[0086] S1: Preset the rotation angle according to the patient's CT and target area information;

[0087] S2: Guide the patient into the holding and fixation device and fix the patient's position with an air bag and a negative pressure positioning cushion;

[0088] S3: Start the multi-degree-of-freedom mechanical positioning system to perform preliminary positioning of the patient;

[0089] S4: Start the two-dimensional translation system and adjust the patient's target area to the rotation center;

[0090] S5: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified angle;

[0091] S6: The X-ray tube emits a cone-shaped X-ray beam, and the flat-panel detector collects the two-dimensional projection information after the X-ray beam penetrates the human body;

[0092] S7: Perform three-dimensional reconstruction on the two-dimensional projection information to generate and store a three-dimensional CT image of the patient after rotation;

[0093] S8: Repeat steps S5-S7 for each specified angle;

[0094] S9: Generate a treatment plan based on the patient's multi-angle CT images and output the treatment plan parameters to the control system;

[0095] S10: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified irradiation angle;

[0096] S11: The accelerator outputs a beam of corresponding energy according to the treatment plan. The control system controls the irradiation system to irradiate the patient with the beam. After completing the irradiation at the current angle, the beam is turned off.

[0097] S12: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to the next illumination angle;

[0098] S13: Repeat steps S11 and S12 until the treatment plan irradiation is completed.

[0099] Furthermore, in order to verify whether the target displacement caused by the patient rotation during the irradiation process is in line with expectations, the embodiment of the present application also provides another method for using a multi-angle particle therapy system without a rotating gantry, such as Figure 14 The specific implementation steps are as follows:

[0100] S1: Preset the rotation angle according to the patient's CT and target area information;

[0101] S2: Guide the patient into the holding and fixation device and fix the patient's position with an air bag and a negative pressure positioning cushion;

[0102] S3: Start the multi-degree-of-freedom mechanical positioning system to perform preliminary positioning of the patient;

[0103] S4: Start the two-dimensional translation system and adjust the patient's target area to the rotation center;

[0104] S5: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified angle;

[0105] S6: The X-ray tube emits a cone-shaped X-ray beam, and the flat-panel detector collects the two-dimensional projection information after the X-ray beam penetrates the human body;

[0106] S7: Perform three-dimensional reconstruction on the two-dimensional projection information to generate and store a three-dimensional CT image of the patient after rotation;

[0107] S8: Repeat steps S5-S7 for each specified angle;

[0108] S9: Generate a treatment plan based on the patient's multi-angle CT images and output the treatment plan parameters to the control system;

[0109] S10: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to a specified irradiation angle;

[0110] S11: using the imaging system to obtain the two-dimensional projection information of the patient's current angle;

[0111] S12: reconstructing a three-dimensional CT image of the patient at the current angle in real time based on the two-dimensional projection information at the current angle, comparing the real-time reconstructed three-dimensional CT image with the CT image at the angle used in formulating the treatment plan, and calculating the target area position deviation;

[0112] S13: Based on the target position deviation, determine whether the target position deviation exceeds a preset threshold. If so, suspend treatment; if not, the accelerator outputs a beam of corresponding energy according to the treatment plan for irradiation treatment;

[0113] S14: Start the rotation system to rotate the holding fixture and the two-dimensional translation system to the next illumination angle;

[0114] S15: Repeat steps S11-S14 until the treatment plan irradiation is completed.

[0115] In this embodiment, the preliminary positioning in step S3 refers to aligning the rotation center of the rotation system 3 with the irradiation center of the irradiation system 102 and the imaging center of the imaging system 104, and adjusting the body area where the patient target area is located to the irradiation area of ​​the irradiation system 102.

[0116] In this embodiment, the method of use reconstructs a three-dimensional CT image of the patient using the two-dimensional projection information of X-rays penetrating the patient and generates a treatment plan based on the multi-angle CT images. The specific implementation principle is as follows: first, the two-dimensional projection information of X-rays penetrating the patient is reconstructed into a three-dimensional CT image through an image reconstruction algorithm (see non-patent literature: ①Zhang Y, Hu D, Li W, et al. 2V-CBCT: Two-orthogonal-projection based CBCT reconstruction and dose calculation fromreal CBCT projection data[J]. International Journal of Radiation Oncology,Biology, Physics, 2023, 117(2): e748.); then, a certain angle is selected from the CT images at each angle as a reference phase, and a unified anatomical coordinate system is constructed according to the reference phase; then, with reference to the preset rotation angle, a unique beam irradiation direction is specified for each phase CT and the dose impact matrix is ​​calculated; then, a non-rigid registration algorithm is used (see non-patent literature: ①Dong J, Lu K, Xue J, et al.Accelerated nonrigid image registration using improved Levenberg–Marquardt method[J]. Information Sciences, 2018, 423: 66-79) establishes a deformation field between each phase CT and the reference phase CT; based on the deformation field, the dose impact matrix calculated on each phase CT is mapped to the reference phase CT, thereby superimposing the dose impact matrix of each phase CT under a unified anatomical structure; finally, a beam weight optimization algorithm based on a multi-objective optimization model is constructed (see non-patent literature: ①Watkins WT, Nourzadeh H, Siebers JV.Multiobjective, Multidelivery Optimization for Radiation Therapy Treatment Planning. Adv Radiat Oncol. 2019 Sep 27;5(2):279-288. doi: 10.1016 / j.adro.2019.09.003. PMID: 32280828; PMCID: PMC7136667.), the beam weight coefficients at each irradiation angle are solved to obtain the optimized beam weight coefficients, and a treatment plan that meets clinical dose and biological evaluation standards is generated.

[0117] It should be noted that the relevant algorithms for reconstructing the patient's three-dimensional CT image based on the two-dimensional projection information of X-rays penetrating the patient can be integrated into various systems as functional modules, or set up as an independent image reconstruction system; the process of generating a treatment plan based on multi-angle CT images can be completed by the treatment planning system.

[0118] Furthermore, to improve the uniformity and robustness of dose distribution during actual irradiation, a repeated scanning irradiation strategy can be employed when irradiating the patient at various beam angles according to the treatment plan. This strategy divides the planned dose at each irradiation angle into multiple sub-portions, and the patient is rotated to each angle for repeated irradiation, each time delivering only a portion of the dose. Repeated scanning irradiation effectively balances dose distribution deviations caused by target motion or system errors, thereby improving irradiation accuracy and treatment effectiveness.

[0119] In this embodiment, the number of X-ray tubes 61 and flat panel detectors 62 can be flexibly configured according to needs. When multiple groups of X-ray tubes 61 and flat panel detectors 62 are arranged, they can be fixed in the treatment room in an orthogonal or specific angle combination; the repeatability of the two-dimensional translation module 21 is ±0.1mm, and the angular resolution of the rotating platform 31 is 0.1°; the types of beam particles that the irradiation system 102 can adapt to include but are not limited to protons, helium ions, carbon ions and other ion beams.

[0120] In summary, the present invention provides a multi-angle particle therapy system without a rotating gantry, whose primary advantages lie in its simplified structure, low manufacturing cost, reliable performance, strong operational flexibility, and simplified maintenance. By eliminating the complex rotating gantry structure of traditional particle therapy systems, the present invention significantly reduces the size and weight of the treatment system, alleviating space requirements. This not only makes the treatment room layout more compact, but also reduces the system's manufacturing and maintenance costs, while also reducing the system's mechanical complexity and potential failure rate. Furthermore, the system's ability to rotate around the patient's target area ensures that the particle beam remains centered around the target, thereby precisely concentrating the therapeutic dose and reducing the overall treatment time for multi-angle irradiation.

[0121] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A multi-angle particle therapy system without a rotating gantry, comprising an accelerator, an irradiation system, a control system, a patient support system, and an imaging system, characterized in that: The patient support system includes a holding fixture, a two-dimensional translation system, a rotation system, and a multi-degree-of-freedom mechanical positioning system; The accommodating fixture is placed horizontally in the treatment room for the patient to lie flat for carrying and positioning the patient; the two-dimensional translation system, the rotation system and the multi-degree-of-freedom mechanical positioning system are used to adjust the accommodating fixture. The position of the accommodating fixture in the treatment room is adjusted to the irradiation area of ​​the irradiation system, wherein the multi-degree-of-freedom mechanical positioning system performs preliminary positioning of the patient, the two-dimensional translation system is used to adjust the patient's target area to the rotation center of the rotation system, and the rotation system is used to rotate the accommodating fixture and the two-dimensional translation system to a specified angle; The imaging system is used to obtain two-dimensional anatomical structure images of the patient at different specified angles before formulating an irradiation plan, and to perform three-dimensional reconstruction on the two-dimensional anatomical structure images at different specified angles to generate three-dimensional CT images of the patient at various angles after rotation; based on the three-dimensional CT images of the patient at various angles after rotation, an irradiation plan that can reduce the impact of target area deformation and displacement after patient rotation on treatment accuracy is generated and transmitted to the control system; The control system is used to coordinate the various subsystems so that the high-energy particle beam accelerated by the accelerator passes through the irradiation system to perform multi-angle irradiation on the body area where the patient's target area is located, as determined by the imaging system, in a horizontal beam or a vertical beam. After obtaining the irradiation plan, the control system controls the rotation system to rotate the fixing device and the two-dimensional translation system to the specified irradiation angle, obtains a two-dimensional anatomical structure image of the patient at the current irradiation angle through the imaging system, and reconstructs a three-dimensional CT image of the patient at the current angle in real time. The real-time reconstructed three-dimensional CT image is compared with the three-dimensional CT image of the current angle used when formulating the irradiation plan, and the target area position deviation is calculated. Based on the target area position deviation, the control system determines whether the target area position deviation exceeds a preset threshold. If so, the irradiation is suspended. If not, the control system coordinates the accelerator to output a beam of corresponding energy, and simultaneously controls the irradiation system to implement beam irradiation on the patient until beam irradiation at different angles is completed.

2. The multi-angle particle therapy system without a rotating gantry according to claim 1, characterized in that: The accommodating and fixing device is connected to the two-dimensional translation system, the two-dimensional translation system is connected to the rotation system, the rotation system is connected to the multi-degree-of-freedom mechanical positioning system, and the multi-degree-of-freedom mechanical positioning system and the imaging system are installed in the treatment room.

3. The multi-angle particle therapy system without a rotating gantry according to claim 1, characterized in that: The accommodating and fixing device includes an outer chamber, an airbag and a negative pressure positioning pad. The airbag is fixed on the inner wall of the outer chamber, and the negative pressure positioning pad is placed between the airbag and the patient.

4. The multi-angle particle therapy system without a rotating gantry according to claim 3, characterized in that: The outer compartment includes two symmetrical compartment bodies which are linked and locked by hinges and knobs.

5. The multi-angle particle therapy system without a rotating gantry according to claim 1, characterized in that: The multi-degree-of-freedom mechanical positioning system includes a base, a six-dimensional mechanical swing arm structure, and a bed board. The six-dimensional mechanical swing arm structure is fixed in the treatment room through the base. The bed board is connected to the six-dimensional mechanical swing arm structure. Mounting plates for mounting the rotation system are provided at both ends of the bed board.

6. The multi-angle particle therapy system without a rotating gantry according to claim 5, wherein the rotating system comprises two rotating platforms and two rotating motors, wherein the rotating motors are respectively fixed to the two rotating platforms, and the rotating platforms are fixed to the mounting plate of the multi-degree-of-freedom mechanical positioning system and connected to the two-dimensional translation system.

7. The multi-angle particle therapy system without a rotating gantry according to claim 1, characterized in that: The two-dimensional translation system includes two two-dimensional translation modules and two translation motors. The translation motors are respectively fixed on the two two-dimensional translation modules. The two-dimensional translation modules are respectively connected to the two ends of the accommodating and fixing device through connecting rods.

8. The multi-angle particle therapy system without a rotating gantry according to claim 1, characterized in that: The imaging system includes an X-ray tube and a flat panel detector, both of which are installed in the treatment room.

9. The multi-angle particle therapy system without a rotating gantry according to claim 1, characterized in that: The particle therapy system is applicable to different types of particle therapy, including but not limited to proton, helium ion, and carbon ion therapy.

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