Radiation therapy system and working method of positioning device

Abstract

The invention provides a radiation therapy system, which comprises a radiation generating device for generating radiation for therapy, an irradiation chamber for accommodating an irradiated body irradiated by the radiation, a management chamber for performing irradiation control, and a carrying device for transferring and carrying the irradiated body, the carrying device comprises a carrying piece for carrying an irradiated body, an adjusting assembly for adjusting the spatial position of the carrying piece and a clamping assembly for fixedly connecting the carrying piece and the adjusting assembly in a detachable mode. The carrying piece clamping assembly adjusting assembly at least comprises a first carrying piece and a second carrying piece different from the first carrying piece in size and / or shape. According to actual use requirements, the carrying pieces with different sizes and / or shapes can be freely switched, so that the radiation therapy system can adapt to patients with different body types and different tumor positions.

Description

Technical Field

[0001] The invention relates to a radioactive ray irradiation system, in particular to a radiation therapy system and a working method of a positioning device. Background Art

[0002] With the development of atomic science, radiation therapy such as cobalt sixty, linear accelerator, electron beam, etc. has become one of the main means of cancer treatment. During the radiotherapy process, it is necessary to use a beam to continuously irradiate the patient for a certain period of time. During this period, the patient needs to be fixed on the carrier and moved to a predetermined position by an adjustment component connected to the carrier. In existing treatment equipment, the shape and size of the carrier are single, which cannot adapt to patients of different body shapes and different tumor locations. In addition, there are other facilities in the irradiation room. When the movement position of carriers of certain shapes and sizes is interfered, it is impossible to implement irradiation at the optimal irradiation point and the optimal irradiation angle, which reduces the treatment effect. Summary of the invention

[0003] In order to solve the above-mentioned problems, the present invention provides a radiation therapy system that can adapt to patients of different body shapes and different tumor locations, which includes a radiation generating device for generating therapeutic radiation, an irradiation room for placing an irradiated body to be irradiated with radiation, a management room for implementing irradiation control, and a loading device for transporting and carrying the irradiated body, the loading device includes a loading member for carrying the irradiated body, an adjustment component for adjusting the spatial position of the loading member, and a clamping component for fixing the loading member and the adjustment component together in a detachable manner, and the loading member includes at least a first loading member and a second loading member that is different in size and / or shape from the first loading member.

[0004] Furthermore, the clamping assembly includes a first positioning block arranged on the carrier, a second positioning block arranged on the adjustment assembly, and a locking member for locking or releasing the second positioning block compared to the first positioning block.

[0005] Further, the carrier includes a first surface arranged toward the first positioning block, the first positioning block is arranged on the first surface, the first positioning block is provided with a limiting groove for the second limiting block to be inserted along a first direction parallel to the first surface, a giving groove connected with the limiting groove in a second direction perpendicular to the first surface for the adjustment component to pass through, and a locking hole connected with the limiting groove and cooperating with the locking member, the limiting groove penetrates one of the surfaces of the first positioning block in the first direction to form an insertion port, and the second positioning block is inserted into the limiting groove along the first direction from the insertion port.

[0006] Further, the locking member includes a mounting portion fixedly connected to the second positioning block, a locking pin capable of being inserted into or removed from the locking hole, and a first driving member for driving the locking pin to be inserted into or removed from the locking hole. The locking hole penetrates through the first positioning block and communicates with the limiting groove.

[0007] Further, the placing device further includes a detection component, which detects whether the locking pin moves in place so as to determine whether the placing member and the adjustment component are effectively connected together.

[0008] Further, the radiation therapy system further includes a positioning device for controlling the movement track of the placing member.

[0009] Further, the positioning device includes a laser positioning component, an alignment component, an optical verification component, a ranging component, a driving component for driving the adjustment component to move to drive the placing member to move, and a control component for controlling the movement track of the adjustment component.

[0010] Further, the alignment component includes a positioning frame with an adjustable relative position to the placing member, a support rod connected between the placing member and the positioning frame for adjusting the relative position between the positioning frame and the placing member, and a locking member for locking the relative position between the positioning frame and the placing member.

[0011] Further, the radiation therapy system further includes a transmission device disposed between the adjustment component and the placing member to enable the placing member to move relative to the adjustment component.

[0012] Further, the transmission device includes a substrate fixedly connected to the adjustment component, a guiding member disposed on the substrate, a slider capable of sliding relative to the guiding member, a driving block for driving the slider to move, and a second driving member for driving the driving block to move.

[0013] Compared with the prior art, the technical solution described in this embodiment has the following beneficial effects: The clamping component can fixedly connect placing members of different sizes and / or shapes to the adjustment component in a detachable manner. Therefore, the radiation therapy system of the present invention can switch placing members of different shapes and / or sizes according to different usage requirements, enabling the radiation therapy system to adapt to patients with different body types and different tumor positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a top view of the radiation therapy system of the present invention with the placing device and the positioning device removed;

[0015] Figure 2 is a three-dimensional schematic diagram of the irradiation chamber of the radiation therapy system of the present invention;

[0016] Figure 3 This is a three-dimensional schematic diagram of the placement device of the radiation therapy system of the present invention without an installed transmission device;

[0017] Figure 4 This is a three-dimensional schematic diagram of the flat placement member and the first positioning block of the radiation therapy system of the present invention;

[0018] Figure 5 This is a three-dimensional schematic diagram of the second positioning block and the locking member of the radiation therapy system of the present invention;

[0019] Figure 6 This is a three-dimensional schematic diagram of the chair-shaped placement member and the first positioning block of the radiation therapy system of the present invention;

[0020] Figure 7 This is a three-dimensional schematic diagram of the flat placement member and the alignment assembly of the radiation therapy system of the present invention;

[0021] Figure 8 This is a three-dimensional schematic diagram of the transmission device of the radiation therapy system of the present invention. Detailed implementation manners

[0022] Radiation therapy is a common means of treating cancer. For example, Figures 1 to 8 As shown, the radiation therapy system for performing radiation therapy includes a radiation generating device 1 for generating therapeutic radiation, an irradiation chamber 2 for placing an irradiated object to be irradiated with radiation, a management chamber 3 for implementing irradiation control, a placement device 4 for transporting and carrying a patient, and a positioning device for controlling the movement trajectory of the placement device 4.

[0023] Referring to Figure 3 As shown, the placement device 4 includes a placement member 41 for carrying a patient, an adjustment assembly 42 for adjusting the spatial position of the placement member 41, and a clamping assembly 43 for detachably and fixedly connecting the placement member 41 and the adjustment assembly 42 together.

[0024] The placement member 41 corresponds to multiple models according to different shapes and / or sizes. For example: a flat first placement member 41', a chair-shaped second placement member 41". To adapt to patients with different body types and different tumor positions, both the first placement member 41' and the second placement member 41" can be provided with multiple size specifications. For example, when a certain patient needs a certain irradiation angle, and the current placement member 41 cannot be adjusted in place due to interference with other devices in the irradiation chamber 2 in terms of shape and / or size, then it can be considered to switch the current placement member 41 to another placement member 41 with a different shape and / or size to achieve the adjustment of the irradiation angle, or when certain parts of the patient are lying flat. For example, the back of the head, cannot be irradiated, using a placement chair to carry the patient can achieve a better treatment effect.

[0025] Reference Figure 4 As shown, the carrier 41 includes a first surface 411 for mounting the clamping assembly 43 and a second surface 412 for supporting the patient. The adjustment assembly 42 can drive the carrier 41 to move in six degrees of freedom.

[0026] The clamping assembly 43 includes a first positioning block 431 disposed on the first surface 411 of the carrier 41, a second positioning block 432 disposed on the adjustment assembly 42, and a locking member 433 disposed on the second positioning block 432 for locking or releasing the second positioning block 432 relative to the first positioning block 431. Specifically, the first positioning block 431 is provided with a limiting groove 4311 for the second positioning block 432 to be inserted in a first direction parallel to the first surface 411, a giving groove 4312 connected to the limiting groove 4311 in a second direction perpendicular to the first surface 411, and a locking hole 4313 connected to the limiting groove 4311 and matched with the locking member 433. The limiting groove 4311 penetrates one of the surfaces of the first positioning block 431 in the first direction to form an insertion port 4314, and the second positioning block 432 is inserted into the limiting groove 4311 from the insertion port 4314 along the first direction.

[0027] The first direction of the second positioning block 432 inserted into the limiting groove 4311 is defined as the front-to-back direction, the second direction perpendicular to the first surface 411 is defined as the up-down direction, and the direction orthogonal to both the front-to-back direction (first direction) and the up-down direction (second direction) is defined as the left-right direction. The limiting groove 4311 is connected to the clearance groove 4312 in the up-down direction and penetrates the first positioning block 431 in the direction away from the carrier 41, and the adjustment component 42 is connected to the second positioning block 432 through the clearance groove. In the left-to-right direction, the size of the clearance groove 4312 is smaller than the size of the limiting groove 4311 and the size of the second positioning block 432, so the second positioning block 432 will not be separated from the limiting groove 4311 in the up-down direction.

[0028] Reference Figure 5 As shown, the locking member 433 includes a mounting portion 4331 fixedly connected to the second positioning block 432, a locking pin 4332 capable of being inserted into or removed from the locking hole 4313, and a first driving member 4333 driving the locking pin 4332 to be inserted into or removed from the locking hole 4313. The locking hole 4313 penetrates the first positioning block 431 in the left-right direction and communicates with the limiting groove 4311. The locking pin 4332 is inserted into or removed from the locking hole 4313 to selectively prevent the first positioning block 431 from moving relative to the first positioning block 431 in the front-to-back direction, while the limiting groove 4311 only penetrates one of the surfaces of the first positioning block 431 in the front-to-back direction and the left-to-right direction parallel to the first surface 411. When the locking pin 4332 is inserted into the locking hole 4313, the movement of the second positioning block 432 relative to the first positioning block 431 in the front-to-back direction and the left-to-right direction is prevented, thereby detachably fixing the adjustment assembly 42 to the carrier 41.

[0029] To prevent the locking pin 4332 from not moving in place, resulting in the first positioning block 431 and the second positioning block 432 not being firmly connected together, the placing device 4 further includes a detection component (not shown). The detection component detects whether the locking pin 4332 moves in place to determine whether the placing member 41 and the adjustment component 42 are effectively connected together.

[0030] Combined with Figure 2 and Figure 7 As shown, the positioning device includes a laser positioning component 51, an alignment component 52, an optical verification component (not shown), a ranging component (not shown), a driving component (not shown) for driving the adjustment component 42 to move to drive the placing member 41 to move, and a control component (not shown) for controlling the movement track of the adjustment component 42.

[0031] The adjustment component 42 drives the placing member 41 to move in six degrees of freedom under the drive of the driving component.

[0032] Inside the irradiation chamber 2, there is a collimator 21 for the radiation generated by the radiation generating device 1 to emit. The radiation emits from the outlet of the collimator 21 and defines a beam axis X, which coincides with the center line of the collimator 21. On the beam axis X, the position 15 - 20 cm away from the outlet of the collimator 21 is the optimal treatment point. During the treatment process, it is necessary to align the patient's lesion with this optimal treatment point.

[0033] Referring to Figure 2 As shown, the laser positioning component 51 includes at least two laser emitters arranged in different orientations. The at least two laser emitters are respectively arranged on two different walls of the irradiation chamber 2. Usually, one of them is arranged on the top wall of the irradiation chamber 2. The laser emitted by the at least two laser emitters has a unique laser intersection point, which coincides with the above-mentioned optimal treatment point.

[0034] Referring to Figure 7 As shown, the alignment component 52 includes a positioning frame 521 whose relative position with the placing member 41 is adjustable, a support rod 522 connected between the placing member 41 and the positioning frame 521 for adjusting the relative position between the positioning frame 521 and the placing member 41, and a locking member (not shown) for locking the relative position between the positioning frame 521 and the placing member 41. The positioning frame 521 has a positioning point. In the embodiment disclosed in the present invention, the support rod 522 has three rods that can rotate relative to each other. The relative position of the positioning frame 521 relative to the placing member 41 is adjusted by adjusting the relative angles and positions between the three rods. After the patient lies or sits on the placing member 41, the medical staff aligns the positioning point of the positioning frame 521 with the optimal irradiation point of the patient by adjusting the support rod 522, and then locks the position of the positioning frame 521 with the locking member.

[0035] The optical verification component includes a CCD camera and an image processing and recognition module.

[0036] The distance measuring component detects the distance between the positioning point and the laser intersection point in the direction perpendicular to the second surface 412 of the placing member 41. The distance measuring component can be a commonly used distance measuring instrument such as a laser rangefinder.

[0037] The CCD camera is used to capture relevant images, and the image processing and recognition module is used to analyze the coordinates and relative angles of a certain point in the images captured by the CCD camera.

[0038] The working process of the positioning device is as follows:

[0039] S1: The laser positioning component 51 marks the optimal treatment point through the laser intersection point, and the optimal treatment point corresponds to the coordinates (X, Y, Z) and the relative angle α;

[0040] S2: The CCD camera captures the image of the laser intersection point to obtain a photo, and the image processing and recognition module analyzes the coordinates (x, y) and the relative angle α of the laser intersection point in the photo and records them;

[0041] S3: The patient lies or sits on the placing member 41, and the medical staff aligns the positioning point of the positioning frame 521 with the lesion of the patient by adjusting the support rod 522, and then locks the position of the positioning frame 521 with the locking member;

[0042] S4: The CCD camera captures the image of the patient lying or sitting on the placing member 41 and the alignment component 52 being adjusted in place to obtain a photo. Then, the image processing and recognition module analyzes the coordinates (x1, y1) and the relative angle α1 of the positioning point of the alignment component 52 in the photo and records them. Next, the image processing and recognition module calculates the coordinate difference between the positioning point and the laser intersection point: X0 = X1 - X, Y0 = Y1 - Y, α0 = α1 - α;

[0043] S5: The control component determines the movement trajectory of the adjustment component 42 through calculation based on the coordinate difference obtained from the optical verification component. Then, the control component controls the drive component to drive the adjustment component 42 to move, so that the lesion of the patient on the placing member 41 is moved to the position corresponding to the coordinates (x, y) and the relative angle α;

[0044] S6: The distance measuring component detects the distance Z between the positioning point and the laser intersection point in the direction perpendicular to the second surface 412 of the placing member 41;

[0045] S7: The control component determines the movement trajectory of the adjustment component 42 through calculation based on the data obtained from the ranging component. Then, the control component controls the driving component to drive the adjustment component 42 to move, so that the lesion of the patient on the placement component 41 is moved to the optimal treatment point, that is, the position corresponding to the coordinates (X, Y, Z) and the relative angle α for treatment.

[0046] Before performing step S3, the placement component 41 can be visually moved to a position close to the laser intersection point, which is determined by medical staff based on experience in combination with the patient's body shape, lesion, etc.

[0047] Step S6 can be performed before step S5. In this case, steps S5 and S7 are combined to directly adjust the placement component 41 to the position corresponding to the coordinates (X, Y, Z) and the relative angle α.

[0048] During the above working process, a certain point on the adjustment component 42 is set as the coordinate origin. Of course, the coordinate origin can also be set at any other arbitrary point.

[0049] In the embodiment disclosed by the present invention, the positioning frame 521 is a cross positioning frame, and the positioning point is the cross intersection point. In other embodiments, the positioning frame 521 can be a V-shaped positioning frame, etc., and the positioning point can be any marked point of any positioning frame.

[0050] Refer to Figure 8 As shown, since there are various devices in the irradiation chamber 2, the adjustment component 42 may interfere with these devices at certain positions, resulting in certain limitations on the running trajectory of the adjustment component 42, making it impossible to move the lesion of the patient to the optimal treatment point. Another embodiment of the present invention provides a transmission device 6 between the adjustment component 42 and the placement component 41, enabling the placement component 41 to move relative to the adjustment component 42 to ensure that the lesion of the patient can be moved to the optimal treatment point to the greatest extent.

[0051] In the embodiment disclosed by the present invention, the transmission device 6 is arranged between the second positioning block 432 and the adjustment component 42. The transmission device 6 includes a substrate 61 fixedly connected to the adjustment component 42, a guide member 62 arranged on the substrate 61, a slider 63 capable of sliding relative to the guide member 62, a driving block 64 connected between the slider 63 and the second positioning block 432, and a second driving member 65 for driving the driving block 64 to move.

[0052] The guiding member 62 is composed of two spaced-apart guide rails arranged in parallel. The slider 63 straddles the guide rails. The driving block 64 is fixedly connected to the second positioning block 432 and is connected between the second driving member 65 and the slider 63. The second driving member 65 is preferably a motor, or it can also be a cylinder. The second driving member 65 drives the driving block 64 to move, thereby driving the slider 63 to move along the direction defined by the guiding member 62. The driving block 64 simultaneously drives the second positioning block 432 to move, so that the placing member 41 moves relative to the adjusting assembly 42 along the predetermined trajectory of the guiding member 62. Since the placing member 41 and the adjusting assembly 42 can move relative to each other, the movement range of the placing member 41 can be increased by 30%, thereby increasing the treatable range.

[0053] In the embodiment disclosed in the present invention, the adjusting assembly 42 is a robotic arm. In other embodiments, the adjusting assembly 42 can be arranged as a bracket or other structures.

[0054] In other embodiments, the driving block 64 can be omitted, and the second positioning block 432 can be used instead of the driving block 64; in other embodiments, the transmission device 6 can be arranged between the placing member 41 and the first positioning block 431; in addition, the transmission device 6 can also be arranged between the placing member 41 and the first positioning block 431. At this time, the transmission device 6 and the first positioning block 431 can be arranged as one body, and the transmission device 6 is connected to the placing member 41 in a manner that can be quickly installed and disassembled.

[0055] In the present invention, the clamping assembly 43 is used to quickly disassemble or install the placing member 41 and the adjusting assembly 42 together, so that the size and shape of the placing member 41 can be freely switched according to actual usage requirements, enabling the radiation therapy system to adapt to patients with different body types and different tumor positions, and increasing the treatment irradiation range, improving efficiency, and reducing the time of the operator in the irradiation room 2.

[0056] The placing member 41 automatically and quickly moves into place through the positioning device, improving the treatment efficiency and reducing the time of the operator in the irradiation room 2.

[0057] A transmission device 6 is arranged between the placing member 41 and the adjusting assembly 42, enabling relative movement between the placing member 41 and the adjusting assembly 42, and increasing the movement range of the placing member 41 by 30%, thereby increasing the treatable range.

[0058] As an effective means of treating cancer, neutron capture therapy has been increasingly applied in recent years. Among them, boron neutron capture therapy is the most common. The neutrons for boron neutron capture therapy can be supplied by a nuclear reactor or an accelerator. Preferably, the above-mentioned radiation is a neutron beam, the radiation generating device 1 is a neutron beam generating device, and the radiation therapy system is a neutron capture therapy system. More preferably, the neutron capture therapy system is an accelerator boron neutron capture therapy system.

[0059] The radiation therapy system and the mounting table disclosed in the present invention are not limited to the content described in the above embodiments and the structure shown in the drawings. Obvious changes, substitutions or modifications made to the materials, shapes and positions of the components on the basis of the present invention are within the scope of protection required by the present invention.

Claims

1. A radiation therapy system, characterized in that: It includes a radiation generating device for generating therapeutic radiation, an irradiation chamber for placing an irradiated object to be irradiated with radiation, a management chamber for implementing irradiation control, and a placement device for transporting and carrying the irradiated object. The placement device includes a placement member for carrying the irradiated object and an adjustment assembly for adjusting the spatial position of the placement member. The radiation therapy system further includes a positioning device. The positioning device is connected to the adjustment assembly, and the positioning device can drive the adjustment assembly to drive the placement member to move, so as to control the movement trajectory of the placement member.

2. The radiation therapy system according to claim 1, wherein: The positioning device includes a laser positioning assembly, an alignment assembly, an optical verification assembly, a ranging assembly, a driving assembly for driving the adjustment assembly to move to drive the placement member to move, and a control assembly for controlling the movement trajectory of the adjustment assembly. The laser positioning assembly is arranged on the wall of the irradiation chamber to mark the optimal treatment point. The alignment assembly has a certain positioning point, and the alignment assembly is movably connected to the placement member to align the positioning point with the optimal irradiation point of the patient. The optical verification assembly is used to take relevant pictures and analyze the coordinates and relative angles of a certain point in the relevant pictures. The ranging assembly is used to detect the distance between the positioning point and the optimal treatment point in the direction perpendicular to the placement member. The driving assembly is used to drive the adjustment assembly to move to drive the placement member to move, and the control assembly is used to control the movement trajectory of the adjustment assembly.

3. The radiation therapy system according to claim 2, wherein: The alignment assembly includes a positioning frame with an adjustable relative position to the placement member, a support rod connected between the placement member and the positioning frame for adjusting the relative position between the positioning frame and the placement member, and a locking member for locking the relative position between the positioning frame and the placement member.

4. The radiation therapy system according to claim 3, wherein: The support rod has three rods that can rotate relative to each other, and the relative position of the positioning frame relative to the placement member is adjusted by adjusting the relative angles and positions between the three rods in pairs.

5. The radiation therapy system according to claim 3, wherein: A collimator for emitting radiation is provided in the irradiation chamber. The radiation emits from the outlet of the collimator and defines a beam axis. There is an optimal treatment point on the beam axis. The laser positioning assembly includes at least two laser emitters arranged in different orientations. The lasers emitted by the at least two laser emitters have a laser intersection point. During the treatment process, the optimal irradiation point of the irradiated object, the laser intersection point, and the optimal treatment point coincide.

6. The radiation therapy system according to claim 5, wherein: One of the laser emitters is arranged on the top wall of the irradiation chamber.

7. The radiation therapy system according to claim 5, wherein: The positioning frame has a positioning point. During the treatment process, the optimal irradiation point of the irradiated object coincides with the positioning point.

8. The radiation therapy system according to claim 7, wherein: The optical verification assembly includes a CCD camera and an image processing and recognition module.

9. A working method of the positioning device according to claim 8: S1: The laser positioning assembly marks the optimal treatment point through the laser intersection point, and the optimal treatment point corresponds to coordinates (X, Y, Z) and a relative angle α; S2: The CCD camera takes a picture of the laser intersection point to obtain a photo, and the image processing and recognition module analyzes and marks the laser intersection point in the photo; S3: The irradiated object is located on the placement member. Align the positioning point of the positioning frame with the optimal irradiation point of the irradiated object, and then lock the position of the positioning frame with the locking member; S4: The CCD camera captures an image of the irradiated object located on the placement member and the alignment component being adjusted in place, obtaining a photo. Then, the image processing and recognition module analyzes the coordinates (X1, Y1) and relative angle α1 of the positioning point of the alignment component in the photo and records them. Next, the image processing and recognition module calculates the coordinate differences between the positioning point and the laser intersection point: X0 = X1 - X, Y0 = Y1 - Y, α0 = α1 - α; S5: The control component determines the movement trajectory of the adjustment component through calculation based on the coordinate differences obtained from the optical verification component. Then, the control component controls the drive component to drive the adjustment component to move, so that the optimal irradiation point of the irradiated object on the placement member is moved to the position corresponding to the coordinates (x, y) and relative angle α; S6: The distance measurement component detects the distance between the positioning point and the laser intersection point; S7: The control component determines the movement trajectory of the adjustment component through calculation based on the data obtained from the distance measurement component. Then, the control component controls the drive component to drive the adjustment component to move, so that the optimal irradiation point of the irradiated object on the placement member is moved to the optimal treatment point, that is, the position corresponding to the coordinates (X, Y, Z) and relative angle α for treatment.

10. A working method of the positioning device according to claim 8: S1: The laser positioning component marks the optimal treatment point through the laser intersection point, and this optimal treatment point corresponds to the coordinates (X, Y, Z) and relative angle α; S2: The CCD camera captures an image of the laser intersection point, obtaining a photo. The image processing and recognition module analyzes and marks the laser intersection point in the photo; S3: The irradiated object is located on the placement member. Align the positioning point of the positioning frame with the optimal irradiation point of the irradiated object, and then lock the position of the positioning frame with the locking member; S4: The CCD camera captures an image of the irradiated object located on the placement member and the alignment component being adjusted in place, obtaining a photo. Then, the image processing and recognition module analyzes the coordinates (X1, Y1) and relative angle α1 of the positioning point of the alignment component in the photo and records them. Next, the image processing and recognition module calculates the coordinate differences between the positioning point and the laser intersection point: X0 = X1 - X, Y0 = Y1 - Y, α0 = α1 - α; S6: The distance measurement component detects the distance between the positioning point and the laser intersection point; S6: The control component determines the movement trajectory of the adjustment component through calculation based on the data obtained from the optical verification component and the distance measurement component. Then, the control component controls the drive component to drive the adjustment component to move, so that the optimal irradiation point of the irradiated object on the placement member is moved to the optimal treatment point, that is, the position corresponding to the coordinates (X, Y, Z) and relative angle α.

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