Auxiliary docking device, radiotherapy apparatus and control method thereof

Abstract

The application provides an auxiliary docking device, a radiotherapy device and a control method thereof. The auxiliary docking device comprises an output interface arranged at an electronic output end of a radio beam source, an input interface arranged at an input end of a guiding component, and a magnetic pole coupling device arranged on the output interface and the input interface. When the output interface and the input interface are docked, the output interface is aligned with the input interface, and the output interface and the input interface are docked. The magnetic pole coupling device detects a magnetic field attraction force between the output interface and the input interface and feeds back to a control system. The control system adjusts the position of the output interface according to the magnetic field attraction force until the output interface is inserted into the input interface when the magnetic field attraction force is the strongest. The technical scheme can realize accurate matching of the electronic output end of the radio beam source and the input end of the guiding component, and improves the use effect of the treatment device.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an auxiliary docking device, a radiotherapy device, and a control method thereof. Background Technology

[0002] Radiotherapy is a treatment that uses high-energy rays to kill cancerous tumor cells. With the development of medical technology, immunotherapy has gained attention in the medical community in recent years. Traditional radiotherapy equipment uses complex and bulky rotating supports, robotic arms, or similar devices to output rays from different angles to superimpose and irradiate the tumor. It is expensive and bulky.

[0003] To reduce equipment costs and simplify the structure, there are already publicly available immunoradiotherapy treatment equipment technologies. For example, an immunoradiotherapy treatment equipment includes a radiation beam source, a guiding component, and a control system. The guiding component is pre-inserted into a predetermined location in the patient's cancer tissue. During treatment, the control system connects the guiding component to the electron output end of the radiation beam source, outputting an electron beam of a certain dose rate to treat the cancer tissue. During radiotherapy, ensuring the stability of the treatment process and improving the treatment effect is crucial. It is necessary to quickly, accurately, and stably align the electron output end with the input end entering the human body to ensure that the electron beam can be vertically injected at the designated location.

[0004] However, in the aforementioned technologies, the auxiliary docking is mainly controlled by a camera capturing images. When the alignment guide is connected to the electronic output end of the radiation beam source, it is difficult to achieve precise interface matching. Consequently, it is difficult for the immunoradiotherapy device to achieve optimal matching conditions. Therefore, it is necessary to improve the auxiliary docking structure between the electronic output end of the radiation beam source and the input end of the guide in the immunoradiotherapy device to enhance the effectiveness of the device. Summary of the Invention

[0005] The purpose of this application is to address one of the aforementioned technical deficiencies by providing an auxiliary docking device, a radiotherapy equipment, and a control method thereof, which enables accurate docking of the input end of the guiding component to the electronic output end of the radiation beam source.

[0006] An auxiliary docking device includes: an output interface disposed at the electronic output end of a radiation beam source, an input interface disposed at the input end of a guiding component, and a magnetic pole coupling device disposed on the output interface and the input interface.

[0007] When the output interface is connected to the input interface, the output interface is aligned with the input interface, and the output interface is connected to the input interface.

[0008] The magnetic pole coupling device detects the magnetic attraction between the output interface and the input interface and feeds it back to the control system.

[0009] The control system adjusts the position of the output interface according to the magnetic attraction force until the magnetic attraction force is strongest, at which point the output interface is inserted into the input interface.

[0010] In one embodiment, the magnetic pole coupling device includes: a first magnetic pole structure disposed outside the output interface, a second magnetic pole structure disposed inside the input interface, and a pressure sensor connected to the first magnetic pole structure;

[0011] The first magnetic pole structure and the second magnetic pole structure have opposite polarities, and the pressure sensor is used to measure the magnetic attraction between the first magnetic pole structure and the second magnetic pole structure.

[0012] In one embodiment, the first magnetic pole structure includes: periodically distributed N-pole small magnetic poles with outward polarity, and each N-pole small magnetic pole is connected to a miniature pressure sensor.

[0013] In one embodiment, the second magnetic pole structure includes: periodically distributed S-pole micro-poles with inward polarity; and each N-pole micro-pole is respectively disposed opposite to the S-pole micro-pole.

[0014] In one embodiment, the output interface is located at the end of the electron beam conduit connected to the radiation beam source, and the input interface is located at the front end of the dose regulator within the guiding component.

[0015] In one embodiment, the auxiliary docking device further includes:

[0016] A first camera and a second camera are provided at the output interface and connected to the control system; wherein the height of the first camera and the second camera are flush with the bottom of the output interface, and the first camera and the second camera are perpendicular to each other in the plane;

[0017] The first camera and the second camera are used to capture images of the docking of the output interface and the input interface from the xy direction at a specified focal length and send them to the control system.

[0018] The control system performs visual positioning of the output interface and the input interface based on the docking image, so as to align the output interface with the input interface.

[0019] In one embodiment, the auxiliary docking device further includes:

[0020] An infrared rangefinder mounted on the radiation beam source and connected to the control system;

[0021] The infrared rangefinder is used to measure the real-time distance between the output interface and the input interface under the control of the control system and to feed it back to the control system.

[0022] The control system inserts the output interface into the input interface based on the real-time distance.

[0023] A radiotherapy device includes: a radiation beam source, a guiding component, an auxiliary docking device, a control system, and a treatment bed; wherein the output interface is located at the electronic output end of the radiation beam source, the input interface is located at the input end of the guiding component, and the auxiliary docking device is used to assist in inserting the output interface into the input interface.

[0024] In one embodiment, the radiation beam source includes an accelerator and an electron beam conduit, and the guiding component includes a dose modulator;

[0025] The output interface is located at the end of the electron beam pipe that connects to the radiation beam source, and the input interface is located at the front end of the dose regulator within the guiding component.

[0026] A method for controlling a radiotherapy device, used in the control system of the radiotherapy device, characterized in that it includes:

[0027] After the guide component is inserted into the predetermined location in the patient's cancerous tissue, the treatment bed is controlled to move so that the input interface is aligned with the output interface.

[0028] Adjust the position of the output interface according to the magnetic attraction until the magnetic attraction is strongest, then insert the output interface into the input interface.

[0029] Immunoradiotherapy is performed on cancerous tissue by controlling the output electron beam current of the radiation beam source and controlling its output dose rate and duration of treatment.

[0030] In one embodiment, the control method for the radiotherapy device further includes:

[0031] The alignment status of the output interface and the input interface is determined based on the docking images captured by the first camera and the second camera, and the movement of the treatment bed is controlled according to the alignment status to adjust the alignment of the output interface and the input interface.

[0032] as well as

[0033] The treatment bed is adjusted to move according to the real-time distance between the output interface and the input interface measured by the infrared rangefinder, so as to insert the output interface into the input interface.

[0034] The technical solution of the above embodiment includes an auxiliary docking device comprising an output interface at the electronic output end of the radiation beam source, an input interface at the input end of the guide component, and a magnetic pole coupling device on the output interface and the input interface. The magnetic pole coupling device detects the magnetic attraction between the output interface and the input interface and feeds it back to the control system. The control system adjusts the position of the output interface according to the magnetic attraction until the magnetic attraction is strongest, at which point the output interface is inserted into the input interface, thereby achieving optimal matching conditions. This technical solution can achieve precise matching between the electronic output end of the radiation beam source and the input end of the guide component, enabling the treatment equipment to reach its optimal state and thus improving the effectiveness of the treatment equipment.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0036] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0037] Figure 1 This is a schematic diagram of an example radiotherapy device.

[0038] Figure 2 Here is another example of a schematic diagram of a radiotherapy device;

[0039] Figure 3 This is a schematic diagram of a multidimensional motion example;

[0040] Figure 4 This is a schematic diagram of an example auxiliary docking device.

[0041] Figure 5 This is a schematic diagram of another example of an auxiliary docking device structure;

[0042] Figure 6 This is yet another example of a schematic diagram of an auxiliary docking device;

[0043] Figure 7 This is another example of a schematic diagram of an auxiliary docking device;

[0044] Figure 8 This is a schematic diagram of an example infrared rangefinder installation;

[0045] Figure 9 This is a schematic diagram of an example radiotherapy device.

[0046] Figure 10 This is an example circuit diagram of a radiotherapy device;

[0047] Figure 11 This is a flowchart illustrating the control method of an example radiotherapy device. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0049] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in this application’s specification means the presence of the stated feature, integer, step, or operation, but does not preclude the presence or addition of one or more other features, integers, steps, or operations.

[0050] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0051] refer to Figure 1 As shown, Figure 1 This is a schematic diagram of an example radiotherapy device. The radiotherapy device mainly includes a radiation beam source 10, a guiding component 20, and a control system 30. The radiation beam source 10 may include components such as an accelerator and a catheter. The electron beam output from the radiation beam source 10 enters the guiding component 20, which is inserted into a predetermined location in the cancerous tissue. For example, the guiding component 20 may be equipped with an auxiliary fixation device 31 to fix the guiding component 20 to the cancerous tissue site of the patient. During radiotherapy, the electron output end 11 of the radiation beam source 10 is first connected to the input end 21 of the guiding component 20. The control system 30 controls the radiation beam source 10 to output an electron beam (e-) at a set dose rate to the guiding component 20 to treat the cancerous tissue.

[0052] For example, such as Figure 2 As shown, Figure 2This is another example of a schematic diagram of a radiotherapy device. The radiotherapy device may also include a treatment bed 03, with a radiation beam source 10 mounted on a fixed base 01. The position of the treatment bed 03 can be adjusted through translation, lifting, and rotation. The treatment bed 03 can perform multi-dimensional movements under the control of the control system 30, for example... Figure 3 As shown, Figure 3 This is an example of a multi-dimensional motion diagram. By installing six servo motors and combining them with mechanical devices to adjust the offset and angle, the treatment bed 03 can translate in the forward and backward direction (x-axis direction), the left and right direction (y-axis direction), and the up and down direction (z-axis direction). At the same time, it can rotate around the x, y, and z axes at angles α, β, and γ, respectively, thereby achieving full-range control and adjustment in six dimensions. Thus, the input end 21 of the guide component 20 can be connected to the electronic output end 11 of the radiation beam source 10.

[0053] To achieve precise docking and ensure optimal compatibility of the radiotherapy equipment, this application provides an auxiliary docking device, such as... Figure 4 As shown, Figure 4 This is a schematic diagram of an example auxiliary docking device, including: an output interface 401 located at the electronic output end 11 of the radiation beam source 10, an input interface 402 located at the input end 21 of the guide component 20, and a magnetic pole coupling device 04 located on the output interface 401 and the input interface 402. Under normal circumstances, the output interface 401 and the input interface 402 are separated. When radiotherapy is to be performed, the output interface 401 and the input interface 402 need to be docked, that is, the output interface 401 is aligned with the input interface 402 and docked. During this process, the magnetic pole coupling device 04 detects the magnetic attraction between the output interface 401 and the input interface 402 and feeds it back to the control system 30 in real time. The control system 30 adjusts the position of the output interface 401 according to the magnetic attraction until the magnetic attraction is strongest, at which point the output interface 401 is inserted into the input interface 402, and the optimal matching condition is achieved.

[0054] As described in the above embodiment, by using the magnetic pole coupling device 04 to detect the magnetic attraction between the output interface 401 and the input interface 402 as a matching judgment, the precise matching of the electron output end 11 of the radiation beam source 10 and the input end 21 of the guide component 20 can be achieved, ensuring that the electron beam is perpendicularly incident into the guide component 20, thereby enabling the treatment device to reach its optimal state and improving the effectiveness of the treatment device.

[0055] In one embodiment, such as Figure 5 As shown, Figure 5This is another example of an auxiliary docking device structure diagram. The magnetic pole coupling device 04 includes: a first magnetic pole structure 41 located outside the output interface 401, a second magnetic pole structure 42 located inside the input interface 402, and a pressure sensor 43 connected to the first magnetic pole structure 41. The first magnetic pole structure 41 and the second magnetic pole structure 42 are both designed in a ring shape. The polarities of the first magnetic pole structure 41 and the second magnetic pole structure 42 are opposite. The pressure sensor 43 is used to measure the magnetic attraction between the first magnetic pole structure 41 and the second magnetic pole structure 42.

[0056] Specifically, by combining the magnetic attraction between the two magnetic pole structures with a pressure sensor to detect the magnitude of the magnetic attraction, and judging the optimal matching conditions for engagement based on the magnitude of the magnetic attraction, a precise docking effect can be achieved.

[0057] In one embodiment, such as Figure 6 As shown, Figure 6 This is another example of an auxiliary docking device structure diagram. The first magnetic pole structure 41 includes: periodically distributed N-pole small magnetic poles 41n with outward polarity, n≥2, as shown in the figure, N-pole small magnetic poles 411, 412, 413... Each N-pole small magnetic pole is connected to a miniature pressure sensor 43n, as shown in the figure, the pressure sensor 43 includes pressure sensor 431, 432, 433... Correspondingly, the second magnetic pole structure 42 includes: periodically distributed S-pole small magnetic poles 42n with inward polarity, n≥2, as shown in the figure, S-pole small magnetic poles 421, 422, 423... Each N-pole small magnetic pole 41n is respectively set to correspond to the S-pole small magnetic pole 42n.

[0058] Specifically, each N-pole small magnetic pole 41n is respectively set to correspond to the S-pole small magnetic pole 42n. Each N-pole small magnetic pole is connected to a miniature pressure sensor 43n. Each N-pole small magnetic pole and the S-pole small magnetic pole have an attraction effect, thereby generating a magnetic field attraction. When the output interface 401 is inserted into the input interface 402, the control system 30 can adjust the position of the output interface 401 according to the magnitude of the magnetic field attraction until the optimal matching condition is reached. Under normal circumstances, the matching condition is considered to be the best when the magnetic field attraction is the largest. At this time, a comprehensive judgment can be made based on the magnitude of the magnetic field attraction detected by each pressure sensor. In practical applications, the matching condition is considered to be the best when the overall magnetic field attraction is close to the maximum magnetic field attraction.

[0059] As described in the above embodiments, by using periodically distributed small magnetic poles with opposite polarities, combined with corresponding miniature pressure sensors, the magnetic attraction between the output interface 401 and the input interface 402 can be detected. This can be used as a judgment of the optimal matching condition, thereby achieving precise matching between the electronic output end 11 of the radiation beam source 10 and the input end 21 of the guiding component 20. This allows the immunoradiotherapy treatment device to reach its optimal state, thereby improving the effectiveness of the immunoradiotherapy treatment device.

[0060] In one embodiment, in order to accurately align the output interface 401 and the input interface 402 during docking, the auxiliary docking device of this application may further include:

[0061] A first camera 51 and a second camera 52 are provided at the output interface 401 and connected to the control system 30. The height of the first camera 51 and the second camera 52 is flush with the bottom of the output interface 401, and the first camera 51 and the second camera 52 are perpendicular to each other on the plane. The first camera 51 and the second camera 52 are used to capture docking images of the output interface 401 and the input interface 402 from the xy direction at a specified focal length and send them to the control system 30. The control system 30 performs visual positioning of the output interface 401 and the input interface 402 based on the docking images to align the output interface 401 with the input interface 402.

[0062] Specifically, such as Figure 7 As shown, Figure 7 This is another example of an auxiliary docking device structure diagram. Two cameras are set vertically, which allows for alignment in the xy direction between the input interface 402 and the output interface 401 on a plane. When the input interface 402 and the output interface 401 are close, pixel-level alignment can be achieved through the docking image. Based on the complementary effects of visual positioning and magnetic pole coupling, precise and efficient docking between the electronic output end 11 of the radiation beam source 10 and the input end 21 of the guide component 20 is achieved.

[0063] In one embodiment, in order to accurately align the output interface 401 and the input interface 402 during docking, the auxiliary docking device of this application may further include:

[0064] An infrared rangefinder 60 is mounted on the radiation beam source 10 and connected to the control system 30. The infrared rangefinder 60 is used to measure the real-time distance between the output interface 401 and the input interface 402 under the control of the control system 30 and feed it back to the control system 30. The control system 30 inserts the output interface 401 into the input interface 402 according to the real-time distance.

[0065] Specifically, such as Figure 8 As shown, Figure 8This is an example of an infrared rangefinder installation diagram. The infrared rangefinder 60, which is mounted on the radiation beam source 10, measures the real-time distance between the output interface 401 and the input interface 402 when the output interface 401 approaches the input interface 402. The measurement accuracy can reach the infrared wavelength scale (about 10 micrometers). During docking, it can complement visual positioning and magnetic pole coupling to meet the requirements of precise docking.

[0066] The following describes an example of a radiotherapy device.

[0067] like Figure 9 As shown, Figure 9 This is a schematic diagram of an example radiotherapy device, including: a radiation beam source 10, a guiding component 20, an auxiliary docking device in any of the above embodiments, a control system 30, and a treatment bed 03; wherein, an output interface 401 is provided at the electronic output end 11 of the radiation beam source 10, an input interface 402 is provided at the input end 21 of the guiding component 20, and the auxiliary docking device is used to assist in inserting the output interface 401 into the input interface 402.

[0068] Furthermore, the radiation beam source 10 includes an accelerator 111 and an electron beam conduit 112, and a dose regulator 23 is provided in the guide component 20; the output interface 401 is located at the end of the electron beam conduit 112 connected to the radiation beam source 10, and the input interface 402 is located at the front end of the dose regulator 23.

[0069] For example, the electron beam generated by the radiation beam source 10 is accelerated by the accelerator 111 and output through the output interface 401 on the electron beam pipe 112. The output interface 401 is connected to the input interface 402 using an auxiliary docking device. With the assistance of magnetic pole coupling, camera and infrared rangefinder, the electron beam enters the guide component 20 through the input interface 402 and is adjusted by the dose regulator 23 in the guide component 20. The dose regulator 23 can adopt different head shapes to deliver radiotherapy to the cancerous tissue of the human body.

[0070] like Figure 10 As shown, Figure 10 This is an example circuit diagram of a radiotherapy device; in which, the control system 30 can be connected to the radiation beam source 10, the pressure sensor 43 of the auxiliary docking device, the camera and infrared rangefinder, the treatment bed 03, etc. The control system 30 can control the treatment bed 03 to perform multi-dimensional movements, dock the output interface 401 with the input interface 402, and then control the output of the radiation beam source 10, the electron beam current, such as the dose rate is greater than 40 Gy / s, and the single treatment time is less than 1 s, to perform radiotherapy on cancer tissue.

[0071] The technical solutions described in the above embodiments can achieve precise docking, allowing the immunotherapy radiotherapy equipment to reach its optimal state and achieve good results.

[0072] The following describes an embodiment of the control method for radiotherapy equipment.

[0073] refer to Figure 11 As shown, Figure 11 This is a flowchart illustrating a control method for an example radiotherapy device, which can be used in the control system 30 of the radiotherapy device of this application, including:

[0074] (1) After the guide component 20 is inserted into the predetermined position of the patient’s cancerous tissue, the treatment bed is controlled to move so that the input interface 402 is aligned with the output interface 401.

[0075] (2) Adjust the position of the output interface 401 according to the magnetic attraction until the magnetic attraction is strongest, then insert the output interface 401 into the input interface 402.

[0076] In one embodiment, the control method of the radiotherapy device of this embodiment can also determine the alignment status of the output interface 401 and the input interface 402 based on the docking images captured by the first camera and the second camera, and control the treatment bed to move according to the alignment status to adjust the alignment of the output interface 401 and the input interface 402.

[0077] In one embodiment, the control method of the radiotherapy device of this embodiment can also adjust the movement of the treatment bed according to the real-time distance between the output interface 401 and the input interface 402 measured in real time by the infrared rangefinder, so as to insert the output interface 401 into the input interface 402.

[0078] (3) Control the output electron beam of the radiation source 10 and control its output dose rate and duration of treatment to perform immunoradiotherapy on cancer tissue.

[0079] For example, a mathematical model is first created based on the pathological data of the cancer tissue before treatment. The predetermined location for the guide component 20 to be inserted into the cancer tissue, the dose rate of the electron beam, and the duration of treatment are determined based on the mathematical model. The auxiliary fixation device 31 is placed on the cancer tissue site of the patient for fixation. Then, the guide component 20 is inserted into the predetermined location of the cancer tissue. During treatment, an appropriate amount of metal adjuvant is introduced into the cancer tissue. The guide component 20 is filled with a conductive medium of a certain density, which can conduct the electron beam to the cancer tissue, act on the cancer tissue, destroy cancer cells, and stimulate the human immune system to produce an immune response.

[0080] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An auxiliary docking device, characterized in that, include: An output interface located at the electron output end of the radiation beam source, an input interface located at the input end of the guiding component, and a magnetic pole coupling device located on the output interface and the input interface; When the output interface is connected to the input interface, the output interface is aligned with the input interface, and the output interface is connected to the input interface. The magnetic pole coupling device detects the magnetic attraction between the output interface and the input interface and feeds it back to the control system. The control system adjusts the position of the output interface according to the magnetic attraction force until the magnetic attraction force is strongest, and then inserts the output interface into the input interface. The magnetic pole coupling device includes: a first magnetic pole structure disposed outside the output interface, a second magnetic pole structure disposed inside the input interface, and a pressure sensor connected to the first magnetic pole structure; The first magnetic pole structure and the second magnetic pole structure have opposite polarities, and the pressure sensor is used to measure the magnetic attraction between the first magnetic pole structure and the second magnetic pole structure.

2. The auxiliary docking device according to claim 1, characterized in that, The first magnetic pole structure includes: periodically distributed N-pole small magnetic poles with outward polarity, and each N-pole small magnetic pole is connected to a miniature pressure sensor.

3. The auxiliary docking device according to claim 2, characterized in that, The second magnetic pole structure includes: periodically distributed S-pole micro-poles with inward polarity; and each N-pole micro-pole corresponding to an S-pole micro-pole.

4. The auxiliary docking device according to any one of claims 1-3, characterized in that, Also includes: A first camera and a second camera are provided at the output interface and connected to the control system; wherein the height of the first camera and the second camera are flush with the bottom of the output interface, and the first camera and the second camera are perpendicular to each other in the plane; The first camera and the second camera are used to respectively capture images from a specified focal length. xy The system captures images of the connection between the output and input interfaces from different directions and sends them to the control system. The control system performs visual positioning of the output interface and the input interface based on the docking image, so as to align the output interface with the input interface.

5. The auxiliary docking device according to any one of claims 1-3, characterized in that, Also includes: An infrared rangefinder mounted on the radiation beam source and connected to the control system; The infrared rangefinder is used to measure the real-time distance between the output interface and the input interface under the control of the control system and to feed it back to the control system. The control system inserts the output interface into the input interface based on the real-time distance.

6. A radiotherapy device, characterized in that, include: A radiation beam source, a guiding component, an auxiliary docking device according to any one of claims 1-5, a control system, and a treatment bed; wherein the output interface is located at the electronic output end of the radiation beam source, the input interface is located at the input end of the guiding component, and the auxiliary docking device is used to assist in inserting the output interface into the input interface.

7. The radiotherapy device according to claim 6, characterized in that, The radiation beam source includes an accelerator and an electron beam pipe, and the guiding component is equipped with a dose regulator; The output interface is located at the end of the electron beam pipe that connects to the radiation beam source, and the input interface is located at the front end of the dose regulator within the guiding component.

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