Control system and method of positioning robot for proton and heavy ion radiotherapy

Abstract

The invention discloses a control system and method of a positioning robot for proton heavy ion radiotherapy, and the system comprises a control module which is externally connected with a control platform of a proton heavy ion therapy system and is configured to receive the therapy data from the control platform of the proton heavy ion therapy system, generating target travel path data of the positioning robot based on the treatment data; the execution module is connected with the control module and is configured to perform driving based on the target travel path data so as to enable the positioning robot to move to the target position; and the sensor module is connected with the control module and is configured to send a detection result to the control module under the condition that an obstacle in the target detection area is detected, so that the control module controls the positioning robot to stop moving and / or perform early warning based on the detection result. The control system has expandable system interaction capability, can automatically move the positioning robot to a target position according to treatment data, and can perform early warning or sudden stop in time in case of danger.

Description

Technical Field

[0001] The present application relates to technical fields such as proton and heavy ion radiotherapy, and in particular to a control system and method for a positioning robot for proton and heavy ion radiotherapy. Background Art

[0002] At present and for a considerable period of time in the future, "cancer" will continue to be a huge challenge threatening the health of our residents.

[0003] Proton and heavy ion precision radiotherapy utilizes the unique "Bragg peak" physical properties and biological effects of protons and heavy ions. This allows the proton and heavy ion beam to penetrate normal tissue at low energy, delivering a three-dimensional stereotactic blast to the tumor at its highest energy point. The beam then rapidly de-energizes the tumor just behind the tumor, thus maximally sparing the patient's normal organs and tissues. Compared to traditional radiotherapy, this approach offers unparalleled advantages in treatment accuracy, treatment time, postoperative survival rate, and quality of life.

[0004] Developed countries like Europe, the United States, and Japan initiated early research into cancer and new precision radiotherapy technologies like protons, heavy ions, and BNCT, which have gradually gained global consensus in the oncology community. Since the beginning of this century, the research and application of proton and heavy ion precision radiotherapy has rapidly developed and accumulated rich technical knowledge, forming a group of influential manufacturers and a mature supporting industry chain. Along with the success of China's economic development, new precision radiotherapy technologies like protons, heavy ions, and BNCT have also made significant progress and been widely adopted in China.

[0005] During new precision radiotherapy procedures like proton, heavy ion, and BNCT, a high-precision robot with six degrees of freedom precisely moves the patient to the desired position and angle for treatment, enabling the proton and heavy ion beams to precisely deliver their energy to tumor tissue for targeted destruction. As the only core component in precision radiotherapy that comes into direct contact with the patient, the patient positioning system's performance and functionality directly impact the treatment outcome. Therefore, a safe, reliable, and well-designed control system architecture, control algorithms, and safety protection strategies are crucial for patients undergoing proton and heavy ion precision radiotherapy.

[0006] At the current stage, the patient positioning control system still has defects in redundant safety configuration, integrated interactive functions with the treatment system, and the control structure of the six-degree-of-freedom robot, and cannot adapt to proton and heavy ion therapy scenarios. Summary of the Invention

[0007] To this end, the purpose of the embodiments of the present application is to propose a control system, method, electronic equipment, storage medium and computer program product for a positioning robot for proton and heavy ion radiotherapy. The control system of the present application has expandable system interaction capabilities, and can automatically move the positioning robot to the target position according to treatment data, and can provide timely warnings or emergency stops in danger.

[0008] An embodiment of the present application provides a positioning control system for proton and heavy ion radiotherapy, the system comprising: a control module, the controller module being externally connected to a proton and heavy ion therapy system control platform, the controller module being configured to receive treatment data from the proton and heavy ion therapy system control platform, and to generate target motion data of a positioning robot based on the treatment data; an execution module, the execution module being connected to the control module, the execution module being configured to drive the positioning robot based on the target motion data to move to a target position; a sensor module, the sensor module being connected to the control module, the sensor module being configured to send a detection result to the control module when an obstacle is detected in a target detection area, so that the control module controls the positioning robot to stop moving and / or issue an early warning based on the detection result.

[0009] Exemplarily, the control module includes an application control unit and a motion control unit, and the application control unit is connected to the proton and heavy ion therapy system control platform; the application control unit is used to receive treatment data from the proton and heavy ion therapy system control platform, preprocess the treatment data, and transmit the preprocessed treatment data to the motion control unit, and the motion control unit is used to process the preprocessed treatment data based on a preset algorithm to obtain the target position data of the positioning robot, and determine the target path data based on the target position data.

[0010] Exemplarily, the control module includes an application control unit and a motion control unit, and the application control unit is connected to the proton and heavy ion therapy system control platform; the application control unit is used to receive treatment data from the proton and heavy ion therapy system control platform, and process the treatment data based on a preset algorithm to obtain the target position data of the positioning robot, and transmit the target position data to the motion control unit, and the motion control unit is used to solve the target position data to obtain the target path data of the positioning robot.

[0011] Exemplarily, the target motion data includes at least one of movement direction data, movement speed data, and movement acceleration data of multiple joints, and the execution module includes a servo driver and a servo motor. The servo driver is used to drive the servo motor based on at least one of the movement direction data, movement speed data, and movement acceleration data, so that the joint corresponding to the servo motor moves according to the target motion data.

[0012] Exemplarily, the sensor module includes a bed board identification sensor, and the execution module also includes a bed board locking device. The bed board identification sensor is used to send the detection result to the control module when it detects that the bed board is in a preset position, so that the control module controls the bed board locking device to lock the bed board based on the detection result.

[0013] Exemplarily, the sensor module includes a torque sensor, which is used to send the detection result to the control module when it detects that the load-bearing capacity at the end of the bed board is greater than a preset threshold, so that the control module controls the positioning robot to stop moving and / or issue an early warning based on the detection result.

[0014] Exemplarily, the sensor module includes a radar sensor, the target detection area includes a first target detection area and a second target detection area, the distance between the first target detection area and the radar sensor is greater than the distance between the second target detection area and the radar sensor, and the radar sensor is configured to: when an obstacle is detected in the first target detection area, send the detection result to the control module, so that the control module controls the positioning robot to issue an early warning based on the detection result; when an obstacle is detected in the second target detection area, send the detection result to the control module, so that the control module controls the positioning robot to stop moving based on the detection result.

[0015] Exemplarily, the positioning control system of the proton and heavy ion radiotherapy is integrated into an electrical cabinet, and the electrical cabinet has a built-in neutron shielding liner.

[0016] Exemplarily, the system also includes an uninterruptible power supply, and the execution module also includes an emergency handle. In the event of a power outage, the system is used to call the uninterruptible power supply to power the execution module in response to instructions from the emergency handle, so that the positioning robot moves to a preset safe position.

[0017] Exemplarily, the execution module further includes a key unit and an indication unit, and the system is further configured to receive a configuration instruction through the key unit, and control the indication unit associated with the configuration instruction to issue an instruction based on the configuration instruction.

[0018] Exemplarily, the preset algorithm includes at least one of a kinematics algorithm, a dynamics algorithm, a trajectory planning algorithm, and a precision compensation algorithm.

[0019] Another embodiment of the present application provides a control method for a positioning robot for proton and heavy ion radiotherapy, the method comprising: receiving treatment data from a proton and heavy ion therapy system control platform, and generating target motion data of the positioning robot based on the treatment data; driving the positioning robot based on the target motion data to move the positioning robot to a target position; wherein the positioning robot comprises a sensor module, the method further comprising: receiving a detection result from the sensor module, and when the detection result indicates that an obstacle is detected in a target detection area, controlling the positioning robot to stop moving and / or issue an early warning based on the detection result.

[0020] Another embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of any of the above embodiments when executing the computer program.

[0021] Another embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method of any of the above embodiments are implemented.

[0022] Another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed by a processor of a computer device, the computer device is enabled to perform the steps of the method of any of the above embodiments.

[0023] In the above embodiment, the control system includes: a control module, which is externally connected to the proton and heavy ion therapy system control platform and is configured to receive treatment data from the proton and heavy ion therapy system control platform and generate target path data of the positioning robot based on the treatment data; an execution module, which is connected to the control module and is configured to drive based on the target path data so that the positioning robot moves to the target position; a sensor module, which is connected to the control module and is configured to send the detection result to the control module when an obstacle in the target detection area is detected, so that the control module controls the positioning robot to stop moving and / or issue an early warning based on the detection result. The control system of the present invention has an expandable system interaction capability and can automatically move the positioning robot to the target position according to the treatment data, and can issue an early warning or emergency stop in time when danger occurs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a control system of a positioning robot for proton and heavy ion radiotherapy provided in an embodiment of the present application;

[0025] Figure 2 This is a program structure diagram of the proton and heavy ion radiotherapy patient positioning control system provided in the embodiment of this application;

[0026] Figure 3 A schematic diagram of sensor installation provided in an embodiment of this application;

[0027] Figure 4 This is an appearance diagram of the positioning control system provided in the embodiment of this application;

[0028] Figure 5 A functional relationship diagram of the positioning control system components provided in the embodiment of this application;

[0029] Figure 6 A logical relationship diagram between the states of the positioning control system provided in the embodiment of this application;

[0030] Figure 7 A schematic diagram of the components of a patient positioning control system provided in an embodiment of the present application;

[0031] Figure 8 A block diagram of an electronic device provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0033] Currently, proton and heavy ion radiotherapy mostly uses fixed or directionally moved beam equipment. The patient is supported by a carbon fiber bed board installed on a patient positioning robot with 6 degrees of freedom. After the patient is "roughly positioned", the physicist remotely operates the robot from the control room to move freely in the treatment space to locate and treat the patient's tumor.

[0034] Due to the late start of robotics development and weak design and manufacturing capabilities in China, the field of proton and heavy ion radiotherapy currently lacks a mature and comprehensive patient positioning control system. Furthermore, countries like Europe, the United States, and Japan, which started research and application of proton and heavy ion radiotherapy earlier and have mature technologies, industrial chains, and supporting systems, have already developed patient positioning systems for precision proton and heavy ion radiotherapy. These systems are often modified and integrated with traditional industrial heavy-load robots. However, these systems present drawbacks in terms of system safety, structural rationality, and integration with proton and heavy ion therapy control systems.

[0035] In some cases, six-axis industrial robots can be modified in terms of structure and installation. For example, replacing the robot's 123 axes or switching from a vertical installation to a wall-mounted one. The control system still uses the industrial robot control system. However, this approach presents issues with system stability, safety, and ease of maintenance. As is well known, industrial robots are designed to meet the needs of rapid industrial production line operations and are considered high-speed robots. Their structure and safety are incompatible with medical scenarios, and manufacturers generally prohibit their use for transporting people. Industrial robot control systems are designed for industrial indoor environments and are not suitable for the strong electromagnetic environment, high safety requirements, and flexible system integration and interaction required for proton and heavy ion radiotherapy.

[0036] In some examples, a foreign manufacturer designed a six-degree-of-freedom robot structure for proton and heavy ion radiotherapy, but the robot control system was deficient in electromagnetic protection and safety configuration. For example, the robot control system was easily affected by neutron irradiation in the treatment room and could not detect and avoid collisions from both sides and the risk of pinching caused by the angles between adjacent joints.

[0037] Based on this, the present invention designs a patient positioning robot control system for proton and heavy ion radiotherapy, which has scalable system interaction capabilities and redundant safety configuration, and can meet the strong electromagnetic interference, system interaction and safety requirements of proton and heavy ion radiotherapy.

[0038] Figure 1 This is a schematic diagram of a control system of a positioning robot for proton and heavy ion radiotherapy according to an embodiment of the present application.

[0039] As an example, Figure 1 As shown in FIG, the control system of the positioning robot for proton and heavy ion radiotherapy includes:

[0040] A control module 10, which is externally connected to a proton and heavy ion therapy system control platform. The control module 10 is configured to receive treatment data from the proton and heavy ion therapy system control platform and generate target motion data for the positioning robot based on the treatment data;

[0041] An execution module 20, which is connected to the control module 10 and is configured to drive the positioning robot based on the target path data to move to the target position;

[0042] The sensor module 30 is connected to the control module 10. The sensor module 30 is configured to send the detection result to the control module 10 when an obstacle is detected in the target detection area, so that the control module 10 controls the positioning robot to stop moving and / or issue an early warning based on the detection result.

[0043] Exemplarily, the control module 10 is connected to the hospital's proton and heavy ion therapy system control platform, the proton and heavy ion therapy system control platform (TCS). Medical personnel can input the patient's treatment data, such as treatment plan data, into the proton and heavy ion therapy system control platform. The control module 10 receives the patient's treatment data and generates target behavior data for the positioning robot based on the treatment data. It can be understood that the target behavior data of the positioning robot is data indicating how each joint of the positioning robot moves. The control module 10 transmits the target behavior data to the execution module 20, and the execution module 20 is driven according to the target behavior data to move the positioning robot to the target position. The sensor module includes a plurality of sensors, and a plurality of sensors are installed on the positioning robot. For example, radar sensors are installed on the robot's wrist, forearm, waist, etc. Each radar sensor has a corresponding target detection area. The sensor module 30 is connected to the control module 10. When an obstacle is detected in the target detection area, it means that the positioning robot is at risk of collision or pinching. The sensor sends the detection result to the control module 10. The control module 10 controls the positioning robot to stop moving or issue an early warning based on the detection result to ensure the safety of the positioning robot.

[0044] The patient positioning robot control system for proton and heavy ion radiotherapy in this application is connected to the proton and heavy ion therapy system control platform, has expandable system interaction capabilities, and is designed with radar sensors at multiple joints in a redundant safety configuration for anti-collision and anti-pinching settings.

[0045] As an example, the control module includes an application control unit and a motion control unit, and the application control unit is connected to a proton and heavy ion therapy system control platform;

[0046] The application control unit is used to receive treatment data from the proton and heavy ion therapy system control platform, preprocess the treatment data, and transmit the preprocessed treatment data to the motion control unit. The motion control unit is used to process the preprocessed treatment data based on a preset algorithm, obtain the target position data of the positioning robot, and determine the target path data based on the target position data.

[0047] Exemplarily, the control module includes an application control unit ACU (also known as an application controller) and a motion control unit MCU (also known as a motion controller). The application controller unit ACU is used for system integration and data interaction of the proton and heavy ion therapy system control platform TCS with the patient positioning robot, and has a thread for the system function server and web client server, for example, storing user operation records and system logs, etc. The application control unit ACU receives treatment data from the proton and heavy ion therapy system control platform and pre-processes the treatment data. The application controller ACU also has an independent thread for downward data and status interaction with the motion control unit MCU to realize pre-processing and translation of internal system information. The application controller ACU transmits the pre-processed treatment data to the motion control unit MCU, and the motion control unit MCU processes the pre-processed treatment data based on a preset algorithm to obtain the target position data of the positioning robot, and determines the target path data based on the target position data. Among them, the preset algorithm includes, for example, at least one of a kinematic algorithm, a dynamics algorithm, a trajectory planning algorithm, and an accuracy compensation algorithm. The motion control unit MCU runs programs such as robot kinematics, dynamics, compensation algorithms, trajectory planning algorithms, etc. to obtain the target position data of the positioning robot, realize the motion positioning function of the patient positioning system, and determine the target path data based on the target position data.

[0048] Figure 2 Program structure diagram of a proton and heavy ion radiotherapy patient positioning control system according to one embodiment of the present application.

[0049] like Figure 2 As shown, the proton and heavy ion radiotherapy patient positioning control system can communicate and interact with the application controller ACU via the Hypertext Transfer Protocol (HTTP). The application controller ACU can also communicate with the motion controller MCU and server programs via the Transmission Control Protocol (TCP). The motion controller MCU can be configured with multiple programs that are called upon triggering, such as safety logic programs, kinematic algorithms, dynamics algorithms, trajectory planning algorithms, precision compensation algorithms, data interaction programs, and alarm system programs. The application controller ACU also interacts with server programs, including interactive data processing threads, log servers that can upload daily recorded data to a cloud server, and API interface threads, for example, which can flexibly call system functions and obtain system status through the API interface.

[0050] The control system design of this application not only realizes the motion positioning function of the six-degree-of-freedom patient positioning system, but also has flexible communication interface capabilities. Users can use the API to flexibly call system functions and obtain system status.

[0051] As an example, the control module includes an application control unit and a motion control unit, and the application control unit is connected to the proton and heavy ion therapy system control platform; the application control unit is used to receive treatment data from the proton and heavy ion therapy system control platform, and process the treatment data based on a preset algorithm to obtain the target position data of the positioning robot, and transmit the target position data to the motion control unit, and the motion control unit is used to solve the target position data to obtain the target path data of the positioning robot.

[0052] For example, for the control system as a whole, the above example puts the robot kinematics, dynamics, trajectory planning, precision compensation and other algorithm programs in the motion controller MCU for execution, and uploads the motion data and real-time status to the application controller ACU. Of course, the robot kinematics, dynamics, trajectory planning, precision compensation and other algorithm programs can also be put in the application controller ACU for execution, and the state analysis and positioning data instructions are sent to the motion controller MCU internally, and the motion controller MCU only performs the motion positioning function. For example, the application controller ACU receives treatment data from the proton and heavy ion therapy system control platform, and processes the treatment data based on kinematic algorithms, dynamics algorithms, trajectory planning algorithms, precision compensation algorithms, etc. to obtain the target position data of the positioning robot. The motion controller MCU solves the target position data and finally obtains the target path data of the positioning robot.

[0053] As an example, the target motion data includes at least one of the moving direction data, moving speed data, and moving acceleration data of multiple joints, and the execution module includes a servo driver and a servo motor. The servo driver is used to drive the servo motor based on at least one of the moving direction data, moving speed data, and moving acceleration data, so that the joint corresponding to the servo motor moves according to the target motion data.

[0054] Exemplarily, the execution module includes a servo unit, which includes a servo driver and a servo motor. The control module sends the target path data to the execution module so that the execution module drives the positioning robot based on the target path data. The target path data includes at least one of the movement direction data, movement speed data, and movement acceleration data of multiple joints. For example, the motion controller MCU calculates the target position and target path required for the servo movement of 1 to 6 joints to achieve the target position posture based on the kinematics, dynamics, and trajectory planning being run, and sends it to the servo motor through the servo driver to execute the corresponding speed, acceleration, and jerk for motion positioning, and finally the positioning robot moves to the target position.

[0055] This application implements a redundant safety protection strategy by installing sensor modules at multiple joints of the positioning robot to achieve safety protection for the positioning robot. The sensor modules are described in detail below.

[0056] As an example, the sensor module includes a bed board identification sensor, and the execution module also includes a bed board locking device. The bed board identification sensor is used to send the detection result to the control module when it detects that the bed board is in a preset position, so that the control module controls the bed board locking device to lock the bed board based on the detection result.

[0057] For example, Figure 3 The sensor installation diagram shown in the figure shows a sensor module that includes a bed board recognition sensor, which can be installed at the bottom of the bed board. The sensor is used to identify the bed board's position. If the bed board is in a preset position, the sensor module sends the detection result to the control module, which then controls the bed board locking device to lock the bed board based on the detection result. During this process, the control module also calls the accuracy compensation module to perform accuracy compensation on the bed board position identified by the bed board recognition sensor to obtain a more accurate bed board position.

[0058] As an example, the sensor module includes a torque sensor, which is used to send the detection result to the control module when it detects that the load-bearing capacity at the end of the bed board is greater than a preset threshold, so that the control module controls the positioning robot to stop moving and / or issue an early warning based on the detection result.

[0059] For example, Figure 3 As shown, the torque sensor can be set at the connection between the bed board and the patient positioning robot. Of course, the torque sensor can also be a force sensor. The torque sensor is used to identify the bearing capacity of the end of the bed board and send the detected detection results to the control module. The control module can call the safety logic program. In order to protect the safety of the positioning robot, when it is detected that the bearing capacity of the end of the bed board is greater than the preset threshold, that is, when the bed board is overloaded, the control module controls the positioning robot to stop moving and / or issue an early warning to remind the user that the bed board is overloaded. The early warning method can be a sound alarm, or a warning can be issued through a display connected to the positioning control system.

[0060] As an example, the sensor module includes a radar sensor, the target detection area includes a first target detection area and a second target detection area, the distance between the first target detection area and the radar sensor is greater than the distance between the second target detection area and the radar sensor, and the radar sensor is configured as follows:

[0061] When an obstacle is detected in the first target detection area, the detection result is sent to the control module, so that the control module controls the positioning robot to issue an early warning based on the detection result;

[0062] When an obstacle is detected in the second target detection area, the detection result is sent to the control module, so that the control module controls the positioning robot to stop moving based on the detection result.

[0063] For example, for the lateral collision prevention strategy of the robot arm, in some examples, the collision can be directly sensed by adding contoured strip-shaped or dot-matrix series micro switches to the robot's upper arm, lower arm, wrist and other body parts. However, the disadvantage of this method is that the shell is heavy, the micro switch is easy to trigger, the stability is poor, and the failure rate of many micro switches in series is high. In some examples, the principle of communicating vessels and pressure sensors can be used to lay air bags or liquid bags on the outside of the robot, and the air pressure and liquid pressure of the air bags can be detected to determine whether a collision has occurred. However, the disadvantages of this method are poor aesthetics, insensitive detection, and easy missed detection. The application uses a miniature non-contact radar sensor to detect the electromagnetic waves reflected by obstacles within the radar transmission range in real time to determine whether there is an obstacle intrusion, thereby achieving collision protection.

[0064] For example, Figure 3 As shown, the sensor module includes radar sensors, specifically, a horizontal laser radar for collision identification in the bottom horizontal area, a joint anti-pinch radar unit for joint axes with angles between them (such as wrist anti-pinch radar, waist anti-pinch radar), and non-contact anti-collision radar units on the left and right sides of the robot (such as forearm anti-collision radar, upper arm anti-collision radar). Anti-pinch and anti-collision radar sensors have corresponding target detection areas. The target detection area can be a gap area. When an obstacle appears in the target detection area, it indicates a collision or pinching risk. The control module controls the positioning robot to issue an early warning and / or stop moving. The target detection area corresponding to the horizontal laser radar for collision identification in the bottom horizontal area can be a fan-shaped detection area. When an obstacle appears in the target detection area, it indicates a collision risk. The control module can control the positioning robot to issue an early warning and / or stop moving.

[0065] For example, the target detection area can be divided, for example, into a first target detection area and a second target detection area. The distance between the first target detection area and the radar sensor is greater than the distance between the second target detection area and the radar sensor. It can be understood that the collision risk of an obstacle in the first target detection area is less than the risk of an obstacle in the second target detection area. If an obstacle is detected in the first target detection area, the control module can first issue an early warning to alert the user. If the obstacle continues to move, the control module will control the positioning robot to an emergency stop if an obstacle is detected in the second target detection area. This partitioned control method is more reasonable and reduces the number of emergency stops for the positioning robot, thereby reducing the wear and tear of the positioning robot to a certain extent.

[0066] It should be noted that since the patient positioning system for proton and heavy ion radiotherapy is often moved by technicians from one side of the operating bed, there is a blind spot in the line of sight. The existing patient positioning robot control system does not protect the angles between adjacent joints of the robot, the sides, and other areas where there is a risk of squeezing injury. It does not design integrated safety sensors for protection of the robot's upper arms, waist, forearms, and both sides of the wrists. There is a risk of collision with people and obstacles. Therefore, this application designs integrated safety sensors for protection of the angles between adjacent joints of the robot, the sides, and both sides of the robot's upper arms, waist, forearms, and wrists.

[0067] As an example, the positioning control system for proton and heavy ion radiotherapy is integrated into an electrical cabinet with a built-in neutron shielding liner.

[0068] For example, Figure 4 The positioning control system shown in the figure shows an integrated electrical cabinet for proton and heavy ion radiotherapy. The cabinet's dimensions are not limited to 60×80×140 cm. The cabinet also includes an isolation transformer, auxiliary power supply unit, safety programmable logic controller unit, application controller unit, motion controller unit, servo drive unit, power module, UPS (uninterruptible power supply) module, and sensor module. Existing electrical cabinets lack protection against harmful radiation, such as neutrons. Neutron radiation emitted during proton and heavy ion radiotherapy can damage components within the patient positioning system, cause the robotic control system to shut down, and impact patient treatment and hospital access. This application proposes an electrical cabinet with a boron-containing polymer lining to provide neutron shielding, effectively protecting the control system's internal components. To adapt to the complex electromagnetic environment and strong electromagnetic interference within the proton and heavy ion treatment room, the system features a specially designed electrical cabinet with an internal boron-containing polymer lining. Filters can also be added to the system's incoming wiring and auxiliary power supply unit.

[0069] As an example, the system also includes an uninterruptible power supply, and the execution module also includes an emergency handle. In the event of a power outage, the system is used to respond to instructions from the emergency handle and call the uninterruptible power supply to power the execution module so that the positioning robot moves to a preset safe position.

[0070] Exemplarily, the execution module includes a human-computer interaction unit, which includes a maintenance handle and an emergency release handle. The maintenance handle is used for standalone system operation and fault maintenance and is operated by trained and qualified engineers. The emergency release handle is used to release patients in emergency situations such as sudden power outages in the treatment room system. For example, in the event of an emergency power outage, the patient can release the emergency release handle. The system responds to the command from the emergency handle and calls an uninterruptible power supply to power the execution module, for example, to power the servo motor, which can drive the motor to move the white robot and allow the patient to safely get off the bed.

[0071] In order to ensure that in the event of sudden special circumstances such as power outages in the treatment room, the system has a built-in UPS power supply that can delay power outages. It can also be used for rapid release of patients in emergency situations and preservation of system data, thereby improving system stability.

[0072] Figure 5 This is a functional relationship diagram of the positioning control system components of an embodiment of the present application.

[0073] like Figure 5As shown, the treatment technician can input treatment data into the proton and heavy ion therapy control system platform (TCS) through the treatment machine planning system, CBCT imaging system, etc. The proton and heavy ion therapy control system platform (TCS) interacts with the application controller (ACU), which preprocesses and translates the treatment data. The ACU then exchanges data and status with the motion controller (MCU). The motion controller MCU also exchanges data with the safety programmable logic controller (SPLC) and the human-computer interaction module. The motion controller MCU processes the treatment data based on preset algorithms (such as kinematics, dynamics, compensation algorithms, functional programs, and safety algorithms) to obtain the target movement data of the positioning robot. The safety programmable logic controller (SPLC) interacts with the sensor module, which, for example, includes a six-dimensional force / torque sensor. The force / torque sensor is used to detect the force applied to the bed board and sends the detection results to the SPLC, which in turn sends the detection results to the motion controller MCU. For example, if the force applied to the bed board exceeds a preset threshold, the motion controller MCU can control the bed board to stop suddenly or issue an alarm. The safety programmable logic controller (SPLC) is responsible for safety interlocking with the proton and heavy ion therapy control system, integrating system human-machine interaction signals, and selecting modes and functions. Of course, the functions of the SPLC can also be performed by the motion controller MCU. The sensor module also includes bed plate identification sensors, horizontal laser sensors, side impact sensors, joint compression sensors, and more. The sensor module transmits detection results to the safety programmable logic controller (SPLC), enabling the SPLC to implement relevant control based on the detection results. The human-machine interaction module includes a maintenance handle, an emergency release handle, and button indicator lights. The human-machine interaction module can interact with the upper-level motion controller MCU sensor module. For example, if the radar sensor detects an obstacle, the motion controller can illuminate an indicator light based on the detection result to alert the user to the risk of collision. In the event of a power outage, the patient can release the emergency release handle, and the UPS will power the handle and servo motor, which will drive the servo motor to move the robot, allowing the patient to safely dismount from the bed. Of course, the motion controller MCU must first meet motion positioning conditions before it can drive the servo motor (when executing the module).

[0074] As an example, the execution module further includes a key unit and an indication unit, and the system is further configured to receive a configuration instruction through the key unit, and control the indication unit associated with the configuration instruction to issue an indication based on the configuration instruction.

[0075] Exemplarily, the execution module further includes a key unit and an indicator unit. The indicator unit, for example, may be an indicator light, such as a selector switch or button, which may be used to select system modes, indicate system status, and enable and disable other functions. The system is also configured to receive configuration instructions via the key unit, such as which functions are enabled or disabled. Based on the configuration instructions, the system controls the indicator unit associated with the configuration instructions to issue an indication. For example, when a function is disabled, the function's red light illuminates, and when a function is enabled, the function's green light illuminates.

[0076] Figure 6 It is a logical relationship diagram between the states of the positioning control system of one embodiment of the present application.

[0077] like Figure 6 As shown, the system runs according to the configuration content in normal mode. When the configuration needs to be changed, the system is first switched to configuration mode. After the configuration is completed in configuration mode, the system is run. When the system is normal and has motion instructions, the system executes the motion instructions normally and drives the positioning robot. During the driving process, it is judged in real time whether there is a collision risk. If a collision occurs, the system can report an error, such as issuing a warning. If there is no collision risk, the system operates normally until the positioning robot is driven to the target position.

[0078] Figure 7 This is a schematic diagram of the components of a patient positioning control system according to one embodiment of the present application.

[0079] like Figure 7 As shown in the figure, the patient positioning control system includes a controller module, an actuator module, a sensor module, and a power module. The controller module consists of three functional components: an application controller unit (ACU), a motion controller unit (MCU), and a safety programmable logic controller unit (SPLC). The application controller unit (ACU) is responsible for system integration and data exchange between the proton and heavy ion therapy system control platform (TCS) and the patient positioning robot. It also has an independent thread for downstream data and status exchange with the MCU, preprocessing and translating internal system information. Another thread is used by the system function server and web client server to store user operation records and system logs. The motion controller unit (MCU) is responsible for running the robot's kinematics, dynamics, compensation algorithms, functional programs, and safety algorithms, implementing core functions such as the patient positioning system's motion positioning, sensor access, and alarm system functions. The safety programmable logic controller unit (SPLC) is responsible for safety interlocking with the proton and heavy ion therapy control system, system human-machine interaction signal access, and mode and function state selection.

[0080] The actuator module includes a servo unit, a human-machine interaction unit, and a bed plate locking and identification unit. When the control system receives a motion command, the MCU calculates the target position required for the 1-6 joint servos to achieve the target position and posture based on the kinematics, dynamics, and trajectory planning being run, and sends it to the servo motor through the servo driver to execute the corresponding speed, acceleration, and acceleration for motion positioning. The human-machine interaction unit is divided into maintenance handles, emergency release handles, and button indicator lights. The maintenance handle is used for stand-alone system operation and fault maintenance, and is operated by trained and qualified engineers. The emergency release handle is used to release patients in emergency situations such as sudden power outages in the treatment room system. Selection switches, buttons, etc. are used for system mode selection, system status indication, and enabling and disabling of other functions.

[0081] The sensor module includes a laser radar unit for collision recognition in the bottom horizontal area, a joint anti-pinch radar unit for detecting angles between joint axes, non-contact anti-collision radar units on the left and right sides of the robot, and a six-dimensional force / torque sensor located between the bed board and the patient positioning robot, which is used for patient weight and accuracy compensation, real-time force detection of the bed board, and overload protection.

[0082] The power module provides the required power for multiple electrical components of the entire patient positioning control system. Through rationalized electrical safety technology design, it focuses on protecting patient safety and the safe and stable power supply of various parts within the system. Because the end bed board of the patient positioning system is in direct contact with the patient through the carbon fiber bed board, an isolation transformer, surge protector, and auxiliary power isolation unit are designed at the system power supply end to protect user safety. To adapt to the complex electromagnetic environment and strong electromagnetic interference environment within the proton and heavy ion treatment room, in addition to a specially designed system electrical cabinet with an internal boron-containing polymer lining, the system also adds filters to the system incoming lines and auxiliary power supply units. To ensure protection in special emergencies such as power outages in the treatment room, the system has a built-in UPS uninterruptible power supply that can achieve delayed power outages. It is also used for rapid patient release and system data storage in emergency situations, thereby improving system stability.

[0083] This application also proposes a control method for a positioning robot used for proton and heavy ion radiotherapy.

[0084] As an example, a control method for a positioning robot used in proton and heavy ion radiotherapy includes receiving treatment data from a proton and heavy ion therapy system control platform, generating target path data for the positioning robot based on the treatment data, and then driving the positioning robot based on the target path data to move it to a target position.

[0085] Among them, the positioning robot includes a sensor module, and the control method of the positioning robot for proton and heavy ion radiotherapy also includes: receiving detection results from the sensor module, and when the detection results indicate that an obstacle is detected in the target detection area, controlling the positioning robot to stop moving and / or issue an early warning based on the detection results.

[0086] The present application also proposes a computer-readable storage medium.

[0087] In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the control method of the positioning robot for proton and heavy ion radiotherapy are implemented.

[0088] Figure 8 A block diagram of an electronic device provided in accordance with an embodiment of the present application.

[0089] An embodiment of the present application provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the control method of the positioning robot for proton and heavy ion radiotherapy is implemented.

[0090] like Figure 8 As shown, for ease of understanding, the embodiment of the present application shows a specific electronic device.

[0091] Electronic device is intended to refer to various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device may also refer to various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are intended to be examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0092] like Figure 8 As shown, the device includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the electronic device can also be stored in the RAM 803. The computing unit 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0093] Multiple components in the electronic device are connected to the I / O interface 805, including an input unit 806, such as a keyboard, mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the electronic device to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0094] The computing unit 801 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 801 executes the various methods described above, such as the control method for a positioning robot for proton and heavy ion radiotherapy. For example, in some embodiments, the control method for a positioning robot for proton and heavy ion radiotherapy can be implemented as a computer software program tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, the control method for a positioning robot for proton and heavy ion radiotherapy described above can be executed. Alternatively, in other embodiments, the computing unit 801 may be configured to execute a control method for a positioning robot for proton and heavy ion radiotherapy in any other appropriate manner (for example, by means of firmware).

[0095] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device, or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device, or apparatus and execute the instructions), or in conjunction with such instruction execution systems, devices, or apparatuses. For purposes of this application, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or apparatus, or in conjunction with such instruction execution systems, devices, or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0096] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0097] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. In this application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0098] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0099] In addition, the terms "first" and "second" used in the embodiments of the present application are for descriptive purposes only and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the features defined in the embodiments of the present application by terms such as "first" and "second" can explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present application, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0100] In this application, unless otherwise specified or limited in the embodiments, the terms "installed", "connected", "connected", and "fixed" appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection. It can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication between two elements, or the interaction between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood based on the specific implementation.

[0101] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0102] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control system for a positioning robot for proton and heavy ion radiotherapy, characterized in that: The system comprises: a control module, the control module being externally connected to a proton and heavy ion therapy system control platform, the control module being configured to receive treatment data from the proton and heavy ion therapy system control platform and generate target motion data for the positioning robot based on the treatment data; an execution module, the execution module being connected to the control module and configured to drive the positioning robot based on the target path data so as to move the positioning robot to a target position; A sensor module, wherein the sensor module is connected to the control module, and the sensor module is configured to send a detection result to the control module when an obstacle is detected in the target detection area, so that the control module controls the positioning robot to stop moving and / or issue an early warning based on the detection result.

2. The control system according to claim 1, characterized in that: The control module includes an application control unit and a motion control unit, and the application control unit is connected to the proton and heavy ion therapy system control platform; The application control unit is used to receive treatment data from the proton and heavy ion therapy system control platform, preprocess the treatment data, and transmit the preprocessed treatment data to the motion control unit. The motion control unit is used to process the preprocessed treatment data based on a preset algorithm to obtain the target position data of the positioning robot, and determine the target path data based on the target position data.

3. The control system according to claim 1, characterized in that: The control module includes an application control unit and a motion control unit, and the application control unit is connected to the proton and heavy ion therapy system control platform; The application control unit is used to receive treatment data from the proton and heavy ion therapy system control platform, and process the treatment data based on a preset algorithm to obtain the target position data of the positioning robot, and transmit the target position data to the motion control unit. The motion control unit is used to solve the target position data to obtain the target path data of the positioning robot.

4. The control system according to claim 1, characterized in that: The target motion data includes at least one of movement direction data, movement speed data, and movement acceleration data of multiple joints. The execution module includes a servo driver and a servo motor. The servo driver is used to drive the servo motor based on at least one of the movement direction data, movement speed data, and movement acceleration data, so that the joint corresponding to the servo motor moves according to the target motion data.

5. The control system according to claim 1, characterized in that: The sensor module includes a bed board identification sensor, and the execution module also includes a bed board locking device. The bed board identification sensor is used to send the detection result to the control module when it detects that the bed board is in a preset position, so that the control module controls the bed board locking device to lock the bed board based on the detection result.

6. The control system according to claim 1, characterized in that: The sensor module includes a torque sensor, which is used to send the detection result to the control module when it detects that the load-bearing capacity at the end of the bed board is greater than a preset threshold, so that the control module controls the positioning robot to stop moving and / or issue an early warning based on the detection result.

7. The control system according to claim 1, characterized in that: The sensor module includes a radar sensor, the target detection area includes a first target detection area and a second target detection area, the distance between the first target detection area and the radar sensor is greater than the distance between the second target detection area and the radar sensor, and the radar sensor is configured as follows: When an obstacle is detected in the first target detection area, the detection result is sent to the control module, so that the control module controls the positioning robot to issue an early warning based on the detection result; When an obstacle is detected in the second target detection area, the detection result is sent to the control module, so that the control module controls the positioning robot to stop moving based on the detection result.

8. The control system according to claim 1, characterized in that: The positioning control system for proton and heavy ion radiotherapy is integrated into an electrical cabinet, and the electrical cabinet has a built-in neutron shielding liner.

9. The control system according to claim 1, characterized in that: The system also includes an uninterruptible power supply, and the execution module also includes an emergency handle. In the event of a power outage, the system is used to call the uninterruptible power supply to power the execution module in response to instructions from the emergency handle, so that the positioning robot moves to a preset safe position.

10. The control system according to claim 1, characterized in that: The execution module further includes a key unit and an indication unit. The system is further configured to receive a configuration instruction through the key unit and control the indication unit associated with the configuration instruction to issue an instruction based on the configuration instruction.

11. The control system according to any one of claims 2 to 3, characterized in that: The preset algorithm includes at least one of a kinematics algorithm, a dynamics algorithm, a trajectory planning algorithm, and a precision compensation algorithm.

12. A control method for a positioning robot for proton and heavy ion radiotherapy, characterized in that: The method comprises: receiving treatment data from a proton and heavy ion therapy system control platform, and generating target motion data of a positioning robot based on the treatment data; Driving based on the target motion data to move the positioning robot to a target position; Wherein, the positioning robot includes a sensor module, and the method further includes: Receive a detection result from the sensor module, and when the detection result indicates that an obstacle is detected in the target detection area, control the positioning robot to stop moving and / or issue an early warning based on the detection result.

13. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the method according to claim 12 are implemented.

14. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the method according to claim 12 are implemented.

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