Rotary positioning device of particle accelerator, control method and treatment system

Abstract

The invention discloses a rotary positioning device of a particle accelerator, a control method and a treatment system, the rotary positioning device comprises a first guide piece, a second guide piece and a clamping device, one end of the first guide piece is connected with the second guide piece, and the other end of the first guide piece is connected with the clamping device; the first guide piece can slide relative to the second guide piece, the second guide piece can rotate around a fixed shaft, and the clamping device is used for clamping the particle accelerator and enabling the particle accelerator to rotate around a circle center shaft of the particle accelerator; wherein the first guide piece and the second guide piece are matched with each other to move, so that the particle accelerator moves on a circular arc with the to-be-treated part as the circle center, and the clamping device controls the particle accelerator to rotate in the process of moving on the circular arc, so that a beam outlet of the particle accelerator always faces the to-be-treated part. The rotary positioning device has the advantages of being easy to install, small in size and the like, the occupied space is smaller, and the rotary positioning device is easier to control in the actual application process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of proton radiotherapy, in particular to a rotating positioning device of a particle accelerator, a control method and a treatment system. BACKGROUND

[0002] Proton therapy technology is currently an advanced radiotherapy technology internationally. Proton therapy technology can perform radiotherapy on tumors such as cancer. Compared with traditional radiotherapy, the Bragg peak effect of proton therapy can perform high-precision treatment on tumor regions, and normal tissues in the rear area of the tumor hardly suffer from irradiation dose, greatly reducing the treatment side effects and improving the treatment effect of patients. A proton accelerator can provide a proton beam for clinical treatment, which can deliver a proton beam with a prescribed dose and a three-dimensional dose distribution provided in a treatment plan to a designated patient treatment site.

[0003] For large medical equipment, due to the weight of the medical proton accelerator itself, which can reach tens of tons to hundreds of tons, the support used to move the proton accelerator in the medical treatment system is huge, occupies a large amount of space, and is relatively difficult to assemble and control.

[0004] A rotating device is disclosed in Chinese patent No. CN118925097A, which comprises a rotating frame and a driving assembly and a gear transmission assembly for driving the rotating frame to rotate. The rotating frame comprises a cross beam and cantilevers located on both sides of the cross beam. The cross beam is provided with a mounting portion for mounting a particle accelerator. Each cantilever is connected with a driving assembly and a gear transmission assembly, so that each cantilever can rotate around an axis under the drive of the driving assembly and the gear transmission assembly. A pair of cantilevers are used to drive the cross beam and the particle accelerator mounted on the cross beam to rotate. In order to further miniaturize the rotating device, it is necessary to design a new rotating device. SUMMARY

[0005] The present application aims to provide a rotating positioning device of a particle accelerator, a control method and a treatment system to further reduce the volume.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] The present application provides a rotating positioning device of a particle accelerator, comprising a first guide, a second guide and a clamping device, one end of the first guide being connected to the second guide, the other end of the first guide being connected to the clamping device; the first guide can slide relative to the second guide, the second guide can rotate around a fixed axis, and the clamping device is used to clamp the particle accelerator and make the particle accelerator rotate around its (i.e. the particle accelerator) center axis;

[0008] The first guide and the second guide are cooperatively moved so that the particle accelerator moves along a semicircular arc path with the opening away from the rotating positioning device; a first point is defined as the upper end point of the semicircular arc in the vertical direction, a second point is defined as the end point adjacent to the rotating positioning device in the horizontal direction, and a third point is defined as the lower end point of the semicircular arc in the vertical direction.

[0009] The first guide extends in a first direction, the second guide extends in a second direction, and the first guide is slidable relative to the second guide in the second direction, and the fixed shaft extends in a third direction; the first direction, the second direction and the third direction are perpendicular to each other.

[0010] As a further improvement of an embodiment of the present application, the first guide and the second guide are cooperatively moved so that the particle accelerator moves along a semicircular arc path with the opening away from the rotating positioning device; a first point is defined as the upper end point of the semicircular arc in the vertical direction, a second point is defined as the end point adjacent to the rotating positioning device in the horizontal direction, and a third point is defined as the lower end point of the semicircular arc in the vertical direction.

[0011] When it is needed to rotate the center of the particle accelerator from the second point to the first point around the semicircular arc, the first guide is controlled to drive the clamping device to move in the second direction away from the ground, and the second guide is controlled to drive the clamping device to rotate counterclockwise.

[0012] When it is needed to rotate the center of the particle accelerator from the second point to the third point around the semicircular arc, the first guide is controlled to drive the clamping device to move in the second direction close to the ground, and the second guide is controlled to drive the clamping device to rotate clockwise.

[0013] As a further improvement of an embodiment of the present application, the first guide comprises a sliding system and an extension rod, one end of the extension rod is connected to the sliding system, the other end of the extension rod is connected to the clamping device, and the extension rod is arranged in the first direction, and the sliding system is used to drive the extension rod to move in the second direction relative to the second guide.

[0014] As a further improvement of an embodiment of the present application, the second guide comprises at least a support plate arranged in the second direction, the support plate has a sliding space passing through the opposite surfaces in the thickness direction, the sliding space extends in the second direction, the sliding system is connected to the support plate and is used to slide in the sliding space.

[0015] The support plate is used to rotate around the fixed shaft to drive the sliding system and the extension rod to rotate.

[0016] As a further improvement of the embodiment of the present application, the sliding system comprises a sliding plate, a first guide rail and a first motor system connected with each other, one end of the extension rod is connected with the sliding plate, the first guide rail is fixed on the support plate, and the first motor system is used to drive the sliding plate to slide along the first guide rail.

[0017] The first guide rail is provided with two, and the two first guide rails are parallel to each other and are respectively fixed on the edge side of the surface of the support plate facing the first guide in the extension direction of the sliding space.

[0018] The sliding system further comprises a plurality of first sliding blocks connected with the sliding plate, and the plurality of first sliding blocks are connected with the first guide rail in a matched manner, so that the sliding plate slides on the first guide rail through the first sliding blocks.

[0019] As a further improvement of the embodiment of the present application, the sliding system further comprises a threaded screw rod, a fixed block connected with the threaded screw rod and a bearing, and a connecting piece connected with the fixed block and the support plate.

[0020] The fixed block is fixedly connected with the support plate, and the fixed block is threadedly connected with the threaded screw rod.

[0021] The threaded screw rod extends in the second direction, the bearing is further fixedly connected with the surface of the sliding plate away from the extension rod, and the threaded screw rod is fixed to the side of the sliding plate away from the extension rod through the bearing; the first motor system is connected with the threaded screw rod and is used to drive the threaded screw rod to rotate, so that the threaded screw rod moves relative to the fixed block in the second direction and drives the sliding plate to move in the second direction.

[0022] As a further improvement of the embodiment of the present application, the second guide further comprises a first gear assembly and a second motor system connected with each other, and a connecting plate connected with the support plate, the connecting plate is fixed to the side surface of the support plate away from the first guide, the first gear assembly is connected with the connecting plate through a rotating bearing; the second motor system is used to drive the first gear assembly to rotate, drives the connecting plate to rotate around the center axis of the rotating bearing through the rotating bearing, and the connecting plate is used to drive the support plate to rotate around the center axis of the rotating bearing.

[0023] As a further improvement of the embodiment of the present application, the first gear assembly comprises a first gear and a second gear meshing with each other, the size of the first gear is larger than that of the second gear, the first gear is connected with the connecting plate through the rotating bearing, and the second gear is connected with the second motor system.

[0024] The second motor system is used to drive the second gear to rotate so as to drive the first gear to rotate, and drive the connecting plate to drive the support plate to rotate around the central axis of the rotating bearing.

[0025] As a further improvement of the embodiment of the present application, the rotating positioning device further comprises a bracket base, which comprises at least an L-shaped bracket, the L-shaped bracket comprising a vertical part and a horizontal part perpendicular to each other, and the vertical part is connected to the first gear assembly.

[0026] As a further improvement of the embodiment of the present application, the clamping device comprises a clamping member, a second gear assembly and a third motor system, the clamping member is used to connect the opposite end faces of the particle accelerator, the second gear assembly is arranged between the clamping member and the end face of the particle accelerator, and the third motor system is connected to the second gear assembly and used to drive the second gear assembly to rotate so as to drive the particle accelerator to synchronously rotate around its central axis.

[0027] As a further improvement of the embodiment of the present application, the second gear assembly comprises a third gear and a fourth gear which are engaged with each other, and the size of the third gear is larger than that of the fourth gear.

[0028] The third gear is connected to the end face of the particle accelerator, and the fourth gear is connected to the third motor system, and the third motor system is used to drive the fourth gear to rotate so as to drive the third gear to rotate.

[0029] The present application further provides a control method of a rotating positioning device of a particle accelerator, the control method applying the rotating positioning device of the particle accelerator as described above, and comprising:

[0030] acquiring a preset circular arc path of the particle accelerator movement, the circular arc path taking the treatment site as the center;

[0031] controlling the first guide member to control the clamping device to slide relative to the second guide member, and controlling the second guide member to rotate around a fixed axis so as to drive the clamping device to rotate, and utilizing the mutual cooperation of the first guide member and the second guide member to make the particle accelerator move on the preset circular arc path; and controlling the clamping device to control the particle accelerator to rotate around its (i.e. the particle accelerator) central axis during the movement of the particle accelerator on the preset circular arc path, so that the beam outlet of the particle accelerator can always face the treatment site.

[0032] As a further improvement of the embodiment of the present application, the first guide extends along a first direction, the second guide extends along a second direction, and the fixed shaft extends along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the preset circular arc path is a semi-circular arc path with an opening facing away from the rotary positioning device, an upper end point of the semi-circular arc in the vertical direction is defined as a first point, an end point of the semi-circular arc adjacent to the rotary positioning device in the horizontal direction is defined as a second point, and a lower end point of the semi-circular arc in the vertical direction is defined as a third point.

[0033] The mutual cooperation of the first guide and the second guide enables the particle accelerator to move along the preset circular arc path, and specifically includes:

[0034] The first guide drives the clamping device to move along the second direction towards the ground, and the second guide drives the clamping device to rotate counterclockwise, so that the center of the particle accelerator rotates from the second point to the first point along the preset circular arc path.

[0035] The first guide drives the clamping device to move along the second direction towards the ground, and the second guide drives the clamping device to rotate counterclockwise, so that the center of the particle accelerator rotates from the second point to the first point along the preset circular arc path.

[0036] As a further improvement of the embodiment of the present application, the first guide drives the clamping device to move along the second direction towards the ground, and the second guide drives the clamping device to rotate counterclockwise, and specifically includes:

[0037] The first motor system of the first guide drives the sliding plate to move along the first guide towards the ground, and the second motor system of the second guide drives the first gear assembly to rotate, so as to drive the support plate of the second guide to rotate counterclockwise around the fixed shaft.

[0038] The first motor system and the second motor system are synchronously driven to control the center of the particle accelerator to rotate from the second point to the first point along the preset circular arc path.

[0039] As a further improvement of the embodiment of the present application, the first guide drives the clamping device to move along the second direction towards the ground, and the second guide drives the clamping device to rotate counterclockwise, and specifically includes:

[0040] The first motor system of the first guide controls the sliding plate to move along the first guide rail towards the ground, and the second motor system of the second guide controls the first gear assembly to rotate, so as to drive the support plate of the second guide to rotate clockwise around the fixed shaft;

[0041] The first motor system and the second motor system are synchronously driven to control the center of the particle accelerator to rotate from the second point to a third point along the preset circular arc path.

[0042] As a further improvement of the embodiment of the present application, the control of the clamping device controls the particle accelerator to rotate around the center axis of the particle accelerator during the movement of the particle accelerator along the preset circular arc path, and specifically comprises:

[0043] The third motor system of the clamping device drives the second gear assembly to rotate, so as to drive the particle accelerator to rotate around the center axis of the particle accelerator.

[0044] The present application also provides a treatment system, which comprises a particle accelerator and a rotating positioning device of the particle accelerator as described above; the rotating positioning device is used for positioning the particle accelerator.

[0045] Compared with the prior art, the present application has at least the following beneficial effects: the present application provides a rotating positioning device of a particle accelerator, which utilizes the mutual cooperation of the first guide and the second guide to make the particle accelerator move along a circular arc with the treatment site as the center, and the clamping device can control the particle accelerator to rotate during the movement of the particle accelerator along the circular arc, so that the beam outlet of the particle accelerator is always directed towards the treatment site. The rotating positioning device provided by the present application has the characteristics of simple installation, compact structure and the like, occupies less space, and is easier to control in actual application, so that proton therapy is within reach. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a perspective structural schematic view of the rotating positioning device of the particle accelerator in the embodiment of the present application;

[0047] Figure 2 is a side view corresponding to the structure in Figure 1

[0048] Figure 3 is a side view corresponding to the structure in Figure 1

[0049] Figure 4 is a perspective structural schematic view of the structure in Figure 1

[0050] ​​​Figure 5 is a corresponding Figure 1 is a perspective view of the structure in another view (showing the first gear assembly and the second gear assembly);

[0051] Figure 6 is a corresponding Figure 1 is a front view of the structure in another view;

[0052] Figure 7 is a corresponding Figure 1 is a rear view of the structure in another view;

[0053] Figure 8 is a side view of the treatment system in an embodiment of the present application;

[0054] Figure 9 is a perspective view of the treatment system in an embodiment of the present application;

[0055] Figure 10 is a perspective view of the treatment system in an embodiment of the present application (bed plate rotated 180°).

[0056] In the figure: 1, first guide; 11, sliding system; 111, sliding plate; 112, first guide rail; 113, first motor system; 114, first sliding block; 115, threaded screw; 116, fixed block; 117, bearing; 118, connecting piece; 2, second guide; 21, support plate; 221, sliding space; 22, first gear assembly; 221, first gear; 222, second gear; 23, second motor system; 24, connecting plate; 3, clamping device; 31, clamping piece; 311, clamping surface; 312, connecting surface; 32, second gear assembly; 321, third gear; 322, fourth gear; 33, third motor system; 4, particle accelerator; 5, support base; 51, L-shaped support; 511, vertical part; 512, horizontal part; 52, bottom plate; 6, treatment bed; 61, bed plate; 62, support; S, part to be treated; S1, first point; S2, second point; S3, third point; AA', first direction; BB', second direction; CC', third direction. DETAILED DESCRIPTION

[0057] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus description of the same will be simplified or omitted.

[0058] The expression position and direction described in the present application are illustrated by taking the drawings as an example, but can be changed according to the needs, and the changes are included in the protection scope of the present application.

[0059] Please refer to Figures 1 to 8 The present application provides a rotating positioning device of a particle accelerator, which comprises at least a first guide 1, a second guide 2 and a clamping device 3 connected with each other, one end of the first guide 1 is connected with the second guide 2, and the other end of the first guide 1 is connected with the clamping device 3. The first guide 1 can slide relative to the second guide 2, and the second guide 2 can rotate around a fixed shaft. The clamping device 4 is used for clamping the particle accelerator 4, and the clamping device 4 can make the particle accelerator 4 rotate around the circumcenter shaft of the particle accelerator 4.

[0060] The first guide 1 and the second guide 2 cooperate with each other to make the particle accelerator 4 move on the whole circle or the partial circle arc with the treatment site S as the center, and the clamping device 3 controls the rotation of the particle accelerator 4 during the movement of the particle accelerator 4 on the circle arc, so that the beam outlet of the particle accelerator 4 always faces the treatment site S. The treatment site S can coincide with the isocenter of the treatment room.

[0061] Specifically, the first guide 1 extends along a first direction AA', the second guide 2 extends along a second direction BB', and the first guide 1 can slide along the second direction BB' relative to the second guide 2, and the fixed shaft extends along a third direction CC'. In the initial state (as shown in Figure 1 ), the first direction AA', the second direction BB' and the third direction CC' are perpendicular to each other.

[0062] Since the rotating positioning device in the present application needs the cooperation between the first guide 1 and the second guide 2 to control the movement track of the clamping device 3 during the control of the movement of the particle accelerator 4 around the circle arc path, the first guide 1 is connected with the second guide 2, and the second guide 2 rotates around a fixed shaft and drives the first guide 1 to also rotate. During the continuous rotation of the second guide 2, the first direction AA' and the second direction BB' are both changing, the third direction CC' is unchanged, and the first direction AA' and the second direction BB' are always perpendicular to each other, and the second direction BB' and the third direction CC' are always perpendicular to each other.

[0063] The position state of the rotating positioning device when the first direction AA' is along the horizontal direction and the second direction BB' is along the vertical direction is defined as the initial state in the present embodiment, that is, when the rotating positioning device is in the initial state, the first guide 1 of the rotating positioning device extends along the horizontal direction, and the second guide 2 extends along the vertical direction, as shown in Figure 2 , and Figure 3The horizontal direction refers to a direction parallel to the ceiling of the treatment room, and the vertical direction refers to a direction perpendicular to the ceiling of the treatment room.

[0064] In combination with Figure 1 , Figure 2 and Figure 8 , the first guide 1 and the second guide 2 move in cooperation so that the particle accelerator 4 moves along an open semicircular arc path away from the rotating positioning device, i.e., at least so that the particle accelerator 4 moves along a 180° semicircular arc in the vertical direction, the semicircular arc having an opening away from the rotating positioning device.

[0065] Again referring to Figures 1 to 7 , the first guide 1 comprises a sliding system 11 and an extension rod 12, one end of the extension rod 12 being connected to the sliding system 11 and the other end being connected to the clamping device 3, and the extension rod 12 being arranged in the first direction AA', the sliding system 11 being used to drive the extension rod 12 to move relative to the second guide 2 in the second direction BB'. When the rotating positioning device is in the initial state, the extension rod 12 is arranged in the horizontal direction, and the sliding system 11 is used to drive the extension rod 12 to move relative to the second guide 2 in the vertical direction.

[0066] The present application does not limit the specific shape of the extension rod 12, which can be a cylindrical structure or a cuboid structure.

[0067] The second guide 2 at least comprises a support plate 21 arranged in the second direction BB', the support plate 21 having a sliding space 211 passing through opposite surfaces in the thickness direction of the support plate 21, the sliding space 211 extending in the second direction BB', and the sliding system 11 being connected to the support plate 21 and sliding in the sliding space 211. Specifically, the support plate 21 rotates about a fixed shaft to drive the sliding system 11 and the extension rod 12 to rotate.

[0068] The support plate 21 is a cuboid structure plate, when the rotating positioning device is in the initial state, the length direction of the support plate 21 is the vertical direction, the thickness direction of the support plate 21 is the horizontal direction, and the support plate 21 is perpendicular to the extension rod 12.

[0069] The sliding space 211 is a cuboid structure, the length direction of the sliding space 211 is parallel to the second direction BB', and the sliding system 11 can slide in the sliding space 211.

[0070] The sliding system 11 comprises a sliding plate 111, a first guide rail 112 and a first motor system 113 connected to each other, one end of the extension rod 12 being connected to the sliding plate 111, the first guide rail 112 being fixed to the support plate 21, and the first motor system 113 being used to drive the sliding plate 111 to slide along the first guide rail 112.

[0071] ​Specifically, the sliding plate 111 is a cuboid structure plate, the length direction of the sliding plate 111 is the second direction BB' in the embodiment, and the thickness direction of the sliding plate 111 is the first direction AA' in the embodiment. One end of the extension rod 12 is connected to the side of the sliding plate 111 away from the second guide 2, and the other end is connected to the clamping device 3.

[0072] Of course, the specific structure shape and size of the sliding plate 111, the support plate 21 and the sliding space 211 are not limited by the application, and can be specifically designed and adjusted according to the actual space size of the treatment room and the distance between the rotating positioning device and the treatment bed.

[0073] The first guide rail 112 is provided with two, the two first guide rails 112 are parallel to each other and parallel to the second direction BB', and are respectively fixed to the two edge sides of the surface of the support plate 21 facing the first guide 1 along the extension direction of the sliding space 211. That is, the two first guide rails 112 extend along the second direction BB', and are arranged on the side surface of the support plate 21 facing the first guide 1 and close to the opposite sides of the sliding space 211 along the length direction thereof, and the sliding plate 111 driven by the first motor system 113 can slide back and forth on the first guide rail 112 along the second direction BB'.

[0074] Further, the sliding system 11 further comprises a plurality of first sliding blocks 114 connected to the sliding plate 111, the plurality of first sliding blocks 114 are arranged on the side surface of the sliding plate 111 facing the support plate 21 and are uniformly distributed on the two side edges of the side surface along the second direction BB'. And the plurality of first sliding blocks 114 are connected with the first guide rail 112 in cooperation, so that the sliding plate 111 slides on the first guide rail 112 through the first sliding block 114. Specifically, the inside of each first sliding block 114 is arranged as a structure matched with the first guide rail 112.

[0075] Further, the sliding system 11 further comprises a threaded rod 115, a fixed block 116, a bearing 117 and a connecting piece 118. The fixed block 116 and the bearing 117 are connected to the threaded rod 115, and the bearing 117 is specifically arranged as two, which are matched with the opposite ends of the threaded rod 115, and the two bearings 117 are fixedly connected with the sliding plate 111. The fixed block 116 is located between the two bearings 117, and the fixed block 116 is threadedly connected with the threaded rod 115. The connecting piece 118 is used to connect the fixed block 116 and the support plate 21, that is, the fixed block 116 is fixedly connected with the support plate 21 to fix the relative position of the fixed block 116 and the support plate 21.

[0076] Specifically, the connecting piece 118 can be a cuboid structure plate structure, the length direction of which is the third direction CC', the middle position of the connecting piece 118 is connected with the fixed block 116, and the two ends of the connecting piece 118 are respectively connected with the surface of the support plate 21 located in the sliding space 221 thereof.

[0077] The threaded rod 115 extends along the second direction BB', and two bearings 117 are fixedly connected to the surface of the sliding plate 111 away from the extension rod 12, and the threaded rod 115 is fixed to the side of the sliding plate 111 away from the extension rod 12 through the bearings 117. That is, when the threaded rod 115 rotates, the threaded rod 115 and the fixed block 116 threaded with the threaded rod 115 will produce relative linear motion along the extension direction of the threaded rod 115, and since the fixed block 116 is fixed to the support plate 21 through the connecting piece 118, the threaded rod 115 will produce movement along the extension direction (the second direction BB') of the threaded rod 115, and the bearings 117 and the sliding plate 111 fixed relative to the threaded rod 115 will move synchronously along the second direction BB'.

[0078] The first motor system 113 is connected with the threaded rod 115, and is used to drive the threaded rod 115 to rotate, so that the threaded rod 115 moves relative to the fixed block 116 along the second direction BB', and drives the sliding plate 111 to move along the second direction BB'. Of course, the first motor system 113 and the threaded rod 115 are further provided with corresponding driving gears, and the first motor system 113 specifically includes a pinion speed reducer and a motor connected with each other, and the pinion speed reducer is connected with the driving gears, that is, by starting the motor, the pinion speed reducer is driven to rotate and drives the driving gears to rotate, the driving gears rotate to drive the threaded rod 115 to rotate synchronously, so that the threaded rod 115 moves along the second direction BB', and the bearings 117 and the sliding plate 111 move synchronously along the second direction BB'.

[0079] Further, the second guide 2 further includes a first gear assembly 22 and a second motor system 23 connected with each other, and a connecting plate 24 connected with the support plate 21. The connecting plate 24 is fixed to the side of the support plate 21 away from the first guide 1, and the first gear assembly 22 is connected with the connecting plate 24 through a rotating bearing. The second motor system 23 is used to drive the first gear assembly 22 to rotate, drives the connecting plate 24 to rotate around the center axis of the rotating bearing through the rotating bearing, and the connecting plate 24 is used to drive the support plate 21 to rotate around the center axis of the rotating bearing.

[0080] Specifically, referring to Figure 4 and Figure 5The first gear assembly 22, the second motor system 23 and the connecting plate 24 are respectively arranged in two groups, and the two groups of the first gear assembly 22, the second motor system 23 and the connecting plate 24 are arranged on the side of the support plate 21 away from the first guide 1, and each group of the first gear assembly 22, the second motor system 23 and the connecting plate 24 is arranged near the edge side of the length direction of the support plate 21, and is specifically arranged on the lower end edge side of the side surface of the support plate 21 away from the first guide 1. The two second motor systems 23 are simultaneously started or stopped, so as to ensure that the first gear assemblies 22 arranged on different sides are simultaneously rotated, so as to synchronously drive the connecting plate 24 and the support plate 21 to rotate in the same direction.

[0081] More specifically, the connecting plate 24 is fixedly connected with the support plate 21, and the thickness direction of the connecting plate 24 is towards the third direction CC'. The connecting plate 24 is specifically a cuboid structure plate, and the connecting plate 24 is perpendicular to the support plate 21.

[0082] The first gear assembly 22 includes a first gear 221 and a second gear 222 which are engaged with each other, the size of the first gear 221 is larger than that of the second gear 222, the first gear 221 is connected with the connecting plate 24 through a rotating bearing, and the second gear 222 is connected with the second motor system 23. The second motor system 23 is used to drive the second gear 222 to rotate so as to drive the first gear 221 to rotate, and to drive the connecting plate 24 to rotate around the center axis of the rotating bearing together with the support plate 21. Specifically, the rotating bearing is arranged in the first gear 221, the first gear 221 drives the rotating bearing to rotate synchronously, so as to drive the connecting plate 24 to rotate around the center axis of the rotating bearing. The center axis of the rotating bearing is the fixed shaft as described above, and the third direction CC' is the extension direction of the center axis of the rotating bearing, and is also the extension direction of the center axis of the first gear 221. When the second motor system 23 drives the first gear assembly 22 to rotate, the connecting plate 24 and the support plate 21 fixedly connected with the connecting plate 24 can be synchronously rotated around the center axis of the rotating bearing.

[0083] The second motor system 23 specifically includes a pinion speed reducer and a motor which are connected with each other, the pinion speed reducer is connected with the second gear 222, that is, by starting the motor, the pinion speed reducer is driven to operate and drives the second gear 222 to rotate, and the second gear 222 drives the first gear 221 to rotate, so as to make the connecting plate 24 and the support plate 21 synchronously rotate.

[0084] Of course, when the support plate 21 is driven to rotate, the first guide member 1 connected to the support plate 21 and the clamping device 3 connected to the first guide member 1 also rotate synchronously in the same direction, and the first motor system 113 drives the slide 111 to drive the clamping device 3 to slide along the second direction BB'. By controlling the movement of the clamping device 3 in the second direction BB' and the corresponding rotational movement, the movement trajectory of the clamping device 3 is an arc with the part to be treated S as the center, specifically a semicircular arc with the opening away from the rotation positioning device. Combine Figure 8 The present invention is to control the particle accelerator 4 along the semicircular arc. During movement, how the first guide member 1 and the second guide member 2 cooperate with each other is specifically described as follows:

[0085] The semicircle The upper endpoint in the vertical direction is defined as the first point S1, the semicircular arc The end point adjacent to the rotation positioning device in the horizontal direction is defined as the second point S2, the semicircular arc The lower end point in the vertical direction is defined as the third point S3. When the rotation positioning device is in the initial state, the center of the particle accelerator 4 is located at the second point S2.

[0086] For example, when the center of the particle accelerator 4 is required to rotate counterclockwise around a semicircular arc from the second point S2 to the first point S1, the first guide member 1 is controlled to drive the clamping device 3 to move in the second direction BB' away from the ground, and the second guide member 2 drives the clamping device 3 to rotate counterclockwise. Specifically, the first motor system 113 and the second motor system 23 are started simultaneously. The first motor system 113 drives the slide 111 to drive the particle accelerator 4 to move in the second direction BB' away from the ground, while the second motor system 23 drives the support plate 21 to rotate counterclockwise around the fixed axis, so that the particle accelerator 4 rotates counterclockwise while moving in the second direction BB', controlling the particle accelerator 4 to rotate in the arc. Movement on the path.

[0087] For example, when the center of the particle accelerator 4 needs to rotate from the second point S2 to the third point S3 around a semicircular arc, the first guide member 1 is controlled to drive the clamping device 3 to move along the second direction BB' toward the ground, and the second guide member 2 drives the clamping device 3 to rotate in a clockwise direction. Specifically, the first motor system 113 and the second motor system 23 are started simultaneously. The first motor system 113 drives the slide 111 to drive the particle accelerator 4 to move along the second direction BB' toward the ground, while the second motor system 23 drives the support plate 21 to rotate clockwise around the fixed axis, so that the particle accelerator 4 rotates clockwise while moving along the second direction BB', controlling the particle accelerator 4 to rotate in a circular arc. Movement on the path.

[0088] Further, the rotating positioning device further comprises a bracket base 5, the bracket base 5 at least comprises a L-shaped bracket 51, the L-shaped bracket 51 comprises a vertical part 511 and a horizontal part 512 which are perpendicular to each other, and the vertical part 511 is connected with the first gear assembly 22. Specifically, the bracket base 5 comprises two groups of L-shaped brackets 51, and each group of L-shaped brackets 51 is arranged corresponding to the two groups of first gear assemblies 22, and each group of L-shaped brackets 51 is connected with the first gear assembly 22 through the vertical part 511, that is, the first gear assembly 22 is arranged between the vertical part 511 and the connecting plate 24. The vertical part 511 is a cuboid structure plate which is perpendicular to the ground, and the horizontal part 512 is a cuboid structure plate which is parallel to the ground. Of course, the second motor system 23 can also be fixed on the vertical part 511.

[0089] Of course, the bracket base 5 can further comprise a bottom plate 52, the bottom plate 52 is a cuboid structure plate which is parallel to the ground, and the L-shaped bracket 51 is fixedly connected with the bottom plate 52 through the horizontal part 512.

[0090] Continuing to refer to Figures 1 to 3 , the clamping device 3 comprises a clamping piece 31, a second gear assembly 32 and a third motor system 33, the clamping piece 31 is used for connecting the opposite end faces of the particle accelerator 4, the second gear assembly 32 is arranged between the clamping piece 31 and the end face of the particle accelerator 4, and the third motor system 33 is connected with the second gear assembly 32 and is used for driving the second gear assembly 32 to rotate, so as to drive the particle accelerator 4 to synchronously rotate around the center axis of the particle accelerator 4.

[0091] Specifically, the clamping piece 31 is fixedly connected with the extension rod 12 of the first guide piece 1. The clamping piece 31 specifically comprises two opposite clamping faces 311 and a connecting face 312 which connects the two clamping faces 311, and an open accommodating space is formed between the two clamping faces 311 and the connecting face 312, and the second gear assembly 32 and the particle accelerator 4 are fixed in the accommodating space. Among them, the clamping piece 31 is connected and fixed with the extension rod 12 of the first guide piece 1 through the connecting face 312, and the opposite end faces of the particle accelerator 4 are parallel to the clamping faces 311.

[0092] The second gear assembly 32 comprises a third gear 321 and a fourth gear 322 which are engaged with each other, and the size of the third gear 321 is larger than that of the fourth gear 322. Specifically, a set of the second gear assembly 32 is arranged between the end face of the particle accelerator 4 and the clamping face 311. The third gear 321 is connected to the end face of the particle accelerator 4, and the fourth gear 322 is connected to the third motor system 33, which is used to drive the fourth gear 322 to rotate so as to drive the third gear 321 to rotate, and finally realize the rotation of the particle accelerator 4 around the central axis thereof (i.e. the particle accelerator 4). Of course, another rotating bearing can also be arranged in the third gear 321, and the third gear 321 is connected to the end face of the particle accelerator 4 through the rotating bearing and drives the particle accelerator 4 to rotate.

[0093] Of course, when the particle accelerator 4 is controlled to move along the circular arc with the treatment site S as the center, the third motor system 33 needs to be started in real time, so that the particle accelerator 4 is constantly rotated during the movement along the circular arc, and the beam outlet of the particle accelerator 4 is always directed to the treatment site S.

[0094] The third motor system 33 specifically comprises a pinion speed reducer and a motor which are connected to each other. The pinion speed reducer is connected to the fourth gear 322, that is, the pinion speed reducer is driven to rotate by starting the motor, and the fourth gear 322 is driven to rotate by the pinion speed reducer, and the third gear 321 is driven to rotate by the fourth gear 322, so that the particle accelerator 4 is synchronously rotated. Through the above-mentioned embodiments, the structure of the rotating positioning device used in cooperation with the particle accelerator is more compact, which conforms to the development trend of further miniaturization and integration.

[0095] The present application also provides a control method of the rotating positioning device, which applies the rotating positioning device of the particle accelerator as described in any one of the above-mentioned embodiments. The control method of the present application comprises the following steps:

[0096] Step S1: obtaining a preset circular arc or entire circle path of the movement of the particle accelerator, and the circular arc or entire circle path is with the treatment site as the center. The circular arc is a part of the entire circle.

[0097] Step S2: controlling the first guide to control the sliding of the clamping device relative to the second guide and controlling the second guide to rotate around a fixed shaft to drive the clamping device to rotate, and the first guide and the second guide are cooperatively moved to make the particle accelerator move along the preset circular arc or entire circle path; and controlling the clamping device to control the particle accelerator to rotate around the central axis thereof (i.e. the particle accelerator) during the movement along the preset circular arc or entire circle path, so that the beam outlet of the particle accelerator can be always directed to the treatment site.

[0098] Specifically, the first guide is connected to the second guide through the clamping device, and the clamping device is connected to the particle accelerator. Figures 1 to 5 , and Figure 8The first guide 1 extends along a first direction AA', the second guide 2 extends along a second direction BB', and the fixed shaft extends along a third direction CC', and the first direction AA', the second direction BB', and the third direction CC' are perpendicular to each other.

[0099] More specifically, the preset circular arc path is a semicircular arc path with the opening facing away from the rotating positioning device The semicircular arc The upper end point in the vertical direction is defined as a first point S1, and the semicircular arc The end point adjacent to the rotating positioning device in the horizontal direction is defined as a second point S2, and the semicircular arc The lower end point in the vertical direction is defined as a third point S3. Then, the step S2 of “moving the particle accelerator on the preset circular arc path by cooperating the first guide and the second guide to move” specifically includes:

[0100] The first guide 1 drives the clamping device 3 to move along the second direction BB' away from the ground, and the second guide 2 drives the clamping device 3 to rotate counterclockwise, so that the center of the particle accelerator 4 rotates from the second point S2 to the first point S1 along the preset circular arc path.

[0101] The first guide 1 drives the clamping device 3 to move along the second direction BB' towards the ground, and the second guide 2 drives the clamping device 3 to rotate clockwise, so that the center of the particle accelerator 4 rotates from the second point S2 to the third point S3 along the preset circular arc path.

[0102] In combination with the specific structure of the rotating positioning device provided by the application, reference is made to Figures 1 to 5 , and Figure 8 Further description is made on “rotating the center of the particle accelerator from the second point to the first point along the preset circular arc path” and “rotating the center of the particle accelerator from the second point to the third point along the preset circular arc path”:

[0103] When it is needed to rotate the center of the particle accelerator 5 from the second point S2 to the first point S1 along the preset circular arc path, the first motor system 113 of the first guide 1 drives the sliding plate 111 to move (specifically, slide) along the first guide rail 112 away from the ground, and the second motor system 23 of the second guide 2 drives the first gear assembly 22 to rotate, so as to drive the support plate 21 of the second guide 2 to rotate counterclockwise around the fixed shaft.

[0104] It should be noted that the fixed shaft is the central axis of the rotation of the support plate 21, that is, the central axis of the first gear 221 of the first gear assembly 22.

[0105] Of course, during the process, the first guide 1 and the second guide 2 are synchronously driven, that is, the first motor system 113 and the second motor system 23 are synchronously driven, so as to control the center of the particle accelerator 5 to rotate from the second point S2 to the first point S1 along the preset circular arc path.

[0106] Of course, during the process, the third motor system 33 of the clamping device 3 is also synchronously driven, so that the particle accelerator 4 rotates around the center axis thereof (that is, the particle accelerator 4) during the movement on the preset circular arc path, so as to ensure that the beam outlet of the particle accelerator 4 is always directed to the treatment site S.

[0107] When it is required to make the center of the particle accelerator 5 rotate from the second point S2 to the third point S3 along the preset circular arc path, the first motor system 113 of the first guide 1 is controlled to drive the sliding plate 111 to move along the first guide rail 112 towards the ground, and the second motor system 23 of the second guide 2 is controlled to drive the first gear assembly 22 to rotate, so as to drive the support plate 21 of the second guide 2 to rotate clockwise around the fixed shaft.

[0108] It should be noted that the fixed shaft is the center axis of the rotation of the support plate 21, that is, the center axis of the first gear 221 of the first gear assembly 22.

[0109] Of course, during the process, the first guide 1 and the second guide 2 are synchronously driven, that is, the first motor system 113 and the second motor system 23 are synchronously driven, so as to control the center of the particle accelerator 5 to rotate from the second point S2 to the third point S3 along the preset circular arc path.

[0110] Of course, during the process, the third motor system 33 of the clamping device 3 is also synchronously driven, so that the particle accelerator 4 rotates around the center axis thereof (that is, the particle accelerator 4) during the movement on the preset circular arc path, so as to ensure that the beam outlet of the particle accelerator 4 is always directed to the treatment site S.

[0111] More specifically, the step S2 of “controlling the clamping device to control the particle accelerator to rotate around the center axis thereof during the movement on the preset circular arc path” specifically includes:

[0112] The third motor system 33 of the clamping device 3 is controlled to drive the second gear assembly 32 to rotate, so as to drive the particle accelerator 4 to rotate around the center axis thereof (that is, the particle accelerator 4), so that the particle accelerator 4 always rotates around the center axis thereof during the movement on the preset circular arc path, so as to ensure that the beam outlet of the particle accelerator 4 is always directed to the treatment site S.

[0113] The application also provides a treatment system, which is shown in Figures 8 to 10The treatment system comprises a particle accelerator 4, a treatment bed 6 and the rotating positioning device of the particle accelerator as described in any one of the above embodiments. The treatment site S is located at the isocenter of the treatment system. The particle accelerator can be a proton accelerator.

[0114] The treatment bed 6 comprises a bed plate 61 and a support 62 for supporting the bed plate 61, wherein the bed plate 61 is rotatable by 180° relative to the support 62 in the plane of the bed plate 61 and the bed plate 61 is movable relative to the support 62.

[0115] It should be noted that the rotating positioning device in the present embodiment is installed in the building wall of the treatment room in actual application, so the arc path of the rotating movement of the particle accelerator 4 is relatively fixed, that is, the center and radius of the arc of the rotating movement of the particle accelerator 4 in the present embodiment are generally fixed, that is, when radiation treatment is needed, the bed plate 61 can be moved to the fixed treatment position.

[0116] For example, referring to Figure 9 The bed plate 61 is used for lying the patient in need of radiation treatment. For example, if the patient needs to perform radiation treatment on the head, only the head of the patient needs to be located at the point S on the bed plate 61, and the rotating positioning device is controlled to start, and the right side of the head of the patient is subjected to radiation treatment in a vertical direction within a rotating range of 180° or more, so that the angle of the radiation treatment can be more flexible, and a better treatment experience is ensured.

[0117] For example, referring to Figure 10 If the left side of the head of the patient also needs to be subjected to radiation treatment, the bed plate 61 in Figure 9 is only rotated by 180° in the plane, and the bed plate 61 is moved relative to the support 62, so that the head of the patient is still located at the point S on the bed plate 61.

[0118] In summary, the present application provides a rotating positioning device of a particle accelerator, which utilizes the mutual cooperation movement between the first guide member and the second guide member to enable the particle accelerator to move on an arc with the treatment site as the center, and the clamping device can control the rotation of the particle accelerator during the movement of the particle accelerator on the arc, so that the beam outlet of the particle accelerator is always directed to the treatment site. The rotating positioning device provided by the present application has the advantages of compact structure, simple installation, small size, smaller occupied space, and the like, and the operation of the rotating positioning device is also simpler in actual application by utilizing sliding and other operations in addition to rotation.

[0119] Although the embodiments of the present application have been shown and described above, it is to be understood that the above-described embodiments are merely exemplary, and are not to be construed as limiting the present application, and that modifications, substitutions, changes and variations to the described embodiments can be made by those skilled in the art without departing from the spirit and scope of the present application, and that such modifications, substitutions, changes and variations are to be encompassed within the scope of the present application as defined by the following claims.

Claims

1. A rotation positioning device for a particle accelerator, characterized in that: The device comprises a first guide member, a second guide member, and a clamping device, wherein one end of the first guide member is connected to the second guide member, and the other end of the first guide member is connected to the clamping device; the first guide member is slidable relative to the second guide member, and the second guide member is rotatable about a fixed axis; the clamping device is used to clamp a particle accelerator and rotate the particle accelerator about its central axis; The first guide member and the second guide member cooperate with each other to move so that the particle accelerator can move on an arc with the part to be treated as the center, and the clamping device is used to control the rotation of the particle accelerator during the movement on the arc so that the beam outlet of the particle accelerator can always face the part to be treated when treating a patient; The first guide member extends along a first direction, the second guide member extends along a second direction, and the first guide member can slide relative to the second guide member along the second direction. The fixed axis extends along a third direction. The first direction, the second direction and the third direction are perpendicular to each other.

2. The rotation positioning device for a particle accelerator according to claim 1, characterized in that: The first guide member and the second guide member cooperate to move with each other so that the particle accelerator moves along a semicircular arc path with an opening facing away from the rotation positioning device; an upper end point of the semicircular arc in a vertical direction is defined as a first point position, an end point of the semicircular arc adjacent to the rotation positioning device in a horizontal direction is defined as a second point position, and a lower end point of the semicircular arc in a vertical direction is defined as a third point position; When the center of the particle accelerator is required to rotate from the second point to the first point around the semicircular arc, the first guide member is controlled to drive the clamping device to move in the second direction away from the ground, and the second guide member is controlled to drive the clamping device to rotate in a counterclockwise direction; When the center of the particle accelerator needs to rotate from the second point to the third point around the semicircular arc direction, the first guide member is controlled to drive the clamping device to move along the second direction toward the ground, and the second guide member drives the clamping device to rotate in the clockwise direction.

3. The rotation positioning device for a particle accelerator according to claim 1, characterized in that: The first guide member includes a sliding system and an extension rod, one end of the extension rod is connected to the sliding system, and the other end is connected to the clamping device, and the extension rod is arranged along the first direction, and the sliding system is used to drive the extension rod to move along the second direction relative to the second guide member.

4. The rotation positioning device for a particle accelerator according to claim 3, characterized in that: The second guide member includes at least one support plate arranged along the second direction, the support plate having a sliding space extending through two opposite surfaces thereof in a thickness direction, the sliding space extending along the second direction, the sliding system being connected to the support plate and configured to slide within the sliding space; The support plate is used to rotate around the fixed axis to drive the sliding system and the extension rod to rotate.

5. The rotation positioning device for a particle accelerator according to claim 4, characterized in that: The sliding system includes a slide plate, a first guide rail, and a first motor system connected to each other, one end of the extension rod is connected to the slide plate, the first guide rail is fixed to the support plate, and the first motor system is used to drive the slide plate to slide along the first guide rail; Two first guide rails are provided, the two first guide rails are parallel to each other, and are respectively fixed to the edge side of the surface of the support plate facing the first guide member along the extending direction of the sliding space; The sliding system further comprises a plurality of first sliding blocks connected to the slide plate, wherein the plurality of first sliding blocks are cooperatively connected with the first guide rail, so that the slide plate slides on the first guide rail through the first sliding blocks.

6. The rotation positioning device for a particle accelerator according to claim 5, characterized in that: The sliding system further includes a threaded screw, a fixed block and a bearing connected to the threaded screw, and a connecting piece connecting the fixed block and the support plate; The fixing block is fixedly connected to the support plate, and the fixing block is threadedly connected to the threaded screw; The threaded screw extends along the second direction, and the bearing is also fixedly connected to the surface of the slide away from the extension rod. The threaded screw is fixed to the side of the slide away from the extension rod through the bearing; the first motor system is connected to the threaded screw, and is used to drive the threaded screw to rotate, so that the threaded screw moves relative to the fixed block along the second direction, and drives the slide to move along the second direction.

7. The rotation positioning device for a particle accelerator according to claim 4, characterized in that: The second guide member also includes a first gear assembly and a second motor system connected to each other, and a connecting plate connected to the support plate, the connecting plate is fixed to a side of the support plate facing away from the first guide member, and the first gear assembly is connected to the connecting plate through a rotating bearing; the second motor system is used to drive the first gear assembly to rotate, and drive the connecting plate to rotate around the central axis of the rotating bearing through the rotating bearing, and the connecting plate is used to drive the support plate to rotate around the central axis of the rotating bearing.

8. The rotation positioning device for a particle accelerator according to claim 1, characterized in that: The clamping device includes a clamping member, a second gear assembly, and a third motor system. The clamping member is used to connect the two opposite end faces of the particle accelerator. The second gear assembly is arranged between the clamping member and the end face of the particle accelerator. The third motor system is connected to the second gear assembly and is used to drive the second gear assembly to rotate, thereby driving the particle accelerator to rotate synchronously around its central axis.

9. A method for controlling a rotation positioning device of a particle accelerator, characterized in that: The control method uses the rotation positioning device of the particle accelerator according to any one of claims 1 to 8, comprising: Obtaining a preset arc path of the particle accelerator, wherein the arc path has the part to be treated as the center; The first guide member is regulated to control the clamping device to slide relative to the second guide member and the second guide member is regulated to rotate about a fixed axis to drive the clamping device to rotate. The first guide member and the second guide member cooperate with each other to move so that the particle accelerator moves on a preset circular arc path. The clamping device is also regulated to control the particle accelerator to rotate about its central axis during movement on the preset circular arc path, so that the beam outlet of the particle accelerator can always face the site to be treated.

10. The control method of the rotation positioning device of the particle accelerator according to claim 9, characterized in that: The first guide member extends along a first direction, the second guide member extends along a second direction, and the fixed axis extends along a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other; the preset arc path is a semicircular arc path with an opening facing away from the rotation positioning device, an upper endpoint of the semicircular arc in the vertical direction is defined as a first point, an endpoint of the semicircular arc adjacent to the rotation positioning device in the horizontal direction is defined as a second point, and a lower endpoint of the semicircular arc in the vertical direction is defined as a third point; The method of utilizing the first guide member and the second guide member to cooperate with each other to move the particle accelerator along a preset arc path specifically includes: Controlling the first guide member to drive the clamping device to move in a second direction away from the ground, and controlling the second guide member to drive the clamping device to rotate in a counterclockwise direction, so that the center of the particle accelerator rotates from the second point along the preset arc path to the first point; The first guide member is controlled to drive the clamping device to move in a second direction toward the ground, and the second guide member drives the clamping device to rotate in a clockwise direction, so that the center of the particle accelerator rotates from the second point position along the preset arc path to a third point position.

11. The control method for a rotation positioning device of a particle accelerator according to claim 10, characterized in that: The controlling the first guide member to drive the clamping device to move in the second direction away from the ground, and the second guide member to drive the clamping device to rotate in the counterclockwise direction specifically includes: controlling the first motor system of the first guide member to drive the slide plate to move along the first guide rail in a direction away from the ground, and controlling the second motor system of the second guide member to drive the first gear assembly to rotate, thereby driving the support plate of the second guide member to rotate counterclockwise around the fixed axis; The first motor system and the second motor system are driven synchronously to control the center of the particle accelerator to rotate from the second point along the preset arc path to the first point.

12. The control method for a rotation positioning device of a particle accelerator according to claim 10, characterized in that: The controlling the first guide member to drive the clamping device to move in the second direction toward the ground, and the second guide member to drive the clamping device to rotate in the clockwise direction specifically includes: Controlling the first motor system of the first guide member to drive the slide plate to move along the first guide rail toward the ground, and controlling the second motor system of the second guide member to drive the first gear assembly to rotate, thereby driving the support plate of the second guide member to rotate clockwise around the fixed axis; The first motor system and the second motor system are driven synchronously to control the center of the particle accelerator to rotate from the second point along the preset arc path to a third point.

13. The control method of the rotation positioning device of a particle accelerator according to claim 9, characterized in that: The controlling of the clamping device to control the particle accelerator to rotate around its central axis during the movement on the preset arc path specifically includes: The third motor system controls the clamping device to drive the second gear assembly to rotate, thereby driving the particle accelerator to rotate around its central axis.

14. A therapeutic system, characterized in that The invention comprises a particle accelerator and a rotation positioning device for the particle accelerator as claimed in any one of claims 1 to 8, wherein the rotation positioning device is used for positioning the particle accelerator.

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