Rotational positioning device, control method and treatment system for particle accelerators

Abstract

This invention discloses a rotational positioning device, control method, and treatment system for a particle accelerator. The rotational positioning device includes a first guide member, a second guide member, and a clamping device. 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 can slide relative to the second guide member, and the second guide member can rotate about a fixed axis. The clamping device is used to clamp the particle accelerator and cause the particle accelerator to rotate about its central axis. The first and second guide members cooperate to move the particle accelerator on an arc centered on the treatment area, and the clamping device controls the rotation of the particle accelerator during its movement on the arc, ensuring that the particle accelerator's output beam always faces the treatment area. The rotational positioning device provided by this invention has the advantages of simple installation, small size, smaller footprint, and simpler operation in practical applications.

Description

Technical Field

[0001] This invention relates to the field of proton radiotherapy technology, and in particular to a rotation positioning device, control method and treatment system for a particle accelerator. Background Technology

[0002] Proton therapy is currently one of the most advanced radiotherapy technologies internationally. It uses protons to treat tumors such as cancer. Compared to traditional radiotherapy, the "Bragg peak" effect of proton therapy allows for highly precise treatment of the tumor area, while normal tissue behind the tumor receives almost no radiation dose, greatly reducing treatment side effects and resulting in better patient outcomes. Proton accelerators provide proton beams for clinical treatment, delivering proton beams with prescribed doses and three-dimensional dose distributions to the designated treatment sites on the patient.

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

[0004] Chinese invention patent CN118925097A discloses a rotating device, which includes a rotating frame and a drive assembly and a gear transmission assembly for driving the rotating frame to rotate. The rotating frame includes a crossbeam and cantilever arms located on both sides of the crossbeam. The crossbeam has mounting portions for mounting particle accelerators. Each cantilever arm is connected to a drive assembly and a gear transmission assembly, so that each cantilever arm can rotate about an axis under the drive of the drive assembly and the gear transmission assembly. A pair of cantilever arms together drive the crossbeam and the particle accelerator mounted on the crossbeam to rotate. To further miniaturize and integrate the rotating device, it is necessary to design a new rotating device. Summary of the Invention

[0005] The purpose of this invention is to provide a rotation positioning device, control method, and treatment system for a particle accelerator, so as to further reduce its size.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] The present invention provides a rotation positioning device for a particle accelerator, comprising a first guide member, a second guide member, and a clamping device. 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 can slide relative to the second guide member, the second guide member can rotate about a fixed axis, and the clamping device is used to clamp the particle accelerator and cause the particle accelerator to rotate about its (i.e., the particle accelerator's) central axis.

[0008] The first guide and the second guide move in coordination to make the particle accelerator move on an arc centered on the area to be treated, and the clamping device controls the particle accelerator to rotate during its movement on the arc, so that the exit port of the particle accelerator can always face the area to be treated when treating the patient.

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

[0010] As a further improvement of one embodiment of the present invention, the first guide member and the second guide member cooperate to move, so that the particle accelerator moves along a semi-circular arc path away from the opening and away from the rotating positioning device; the upper end point of the semi-circular arc in the vertical direction is defined as the first point, the end point of the semi-circular arc adjacent to the rotating positioning device in the horizontal direction is defined as the second point, and the lower end point of the semi-circular arc in the vertical direction is defined as the third point.

[0011] When it is necessary for the center of the particle accelerator to rotate from the second point to the first point around the semi-circular arc, the first guide is controlled to drive the clamping device to move away from the ground along the second direction, and the second guide is controlled to drive the clamping device to rotate counterclockwise.

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

[0013] As a further improvement of one embodiment of the present invention, the first guide 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 a first direction, and the sliding system is used to drive the extension rod to move relative to the second guide in a second direction.

[0014] As a further improvement of one embodiment of the present invention, the second guide includes at least a support plate disposed along the second direction, the support plate having a sliding space extending through two opposing surfaces in its thickness direction, the sliding space extending along the second direction, the sliding system being connected to the support plate and the sliding system being used to slide within the sliding space;

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

[0016] As a further improvement of one embodiment of the present invention, the sliding system includes a sliding plate, a first guide rail and a first motor system connected to each other, one end of the extension rod is connected to the sliding plate, the first guide rail is fixed to 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 in two parallel sections and is fixed to the edge side of the support plate facing the first guide member along the sliding space extension direction.

[0018] The sliding system further includes a plurality of first sliders connected to the skateboard, the plurality of first sliders being connected in cooperation with the first guide rail, so that the skateboard slides on the first guide rail via the first sliders.

[0019] As a further improvement of one embodiment of the present invention, the sliding system further includes a threaded screw, a fixing block and a bearing connecting the threaded screw, and a connecting member connecting the fixing block and the support plate;

[0020] The fixing block is fixedly connected to the support plate, and the fixing block is threadedly connected to the threaded screw.

[0021] The threaded screw extends along the second direction, and the bearing is also fixedly connected to the surface of the slide plate opposite to the extension rod. The threaded screw is fixed to the side of the slide plate opposite to the extension rod by 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 plate to move along the second direction.

[0022] As a further improvement of one embodiment of the present invention, the second guide member further 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 the side of the support plate opposite to the first guide member. The first gear assembly is connected to the connecting plate through a rotary bearing. The second motor system is used to drive the first gear assembly to rotate, and drives the connecting plate to rotate around the central axis of the rotary bearing through the rotary bearing. The connecting plate is used to drive the support plate to rotate around the central axis of the rotary bearing.

[0023] As a further improvement of one embodiment of the present invention, the first gear assembly includes a first gear and a second gear that mesh with each other, the first gear being larger in size than the second gear, the first gear being connected to the connecting plate via the rotary bearing, and the second gear being connected to 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 to cause the connecting plate to drive the support plate to rotate around the central axis of the rotary bearing.

[0025] As a further improvement of one embodiment of the present invention, the rotary positioning device further includes a support base, the support base including at least an L-shaped support, the L-shaped support including a vertical portion and a horizontal portion perpendicular to each other, the vertical portion being connected to the first gear assembly.

[0026] As a further improvement of one embodiment of the present invention, 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 disposed between the clamping member and the end faces 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, so as to drive the particle accelerator to rotate synchronously around its central axis.

[0027] As a further improvement of one embodiment of the present invention, the second gear assembly includes a third gear and a fourth gear that mesh with each other, wherein the size of the third gear is larger than the size 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. 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 invention also provides a control method for a rotational positioning device of a particle accelerator, the control method applying the rotational positioning device of the particle accelerator as described above, comprising:

[0030] Obtain a preset circular arc path of particle accelerator motion, with the treatment site as the center of the circular arc path;

[0031] The first guide member controls the sliding of the clamping device relative to the second guide member, and the second guide member is adjusted to rotate around a fixed axis to drive the clamping device to rotate. The first guide member and the second guide member work together to make the particle accelerator move on a preset arc path. Furthermore, the clamping device is adjusted to control the particle accelerator to rotate around its (i.e., the particle accelerator's) central axis during its movement on the preset arc path, so that the particle accelerator's output beam can always face the treatment site.

[0032] As a further improvement of one embodiment of the present invention, the first guide extends along a first direction, the second guide extends along a second direction, 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 arc path is a semi-circular arc path with its opening facing away from the rotary positioning device, the upper endpoint of the semi-circular arc in the vertical direction is defined as the first point, the endpoint of the semi-circular arc adjacent to the rotary positioning device in the horizontal direction is defined as the second point, and the lower endpoint of the semi-circular arc in the vertical direction is defined as the third point;

[0033] The method of using the coordinated movement of the first and second guiding components to make the particle accelerator move along a preset circular arc path specifically includes:

[0034] The first guide member is controlled to drive the clamping device to move away from the ground in the second direction, and the second guide member 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 arc path;

[0035] The first guide member is controlled to drive the clamping device to move in the second direction toward the ground, and the second guide member drives the clamping device to rotate clockwise, so that the center of the particle accelerator rotates from the second point along the preset arc path to the third point.

[0036] As a further improvement to one embodiment of the present invention, the step of controlling the first guide member to drive the clamping device to move in a second direction away from the ground, and the second guide member to drive the clamping device to rotate in a counterclockwise direction, specifically includes:

[0037] The first motor system controlling the first guide member drives the slide plate to move away from the ground along the first guide rail, and the second motor system controlling the second guide member drives the first gear assembly to rotate, so as to drive the support plate of the second guide member to rotate counterclockwise around the fixed axis.

[0038] 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.

[0039] As a further improvement to one embodiment of the present invention, the step of controlling the first guide member to drive the clamping device to move along a second direction toward the ground, and the second guide member to drive the clamping device to rotate clockwise, specifically includes:

[0040] The first motor system controlling the first guide member drives the slide plate to move along the first guide rail towards the ground, and the second motor system controlling the second guide member drives the first gear assembly to rotate, so as to drive the support plate of the second guide member to rotate clockwise around the fixed axis.

[0041] 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 third point.

[0042] As a further improvement of one embodiment of the present invention, the control of the clamping device to rotate the particle accelerator around its (i.e., the particle accelerator's) central axis during its movement along a preset arc path specifically includes:

[0043] The third motor system controlling the clamping device drives the second gear assembly to rotate, thereby causing the particle accelerator to rotate around its (i.e., the particle accelerator's) central axis.

[0044] The present invention also provides a treatment system, including a particle accelerator and a rotation positioning device for the particle accelerator as described above; the rotation positioning device is used to position the particle accelerator.

[0045] Compared with the prior art, the beneficial effects of the present invention include at least the following: The present invention provides a rotation positioning device for a particle accelerator, in which the particle accelerator moves along an arc centered on the treatment site by the coordinated movement of a first guide member and a second guide member. Simultaneously, a clamping device controls the rotation of the particle accelerator during its movement along the arc, ensuring that the particle accelerator's output beam always faces the treatment site. The rotation positioning device provided by the present invention is characterized by simple installation, compact structure, smaller footprint, and simpler operation during practical applications, making proton therapy readily accessible. Attached Figure Description

[0046] Figure 1 This is a three-dimensional structural schematic diagram of the rotation positioning device of a particle accelerator according to one embodiment of the present invention;

[0047] Figure 2 It corresponds Figure 1 Side view of the middle structure;

[0048] Figure 3 It corresponds Figure 1 Side view of the middle structure (showing the first gear assembly and the second gear assembly);

[0049] Figure 4 It corresponds Figure 1 A three-dimensional structural diagram of the middle structure from another perspective;

[0050] Figure 5 It corresponds Figure 1 A three-dimensional structural diagram of the middle structure from another perspective (showing the first gear assembly and the second gear assembly);

[0051] Figure 6 It corresponds Figure 1 Front view of the middle structure;

[0052] Figure 7 It corresponds Figure 1 Rear view of the middle structure;

[0053] Figure 8 This is a side view of a treatment system according to an embodiment of the present invention;

[0054] Figure 9 This is a three-dimensional structural diagram of the treatment system according to one embodiment of the present invention;

[0055] Figure 10 This is a three-dimensional structural diagram of the treatment system according to one embodiment of the present invention (the bed board is rotated 180°).

[0056] In the diagram: 1. First guide component; 11. Sliding system; 111. Slide plate; 112. First guide rail; 113. First motor system; 114. First slider; 115. Threaded screw; 116. Fixing block; 117. Bearing; 118. Connecting component; 2. Second guide component; 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 component; 311 312. Clamping surface; 32. 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. Base plate; 6. Treatment bed; 61. Bed board; 62. Support; S. Treatment area; S1. First point; S2. Second point; S3. Third point; AA'. First direction; BB'. Second direction; CC'. Third direction. Detailed Implementation

[0057] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted.

[0058] The terms used to express position and direction in this invention are illustrated with reference to the accompanying drawings, but changes can be made as needed, and all such changes are included within the scope of protection of this invention.

[0059] Please refer to the following: Figures 1 to 8 This invention provides a rotation positioning device for a particle accelerator, comprising at least a first guide member 1, a second guide member 2, and a clamping device 3 connected to each other. One end of the first guide member 1 is connected to the second guide member 2, and the other end of the first guide member 1 is connected to the clamping device 3. The first guide member 1 can slide relative to the second guide member 2, and the second guide member 2 can rotate about a fixed axis. The clamping device 4 is used to clamp the particle accelerator 4, and the clamping device 4 allows the particle accelerator 4 to rotate about its (i.e., the particle accelerator 4's) central axis.

[0060] The first guide member 1 and the second guide member 2 work together to move the particle accelerator 4 along a circle or a portion of the circle centered on the treatment site S. The clamping device 3 controls the rotation of the particle accelerator 4 during its movement along the arc, ensuring that the exit beam of the particle accelerator 4 always faces the treatment site S. The treatment site S can coincide with the isocenter point of the treatment chamber.

[0061] Specifically, the first guide member 1 extends along the first direction AA', the second guide member 2 extends along the second direction BB', and the first guide member 1 can slide relative to the second guide member 2 along the second direction BB', while the fixed axis extends along the third direction CC'. In the initial state (e.g., Figure 1 As shown), the first direction AA', the second direction BB', and the third direction CC' are perpendicular to each other.

[0062] Because the rotary positioning device in this application requires the coordinated movement of the first guide member 1 and the second guide member 2 to control the movement trajectory of the clamping device 3 during the control of the particle accelerator 4's movement around the arc path, the first guide member 1 is connected to the second guide member 2, and the second guide member 2 rotates around a fixed axis, causing the first guide member 1 to also rotate. Therefore, during the continuous rotation of the second guide member 2, the first direction AA' and the second direction BB' are both changing, while the third direction CC' remains unchanged. Furthermore, 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] In this embodiment, the position of the rotary positioning device when the first direction AA' is horizontal and the second direction BB' is vertical is defined as the initial state. That is, when the rotary positioning device is in the initial state, its first guide 1 extends horizontally and its second guide 2 extends vertically. Figure 2 and Figure 3As shown. The horizontal direction refers to the direction parallel to the ceiling of the treatment room, and the vertical direction refers to the direction perpendicular to the ceiling of the treatment room.

[0064] Combination Figure 1 , Figure 2 and Figure 8 The first guide element 1 and the second guide element 2 move in coordination, causing the particle accelerator 4 to move along the semi-circular arc of the opening away from the rotating positioning device. The path motion is such that the particle accelerator 4 moves at least in the vertical direction along a 180° semicircular arc, the opening of which is away from the rotating positioning device.

[0065] Refer again Figures 1-7 The first guide member 1 includes a sliding system 11 and an extension rod 12. One end of the extension rod 12 is connected to the sliding system 11, and the other end is connected to the clamping device 3. The extension rod 12 is arranged along the first direction AA'. The sliding system 11 is used to drive the extension rod 12 to move relative to the second guide member 2 along the second direction BB'. When the rotary 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 member 2 in the vertical direction.

[0066] The present invention does not limit the specific shape of the extension rod 12; it can be a cylindrical structure or a cuboid structure.

[0067] The second guide member 2 includes at least a support plate 21 disposed along the second direction BB'. The support plate 21 has a sliding space 211 extending through its two opposing surfaces in the thickness direction. The sliding space 211 extends along the second direction BB'. The sliding system 11 is connected to the support plate 21 and slides within the sliding space 211. Specifically, the support plate 21 rotates about a fixed axis 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 rotation positioning device is in the initial state, the length direction of the support plate 21 is vertical, the thickness direction of the support plate 21 is horizontal, and the support plate 21 is perpendicular to the extension rod 12.

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

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

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

[0072] Of course, the present invention does not limit the specific structural shape and size of the slide plate 111, the support plate 21 and the sliding space 211, and can make specific design adjustments according to the actual size of the treatment room and the distance between the rotating positioning device and the treatment bed.

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

[0074] Furthermore, the sliding system 11 also includes a plurality of first sliders 114 connecting the sliding plate 111. The plurality of first sliders 114 are disposed on the side surface of the sliding plate 111 facing the support plate 21, and are evenly distributed on both sides of the side surface along the second direction BB'. The plurality of first sliders 114 are engaged with the first guide rail 112, allowing the sliding plate 111 to slide on the first guide rail 112 via the first sliders 114. Specifically, each first slider 114 has an internal structure configured to engage with the first guide rail 112.

[0075] Furthermore, the sliding system 11 also includes a threaded screw 115, a fixing block 116, a bearing 117, and a connector 118. The fixing block 116 and the bearings 117 are both connected to the threaded screw 115, and specifically, two bearings 117 are configured, each engaging with one of the opposite ends of the threaded screw 115, and both bearings 117 are fixedly connected to the slide plate 111. The fixing block 116 is located between the two bearings 117, and is threadedly connected to the threaded screw 115. The connector 118 is used to connect the fixing block 116 and the support plate 21, that is, the fixing block 116 is fixedly connected to the support plate 21 to fix the relative positions of the fixing block 116 and the support plate 21.

[0076] Specifically, the connector 118 can be a cuboid structure plate with its length direction being the third direction CC'. The middle position of the connector 118 is connected to the fixing block 116, and the two ends of the connector 118 are respectively connected to the support plate 21 located on the surface of its sliding space 221.

[0077] The threaded screw 115 extends along the second direction BB', and two bearings 117 are also fixedly connected to the surface of the slide plate 111 opposite to the extension rod 12. The threaded screw 115 is fixed to the side of the slide plate 111 opposite to the extension rod 12 by the bearings 117. That is, when the threaded screw 115 rotates, it will cause the threaded screw 115 and the fixed block 116 threadedly engaged with the threaded screw 115 to produce relative linear motion along the extension direction of the threaded screw 115. Since the fixed block 116 is fixed to the support plate 21 by the connector 118, the threaded screw 115 will move along the extension direction of the threaded screw 115 (the second direction BB'). The threaded screw 115 will drive the bearings 117 and the slide plate 111, which are fixed to it, to move synchronously along the second direction BB'.

[0078] The first motor system 113 is connected to the threaded screw 115 and is used to drive the threaded screw 115 to rotate, so that the threaded screw 115 moves relative to the fixed block 116 along the second direction BB', and drives the slide plate 111 to move along the second direction BB'. Of course, a corresponding drive gear is also provided between the first motor system 113 and the threaded screw 115. The first motor system 113 specifically includes a pinion reducer and a motor connected to each other. The pinion reducer is connected to the drive gear. That is, by starting the motor, the pinion reducer is driven to run and drive the drive gear to rotate. The rotation of the drive gear drives the threaded screw 115 to rotate synchronously, so that the threaded screw 115 moves along the second direction BB', and drives the bearing 117 and the slide plate 111 to move synchronously along the second direction BB'.

[0079] Furthermore, the second guide member 2 also includes a first gear assembly 22 and a second motor system 23 interconnected with each other, as well as a connecting plate 24 connecting the support plate 21. The connecting plate 24 is fixed to the side of the support plate 21 facing away from the first guide member 1, and the first gear assembly 22 is connected to the connecting plate 24 via a rotary bearing. The second motor system 23 drives the first gear assembly 22 to rotate, and drives the connecting plate 24 to rotate around the central axis of the rotary bearing via the rotary bearing. The connecting plate 24 drives the support plate 21 to rotate around the central axis of the rotary bearing.

[0080] For details, see Figure 4 and Figure 5The first gear assembly 22, the second motor system 23, and the connecting plate 24 are each configured as two sets. Both sets of the first gear assembly 22, the second motor system 23, and the connecting plate 24 are located on the side of the support plate 21 facing away from the first guide member 1. Each set of the first gear assembly 22, the second motor system 23, and the connecting plate 24 is positioned near the edge of the support plate 21 along its length, specifically at the lower edge of the side surface of the support plate 21 facing away from the first guide member 1. The two second motor systems 23 start or stop simultaneously, ensuring that the first gear assemblies 22 located on different sides rotate simultaneously, thereby synchronously driving 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 to the support plate 21, and the thickness direction of the connecting plate 24 faces the third direction CC'. The connecting plate 24 is specifically a cuboid structural plate, and the connecting plate 24 and the support plate 21 are perpendicular to each other.

[0082] The first gear assembly 22 includes a first gear 221 and a second gear 222 that mesh with each other. The first gear 221 is larger than the second gear 222. The first gear 221 is connected to the connecting plate 24 via a rotary bearing, and the second gear 222 is connected to the second motor system 23. The second motor system 23 drives the second gear 222 to rotate, thereby driving the first gear 221 to rotate, and causing the connecting plate 24 to drive the support plate 21 to rotate around the central axis of the rotary bearing. Specifically, the rotary bearing is disposed inside the first gear 221. The rotation of the first gear 221 drives the rotary bearing to rotate synchronously, thereby driving the connecting plate 24 to rotate around the central axis of the rotary bearing. The central axis of the rotary bearing is the fixed axis mentioned above, and the third direction CC' is the extension direction of the central axis of the rotary bearing, which is also the extension direction of the central axis of the first gear 221. When the second motor system 23 drives the first gear assembly 22 to rotate, it can drive the connecting plate 24 and the support plate 21 fixedly connected to the connecting plate 24 to rotate synchronously around the central axis of the rotary bearing.

[0083] The second motor system 23 specifically includes a pinion reducer and a motor connected to each other. The pinion reducer is connected to the second gear 222. That is, by starting the motor, the pinion reducer is driven to run and the second gear 222 is driven to rotate. The second gear 222 drives the first gear 221 to rotate so that the connecting plate 24 and the support plate 21 can rotate synchronously.

[0084] Of course, while the support plate 21 is driven to rotate, the first guide 1 connected to the support plate 21 and the clamping device 3 connected to the first guide 1 also rotate synchronously in the same direction. The first motor system 113 drives the slide plate 111 to move the clamping device 3 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 made to be an arc with the treatment area S as the center, specifically a semi-circular arc with the opening facing away from the rotation positioning device. Combination Figure 8 The present invention relates to particle accelerator 4 along a semi-circular arc. The following details how the first guide element 1 and the second guide element 2 cooperate with each other during movement:

[0085] semicircle The upper endpoint in the vertical direction is defined as the first point S1, and the semicircular arc... The endpoint adjacent to the rotary positioning device in the horizontal direction is defined as the second point S2, a semi-circular arc. The lower endpoint 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 needs to rotate counterclockwise from the second point S2 to the first point S1 along the semi-circular arc, the first guide 1 drives the clamping device 3 to move away from the ground along the second direction BB', and the second guide 2 drives the clamping device 3 to rotate counterclockwise. Specifically, the first motor system 113 and the second motor system 23 start simultaneously. The first motor system 113 drives the slide plate 111 to move the particle accelerator 4 away from the ground along the second direction BB', 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 along the second direction BB', controlling the particle accelerator 4 to move in the semi-circular arc. Movement along a 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 the semi-circular arc, 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. Specifically, the first motor system 113 and the second motor system 23 start simultaneously. The first motor system 113 drives the slide plate 111 to move the particle accelerator 4 along the second direction BB' towards 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 move along the semi-circular arc. Movement along a path.

[0088] Furthermore, the rotary positioning device also includes a support base 5, which includes at least an L-shaped support 51. The L-shaped support 51 includes a vertical portion 511 and a horizontal portion 512 that are perpendicular to each other. The vertical portion 511 is connected to the first gear assembly 22. Specifically, the support base 5 includes two sets of L-shaped supports 51, each set corresponding to one of the two sets of first gear assemblies 22. Each set of L-shaped supports 51 is connected to the first gear assembly 22 through its vertical portion 511; that is, the first gear assembly 22 is located between the vertical portion 511 and the connecting plate 24. The vertical portion 511 is a cuboid structural plate perpendicular to the ground, and the horizontal portion 512 is a cuboid structural plate parallel to the ground. Of course, the second motor system 23 can also be fixed to the vertical portion 511.

[0089] Of course, the support base 5 may also include a base plate 52, which is a cuboid structure plate parallel to the ground. The L-shaped support 51 is fixedly connected to the base plate 52 through the transverse part 512.

[0090] Continue to refer to Figures 1-3 The clamping device 3 includes a clamping member 31, a second gear assembly 32, and a third motor system 33. The clamping member 31 is used to connect the two opposite end faces of the particle accelerator 4. The second gear assembly 32 is disposed between the clamping member 31 and the end faces of the particle accelerator 4. The third motor system 33 is connected to the second gear assembly 32 and is used to drive the second gear assembly 32 to rotate, so as to drive the particle accelerator 4 to rotate synchronously around its (i.e., particle accelerator 4) central axis.

[0091] Specifically, the clamping member 31 is fixedly connected to the extension rod 12 of the first guide member 1. The clamping member 31 specifically includes two opposing clamping surfaces 311 and a connecting surface 312 connecting the two clamping surfaces 311. The two clamping surfaces 311 and the connecting surface 312 form an open receiving space, in which the second gear assembly 32 and the particle accelerator 4 are fixed. The clamping member 31 is connected and fixed to the extension rod 12 of the first guide member 1 through its connecting surface 312, and the opposite end faces of the particle accelerator 4 are parallel to the clamping surfaces 311.

[0092] The second gear assembly 32 includes a third gear 321 and a fourth gear 322 that mesh with each other, with the third gear 321 being larger than the fourth gear 322. Specifically, a set of second gear assemblies 32 is provided between the end face and the clamping surface 311 of the particle accelerator 4. 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. The third motor system 33 drives the fourth gear 322 to rotate, thereby rotating the third gear 321, ultimately enabling the particle accelerator 4 to rotate around its central axis. Alternatively, another rotary bearing can be provided within the third gear 321, through which the third gear 321 connects to the end face of the particle accelerator 4 and drives the particle accelerator 4 to rotate.

[0093] Of course, when controlling the particle accelerator 4 to move along the arc centered on the treatment site S, the third motor system 33 needs to be activated in real time so that the particle accelerator 4 can continuously rotate itself during the movement around the arc, ensuring that the output port of the particle accelerator 4 always faces the treatment site S.

[0094] The third motor system 33 specifically includes a pinion gear reducer and a motor connected to each other. The pinion gear reducer is connected to a fourth gear 322. That is, by starting the motor, the pinion gear reducer is driven to rotate, which in turn drives the fourth gear 322 to rotate. The fourth gear 322 drives the third gear 321 to rotate, thereby enabling the particle accelerator 4 to rotate synchronously. Through the above-described embodiments, this invention makes the structure of the rotation positioning device used in conjunction with the particle accelerator more compact, conforming to the trend of further miniaturization and integration.

[0095] The present invention also provides a control method for the aforementioned rotation positioning device, wherein the control method is applied to the rotation positioning device of the particle accelerator described in any of the above embodiments. The control method of the present invention includes:

[0096] Step S1: Obtain the preset path of the arc or the entire circle of the particle accelerator's motion, with the treatment area as the center. The arc is a part of the entire circle.

[0097] Step S2: Adjust the first guide to control the sliding of the clamping device relative to the second guide and adjust the rotation of the second guide around a fixed axis to drive the clamping device to rotate. The first guide and the second guide work together to make the particle accelerator move on a preset arc or a full circle. The clamping device is adjusted to control the particle accelerator to rotate around its (i.e., the particle accelerator's) central axis during the movement on the preset arc or full circle, so that the particle accelerator's output beam can always face the treatment site.

[0098] Specifically, in combination Figures 1 to 5 ,as well as Figure 8The first guide 1 extends along the first direction AA', the second guide 2 extends along the second direction BB', and the fixed shaft extends along the third direction CC', with the first direction AA', the second direction BB' and the third direction CC' being perpendicular to each other.

[0099] More specifically, the preset arc path is a semi-circular arc path with the opening facing away from the rotary positioning device. semicircle The upper endpoint in the vertical direction is defined as the first point S1, and the semicircular arc... The endpoint adjacent to the rotary positioning device in the horizontal direction is defined as the second point S2, the semicircular arc The lower endpoint in the vertical direction is defined as the third point S3. Therefore, step S2, "using the coordinated movement of the first and second guiding components to make the particle accelerator move along a preset circular arc path," specifically includes:

[0100] The first guide member 1 drives the clamping device 3 to move away from the ground along the second direction BB', and the second guide member 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 a preset arc path.

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

[0102] Referring to the specific structure of the rotary positioning device provided by the present invention, see below. Figures 1 to 5 ,as well as Figure 8 The following further clarifies the meanings of "causing the center of the particle accelerator to rotate from the second point along a preset arc path to the first point" and "causing the center of the particle accelerator to rotate from the second point along a preset arc path to the third point":

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

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

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

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

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

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

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

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

[0111] More specifically, step S2, "controlling the clamping device to control the particle accelerator to rotate around its central axis during its movement along a preset circular arc path," specifically includes:

[0112] The third motor system 33 of the control clamping device 3 drives the second gear assembly 32 to rotate, thereby causing the particle accelerator 4 to rotate around its (i.e., particle accelerator 4) central axis, so that the particle accelerator 4 always rotates around its central axis during its movement on the preset arc path, so as to ensure that the output port of the particle accelerator 4 always faces the treatment site S.

[0113] The present invention also provides a treatment system, see below. Figures 8-10The treatment system includes a particle accelerator 4, a treatment bed 6, and a rotational positioning device for the particle accelerator as described in any of the above embodiments. The treatment site S is located at the isocenter of the treatment system. The particle accelerator may be a proton accelerator.

[0114] The treatment bed 6 includes a bed board 61 and a support 62 for supporting the bed board 61. The bed board 61 can rotate 180° relative to the support 62 on the plane where the bed board 61 is located, and the bed board 61 can move relative to the support 62.

[0115] It should be noted that the rotating positioning device in this embodiment will be installed in the building wall of the treatment room in actual application. Therefore, the arc path of the rotation of the particle accelerator 4 is relatively fixed. That is, the center and radius of the arc of the rotation of the particle accelerator 4 in this embodiment are generally fixed. In other words, when radiotherapy is required, the bed board 61 can be moved to the fixed treatment position.

[0116] For example, see Figure 9 The bed board 61 is used for patients who need radiotherapy to lie down. For example, if a patient needs to receive radiotherapy to the head, it is only necessary to ensure that the patient's head is located at point S on the bed board 61 and control the rotation positioning device to start. Radiotherapy is then performed on the right side of the patient's head within a vertical rotation range of 180° or more, which makes the angle of radiotherapy more flexible and ensures a better treatment experience.

[0117] For example, see Figure 10 If radiation therapy is still needed on the left side of the patient's head, then only the... Figure 9 The bed board 61 is rotated 180° on the plane, and then the bed board 61 is moved relative to the support 62 so that the patient's head is still located at point S on the bed board 61.

[0118] In summary, this invention provides a rotational positioning device for a particle accelerator. The coordinated movement between the first and second guide members allows the particle accelerator to move along an arc centered on the treatment area. Simultaneously, a clamping device controls the rotation of the particle accelerator during its movement along the arc, ensuring that the particle accelerator's output beam always faces the treatment area. The rotational positioning device provided by this invention, with its first guide member, second guide member, and clamping device, has a more compact structure, is simple to install, small in size, and occupies less space. In practical applications, it is not limited to rotation but also utilizes sliding operations, thus simplifying the operation of the rotational positioning device.

[0119] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the invention without departing from the principles and spirit of the invention, and all such changes should fall within the protection scope of the claims of the present invention.

Claims

1. A rotation positioning device for a particle accelerator, characterized in that, It includes a first guide member, a second guide member, and a clamping device. 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 can slide relative to the second guide member, the second guide member can rotate about a fixed axis, and the clamping device is used to clamp the particle accelerator and cause the particle accelerator to rotate about its central axis. The first guide and the second guide move in coordination so that the particle accelerator can move on an arc centered on the area to be treated. The clamping device is used to control the rotation of the particle accelerator during its movement on the arc so that the exit port of the particle accelerator can always face the area to be treated when treating the patient. The first guide extends along a first direction, the second guide extends along a second direction, and the first guide is slidable relative to the second guide along the second direction; the fixed shaft extends along a third direction; the first direction, the second direction, and the third direction are perpendicular to each other. The first guide 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. The extension rod is arranged along a first direction. The sliding system is used to drive the extension rod to move relative to the second guide in a second direction. The first guide and the second guide cooperate to move, so that the particle accelerator moves along a semi-circular arc path with the opening away from the rotary positioning device.

2. The rotation positioning device for a particle accelerator according to claim 1, characterized in that, The upper endpoint of the semicircular arc in the vertical direction is defined as the first point, the endpoint of the semicircular arc adjacent to the rotary positioning device in the horizontal direction is defined as the second point, and the lower endpoint of the semicircular arc in the vertical direction is defined as the third point. When the center of the particle accelerator needs to rotate from the second point to the first point around the semicircular arc, the first guide is controlled to drive the clamping device to move away from the ground along the second direction, and the second guide is controlled to drive the clamping device to rotate counterclockwise. When the center of the particle accelerator needs to rotate from the second point to the third point around the semicircular arc, the first guide is controlled to drive the clamping device to move along the second direction toward the ground, and the second guide is controlled to drive the clamping device to rotate clockwise.

3. The rotation positioning device for a particle accelerator according to claim 1, characterized in that, The second guide includes at least a support plate disposed along the second direction, the support plate having a sliding space extending through two opposing surfaces in its thickness direction, the sliding space extending along the second direction, the sliding system being connected to the support plate and the sliding system being used for sliding within the sliding space; The support plate is used to rotate about the fixed axis to drive the sliding system and the extension rod to rotate.

4. The rotation positioning device for a particle accelerator according to claim 3, characterized in that, The sliding system includes a sliding plate, a first guide rail, and a first motor system connected to each other. One end of the extension rod is connected to the sliding plate. The first guide rail is fixed to the support plate. The first motor system is used to drive the sliding plate to slide along the first guide rail. The first guide rail is provided in two parallel sections and is fixed to the edge side of the support plate facing the first guide member along the sliding space extension direction. The sliding system further includes a plurality of first sliders connected to the skateboard, the plurality of first sliders being connected in cooperation with the first guide rail, so that the skateboard slides on the first guide rail via the first sliders.

5. The rotation positioning device for a particle accelerator according to claim 4, characterized in that, The sliding system also includes a threaded screw, a fixing block and a bearing connecting the threaded screw, and a connector connecting the fixing 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 plate opposite to the extension rod. The threaded screw is fixed to the side of the slide plate opposite to the extension rod by 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 plate to move along the second direction.

6. The rotation positioning device for a particle accelerator according to claim 3, characterized in that, The second guide member further includes a first gear assembly and a second motor system interconnected with each other, and a connecting plate connected to the support plate. The connecting plate is fixed to the side of the support plate opposite to the first guide member. The first gear assembly is connected to the connecting plate through a rotary bearing. The second motor system is used to drive the first gear assembly to rotate, and drives the connecting plate to rotate around the central axis of the rotary bearing through the rotary bearing. The connecting plate is used to drive the support plate to rotate around the central axis of the rotary bearing.

7. 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 disposed between the clamping member and the end faces 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 causing the particle accelerator to rotate synchronously around its central axis.

8. A control method for a rotation positioning device of a particle accelerator, characterized in that, The control method employs the rotational positioning device for a particle accelerator as described in any one of claims 1-7, comprising: Obtain a preset circular path for the particle accelerator motion, with the treatment site as the center of the circular path; The first guide member controls the sliding of the clamping device relative to the second guide member, and the second guide member is adjusted to rotate around a fixed axis to drive the clamping device to rotate. The first guide member and the second guide member work together to make the particle accelerator move on a preset arc path. Furthermore, the clamping device is adjusted to control the particle accelerator to rotate around its central axis during the movement on the preset arc path, so that the output port of the particle accelerator can always face the treatment site.

9. The control method for the rotation positioning device of the particle accelerator according to claim 8, characterized in that, The preset arc path is a semi-circular arc path with the opening facing away from the rotary positioning device. The upper end point of the semi-circular arc in the vertical direction is defined as the first point, the end point of the semi-circular arc adjacent to the rotary positioning device in the horizontal direction is defined as the second point, and the lower end point of the semi-circular arc in the vertical direction is defined as the third point. The method of using the coordinated movement of the first and second guiding components to make the particle accelerator move along a preset circular arc path specifically includes: The first guide member is controlled to drive the clamping device to move away from the ground in the second direction, and the second guide member 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 arc path; The first guide member is controlled to drive the clamping device to move in the second direction toward the ground, and the second guide member drives the clamping device to rotate clockwise, so that the center of the particle accelerator rotates from the second point along the preset arc path to the third point.

10. The control method for the rotation positioning device of the particle accelerator according to claim 9, characterized in that, The control of the first guide member to drive the clamping device to move in a second direction away from the ground, and the control of the second guide member to drive the clamping device to rotate counterclockwise, specifically includes: The first motor system controlling the first guide member drives the slide plate to move away from the ground along the first guide rail, and the second motor system controlling the second guide member drives the first gear assembly to rotate, so as to drive 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.

11. The control method for the rotation positioning device of the particle accelerator according to claim 9, characterized in that, The control of the first guide member to drive the clamping device to move along the second direction toward the ground, and the control of the second guide member to drive the clamping device to rotate clockwise, specifically includes: The first motor system controlling the first guide member drives the slide plate to move along the first guide rail towards the ground, and the second motor system controlling the second guide member drives the first gear assembly to rotate, so as to drive 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 the third point.

12. The control method for the rotation positioning device of the particle accelerator according to claim 8, characterized in that, The control of the clamping device to rotate the particle accelerator around its central axis during its movement along a preset circular arc path specifically includes: The third motor system controlling the clamping device drives the second gear assembly to rotate, thereby causing the particle accelerator to rotate around its central axis.

13. A treatment system, characterized in that, It includes a particle accelerator and a rotational positioning device for the particle accelerator as described in any one of claims 1-7, the rotational positioning device being used to position the particle accelerator.

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