Multi-angle particle therapy system and control method thereof

Abstract

The application belongs to the field of particle therapy, and discloses a multi-angle particle therapy system and a control method thereof. The multi-angle particle therapy system comprises a particle beam system, a bearing component, a multi-direction adjusting mechanism, a counterweight adjusting assembly and a control system. The application can realize multi-angle particle beam irradiation on a target area of a patient without relying on a traditional large rotating gantry and a six-dimensional robot treatment bed, and has the advantages of compact structure, small volume, low manufacturing cost, simple maintenance and the like while ensuring treatment accuracy.

Description

Technical Field

[0001] This invention belongs to the technical field of particle beam therapy equipment, specifically relating to a multi-angle particle therapy system and its control method. Background Technology

[0002] Particle therapy, due to its excellent dose distribution characteristics, is widely used in the radiotherapy of solid tumors. In practical applications, to achieve multi-angle irradiation of the patient's target area by the particle beam, spatial angle adjustments to the particle beam incident path or the patient's position are required. Rotating gantry and six-dimensional robotic treatment bed are key devices for achieving multi-angle particle beam projection. The rotating gantry achieves multi-angle irradiation of the patient by driving the entire irradiation system to rotate around the patient. This equipment is large, complex in structure, and has high manufacturing and installation costs, placing high demands on the treatment room space and infrastructure (such as foundations and shielding structures). Furthermore, the rotation process typically requires a large rotation radius and movement space, affecting the overall integration of the equipment and severely limiting the global adoption and construction of particle therapy centers. The six-dimensional robotic treatment bed assists in adjusting the patient's posture through three-dimensional translation and three-dimensional angular rotation, aligning the patient's target area with the beam path. However, because the six-dimensional robotic treatment bed needs to maintain high positional accuracy and dynamic stability while bearing the patient's weight, its mechanism design and control algorithms are complex, resulting in high manufacturing costs, system integration, and subsequent maintenance.

[0003] In addition, the rotating gantry of traditional particle therapy systems often requires the use of complex beam direction-changing mechanisms, which not only limits the compact design of the equipment but also prolongs the treatment time for patients.

[0004] Therefore, how to reduce reliance on rotating mechanisms and lower system complexity and cost while ensuring treatment accuracy has become a key technical problem that current particle therapy systems urgently need to solve. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a multi-angle particle therapy system and its control method to solve the problems of high cost, complex structure and heavy weight caused by existing particle beam therapy systems that rely on rotating gantry and six-dimensional robotic treatment bed to achieve multi-angle irradiation therapy.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] Firstly, a multi-angle particle therapy system is provided, comprising:

[0008] A particle beam system, the particle beam system including an irradiation system;

[0009] A support member for supporting the patient, the support member being at least partially located within the irradiation area of ​​the irradiation system;

[0010] An active mechanism connected to the bearing member to adjust the bearing member at least within the irradiation area, the active mechanism comprising two sets of symmetrical multi-directional adjustment mechanisms respectively connected to two ends of the bearing member, wherein the multi-directional adjustment mechanism comprises a positioning adjustment component, a translation support component, and a rotation adjustment component, the bearing member being connected to the translation support component via the positioning adjustment component, the positioning adjustment component being rotatably connected to the translation support component, the positioning adjustment component adjusting the position of the bearing member within an adjustment plane perpendicular to the axial direction of the bearing member, and the rotation adjustment component adjusting the rotation angle of the bearing member about the rotation axis of the rotation adjustment component;

[0011] A counterweight adjustment component is provided on the movable mechanism; and

[0012] The control system is used to move the body area where the patient's target area is located to the irradiation treatment area of ​​the particle beam system for irradiation treatment by controlling the moving mechanism, and to control the counterweight adjustment component to compensate for the center of gravity shift caused by the movement of the bearing component.

[0013] Wherein, the bearing member has an initial state, and when the bearing member is in the initial state, the rotation axis of the positioning adjustment component on the translation support component is coaxial with the axis of the bearing member, and the downward adjustment range of the positioning adjustment component on the Y-axis in its adjustment plane is greater than the upward adjustment range; and / or, the adjustment range of the positioning adjustment component on the Y-axis in its adjustment plane is greater than the adjustment range on the X-axis.

[0014] In one possible implementation, the counterweight adjustment assembly adjusts the center of gravity of the load-bearing member on the movable mechanism within an adjustment plane two, which is parallel to the adjustment plane one.

[0015] In a possible implementation, the counterweight adjustment assembly includes a two-dimensional adjustment component two and a counterweight block, wherein the two-dimensional adjustment component two drives the counterweight block to move within the adjustment plane two.

[0016] In a possible implementation, the counterweight adjustment component includes a displacement sensor for detecting displacement information of the load-bearing component, and the control system controls the two-dimensional adjustment component to adjust the position of the counterweight block in the adjustment plane two in the opposite direction to the direction of movement of the load-bearing component according to the displacement information.

[0017] In a possible implementation, a respiratory monitoring device for acquiring patient respiratory cycle information is also included, wherein the control system adjusts the rotation speed of the rotating adjustment component according to the patient's respiratory cycle information to match the patient's respiratory cycle.

[0018] In a possible implementation, the translational support assembly includes a support member, a second driving member, and a linear transmission assembly. The positioning adjustment assembly is connected to the support member via a rotating shaft. The rotation adjustment assembly adjusts the load-bearing member by driving the rotation. A linear transmission assembly is provided at the bottom of the support member and is embedded in a track on the treatment room floor. The second driving member adjusts the translation of the support member by driving the linear transmission assembly.

[0019] In a possible implementation, the rotation adjustment assembly includes a drive component and a gear transmission assembly. The drive component is connected to the positioning adjustment assembly via the gear transmission assembly, and the drive component drives the positioning adjustment assembly to rotate, thereby causing the load-bearing component to rotate.

[0020] In a possible implementation, the particle beam system further includes an imaging system, the imaging acquisition area of ​​which overlaps with the irradiation area of ​​the irradiation system as an irradiation treatment area.

[0021] Secondly, a control method for a multi-angle particle therapy system based on any of the above-mentioned technical solutions is also provided, including:

[0022] Acquire image information of the irradiated target object, target area information of the irradiated target object, and respiratory cycle information, and preset multiple rotation angles for imaging;

[0023] The control mechanism adjusts the load-bearing component so that the target area of ​​the irradiated object is located at the rotation center of the rotation adjustment component, while the counterweight adjustment component is controlled to adjust the center of gravity.

[0024] The load-bearing component is controlled to rotate multiple times according to a preset rotation angle. Each time it rotates to the preset rotation angle, the two-dimensional projection information of the irradiated target object is acquired. The two-dimensional projection information is then reconstructed in three dimensions to generate and store a three-dimensional CT image of the irradiated target object after rotation. The rotation speed of the load-bearing component each time is matched with the respiratory cycle of the irradiated target object.

[0025] An irradiation control plan is generated based on the multi-angle 3D CT images. The control mechanism is adjusted to the specified irradiation angle, and the irradiation system is controlled to perform beam irradiation according to the irradiation control plan at the specified irradiation angle until the irradiation is completed.

[0026] The control mechanism rotates the supporting component to the next irradiation angle, with the rotation speed matching the respiratory cycle of the irradiated target. After this irradiation is completed, the remaining irradiation angles are repeated until the irradiation control plan is completed.

[0027] Thirdly, a control method for a multi-angle particle therapy system based on any of the above technical solutions is also provided, including:

[0028] Acquire image information of the irradiated target object, target area information of the irradiated target object, and respiratory cycle information, and preset multiple rotation angles for imaging;

[0029] The control mechanism adjusts the load-bearing component so that the target area of ​​the irradiated object is located at the rotation center of the rotation adjustment component, while the counterweight adjustment component is controlled to adjust the center of gravity.

[0030] The load-bearing component is controlled to rotate multiple times according to a preset rotation angle. Each time it rotates to the preset rotation angle, the two-dimensional projection information of the target object at the current angle is acquired. Based on the two-dimensional projection information of the current angle, the three-dimensional CT image of the target object at the current angle is reconstructed in real time. The reconstructed three-dimensional CT image is compared with the CT image at the current angle used when formulating the irradiation control plan for irradiation. The position deviation of the target area is calculated. The rotation speed of the load-bearing component each time is matched with the respiratory cycle of the target object.

[0031] Based on the positional deviation of the target area, it is determined whether the positional deviation of the target area exceeds a preset threshold. If so, the irradiation system is controlled to pause irradiation; otherwise, the irradiation system is controlled to output a beam of corresponding energy for irradiation according to the irradiation control plan.

[0032] The control mechanism rotates the supporting component to the next irradiation angle, with the rotation speed matching the breathing cycle of the irradiated target. After this irradiation is completed, the remaining irradiation angles are repeated until the irradiation control plan is completed.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The multi-angle particle therapy system of the present invention can achieve multi-angle particle beam irradiation of the patient's target area without relying on traditional large rotating gantry and six-dimensional robotic treatment bed. While ensuring treatment accuracy, it also has outstanding advantages such as compact structure, small size, low manufacturing cost and easy maintenance.

[0035] Moreover, by integrating multiple sets of adjustment components into a multi-directional adjustment mechanism, it is possible to position the device within an adjustment plane perpendicular to the axis of the supporting component, rotate it to adjust the irradiation angle, and adjust the relative position of the supporting component with respect to the irradiation area through translation. This can significantly reduce the overall system complexity and space occupation while ensuring multi-angle treatment functions. Furthermore, the counterweight adjustment component can effectively solve the imbalance problem caused by the shift of the center of gravity during rotation, further improving rotational stability and equipment lifespan.

[0036] At the same time, the positioning and adjustment components can not only position the patient, but also meet the patient's need for easy up and down movement by having a large range of motion on the Y-axis. This achieves a low-cost, simpler, and lighter structure that effectively solves the problem of relying on rotating gantry and six-dimensional robots.

[0037] Furthermore, by using a respiratory monitoring device in conjunction with a control system to control the rotation of the adjustment component, the rotation speed can be matched with the patient's respiratory cycle, ensuring that the patient's respiratory phase is consistent at each rotation angle. This counteracts the problem of different organ positions in the patient's body at the same rotation angle caused by respiration, thereby improving accuracy during imaging and irradiation.

[0038] The control method of the multi-angle particle therapy system of the present invention, by adopting the above-mentioned multi-angle particle therapy system, can rotate around the patient's target area to ensure that the particle beam always irradiates the target area, thereby accurately concentrating the treatment dose on the target area, reducing the total treatment time during multi-angle irradiation, and by controlling the rotation speed to be consistent with the patient's breathing rate during imaging rotation and irradiation rotation, the problem of different positions of internal organs in the patient's body due to breathing at the same rotation angle can be offset, thereby improving the accuracy during imaging and irradiation. Attached Figure Description

[0039] Figure 1 A three-dimensional view of a multi-angle particle therapy system;

[0040] Figure 2 A front view of a multi-angle particle therapy system;

[0041] Figure 3 A three-dimensional view of a two-dimensional adjustment component of a multi-angle particle therapy system;

[0042] Figure 4 An exploded view of a counterweight adjustment component of a multi-angle particle therapy system;

[0043] Figure 5 A three-dimensional view of a translational support component of a multi-angle particle therapy system;

[0044] Figure 6 A schematic diagram illustrating the control principle of a multi-angle particle therapy system;

[0045] Figure 7 This is a flowchart of a control method for a multi-angle particle therapy system.

[0046] In the diagram: 1-Treatment room floor; 11-Railway; 2-Multi-directional adjustment mechanism; 21-Two-dimensional adjustment component one; 22-Rotation adjustment component; 221-Rotation shaft; 222-Pin gear; 223-Electric motor one; 224-Large gear; 23-Counterweight adjustment component; 231-Outer shell; 232-Two-dimensional adjustment component two; 233-Counterweight block; 24-Translation support component; 241-Electric motor two; 242-Linear transmission component; 3-Bearing component; 4-Irradiation system; 5-Imaging system; 51-X-ray tube; 52-Flat panel detector; 6-Support component; 7-Bearing seat; 8-Accelerator; 9-Control system; 10-Respiratory monitoring device. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to specific embodiments.

[0048] Please refer to Figures 1-6 As shown, an embodiment of this application provides a multi-angle particle therapy system, including a particle beam system, a support member 3, a moving mechanism, a counterweight adjustment component 23, and a control system 9. The particle beam system is suitable for different types of particle therapy, including but not limited to protons, helium ions, and carbon ions. It can be equipped with a treatment room where the patient undergoes irradiation. The supporting member 3 supports the patient, who can receive irradiation treatment on it. Its structure can be a cabin-like structure capable of accommodating the patient for irradiation, or other structures that meet the requirements for irradiation treatment; there are no restrictions. The multi-directional adjustment mechanism 2 of the movable mechanism is used to adjust the spatial position of the supporting member 3. Its adjustment dimension is multi-dimensional, allowing for multi-angle adjustment of the patient for multi-angle irradiation treatment. An adjustment component is configured to adjust the center of gravity to stabilize the treatment system's center of gravity. The control system 9 is partially connected to the particle beam system, movable mechanism, and counterweight adjustment component 23, and is used to control the movable mechanism to move the patient's target area to the irradiation treatment area of ​​the particle beam system for irradiation treatment, and to control the counterweight adjustment component to compensate for the center of gravity shift caused by the movement of the supporting member. This allows for adjustment of the target area position and control of irradiation according to treatment needs, as well as maintaining overall center of gravity stability.

[0049] The particle beam system may include an irradiation system 4, which can treat patients by irradiating them with high-energy particle beams, and the particle beam formation is achieved by an accelerator 8.

[0050] In an embodiment of this application, an active mechanism is connected to the support member 3 to adjust the support member 3 at least within the irradiation area. The active mechanism includes two sets of symmetrical multi-directional adjustment mechanisms 2 respectively connected to the two ends of the support member 3. The multi-directional adjustment mechanism 2 includes a positioning adjustment component, a translation support component 24, and a rotation adjustment component 22. The support member 3 is connected to the translation support component 24 through the positioning adjustment component. The positioning adjustment component is rotatably connected to the translation support component 24. The positioning adjustment component adjusts the position of the support member 3 in an adjustment plane perpendicular to the axis of the support member 3. The rotation adjustment component 22 adjusts the rotation angle of the support member 3 about the rotation axis of the rotation adjustment component 22.

[0051] The movable mechanism is connected to the support member 3 and is used to drive the support member to move and adjust within the irradiation area of ​​the irradiation system. It can also be used to completely move the support member 3 into or out of the irradiation area. The movable mechanism includes two sets of multi-directional adjustment mechanisms 2 symmetrically connected to both ends of the support member 3, facilitating movement adjustment from both sides and supporting the support member 3. The multi-directional adjustment mechanism 2 can adjust the control position of the support member 3 in multiple directions. Specifically, the positioning adjustment component can adjust the position of the support member 3 within an adjustment plane perpendicular to the axis of the support member 3; the translation support component 24 can adjust the horizontal position of the support member 3 and provide support; and the rotation adjustment component 22 can adjust the rotation angle of the target area to achieve irradiation treatment at different angles, which also facilitates imaging acquisition. This allows for multi-directional or multi-dimensional positioning adjustment of the support member. The multi-directional adjustment mechanism 2 uses multiple adjustment components with different dimensions superimposed to achieve three-dimensional adjustment, which facilitates multi-dimensional adjustment with a simpler and lower-cost structure. The rotation adjustment component 22 is used to adjust the angle of the bearing member 3 in the rotation direction with its axis as the rotation axis, so as to switch the irradiation angle or image acquisition angle according to needs or treatment. In specific implementation, the multi-directional adjustment mechanism 2 can also serve to support the bearing member 3.

[0052] Based on this, a counterweight adjustment component 23 is also configured on the movable mechanism. The counterweight adjustment component 23 has two sets and is respectively connected to the multi-directional adjustment mechanism 2 on both sides. The counterweight adjustment component 23 can compensate for the center of gravity shift after the bearing member 3 moves, and provide better structural stability for the multi-directional adjustment mechanism 2, thereby solving the problem of center of gravity shift caused by uneven mass distribution during the rotation of the bearing member 3.

[0053] In order to facilitate patient movement up and down or entry and exit while adjusting the relative position of the support member 3 with respect to the rotation center, in the embodiments of this application, the support member 3 has an initial state. In the initial state, the rotation axis of the positioning adjustment component on the translation support component 24 is coaxial with the axis of the support member 3, and the downward adjustment range of the positioning adjustment component on the Y-axis in its adjustment plane is greater than the upward adjustment range.

[0054] By adopting an asymmetrical structure in the initial state of the positioning and adjustment component, the space occupied by the adjustment component at the top can be reduced, while still meeting the needs of patients to move up and down or enter and exit. The structure is more streamlined and practical, and at the same time, it can avoid the setting of a lifting mechanism. More functions can be achieved with a simpler structure, thus better replacing the rotating frame and six-dimensional positioning robot, reducing costs.

[0055] Simultaneously, the positioning adjustment component can be configured such that its adjustment range on the Y-axis within its adjustment plane is greater than its adjustment range on the X-axis. This further allows the supporting component to have a greater range of movement in the longitudinal direction, making it easier for patients to get on and off or enter and exit the supporting component 3. This facilitates adjusting the supporting component 3 to a position that allows patients to easily get on and off or enter and exit the supporting component 3, improving practicality and convenience. Furthermore, this structural configuration allows for the realization of the multi-dimensional functions of large equipment with a simple and low-cost structure, further enhancing adjustment flexibility and its effective substitution for rotating gantry systems and six-dimensional robots.

[0056] The above-described technical solution enables multi-angle particle beam irradiation of the patient's target area without relying on traditional large rotating gantry and six-dimensional robotic treatment bed. It boasts significant advantages such as compact structure, small size, low manufacturing cost, and easy maintenance. Furthermore, by integrating a multi-directional adjustment mechanism 2 composed of multiple adjustment components, the overall system complexity and space occupation are significantly reduced while ensuring multi-angle treatment functionality. This meets the patient's need for convenient access to the upper and lower support components 3. Additionally, the counterweight system effectively solves the imbalance problem caused by center of gravity shift during rotation, further improving rotational stability and equipment lifespan.

[0057] In one embodiment, the counterweight adjustment component 23 adjusts the center of gravity of the bearing member 3 on the movable mechanism within the second adjustment plane, the second adjustment plane being parallel to the first adjustment plane.

[0058] In this way, by balancing the center of gravity offset caused by the bearing member 3 in the second adjustment plane parallel to the first adjustment plane, the center of gravity adjustment can be made easier and more effective. That is, the center of gravity can be adjusted by adjusting in the opposite direction to the direction of movement of the bearing member 3. It also helps to keep the center of gravity of the bearing member 3 stable on the positioning adjustment component after adjustment.

[0059] In a preferred embodiment of the counterweight adjustment component, the counterweight adjustment component 23 includes a two-dimensional adjustment component 232 and a counterweight block 233, wherein the two-dimensional adjustment component 232 drives the counterweight block 233 to move within the adjustment plane 2.

[0060] The second two-dimensional adjustment component 232 is used to drive the counterweight 233 to move and adjust on the second adjustment plane to address the problem of center of gravity shift. For example, the second two-dimensional adjustment component 232 may include a two-dimensional translation module and an electric motor. The two-dimensional translation module is used to drive the counterweight 233 to move along a trajectory opposite to the direction of movement of the supporting member 3. The electric motor is used to drive the two-dimensional translation module to make the counterweight 233 move laterally and longitudinally, ensuring that the counterweight 233 can make reverse adjustments within the second adjustment plane according to the moving position of the supporting member 3, thereby achieving real-time dynamic balance of the center of gravity, improving rotational stability, and reducing the load on the rotation adjustment component 22 and gear wear.

[0061] Understandably, the two-dimensional translation module of the counterweight adjustment component 23 is also a linear guide motion mechanism arranged perpendicularly to each other. The horizontally placed linear guide motion mechanism is mounted on the vertically placed linear guide motion mechanism, the counterweight 233 is mounted on the horizontally placed linear guide motion mechanism, and the electric motor 3 is mounted on the end face of the linear guide motion mechanism. Taking the vertically placed linear guide as an example, when the control system 9 starts the electric motor 3, the electric motor 3 drives the corresponding linear guide to perform linear motion in the vertical direction, further driving the horizontally placed linear guide connected to the vertically placed linear guide to move in the vertical direction, thereby adjusting the position of the counterweight 233 in the vertical direction. Furthermore, considering that the lower end of the vertically placed linear guide motion structure in the two-dimensional translation module is relatively long, in order to compensate for the center of gravity shift caused by this part of the structure during rotation, the initial position of the counterweight 233 is set at a certain distance above the rotation axis 221. The specific length is determined by the actual mass of the two-dimensional translation module and the mass of the counterweight 233.

[0062] In addition, the counterweight adjustment assembly may also include a housing 231, in which the two-dimensional adjustment component 232 and the counterweight block 233 are encapsulated. The housing 231 is a closed ring structure used to encapsulate the two-dimensional adjustment component 232 and the counterweight block 233, and it is rigidly connected to the rotating shaft 221 to ensure that the counterweight adjustment assembly 23 and the rotating adjustment assembly 22 rotate synchronously.

[0063] Furthermore, in order to automatically adjust the center of gravity to compensate for the center of gravity offset, the counterweight adjustment component 23 also includes a displacement sensor for detecting the displacement information of the bearing component 3. The control system 9 controls the two-dimensional adjustment component 232 to adjust the counterweight block 233 in the opposite direction of the moving direction of the bearing component 3 according to the displacement information.

[0064] In this way, the displacement sensor can detect the displacement information of the bearing component 3 on the two-dimensional adjustment component 232. This displacement information can facilitate the control system 9 to adjust and control the two-dimensional adjustment component 232, thereby realizing the automatic adjustment of the counterweight 233.

[0065] In a preferred embodiment of the positioning adjustment component, the positioning adjustment component includes a two-dimensional adjustment component 21. The two-dimensional adjustment component 21 is used to drive the support member 3 to adjust the position of the support member 3 in the adjustment plane. It is mainly used to move the support member 3 to a position coaxial with the rotation axis of the rotation adjustment component 22, so that the support member 3 is adjusted to the initial state, thereby adjusting the relative position between the patient target area and the rotation center of the rotation adjustment component 22.

[0066] Preferably, the two-dimensional adjustment component 21 includes a two-dimensional translation module and an electric motor. The electric motor is installed on two sets of two-dimensional translation modules respectively. The end of the bearing member 3 is connected to the two-dimensional translation module through a connecting rod. The two-dimensional translation module is connected to the rotation adjustment component 22. In specific implementation, a high-precision electric translation stage can be selected for the two-dimensional translation module. By connecting the bearing member 3 to the two-dimensional translation module, the two-dimensional movement of the two-dimensional translation module can drive the bearing member 3 to move along a direction perpendicular to the axis of the bearing member 3, thereby adjusting the relative position between the patient target area and the rotation center of the rotation system. The two-dimensional translation module is an existing mature high-precision electric slide stage component, which usually adopts a cross-stack structure. The two-dimensional translation module includes two sets of linear guide motion mechanisms arranged perpendicularly to each other. Conventionally, each set of linear guide motion mechanisms includes a linear guide, a slider, an electric motor, and a transmission mechanism. The transmission mechanism is used to convert the rotational motion of the electric motor into the linear motion of the slider along the direction of the linear guide. Common types of transmission mechanisms include synchronous belt mechanisms or ball screw mechanisms. Taking one set of horizontally placed linear guide motion mechanisms as an example, when the corresponding electric motor is started, the electric motor rotates and drives the connected transmission mechanism to run. The transmission mechanism converts the rotational motion into linear motion of the slider along the guide rail direction, thereby driving the connecting structure (such as the load-bearing component 3) to move in the horizontal direction. To achieve vertical movement of the slider, the electric motor corresponding to the vertically placed linear guide motion mechanism needs to be started, which drives the corresponding transmission mechanism to move the slider in the vertical direction. Among them, one set of guide rails of the two-dimensional translation module is fixedly installed on another set of sliders to realize independent motion control in the X and Y axes within the adjustment plane.

[0067] In a preferred embodiment of the translational support assembly, the translational support assembly 24 includes a support member 6, a second driving member, and a linear transmission assembly 242. The positioning adjustment assembly is connected to the support member 6 via a rotating shaft 221. The rotation adjustment assembly 22 adjusts the rotation of the bearing member 3 by driving the rotation. The linear transmission assembly 242 is provided at the bottom of the support member 6 and is embedded in the track 11 of the treatment room floor 1. The second driving member adjusts the translation of the support member 6 by driving the linear transmission assembly 242.

[0068] The support member 6 can be connected to the two-dimensional adjustment component 21 and the translation support component 24 of the positioning and adjustment assembly via the rotating shaft 221 to form an integral structure. This allows for movable support and adjustment of the load-bearing component 3, and also facilitates overall movement, making it more convenient to use. The rotating shaft 221 serves as a power transmission component, with one end fixedly connected to the two-dimensional adjustment component 21. The two-dimensional adjustment component 21 is fixedly connected to the load-bearing component 3 via a connecting rod. This structure allows the rotating shaft 221 to drive the two-dimensional adjustment component 21 and the load-bearing component 3 to rotate synchronously when rotating. The second drive component can be an electric motor 241, and the linear transmission component 242 can be a linear transmission structure with an electric slide rail or a lead screw and nut pair structure, driven by the electric motor 241. By embedding the linear transmission component 242 within the track 11 of the treatment room floor 1, translational movement can be achieved, and it can also be installed discreetly without obstructing the treatment room floor 1, resulting in a more rational structural design.

[0069] In a preferred embodiment of the rotation adjustment assembly, the rotation adjustment assembly 22 includes a drive component and a gear transmission assembly. The drive component is connected to the positioning adjustment assembly via the gear transmission assembly, and the drive component drives the positioning adjustment assembly to rotate, thereby causing the bearing member 3 to rotate.

[0070] The drive component can be an electric motor 223. The gear transmission assembly can include a large gear 224 mounted on the rotating shaft 221 and a small gear 222 connected to the output end of the electric motor 223. The small gear 222 meshes with the large gear 224 for transmission, thus enabling the rotating shaft 221 to be driven by the electric motor 223. Specifically, the rotation adjustment assembly 22 also includes a bearing housing 7 and a bearing. The rotating shaft 221 passes through the bearing, and the bearing is fixed to a support platform on a support member 6, such as a support rod, via the bearing housing 7. This supports the rotating shaft 221 and transmits rotational motion. Optionally, the bearing is a deep groove ball bearing with an internal rolling element structure, which effectively converts sliding friction into rolling friction, reduces motion resistance, reduces energy loss and localized heat generation, and extends the service life of the rotating shaft 221.

[0071] It is worth noting that the two-dimensional adjustment component 21, translation support component 24, rotation adjustment component 22, and counterweight adjustment component 23 in this embodiment are integrated into a whole. The configuration of the two-dimensional adjustment component 21 with a larger adjustment range on the Y-axis than on the X-axis can facilitate the initial positioning of the bearing component 3 and make it easier for the patient to move up and down or enter and exit. However, such a structure may experience a center of gravity shift during rotation. By using the two-dimensional adjustment component 232 with the same or basically consistent adjustment range, the center of gravity can be adjusted synchronously. This can effectively and reliably replace the rotating gantry and the six-dimensional robot, avoiding dependence on them. While ensuring treatment accuracy, it also has outstanding advantages such as compact structure, small size, low manufacturing cost, and easy maintenance.

[0072] Because patients breathe during irradiation therapy, and the breathing action causes significant displacement of internal organs and other parts of the body, the positions of internal organs can easily differ during image acquisition and irradiation therapy at the same rotation angle, affecting the accuracy of treatment.

[0073] To solve the above-mentioned technical problems, in the embodiments of this application, a respiratory monitoring device 10 for acquiring patient respiratory cycle information is also included, wherein the control system 9 adjusts the rotation speed of the rotation adjustment component 22 according to the patient respiratory cycle information to match the patient's respiratory cycle.

[0074] The respiratory monitoring device 10 uses existing respiratory detection devices, which can collect the patient's respiratory cycle information. The control system 9 can adjust the driving speed of the rotation adjustment component 22 according to the respiratory cycle, thereby controlling the rotation speed of the bearing component 3 to match the patient's respiratory cycle. This can achieve the same or basically the same position of internal organs when rotating at the same angle, which significantly improves the treatment accuracy.

[0075] It is understandable that by using the existing respiratory monitoring device 10 to acquire data related to the patient's respiratory cycle, assuming the patient's respiratory cycle is 5 seconds, the time for the control component 3 to rotate one revolution is a multiple of 5 seconds. In this way, the patient's real-time respiratory phase can be consistent with the initial respiratory phase at that angle each time it rotates to a certain angle, thereby improving the accuracy of treatment.

[0076] In a preferred embodiment of the load-bearing member 3, the load-bearing member 3 includes a cabin that can be opened and closed for patients to enter and exit, the inner circumferential wall of the cabin is provided with an airbag, and a negative pressure positioning pad is provided inside the airbag.

[0077] The load-bearing component 3 is a cabin-type structure, which mainly consists of a cabin, an airbag, and a negative pressure positioning pad. The negative pressure positioning pad is placed between the airbag and the patient. The airbag is fixed to the inner wall of the cabin. The thickness of the airbag can be adjusted by repeated inflation and deflation. The cabin is divided into two symmetrical parts. The cabin is not limited to being made of polycarbonate. The two parts of the cabin are connected and locked by hinges and knobs. The hinges and knobs can be made of zirconia composite ceramic or polycarbonate. It is understandable that ceramic has extremely high hardness and wear resistance, while polycarbonate has advantages in mechanical strength such as good toughness and impact resistance. Furthermore, choosing non-metallic materials can avoid causing metal artifacts during imaging.

[0078] Furthermore, the particle beam system may also include an imaging system 5, the imaging acquisition area of ​​which overlaps with the irradiation area of ​​the irradiation system, serving as an irradiation treatment area. The imaging system 5 may include an X-ray tube 51 and a flat panel detector 52, both of which can be installed in the treatment room. The X-ray tube 51 emits a cone-shaped X-ray beam that passes through a patient positioning system and is projected onto the flat panel detector 52, facilitating the acquisition of patient projection information. The overlapping portion between the imaging system 5 and the irradiation system 4 serves as the irradiation treatment area, allowing for better target area irradiation and imaging acquisition, and is more convenient.

[0079] In summary, the multi-angle particle therapy system of this application has the main advantages of simplified structure, low manufacturing cost, reliable performance, high operational flexibility, and simple maintenance. Moreover, it eliminates the bulky rotating gantry structure and complex six-dimensional robotic treatment bed of traditional particle therapy systems, significantly reducing the equipment size and weight of the treatment system and minimizing space requirements. This not only allows for a more compact layout of the treatment room but also greatly reduces the system's manufacturing and maintenance costs, while also reducing the system's mechanical complexity and potential failure rate. Furthermore, this system achieves rotation around the patient's target area, ensuring that the particle beam always irradiates the target area, thereby precisely concentrating the therapeutic dose on the target area and reducing the total treatment time for multi-angle irradiation.

[0080] The applicant of this application has also applied for a related technical solution, with patent number CN202510849996.1. This solution is not described or explained in the embodiments of this application and is not an improvement point of this application, or it has been described in the related patent, so it will not be repeated here.

[0081] Please refer to Figures 6-7 As shown, embodiments of this application also provide a control method for a multi-angle particle therapy system based on any of the above technical solutions, including:

[0082] Step S100: Acquire image information of the irradiated target object, target area information of the irradiated target object, and respiratory cycle information, and preset multiple rotation angles for imaging.

[0083] In this step, the image information includes CT image information of the target object, the target area information is the human body area to be irradiated, such as target area information, the target area information includes the location and size of the lesion, the respiratory cycle information includes the frequency and cycle of the breathing of the target object, and the rotation angle for imaging is preset based on this information, so as to acquire images of the target area through multiple sets of rotations.

[0084] Step S200: Control the moving mechanism to adjust the bearing member 3 so that the target area of ​​the irradiated target object is located at the rotation center of the rotation adjustment component 22, and at the same time control the counterweight adjustment component 23 to adjust the center of gravity.

[0085] In this step, the multi-directional adjustment mechanism 2 can adjust the bearing member 3 carrying the irradiated target object to the target area of ​​the irradiated target object located at the rotation center of the rotation adjustment component 22 for preliminary positioning, which also facilitates the acquisition of target area images. Since the downward adjustment range of the positioning adjustment component is greater than the upward adjustment range at this time, there is a center of gravity shift. To address this issue, the counterweight adjustment component 23 is used to adjust the center of gravity.

[0086] Step S300: Control the bearing component 3 to rotate multiple times according to the preset rotation angle. When rotating to the preset rotation angle each time, acquire the two-dimensional projection information of the irradiated target object, perform three-dimensional reconstruction on the two-dimensional projection information, generate and store the three-dimensional CT image of the irradiated target object after rotation. The rotation speed of the bearing component each time is matched with the respiratory cycle of the irradiated target object.

[0087] In this step, by rotating at a preset angle, the imaging system 5 can easily acquire two-dimensional projection information of the target object. Based on this two-dimensional projection information, a rotated three-dimensional CT image can be generated through three-dimensional reconstruction. This allows for the creation of an irradiation plan. During each rotation, by matching the rotation speed of the supporting component 3 to the patient's respiratory cycle, the positions of internal organs can be kept consistent or nearly consistent at the same rotation angle, significantly improving the accuracy of image generation and consequently enhancing treatment precision. For example, assuming the patient's respiratory cycle is 5 seconds, controlling the rotation time of the supporting component 3 to be a multiple of 5 seconds ensures that the patient's real-time respiratory phase at each rotation angle is consistent with the initial respiratory phase at that angle.

[0088] Step S400: Generate an irradiation control plan based on the multi-angle 3D CT images, control the active mechanism to adjust to the specified irradiation angle, and control the irradiation system to perform beam irradiation according to the irradiation control plan at the specified irradiation angle until the irradiation is completed.

[0089] In this technical solution, irradiation control plans can be generated based on CT images of the target object from multiple angles to perform irradiation therapy. The irradiation control plan may include controlling the output of the particle beam of the irradiation system during each irradiation.

[0090] Step S500: Control the active mechanism to rotate the supporting component to the next irradiation angle. The rotation speed matches the breathing cycle of the irradiated target. After this irradiation is completed, repeat the irradiation at the remaining irradiation angles until the irradiation control plan is completed.

[0091] In this step, the irradiation treatment is also rotated at a preset rotation angle that matches the respiratory cycle of the irradiated target, so that the internal organs of the irradiated target can maintain the same position as the corresponding three-dimensional CT image at each rotation angle, thereby improving the accuracy of treatment.

[0092] It is understandable that the irradiation target includes, but is not limited to, patients. The control method described above is the control method of the multi-angle particle therapy system. Its main purpose is to realize the angle particle therapy system and motion adjustment control and irradiation control, thereby meeting the usage requirements and solving the control problem that requires complex algorithms to achieve use compared to rotating gantry and six-dimensional positioning robots.

[0093] Through the above technical solution, the multi-angle particle therapy system can rotate around the patient's target area, ensuring that the particle beam always irradiates the target area, thereby accurately concentrating the treatment dose on the target area, reducing the total treatment time during multi-angle irradiation, and by controlling the rotation speed to be consistent with the patient's breathing rate during imaging and irradiation rotation, the problem of different positions of internal organs in the patient's body due to breathing at the same rotation angle can be offset, improving the accuracy in imaging and irradiation processes.

[0094] In one embodiment, step S200 includes the following steps:

[0095] Step S210: Control the moving mechanism to lower the height of the supporting component 3 so that the patient can enter the supporting component 3 and the patient's position can be fixed;

[0096] Step S220: Control the moving mechanism to raise the supporting component 3 to the preset treatment height so that it is in the same axis as the rotation center of the rotation adjustment component 22;

[0097] Step S230: Control the moving mechanism to perform translational movement in order to initially locate the patient;

[0098] Step S240: Control the movement mechanism to adjust the patient target area to the rotation center of the rotation adjustment component 22;

[0099] Step S250: Control the counterweight adjustment component 23 to adjust the position of the counterweight to balance the center;

[0100] The above-mentioned technical solutions enable convenient entry and exit for patients, making the system more patient-friendly. This positioning method also makes it easier to locate the target position, thus facilitating its use.

[0101] Embodiments of this application also provide a control method for a multi-angle particle therapy system based on any of the above technical solutions, comprising:

[0102] Step S100: Acquire image information of the irradiated target object, target area information of the irradiated target object, and respiratory cycle information, and preset multiple rotation angles for imaging;

[0103] Step S200: Control the moving mechanism to adjust the bearing component so that the target area of ​​the irradiated target object is located at the rotation center of the rotating adjustment component, and at the same time control the counterweight adjustment component to adjust the center of gravity;

[0104] Step S300: Control the bearing component to rotate multiple times according to the preset rotation angle. When rotating to the preset rotation angle each time, obtain the two-dimensional projection information of the current angle of the irradiated target object. Based on the two-dimensional projection information of the current angle, reconstruct the three-dimensional CT image of the irradiated target object at the current angle in real time. Compare the real-time reconstructed three-dimensional CT image with the current angle CT image used when formulating the irradiation control plan for irradiation. Calculate the position deviation of the target area. The rotation speed of the bearing component for each rotation is matched with the respiratory cycle of the irradiated target object.

[0105] Step S400: Based on the positional deviation of the target area, determine whether the positional deviation of the target area exceeds a preset threshold. If yes, control the irradiation system 4 to pause irradiation; if no, control the irradiation system to output a beam of corresponding energy for irradiation according to the irradiation control plan.

[0106] Step S500: Control the active mechanism to rotate the supporting component to the next irradiation angle. The rotation speed matches the breathing cycle of the irradiated target. After this irradiation is completed, repeat the irradiation of the remaining irradiation angles until the irradiation control plan is completed.

[0107] By employing the aforementioned technical solutions, and by calculating the target area deviation in conjunction with the patient's respiratory cycle, treatment errors can be further reduced, treatment accuracy can be significantly improved, and large treatment errors can be effectively avoided.

[0108] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-angle particle therapy system, characterized in that, include: A particle beam system, the particle beam system including an irradiation system; A support member for supporting the patient, the support member being at least partially located within the irradiation area of ​​the irradiation system; An active mechanism connected to the bearing member to adjust the bearing member at least within the irradiation area, the active mechanism comprising two sets of symmetrical multi-directional adjustment mechanisms respectively connected to two ends of the bearing member, wherein the multi-directional adjustment mechanism comprises a positioning adjustment component, a translation support component, and a rotation adjustment component, the bearing member being connected to the translation support component via the positioning adjustment component, the positioning adjustment component being rotatably connected to the translation support component, the positioning adjustment component adjusting the position of the bearing member within an adjustment plane perpendicular to the axial direction of the bearing member, and the rotation adjustment component adjusting the rotation angle of the bearing member about the rotation axis of the rotation adjustment component; A counterweight adjustment component is provided on the movable mechanism; and The control system is used to move the body area where the patient's target area is located to the irradiation treatment area of ​​the particle beam system for irradiation treatment by controlling the moving mechanism, and to control the counterweight adjustment component to compensate for the center of gravity shift caused by the movement of the bearing component. Wherein, the bearing member has an initial state, and when the bearing member is in the initial state, the rotation axis of the positioning adjustment component on the translation support component is coaxial with the axis of the bearing member, and the downward adjustment range of the positioning adjustment component on the Y-axis in its adjustment plane is greater than the upward adjustment range; and / or, the adjustment range of the positioning adjustment component on the Y-axis in its adjustment plane is greater than the adjustment range on the X-axis.

2. The multi-angle particle therapy system as described in claim 1, characterized in that, The counterweight adjustment component adjusts the center of gravity of the bearing member on the movable mechanism within the second adjustment plane, which is parallel to the first adjustment plane.

3. The multi-angle particle therapy system as described in claim 2, characterized in that, The counterweight adjustment assembly includes a two-dimensional adjustment component two and a counterweight block, wherein the two-dimensional adjustment component two drives the counterweight block to move within the adjustment plane two.

4. The multi-angle particle therapy system as described in claim 3, characterized in that, The counterweight adjustment assembly includes a displacement sensor for detecting displacement information of the load-bearing component. The control system controls the two-dimensional adjustment assembly to adjust the position of the counterweight block in the adjustment plane two in the opposite direction to the movement direction of the load-bearing component based on the displacement information.

5. The multi-angle particle therapy system as described in claim 1, characterized in that, It also includes a respiratory monitoring device for acquiring patient respiratory cycle information, wherein the control system adjusts the rotation speed of the rotating adjustment component according to the patient's respiratory cycle information to match the patient's respiratory cycle.

6. The multi-angle particle therapy system as described in claim 1, characterized in that, The translational support assembly includes a support member, a second driving member, and a linear transmission assembly. The positioning adjustment assembly is connected to the support member via a rotating shaft. The rotation adjustment assembly adjusts the rotation of the load-bearing member by driving the rotation. A linear transmission assembly is provided at the bottom of the support member and is embedded in a track on the floor of the treatment room. The second driving member adjusts the translation of the support member by driving the linear transmission assembly.

7. The multi-angle particle therapy system as described in claim 1, characterized in that, The rotation adjustment assembly includes a drive component and a gear transmission assembly. The drive component is connected to the positioning adjustment assembly via the gear transmission assembly. The drive component drives the positioning adjustment assembly to rotate, thereby causing the load-bearing component to rotate.

8. The multi-angle particle therapy system as described in claim 1, characterized in that, The particle beam system also includes an imaging system, the imaging acquisition area of ​​which overlaps with the irradiation area of ​​the irradiation system as an irradiation treatment area.

Images