Multi-leaf grating device with compact motor arrangement

Abstract

The invention provides a compact motor-arranged multi-leaf grating device, and relates to the technical field of radiotherapy equipment, the compact motor-arranged multi-leaf grating device comprises a leaf frame, the leaf frame is provided with a plurality of guide chutes, the guide chutes are internally provided with leaves in a sliding manner, one side of the leaf frame is provided with a motor mounting groove rack, and the motor mounting groove rack is provided with a motor. A plurality of motors are fixedly installed on the motor installation groove frame, output shafts of the motors are connected with lead screws, the lead screws are in driving connection with the blades through a floating transmission assembly, and the problems that a traditional grating is large in occupied space, complex in machining and prone to clamping stagnation are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radiotherapy equipment, in particular to a multi-leaf collimator device with compact motor arrangement. BACKGROUND

[0002] The multi-leaf collimator device is a precision radiation field shaping device composed of dozens of independently movable and high-density "leaves", and the position of each leaf is accurately controlled by a computer (control system). The device can dynamically form a radiation field of any shape, which is highly consistent with the contour of the tumor in three-dimensional space. This technology is the core hardware of modern precise radiotherapy, especially intensity modulated radiotherapy and image-guided radiotherapy. It can effectively shield and protect the surrounding normal tissues and organs while maximizing the irradiation dose of the tumor area, thereby significantly improving the treatment effect and reducing side effects.

[0003] For example, Chinese Patent Publication: Multi-leaf collimator and multi-leaf collimator device, application number: CN201420104718.0, includes: at least one leaf group, the leaf group includes a plurality of identical leaf pairs; the leaves in the leaf pair have a top surface, a bottom surface, and two side surfaces between the top surface and the bottom surface; the top surfaces of the plurality of leaves are arranged along a first circular arc with the radiation source as the center, the bottom surfaces of the plurality of leaves are arranged along a second circular arc with the radiation source as the center, and the extension lines of the two side surfaces of the plurality of leaves are focused on the radiation source. The leaves in each leaf group are identical, so that the leaves in each leaf group can be interchanged, effectively reducing the types of leaves, improving the controllability of leaf process precision, and realizing batch production of leaves, which is beneficial to reducing the cost of the multi-leaf collimator. Since the top surfaces and bottom surfaces of the plurality of leaves are arranged along the circular arcs with the radiation source as the center, the extension lines of the two side surfaces of the plurality of identical leaves are focused on the radiation source, and the field penumbra is small.

[0004] However, the above technical solution has the following obvious deficiencies: first, the independent arrangement of the motor behind each leaf results in a large device rotation diameter, which is not conducive to the compactness of the device; second, the long hole of the leaf is complex to process, high in cost, and difficult to assemble; third, the rigid connection between the screw and the leaf is prone to jamming due to wear or tolerance, making maintenance difficult. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a multi-leaf collimator device with compact motor arrangement, which can effectively solve the problems in the background art.

[0006] In order to achieve the above object, the application is implemented by the following technical scheme: a multi-leaf grating device of compact motor arrangement, comprising a leaf frame, a plurality of guide sliding grooves are arranged on the leaf frame, a plurality of leaves are arranged in the guide sliding grooves, a motor mounting groove frame is arranged on one side of the leaf frame, a plurality of motors are fixedly arranged on the motor mounting groove frame, the output shaft of the motor is connected with a screw rod, and the screw rod is driven and connected with the leaf through a floating transmission assembly.

[0007] Preferably, the screw rod sequentially passes through the corresponding through holes of the common limiting calibration mechanism, the multi-hole self-lubricating support plate and the magnetic coding array module arranged on the stroke, a radiation protection plate is arranged in front of the motor mounting groove frame, and the multi-leaf grating device further comprises a zero calibration assembly for calibrating the initial positions of all the leaves.

[0008] Preferably, the inner surface of the through hole on the multi-hole self-lubricating support plate is made of self-lubricating material, the self-lubricating material is selected from oil bronze, PTFE or POM composite material, the radiation protection plate is made of high-density metal material, and the high-density metal material is selected from tungsten alloy, tungsten-nickel-iron alloy or lead-based composite material.

[0009] Preferably, the leaf comprises a leaf body made of high-density material, a connecting plate is fixed to the rear or lower side of the leaf body, a guide sliding block is arranged on the leaf body and slides in the guide sliding groove, and a slot and a clamping groove matched with the floating transmission assembly are arranged on the connecting plate.

[0010] Preferably, the motor mounting groove frame comprises a motor support plate and a cable through hole pressing plate, a plurality of first through holes through which the motor shaft passes are arranged on the motor support plate, a plurality of rectangular holes through which the cable passes are arranged on the cable through hole pressing plate, and a motor limiting plate is further arranged between the motor support plate and the cable through hole pressing plate, a plurality of motor mounting holes matched with the shape of the motor are arranged on the motor limiting plate.

[0011] Preferably, the common limiting calibration mechanism comprises a seat body, a plurality of micro-motion detection elements and guide columns are arranged on the seat body, a trigger cover is arranged on the guide column and slides, and a second through hole through which the screw rod passes is arranged on the seat body and the trigger cover.

[0012] Preferably, the magnetic coding array module comprises a main support plate, a plurality of sub-plates are vertically arranged on the main support plate, a magnetic coding chip is arranged on each sub-plate, and a third through hole through which the screw rod passes is arranged on the main support plate.

[0013] As preferred, the floating transmission assembly comprises an assembly base, a nut mounting groove is formed on the assembly base, a screw rod nut matched with the screw rod is arranged in the nut mounting groove, and the assembly base is detachably connected with the vane through the clamping plate and the insertion plate arranged on one side of the assembly base.

[0014] As preferred, fourth through holes are arranged on both sides of the nut mounting groove, and the screw rod passes through the fourth through holes and matches with the screw rod nut.

[0015] As preferred, the zero calibration assembly comprises a laser emitting unit, a laser receiving unit and a zero light passing hole arranged on each vane, and when the zero light passing holes on all vanes are aligned, the laser beam can pass through all light passing holes from the laser emitting unit and be received by the laser receiving unit.

[0016] The application provides a multi-leaf collimator device of a compact motor arrangement.

[0017] (1) The application firstly performs initialization and zero calibration, all vanes are moved backward under the driving of the motor, the trigger cover of the shared limit calibration mechanism is triggered and the micro-motion detection element is pressed to establish a mechanical reference point, then the external control system drives the movement of each vane, when the zero light passing holes on all vanes are aligned to enable the laser beam emitted by the laser emitting unit to pass through and be received by the laser receiving unit, the system records the feedback value of the magnetic encoding chip in the magnetic encoding array module at this time to establish the accurate electrical zero of all vanes, then in normal work, the control system drives the rotation of a specific motor according to the treatment plan, the rotary motion is transmitted to the screw rod nut in the floating transmission assembly through the screw rod, then the vanes are accurately slid in the guide sliding groove of the vane frame to form a target irradiation field through the assembly base, the clamping plate and the insertion plate, in this process, the magnetic encoding array module monitors the angle of each screw rod in real time and feeds back to realize closed-loop control, the whole transmission chain is automatically compensated for assembly tolerance through the floating transmission assembly to ensure smooth movement, at the same time, the multi-hole self-lubricating support plate provides smooth rotary support for the end of the screw rod, and the radiation protection plate continuously shields scattered X-rays to jointly ensure the long-term operation accuracy and reliability of the driving and feedback components.

[0018] (2) The vanes of the application are designed in a split body, the vane main body made of high-density material is used to block rays, and the lightweight connecting plate is used for transmission. The vanes slide in the guide sliding groove through the guide sliding block, the insertion slot and the clamping slot on the vanes form a floating quick interface with the floating transmission assembly, and the transmission efficiency and tolerance compensation are considered.

[0019] (3) The motor mounting groove frame of the application is a modular unit, through the cooperation of the motor support plate, the motor limit plate and the cable through hole pressing plate, the compact, stable installation and orderly wiring of multiple motors are realized, and maintenance is facilitated.

[0020] (4) The common limit calibration mechanism of the application integrates zero calibration and limit protection. When the blade touches the trigger cover and presses the micro-motion detection element, a common limit signal is generated, providing a mechanical reference and safety protection for the system.

[0021] (5) The magnetic encoding array module is the core of high-precision feedback. The small magnet at the end of the screw rod rotates with the screw rod, and the magnetic encoding chip on the sub-board detects the change of the magnetic field through non-contact, accurately measures the rotation angle of the screw rod, and provides a closed-loop feedback signal for the external control system.

[0022] (6) The floating transmission assembly is the key to power transmission and error absorption. The motor drives the base through the screw rod and screw nut, and then drives the blade through the clamping plate and the plug plate. The floating connection design can automatically compensate for cumulative tolerance, ensuring smooth and reliable transmission.

[0023] (7) The zero calibration assembly cooperates with the laser emitting unit and receiving unit on the external rack. When the zero light transmission hole of a single blade aligns with the light transmission holes of all other blades, the laser beam passes through and is received. The system records the reading of the magnetic encoding chip at this time as the electrical zero of the blade, thereby completing the accurate calibration of all blades. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structural diagram of the application;

[0025] Figure 2 is a structural diagram of the blade in the application;

[0026] Figure 3 is a structural diagram of the motor mounting slot frame in the application;

[0027] Figure 4 is a structural diagram of the common limit calibration mechanism in the application;

[0028] Figure 5 is a structural diagram of the magnetic encoding array module in the application;

[0029] Figure 6 is a structural diagram of the floating transmission assembly in the application;

[0030] Figure 7 is a structural diagram of the zero calibration assembly in the application.

[0031] Wherein, 1, blade frame; 2, guide sliding groove; 3, blade; 301, blade main body; 302, connecting plate; 303, guide sliding block; 304, slot; 305, clamping groove; 4, motor mounting slot frame; 401, motor support plate; 402, cable through hole pressing plate; 403, first through hole; 404, rectangular hole; 405, motor limiting plate; 406, motor mounting hole; 5, porous self-lubricating support plate; 6, motor; 7, screw; 8, common limiting calibration mechanism; 801, seat body; 802, guide column; 803, trigger cover; 804, micro-motion detection element; 805, second through hole; 9, magnetic encoding array module; 901, main support plate; 902, sub-plate; 903, magnetic encoding chip; 904, third through hole; 10, radiation protection plate; 11, floating transmission assembly; 1101, assembly base; 1102, nut mounting slot; 1103, screw nut; 1104, fourth through hole; 1105, clamping plate; 1106, plug-in plate; 12, zero position light transmission hole; 13, laser emitting unit; 14, laser receiving unit. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] As shown in the drawings, Figure 1 The embodiment of the present application provides a multi-leaf grating device of compact motor arrangement, comprising a blade frame 1, a plurality of guide sliding grooves 2 are arranged on the blade frame 1, a blade 3 is slidably arranged in the guide sliding groove 2, a motor mounting slot frame 4 is arranged on one side of the blade frame 1, a plurality of motors 6 are fixedly installed on the motor mounting slot frame 4, an output shaft of the motor 6 is connected with a screw 7, and the screw 7 drives and connects the blade 3 through a floating transmission assembly 11.

[0034] The screw 7 sequentially passes through corresponding through holes of the common limiting calibration mechanism 8, the porous self-lubricating support plate 5 and the magnetic encoding array module 9 arranged on its stroke, a radiation protection plate 10 is arranged in front of the motor mounting slot frame 4, and the multi-leaf grating device further comprises a zero calibration assembly for calibrating the initial positions of all blades 3.

[0035] As shown in the drawings, Figure 2As shown, the blade 3 comprises a blade body 301 made of high-density material, a connecting plate 302 fixed to the rear or lower part of the blade body 301, a guide sliding block 303 provided on the blade body 301 and sliding in the guide sliding groove 2 of the guide frame 1, and an insertion slot 304 and a clamping slot 305 provided on the connecting plate 302 and matched with the floating transmission assembly 11.

[0036] Through the above technical scheme, the blade 3 adopts a split design, the blade body 301 of which is made of high-density material and is responsible for blocking the rays to form an accurate irradiation field, and the driving connecting part, i.e. the connecting plate 302, adopts a lightweight design to reduce the motion inertia. The blade slides in the guide sliding groove 2 of the blade frame 1 through the guide sliding block 303 thereon, realizing accurate linear motion. The insertion slot 304 and the clamping slot 305 provided on the connecting plate 302 form a quick and reliable floating connection interface with the floating transmission assembly 11, which not only ensures the transmission efficiency but also provides a basis for tolerance compensation.

[0037] As shown in Figure 3 The motor mounting groove frame 4 comprises a motor support plate 401 and a cable through-hole pressing plate 402. The motor support plate 401 is provided with a plurality of first through-holes 403 through which the motor shafts pass. The cable through-hole pressing plate 402 is provided with a plurality of rectangular holes 404 through which the cables pass. The motor support plate 401 and the cable through-hole pressing plate 402 are further provided with a motor limiting plate 405. The motor limiting plate 405 is provided with a plurality of motor mounting holes 406 matched with the outer shape of the motor.

[0038] Through the above technical scheme, the motor mounting groove frame 4 serves as a modular integrated unit, and through the synergistic effect of the motor support plate 401, the motor limiting plate 405 and the cable through-hole pressing plate 402, the compact and stable installation of multiple motors 6 is realized. The motor shafts accurately pass through the first through-holes 403 on the motor support plate 401, and the motor mounting holes 406 on the motor limiting plate 405 prevent the motor from rotating circumferentially. The cables of all the motors are concentrated and guided to the rectangular holes 404 of the cable through-hole pressing plate 402 to pass out, realizing the order and regularity of wiring and greatly facilitating installation and later maintenance.

[0039] As shown in Figure 4 The shared limiting and calibrating mechanism 8 comprises a seat body 801, a plurality of micro-motion detection elements 804 and guide columns 802 mounted on the seat body 801, and a trigger cover 803 slidingly arranged on the guide columns 802. The seat body 801 and the trigger cover 803 are both provided with second through-holes 805 through which the lead screw 7 passes.

[0040] Through the technical scheme, the mechanism integrates zero position calibration and electrical limit protection functions, when power is initialized or zero position calibration is performed, any blade 3 moves backward, the tail end of the blade 3 contacts and pushes the trigger cover 803, the trigger cover 803 slides along the guide column 802 and presses the micro-motion detection element 804, thereby generating a common limit signal, the signal provides a unified mechanical reference for the control system, and can trigger in emergency in abnormal conditions to stop the operation of all motors 6, thereby playing a safety protection role, the second through hole 805 on the seat body 801 and the trigger cover 803 ensures that the lead screw 7 can pass through without obstacles.

[0041] As shown in Figure 5 The magnetic encoding array module 9 includes a main support plate 901, a plurality of sub-plates 902 are vertically installed on the main support plate 901, a magnetic encoding chip 903 is arranged on each sub-plate 902, and a third through hole 904 is arranged on the main support plate 901 for the lead screw 7 to pass through.

[0042] Through the technical scheme, the module is the core of realizing multi-lead screw high-precision synchronous feedback, a small magnet is arranged at the end of each lead screw 7, when the lead screw 7 rotates, the magnet at the end rotates, each sub-plate 902 is vertically installed on the main support plate 901, and the magnetic encoding chip 903 on the sub-plate 902 detects the change of the magnetic field angle of the corresponding lead screw end magnet through non-contact, thereby accurately measuring the real-time rotation angle and the number of turns of each lead screw 7, the signal is fed back to the external control system, thereby constituting high-precision closed-loop control and ensuring that the position control of each blade 3 is accurate and correct.

[0043] As shown in Figure 6 The floating transmission assembly 11 includes an assembly base 1101, a nut mounting groove 1102 is formed in the assembly base 1101, a lead screw nut 1103 matched with the lead screw 7 is arranged in the nut mounting groove 1102, and the assembly base 1101 is detachably connected with the blade 3 through the clamping plate 1105 and the plug plate 1106 arranged on one side of the assembly base 1101.

[0044] Fourth through holes 1104 are arranged on both sides of the nut mounting groove 1102, and the lead screw 7 passes through the fourth through holes 1104 and is matched with the lead screw nut 1103.

[0045] Through the technical scheme, the assembly is a key link of power transmission and error absorption, the motor 6 drives the screw rod 7 to rotate, drives the screw nut 1103 installed in the nut mounting groove 1102 to generate axial movement, the linear motion is transmitted to the clamping plate 1105 and the plug-in plate 1106 on the assembly base 1101 through the assembly base 1101, and then drives the blade 3, the plug-in plate 1106 is first inserted into the plug-in groove 304 of the blade connecting plate 302, and plays a guiding and main force transmission role, then the clamping plate 1105 is clamped into the clamping groove 305 to complete the connection, the floating connection design allows the assembly base 1101 to have a small adaptive displacement when cooperating with the blade 3, effectively compensates the accumulated assembly tolerance of the screw rod 7 axis and the blade 3 mounting position, and ensures smooth and reliable long-term operation.

[0046] As shown in Figure 7 The zero calibration assembly includes a laser emitting unit 13, a laser receiving unit 14 and a zero light transmission hole 12 arranged on each blade 3, when the zero light transmission holes 12 of all blades 3 are aligned, the laser beam can pass through all the light transmission holes from the laser emitting unit 13 and be received by the laser receiving unit 14.

[0047] Through the technical scheme, during the calibration process, the laser emitting unit 13 installed on the external rack emits a laser beam, and then drives each blade 3 to move in turn, and only when the zero light transmission hole 12 on the blade 3 is completely aligned with the zero light transmission holes 12 of all the other blades to form a continuous straight channel, the laser beam can pass through unobstructed and be effectively detected by the laser receiving unit 14 also installed on the external rack, at this time, the control system records the feedback value of the magnetic encoding chip 903 corresponding to the blade, and sets it as the electrical zero of the blade, and through traversing all the blades, the accurate zero calibration of the entire multi-leaf grating device can be completed.

[0048] Working principle:

[0049] Firstly, the present application performs initialization and zero calibration. All the leaves 3 are driven to move backward by the motor 6, the trigger cover 803 of the shared limit calibration mechanism 8 is triggered and the micro-motion detection element 804 is pressed to establish a mechanical reference point. Then, the external control system drives each leaf 3 to move. When the zero light holes 12 on all the leaves 3 are aligned to enable the laser beam emitted by the laser emitting unit 13 to pass through and be received by the laser receiving unit 14, the system records the feedback value of the magnetic encoding chip 903 in the magnetic encoding array module 9 at this time, establishes the accurate electrical zero of all the leaves 3, and then in normal operation, the control system drives a specific motor 6 to rotate according to the treatment plan, the rotary motion is transmitted to the screw nut 1103 in the floating transmission assembly 11 through the screw rod 7, and then the leaf 3 is driven to slide accurately in the guide sliding groove 2 of the leaf frame 1 through the assembly base 1101, the clamping plate 1105 and the plug-in plate 1106 to form a target irradiation field. In this process, the magnetic encoding array module 9 monitors the angle of each screw rod 7 in real time and feeds back to realize closed-loop control. The entire transmission chain automatically compensates for the assembly tolerance through the floating transmission assembly 11 to ensure smooth movement. At the same time, the multi-hole self-lubricating support plate 5 provides smooth rotary support for the end of the screw rod 7, and the radiation protection plate 10 continuously shields scattered X-rays, which together guarantee the long-term operation accuracy and reliability of the driving and feedback components.

[0050] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, on the basis of the above description, other different forms of changes or variations can be made, and it is impossible to enumerate all the embodiments here. Any obvious changes or variations derived from the technical solutions of the present application still fall within the protection scope of the present application.

Claims

1. A multi-leaf collimator arrangement of a compact motor arrangement comprising a leaf frame (1), characterized in that: The blade frame (1) is provided with a plurality of guide sliding grooves (2), the blade (3) is slidably arranged in the guide sliding groove (2), one side of the blade frame (1) is provided with a motor mounting groove frame (4), a plurality of motors (6) are fixedly installed on the motor mounting groove frame (4), the output shaft of the motor (6) is connected with a screw rod (7), and the screw rod (7) is drivenly connected with the blade (3) through a floating transmission assembly (11).

2. A multi-leaf collimator arrangement according to claim 1, characterized in that: The screw rod (7) sequentially passes through corresponding through holes of a shared limiting calibration mechanism (8), a porous self-lubricating support plate (5) and a magnetic encoding array module (9) arranged on the stroke, a radiation protection plate (10) is arranged in front of the motor mounting groove frame (4), and the multi-leaf grating device further comprises a zero calibration assembly for calibrating the initial positions of all blades (3).

3. A multi-leaf collimator arrangement for a compact motor arrangement according to claim 2, characterized in that: The inner surface of the through hole of the porous self-lubricating support plate (5) is made of self-lubricating material, the self-lubricating material is selected from oil bronze, PTFE or POM composite material, the radiation protection plate (10) is made of high-density metal material, and the high-density metal material is selected from tungsten alloy, tungsten-nickel-iron alloy or lead-based composite material.

4. A multi-leaf collimator arrangement according to claim 1, characterized in that: The blade (3) comprises a blade body (301) made of high-density material, a connecting plate (302) is fixed to the rear or lower side of the blade body (301), a guide sliding block (303) is arranged on the blade body (301) and slides in the guide sliding groove (2), and an insertion slot (304) and a clamping slot (305) are arranged on the connecting plate (302) and matched with the floating transmission assembly (11).

5. A multi-leaf collimator arrangement according to claim 1, characterized in that: The motor mounting groove frame (4) comprises a motor support plate (401) and a cable through hole pressing plate (402), a plurality of first through holes (403) for the motor shaft to pass through are arranged on the motor support plate (401), a plurality of rectangular holes (404) for the cable to pass through are arranged on the cable through hole pressing plate (402), and a motor limiting plate (405) is further arranged between the motor support plate (401) and the cable through hole pressing plate (402), a plurality of motor mounting holes (406) matched with the shape of the motor are arranged on the motor limiting plate (405).

6. A multi-leaf collimator arrangement according to claim 1, characterized in that: The shared limiting calibration mechanism (8) comprises a seat body (801), a plurality of micro-motion detection elements (804) and guide columns (802) are installed on the seat body (801), a trigger cover (803) is slidably arranged on the guide column (802), and second through holes (805) for the screw rod (7) to pass through are arranged on the seat body (801) and the trigger cover (803).

7. A multi-leaf collimator arrangement according to claim 1, characterized in that: The magnetic encoding array module (9) comprises a main support plate (901), a plurality of sub-plates (902) are vertically installed on the main support plate (901), a magnetic encoding chip (903) is arranged on each sub-plate (902), and a third through hole (904) for the screw rod (7) to pass through is arranged on the main support plate (901).

8. A multi-leaf collimator arrangement according to claim 1, characterized in that: The floating transmission assembly (11) comprises an assembly base (1101) provided with a nut mounting groove (1102), and a screw rod nut (1103) is arranged in the nut mounting groove (1102) and matched with the screw rod (7); the assembly base (1101) is detachably connected with the blade (3) through a clamping plate (1105) and an insertion plate (1106) arranged on one side of the assembly base (1101).

9. A multi-leaf collimator arrangement according to claim 8, wherein: Fourth through holes (1104) are arranged on both sides of the nut mounting groove (1102), and the screw rod (7) passes through the fourth through holes (1104) and is matched with the screw rod nut (1103).

10. A multi-leaf collimator arrangement according to claim 1, characterized in that: The zero calibration assembly comprises a laser emitting unit (13), a laser receiving unit (14) and zero light transmission holes (12) arranged on each blade (3); when the zero light transmission holes (12) of all the blades (3) are aligned, a laser beam can pass through all the light transmission holes from the laser emitting unit (13) and be received by the laser receiving unit (14).

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