Rack part

Abstract

The present invention relates to a radiation therapy system comprising: a rotatable gantry configured to rotate about an axis of rotation; and a gantry upper member mounted to the gantry, where the gantry upper member is configured to travel between at least a first position and a second position on the gantry, and where the gantry upper member is mounted to the gantry such that when the gantry is rotated in a first direction about the axis of rotation, the gantry upper member is configured to travel between at least a first position and a second position on the gantry. The rack upper part can travel from the first position to the second position under the influence of gravity. The invention also relates to a method for displacing the upper gantry part of the aforementioned radiotherapy system.

Description

Technical Field

[0001] This invention relates to radiotherapy, and more specifically, to a system and method for initiating and controlling the movement of components on a rotating table of a radiotherapy system. Background Technology

[0002] Radiation therapy involves using ionizing radiation (such as X-rays) to treat a human or animal body. Radiation therapy is commonly used to treat tumors in a patient or subject. In such treatment, ionizing radiation is used to irradiate and thus destroy or damage the cells that form the tumor.

[0003] Radiation therapy systems typically include a rotating gantry that supports a beam-generating system or other radiation source that can rotate around the patient. For example, in a linear accelerator (linac) device, the beam-generating system may include a radio frequency energy source, an electron source, an accelerating waveguide, a beamforming device, etc.

[0004] The radiotherapy equipment will have a rotating gantry drum or similar structure on which various components are mounted. As the gantry rotates, the components move in a circular manner around the patient. Such components may include one or more of a beam generation system, a radiation source, a beamforming device, etc. Two other exemplary components mounted to the gantry may be kV and MV imaging systems. The kV imaging system can be used to image the patient, while the MV imaging system can be used to validate the radiation delivery system. Both may need to be moved to image a larger area or to move outside the field of the radiation beam, for example, to protect sensitive electronics.

[0005] Conventional devices used to move these imaging systems include linear actuators, such as screw or toothed belt actuators. This conventional technique requires multiple moving parts, which increases the cost and complexity of the entire radiotherapy system. Furthermore, after a limited lifespan, the moving parts may require repair, maintenance, or replacement.

[0006] This invention seeks to address these and other drawbacks encountered in the prior art. Summary of the Invention

[0007] According to a first aspect of the invention, a radiotherapy system is provided, comprising: a rotatable gantry configured to rotate about a rotation axis; and a gantry-mounted component mounted to the gantry. The gantry-mounted component is configured to travel between at least a first position and a second position on the gantry, and is mounted to the gantry such that when the gantry rotates about the rotation axis in a first direction, the gantry-mounted component is capable of traveling from the first position to the second position under the influence of gravity.

[0008] In some embodiments, the radiotherapy system further includes a first locking mechanism configured to engage and disengage with a portion of a component on the gantry to hold the component in a first position. When the first locking mechanism engages with the component on the gantry, it prevents the component from traveling to a second position.

[0009] In some embodiments, when the test bench rotates about the axis of rotation in a second direction, the components on the test bench can also travel from a second position to a first position under the influence of gravity, the second direction being opposite to the first direction.

[0010] In some embodiments, the radiotherapy system further includes a second locking mechanism configured to engage and disengage with a portion of a component on the gantry to hold the component in a second position. When engaged with the component on the gantry, the second locking mechanism prevents the component on the gantry from traveling to the first position.

[0011] In some embodiments, the component on the test bench is configured to move between a first position and a second position without requiring driving force from a dedicated drive system connected to the component on the test bench.

[0012] In some embodiments, the component on the test bench is slidably mounted to one or more guide rails that generally extend between a first position and a second position on the test bench, such that gravity acting on the component on the test bench enables the component on the test bench to slide along the guide rails.

[0013] In some embodiments, when the gravity acting on the component on the test bench is at least partially in the same direction as the direction of travel along the guide rail, the component on the test bench is able to travel along the guide rail under the influence of gravity.

[0014] In some embodiments, the radiotherapy system further includes a motion control device configured to control the speed of an on-frame component during travel between a first position and a second position. The motion control device may include a braking system configured to limit the speed of the on-frame component during at least a portion of travel between the first and second positions. The braking system may include a pneumatic braking system comprising a lever internally located and configured to move within a tube, wherein one of the lever and the tube is fixed relative to the on-frame component, and wherein the other of the lever and the tube is fixed relative to the pedestal, such that movement of the on-frame component between the first and second positions on the pedestal causes movement of the lever relative to the tube, and wherein the lever and tube arrangement is configured to apply a braking force to the on-frame component as it travels between the first and second positions.

[0015] In some embodiments, a rod is connected to a component on a test bench or a test bench via a connector extending through the open end of a tube, wherein the opposite end of the tube is closed, such that movement of the rod within the tube causes expansion and compression of air in the tube between the rod and the closed end of the tube, and wherein the expansion or compression of the air exerts a force on the rod against movement of the rod relative to the tube. In some embodiments, the closed end of the tube includes a valve configured to control air inflow and outflow from the tube. In some embodiments, the tube includes a central portion and ends located at opposite ends of the central portion, wherein the inner diameter of the central portion is greater than the inner diameter of either end. In some embodiments, a pneumatic braking system includes: a first rod configured to move within a first tube, the first rod and tube being configured to apply a braking force to the component on the test bench as it travels toward a first position; and a second rod configured to move within a second tube, the second rod and tube being configured to apply a braking force to the component on the test bench as it travels toward a second position.

[0016] In some embodiments, the braking system includes a magnetic braking system comprising one or more magnets arranged adjacent to one or more conductive nonmagnetic elements, wherein the one or more magnets or one or more conductive nonmagnetic elements are fixed relative to a component on a gantry, and wherein another of the one or more magnets and one or more conductive nonmagnetic elements is fixed relative to the gantry, such that movement of the component on the gantry between a first position and a second position causes relative movement between the one or more magnets and one or more conductive nonmagnetic elements. The one or more magnets may include electromagnets, and the radiotherapy system may further include a controller configured to control the power supply to the electromagnets.

[0017] In some embodiments, one or more conductive nonmagnetic elements include an elongated metal plate whose length substantially corresponds to the distance between a first position and a second position on a pedestal. The elongated metal plate may include a central portion and an end located at either end of the central portion, and the plate may include a plurality of holes or slots arranged along the length of the central portion.

[0018] In some embodiments, the first locking mechanism and the second locking mechanism include an electromagnetic latch configured to move between a latched position and an unlocked position to hold a component on the bench in a first position or a second position, wherein the electromagnetic latch includes: an electromagnet and a locking pin attached thereto; a spring that biases the electromagnetic latch toward the latched position; and a magnetic component disposed on the side of the electromagnet opposite to the locking pin.

[0019] When in the latched position, the locking pin can be configured to engage part of the component on the test bench to hold the component on the test bench in a first or second position, and the electromagnetic latch can be arranged such that the power supplied to the electromagnet causes a magnetic attraction between the electromagnet and the magnetic component to drive the electromagnetic latch to the unlocked position, thereby disengaging the locking pin from the component on the test bench.

[0020] In some embodiments, the radiotherapy system may further include a balancing system configured to counteract changes in weight distribution on the gantry as the on-gantry component travels between a first and a second position. The balancing system includes a counterweight configured to move in a direction substantially opposite to the on-gantry component as it travels between the first and second positions on the gantry. The counterweight may be connected to the on-gantry component via one or more of the following: a timing belt; a line; a chain pulley system; gears; and a linkage mechanism, such that the movement of the counterweight is synchronized with the movement of the on-gantry component. In some embodiments, the counterweight includes a radiation-attenuating material.

[0021] According to a second aspect of the invention, a method is provided for displacing a gantry component of a radiotherapy system according to any of the preceding claims. When the gantry component is held in a first position on the gantry by a first locking mechanism, the method includes: unlocking the first locking mechanism, allowing the gantry component to move freely toward a second position on the gantry; rotating the gantry about a rotation axis in a first direction, such that gravity acting on the gantry component causes the gantry component to travel from the first position to the second position under the influence of gravity; controlling the velocity of the gantry component while it travels from the first position to the second position; and when the gantry component reaches the second position, holding the gantry component in the second position using a second locking mechanism, such that further rotation of the gantry will not cause further movement of the gantry component. Controlling the velocity of the gantry component includes limiting the velocity of the gantry component using a pneumatic or magnetic braking system, or rotating the gantry to adjust the gravitational acceleration vector acting on the gantry component while it travels between the first and second positions.

[0022] A system is also provided, comprising one or more processors and one or more computer-readable media, optionally non-transient, wherein the one or more computer-readable media store instructions that, when executed by the one or more processors, cause the one or more processors to perform any of the methods according to the second aspect or other methods disclosed herein.

[0023] A computer-readable medium storing instructions (optionally non-transient) is also provided, which, when executed by one or more processors, cause the one or more processors to perform any of the methods according to the second aspect or other methods disclosed herein. Attached Figure Description

[0024] Specific embodiments will now be described by way of example only with reference to the accompanying drawings, in which:

[0025] Figure 1 A radiotherapy device or apparatus according to the present invention is described;

[0026] Figure 2 A first configuration of a bench including components on the bench according to the present invention is described;

[0027] Figure 3 A second configuration of a bench including components on the bench according to the present invention is described;

[0028] Figure 4A and Figure 4B A braking system for a component on a test bench is described according to an embodiment of the present invention;

[0029] Figure 4C An alternative braking system for a benchtop component is described according to an embodiment of the present invention;

[0030] Figure 4D An alternative braking system for a benchtop component is described according to an embodiment of the present invention;

[0031] Figure 5A This is a first view of a magnetic braking system for a component on a test bench according to an embodiment of the present invention;

[0032] Figure 5B This is a second view of a magnetic braking system for a component on a test bench according to an embodiment of the present invention;

[0033] Figures 5C to 5E yes Figure 5A and Figure 5B The side view of the magnetic braking system shown;

[0034] Figure 6A A first configuration of a locking mechanism for a component on a bench is described according to an embodiment of the present invention;

[0035] Figure 6B A second configuration of a locking mechanism for a component on a bench is described according to an embodiment of the present invention;

[0036] Figure 6C Described Figure 6A and Figure 6B A perspective view of the locking mechanism shown;

[0037] Figure 7 This is a flowchart of a method for a gantry component of a displacement radiotherapy system according to the present invention;

[0038] Figure 8A balancing system for components on a bench is described according to an embodiment of the present invention;

[0039] Figure 9 A block diagram illustrating one implementation of the radiotherapy system according to the present invention is shown; and

[0040] Figure 10 A computer program product according to the storage instructions of the present invention is illustrated. Detailed Implementation

[0041] Figure 1 A radiotherapy apparatus suitable for delivering a radiation beam to a patient during radiotherapy and configured to do so is described. To provide useful accompanying information about the invention, the apparatus and its constituent parts will be generally described. Figure 1 The device described herein is based on the invention and is suitable for use with the disclosed systems and apparatus. Although Figure 1 The device mentioned is an MR linear accelerator, but the present invention can be implemented using any radiotherapy device, such as a linear accelerator device.

[0042] Figure 1 The device 100 described herein is an MR linear accelerator. Device 100 includes an MR imaging unit 112 and a radiotherapy (RT) unit, which may include the linear accelerator device. The MR imaging unit 112 is shown in cross-section in the figure. In operation, the MR scanner produces MR images of the patient, and the linear accelerator device generates and shapes a radiation beam, directing it to a target area within the patient's body according to the radiotherapy plan. The described device does not have a typical "casing" that would cover the MR imaging unit 112 and the RT unit in a commercial environment such as a hospital.

[0043] Figure 1 The MR linear accelerator device described herein includes a radio frequency source 102, a waveguide 104, an electron source 106, a radiation source 106, a collimator 108 (e.g., a multi-leaf collimator) configured to collimate and shape the beam, an MR imaging unit 112, and a patient support surface 114. In use, the device will also include a housing (not shown) that defines an aperture together with a ring-shaped stage. The movable support surface 114 can be used to move a patient or other subject into the aperture at the start of an MR scan and / or radiotherapy. The MR imaging unit 112, the RT unit, and the patient support surface actuator are communicatively coupled to a controller or processor. The controller is also communicatively coupled to a storage device including computer-executable instructions that can be executed by the controller.

[0044] The RT device includes a radiation source and a radiation detector (not shown). Typically, the radiation detector is positioned relative to the diameter of the radiation source. The radiation detector is adapted and configured to generate radiation intensity data. Specifically, the radiation detector is positioned and configured to detect the intensity of radiation passing through the subject. The radiation detector can also be described as a radiation detection device and can form part of a radiation field imaging system.

[0045] The radiation source may include a beam generation system. For a linear accelerator, the beam generation system may include an RF energy source 102, an electron gun 106, and a waveguide 104. The radiation source is attached to a rotatable gantry 116 so as to rotate together with the gantry 116. In this way, the radiation source can rotate around the patient, allowing the therapeutic beam 110 to be applied from different angles around the gantry 116. In a preferred implementation, the gantry is continuously rotatable. In other words, the gantry can rotate 360 ​​degrees around the patient, and in fact, can continue to rotate beyond 360 degrees. The gantry may be annular. In other words, the gantry may be a toroidal gantry.

[0046] For example, a magnetron-based radio frequency (RF) source 102 is configured to generate RF waves. The RF source 102 is coupled to a waveguide 104 via a circulator 118 and is configured to pulse the RF wave into the waveguide 104. The RF wave can travel from the RF source 102 through an RF input window and into an RF input connection conduit or tube. An electron source 106 (e.g., an electron gun) is also coupled to the waveguide 104 and is configured to inject electrons into the waveguide 104. In the electron gun 106, electrons are thermionicly emitted from the cathode filament when the filament is heated. The temperature of the filament controls the number of injected electrons. The injection of electrons into the waveguide 104 is synchronized with the pumping of the RF wave into the waveguide 104. The design and operation of the RF source 102, the electron source, and the waveguide 104 are such that the RF wave accelerates the electrons to very high energies as they propagate through the waveguide 104.

[0047] The design of waveguide 104 depends on whether the linear accelerator uses standing waves or traveling waves to accelerate electrons, but waveguides typically comprise a series of cells or cavities connected by apertures or "apertures" through which the electron beam can pass. The cavities are coupled to generate a suitable electric field pattern that accelerates electrons propagating through waveguide 104. As electrons are accelerated in waveguide 104, the electron beam path is controlled by a suitable arrangement of manipulating magnets or manipulating coils surrounding waveguide 104. The arrangement of manipulating magnets may include, for example, two sets of quadrupole magnets.

[0048] Once the electrons are accelerated, they can enter a flight tube. The flight tube can be connected to the waveguide via a connecting tube. This connecting tube or connection structure can be referred to as a drift tube. The electrons travel towards a heavy metal target, which may include, for example, tungsten. As the electrons travel through the flight tube, an arrangement of focusing magnets is used to guide and focus the beam onto the target.

[0049] To ensure that electron propagation is not impeded as the electron beam travels toward the target, a vacuum system, including a vacuum pump or an arrangement of vacuum pumps, is used to evacuate the waveguide 104. The pump system is capable of generating ultra-high vacuum (UHV) conditions in the waveguide 104 and the flight tube. The vacuum system also ensures UHV conditions in the electron gun. Electrons can be accelerated to speeds approaching the speed of light in the evacuated waveguide 104.

[0050] A radiation source is configured to direct a therapeutic radiation beam 110 toward a patient positioned on a patient support surface 114. The radiation source may include a heavy metal target, to which high-energy electrons exiting a waveguide are directed. When the electrons strike the target, X-rays are generated in various directions. A master collimator may block X-rays traveling in certain directions and allow only forward-traveling X-rays to pass through to generate the therapeutic beam 110. The X-rays may be filtered and may pass through one or more ionization chambers for dose measurement. Before the beam enters the patient as part of radiotherapy, it may be shaped in various ways by a beamforming device, such as by using a multi-leaf collimator 108.

[0051] The radiation source can be configured in a coplanar configuration (where the radiation beam is substantially perpendicular to the axis of rotation of the rotatable stage 116) and a non-coplanar configuration (where the radiation beam is guided at a tilt angle substantially relative to the axis of rotation of the rotatable stage 116), both directing the therapeutic radiation beam 110 toward the patient. To switch between the coplanar and non-coplanar configurations, the radiotherapy head (including at least a collimator 108) can be configured as follows: Figure 1 The radiotherapy head moves between the coplanar configuration described in the diagram and the tilted configuration, in which the radiotherapy head is no longer in the same plane of rotation as the gantry, but extends axially away from the gantry (i.e., parallel to the axis of rotation of the gantry 116).

[0052] In some implementations, the radiation source is configured to emit either an X-ray beam or an electron particle beam. This allows the device to provide electron beam therapy, i.e., an external beam therapy that directs electrons, rather than X-rays, to a target region. By adjusting components of the linear accelerator, a first mode emitting X-rays can be “swapped” from a second mode emitting electrons. Essentially, this switching is achieved by moving a heavy metal target into or out of the electron beam path and replacing it with a so-called “electron window.” The electron window is substantially transparent to the electrons and allows them to exit the flight tube.

[0053] A subject or patient support surface is configured to move between a first position generally outside the aperture and a second position generally inside the aperture. In the first position, the patient or subject can mount the patient support surface 114. The support surface 114 and the patient can then move inside the aperture to the second position to image the patient via MR imaging device 112 and / or to image or treat the patient using RT device. The movement of the patient support surface is achieved and controlled by a subject support surface actuator, which can be described as an actuation mechanism. The actuation mechanism is configured to move the subject support surface in a direction parallel to and defined by the central axis of the aperture. The terms “subject” and “patient” are used interchangeably herein, such that the subject support surface can also be described as a patient support surface. The subject support surface can also be referred to as a movable or adjustable examination table or worktable. More generally, the patient support surface 114 can move in up to six degrees of freedom, for example, in a direction parallel to or perpendicular to the axis of rotation. The patient support surface can also rotate about one or more axes.

[0054] although Figure 1 Not shown in the image. Figure 1 The radiotherapy apparatus described herein also includes one or more imaging panels (e.g., KV or MV imaging panels) mounted to a gantry. The imaging panels can be mounted to the gantry via a drive mechanism configured to move the imaging panels between two different locations on the circumference of the gantry. The drive mechanism of a conventional radiotherapy apparatus may include a toothed belt driver, a screw driver, or any other suitable mechanism driven by a motor that produces linear motion. The movement of the imaging panels can be generally tangential to the gantry. In other words, the movement between the two locations can be generally orthogonal to the radial direction emanating from the center of rotation of the gantry.

[0055] Figure 1 The radiotherapy apparatus / device described herein also includes an MR imaging device 112. The MR imaging device 112 is configured to acquire images of a subject positioned (i.e., located on) a subject support surface. The MR imaging device 112 may also be referred to as an MR imager. The MR imaging device 112 may be a conventional MR imaging device that operates in a known manner to acquire MR data (e.g., MR images). Those skilled in the art will understand that such an MR imaging device 112 may include a main magnet, one or more gradient coils, one or more receiving coils, and an RF pulse applicator. The operation of the MR imaging device is controlled by a controller.

[0056] The controller is a computer, processor, or other processing device. The controller may be formed from several discrete processors; for example, the controller may include: an MR imaging device processor that controls the MR imaging device 110; an RT device processor that controls the operation of the RT device; and a subject support surface processor that controls the operation and actuation of the subject support surface. The controller is communicatively coupled to a memory (e.g., a computer-readable medium).

[0057] Linear accelerator equipment also includes several other components and systems as those skilled in the art will understand. For example, appropriate shielding is provided to ensure that the linear accelerator does not leak radiation.

[0058] Acceleration drives motion

[0059] refer to Figure 2 A schematic diagram of a ring-shaped gantry 200 for a radiotherapy system according to the present invention is shown. The gantry 200 is centered on an axis of rotation (indicated by a cross circle at the center of the gantry), and the viewpoint of the figure is along the axis of rotation. The gantry 200 may be part of a radiotherapy system (e.g., system 100), as described above regarding... Figure 1 As described above. Typically, a gantry can support many components of a radiotherapy system, such as the radiation source and beamforming device. For simplicity, these components have been described from... Figure 2 The details are omitted, but technicians will understand that the stand 200 can be used in any suitable radiotherapy system and can support any such typical component of the system.

[0060] In the illustrated embodiment, the gantry 200 includes a gantry-mounted component 210, which is mounted to the gantry 200 in a manner described in more detail below. The gantry-mounted component 210 may be an imaging panel or detector, such as a kV or MV imaging panel known to those skilled in the art. Hereinafter, the gantry-mounted component 210 will be described as an imaging panel 210 (including kV, V, or any other type of imaging panel suitable for use with a radiotherapy system), but those skilled in the art will understand that in other examples, the gantry-mounted component may be a different type of component of a radiotherapy system. While the examples of the gantry-mounted component 210 described below relate to an imaging panel or detector, it should be understood that the invention can more generally relate to any component that can be mounted to a rotating gantry, which may require movement between two different circumferential positions on the gantry. For example, the gantry-mounted component may be any suitable gantry-mounted component of a radiation source, beamforming device, or radiotherapy system.

[0061] exist Figure 2In the illustrated embodiment, the imaging panel 210 is slidably mounted to a guide rail system 220, which in turn is rigidly fixed to the stage 200. In the illustrated embodiment, the guide rail system includes one or more parallel guide rails mounted to the stage such that they are aligned in a direction generally perpendicular to the radial direction. Overall, the guide rail system includes one or more parallel guide rails extending between two different locations on the circumference of the stage 200. Figure 2 In this configuration, two distinct positions are designated 215A and 215B. Therefore, the imaging panel can travel along the guide rails of the guide rail system 220 between two different circumferential positions 215A and 215B on the test bench. Figure 2 An imaging panel 210 at a first position 215A is shown, and a dashed outline of the panel at a second position 215B on the guide rail is also shown. Although Figure 2 The guide rail described herein is straight, but in other embodiments, the guide rail may be curved, i.e., bow-shaped, and in some embodiments may generally follow the circumference of the bench.

[0062] As described above, panel 210 is slidably mounted to the guide rail of guide rail system 220, allowing the panel to travel along the guide rail between a first position 215A and a second position 215B. In other words, the panel is configured to travel freely between the first and second positions without requiring a dedicated drive system. Conversely, the panel is configured to slide along the guide rail under the influence of gravity as the platform rotates. More specifically, Figure 2 The imaging panel 210 is shown at position 210A (the "left" position of the viewpoint shown in the figure). At this position, the gravitational acceleration vector acting on the imaging panel 210 (indicated by arrow "G") is orthogonal to the guide rail system 220, meaning that the component of the gravitational acceleration vector acting in the direction of the guide rail is zero. However, when the stage 200 rotates clockwise (from...)... Figure 2 As the platform rotates (from the perspective of rotation), the angle between the guide rail and the horizontal plane increases, thus increasing the component of the gravitational acceleration vector acting in the direction of the guide rail. At a threshold angle (corresponding to the threshold angle between the guide rail and the horizontal plane) where the platform rotates clockwise, the force vector component acting in the direction of the guide rail due to gravity overcomes resistance (e.g., friction from the imaging panel sliding along the guide rail system 220). Therefore, the imaging panel travels along the guide rail from a first position 215A to a second position 215B. In other words, as the platform rotates, the imaging panel travels between the first position 215A and the second position 215B under the influence of gravity.

[0063] Figure 3 The rotating arrangement is described (i.e., where the platform is relative to...). Figure 2 The figure shows a perspective view of the stage 200 and imaging panel 210 arranged at an acute angle in a clockwise direction. The figure also shows the force (arrow) representing gravity. The component of gravity acting in the direction of movement (along the direction of the guide rail) (arrow) ) and friction (arrow) The force arrows are shown to demonstrate the component of gravity acting in the direction of movement of the imaging panel if the gantry is rotated sufficiently. Greater than the opposite frictional force Therefore, the imaging panel moves from the first position 215A to the second position 215B under the influence of gravity. Other forces may also act on the imaging panel; however, for simplicity, these forces are not shown or discussed here, as they are not important for describing the movement of the panel between the first and second positions.

[0064] When the imaging panel reaches the second position 215B, a latch or other locking mechanism can be used to secure the imaging panel in position 215B. For example, a manual or automatic locking pin (e.g., a solenoid drive system) can be used to lock the imaging panel in position 215B. The following is about... Figures 6A to 6C An exemplary magnetic locking system is described; however, those skilled in the art will recognize other types of mechanisms suitable for securing the imaging panel in place.

[0065] Although the movement from the first position 215A to the second position 215B has been described above, it should be understood that the imaging panel 210 can be moved in the opposite direction (i.e., from the second position 215B to the first position 215A) using a corresponding procedure. Specifically, starting from the second position 215B, the stage can be moved counterclockwise (from...) Figure 2 or Figure 3 (From the perspective of) rotating to a position where the guide rail is at an angle opposite to the horizontal plane, so that the gravitational acceleration vector acting along the guide rail in the opposite direction is... The component overcomes resistance The imaging panel then travels along the guide rail to the first position 215A under the influence of gravity. Once the imaging panel reaches the first position 215A, it can be secured in place using the latch or locking mechanism described above.

[0066] Typically, the imaging panel can travel any number of times between a first position and a second position (or vice versa) under the influence of gravity. The movement of the imaging panel is caused by the rotation of the stage, which results in the constant gravity acting on the imaging panel being aligned at least partially with the direction in which the imaging panel has a degree of freedom of movement (i.e., along the rails of the guide system 220). Thus, the imaging panel can move any number of times along the guide system, requiring only the rotation of the stage for movement. Therefore, the present invention eliminates the need for a dedicated drive system for moving the imaging panel between different circumferential positions, thereby reducing overall design cost and complexity. In fact, by allowing the imaging panel to move freely under the influence of gravity while the stage rotates, the present invention utilizes existing stage rotation to additionally position the imaging panel as needed. In other words, stage rotation will occur during the execution of any typical radiotherapy plan. Therefore, using this rotation for an additional purpose reduces the overall power consumption associated with moving the imaging panel compared to conventional techniques that rely on a separate power drive system for driving the movement of the imaging panel.

[0067] Motion control

[0068] As described above, components (e.g., imaging panels) are slidably mounted to the stage, allowing them to slide freely between two different circumferential positions on the stage along one or more guide rails. This movement can be driven by rotation of the stage, allowing the effects of gravity to cause the components to slide downwards from one end of the guide rail to the opposite end.

[0069] In some embodiments, it is desirable to control the speed of movement of a component as it slides along a guide rail. In some embodiments, this may involve adjusting the bench angle to control the speed and / or acceleration of the component while it is traveling along the guide rail. In one example, once the component begins to move along the guide rail (when gravity acts in the direction of the guide rail to overcome resistance), the bench may rotate in the opposite direction to reduce the angle between the guide rail and the horizontal plane, thereby reducing the acceleration vector to control the descent speed of the component. Alternatively, the bench angle may remain constant as the component moves. In some embodiments, the speed of movement may be controlled using a braking device or other speed control device. In some embodiments, the bench may include mechanical end stops located at respective end positions 215A and 215B. The end stops may include dampers such as springs, pneumatic or hydraulic piston dampers, magnets, etc., configured to stop the component on the bench when it reaches either end position.

[0070] It is also preferable to reduce the speed of the component as it approaches and reaches the end stops to reduce the impact energy applied to the end stops and to reduce the risk of damage to the test bench or any part of the components on the test bench. See below for reference. Figures 4A to 4DThis describes various solutions for controlling the speed of a component on a test bench as it moves between circumferential positions.

[0071] pneumatic speed control

[0072] refer to Figure 4A The first motion control device includes a pneumatic braking system 400. The pneumatic braking system 400 includes a rod 410 located within a tube 420. The tube 420 is sealed at one end and rigidly fixed to a stage. The other end of the tube 420 is open and receives the rod 410 therein. The rod 410 is rigidly fixed to a component on the stage (e.g., imaging panel 210) and can therefore move relative to the tube as the imaging panel 210 moves along the guide rail system 220. The relative arrangement of the rod 410 and the tube 420 causes the rod to move up and down along the tube as the imaging panel slides along the guide rail. For example, when the imaging panel 210 moves from a first position 215A to a second position 215B, the rod travels further into the tube (i.e., toward the closed end). Therefore, the air in the tube between the rod and the sealed end is compressed. The increased air pressure in the tube thus exerts a thrust on the rod against the movement of the rod into the tube, thereby against the movement of the imaging panel as it moves toward the second position 215B. In the opposite direction, for example, when the imaging panel moves from the second position 215B back to the first position 215B, the rod moves out of the tube (i.e., away from the sealed end and toward the open end). Therefore, the air in the tube between the rod and the sealed end expands. The reduced air pressure thus exerts a pulling force on the rod, which counteracts the movement of the rod away from the tube, and thus counteracts the movement of the imaging panel as it moves toward the first position 215A. In this way, the pneumatic braking system 400 can limit or reduce the speed of the imaging panel as it travels between two different positions on the gantry circumference.

[0073] In some embodiments, the diameters of the rod 410 and the tube 420 are designed such that the inner diameter of the tube is larger than the diameter of the rod. This allows for a controlled gap between the rod and the tube through which air can escape as the rod travels further into the tube. Therefore, the difference in diameter between the rod and the tube can be used to determine the speed at which the imaging panel can move. For example, a larger difference in diameter allows a larger volume of air to escape, thus providing less drag and allowing the imaging panel to travel at a higher speed. Conversely, a smaller difference in diameter allows a smaller volume of air to escape, thus providing greater drag and allowing the imaging panel to travel at a lower speed.

[0074] exist Figure 4A In the described embodiment, the diameter of tube 420 is constant, thereby providing constant drag and speed throughout the entire travel range of the imaging panel. Figure 4BIn another embodiment, the diameter of the tube can vary along the length of the tube, so that the speed of the imaging panel varies accordingly along its travel range. Figure 4B A tube 420 including a wider central portion is shown, which allows for greater speeds of the imaging panel during central stretching of the travel range. In other words, the inner diameter of tube 420 is larger at the center of the tube than at one or both ends of the tube. The central portion with the larger inner diameter may extend between approximately 10% and 90% of the tube length, or between approximately 40% and 60% of the tube length, or between any suitable amount in between (e.g., 25% and 75% of the tube length).

[0075] exist Figure 4B In the operation of the described embodiment, the imaging panel to which the rod is attached will be able to travel at a higher speed during the central portion of its travel range, which corresponds to the center of the tube 420 with a larger diameter. This is because, as described above, the larger diameter difference results in a larger gap through which air passes, resulting in less drag and a higher travel speed. As the imaging panel approaches either end position (215A or 215B), the rod reaches either end of the tube, where the relatively smaller diameter restricts airflow, thereby increasing drag and reducing the travel speed of the rod, and consequently reducing the travel speed of the imaging panel attached to the rod. Figure 4A and Figure 4B The illustrated embodiments are likely preferred because they employ a simple design with fewer parts. Additionally, Figure 4A and Figure 4B The pneumatic braking systems shown are designed to be passive, meaning they do not require any power source to achieve braking. This passive and simple design results in low cost and reduced maintenance requirements.

[0076] In such Figure 4C In another alternative embodiment of the pneumatic braking system 400 shown, the tube 420 includes a valve 430 located at the sealed end of the tube 420 (left-hand side as shown). This valve may be an electronically controlled valve configured to allow air to flow into or out of the tube. The airflow can be controlled as the imaging panel 210 moves (and therefore as the lever 410 moves within the tube 420) to control the speed of the lever, and thus the speed of the imaging panel. For example, when the imaging panel begins to move from a first position 215A to a second position 215B, the valve may open to allow air to flow out of the tube as the lever moves toward the valve. As the imaging panel approaches the second position 215B, the valve may close or prevent further airflow, or the valve may additionally restrict airflow out of the tube, thereby causing the aforementioned... Figure 4A The braking effect is described above. The process of the imaging panel moving back from the second position 215B to the first position 215A when the lever moves away from the valve will be similar.

[0077] exist Figure 4CIn the described embodiment, the inner diameter of the tube 420 can approximately correspond to the diameter of the rod 410. In other words, as described above regarding... Figure 4A and Figure 4B In different embodiments, the dimensions of the tube and rod can be designed to prevent air from escaping through the gap between the two components; in other words, to form an airtight seal so that air can only enter or leave the tube via valve 430.

[0078] refer to Figure 4D This illustrates yet another alternative embodiment of the pneumatic braking system, comprising two tubes 420A and 420B and two corresponding rods 420A and 420B. The rod-tube arrangement can be consistent with the above description. Figures 4A to 4C Any of the described arrangements are similar or identical. In this embodiment, the first rod and tube arrangements 410A, 420A are configured to apply a braking force to the imaging panel as the imaging panel approaches the second position 215B from the first position 215A. More specifically, as the imaging panel 210 moves from the first position 215A to the second position 215B, the rod 410A further travels into the tube 420A, which may be sealed or may include a valve as described above. Air in the tube 420A is compressed by the rod 410, thereby applying a braking force to the rod, and consequently to the imaging panel. Similarly, the second rod and tube arrangements 410B, 420B are configured to apply a braking force to the imaging panel in the same manner as the imaging panel approaches the first position 215A from the second position 215B.

[0079] While the above embodiments have described the rod being fixed to the stage (moving part) and the tube being fixed to the stage (stationary part), it should be understood that these can be interchanged. That is, in some embodiments, the rod 410 may be fixed relative to the stage, and the tube may be fixed relative to the imaging panel 210. In either case, the relative movement of the rod and the tube results in the aforementioned braking force.

[0080] Magnetic velocity control

[0081] In addition to or instead of using the pneumatic braking system described above, some embodiments may use a magnetic braking system to control the speed of the imaging panel as it moves between positions. In one embodiment, a magnetic eddy current brake may be used to brake or reduce the speed of the imaging panel. This can be accomplished by attaching a conductive, non-magnetic material, such as a copper plate, to the imaging panel and attaching one or more permanent magnets to a pedestal. The relative movement of the copper plate in the presence of a magnetic field generated by the one or more magnets will generate eddy currents in the copper plate, which in turn generate a magnetic field opposing the magnetic field generated by the permanent magnets. Thus, a drag force is applied to the copper plate (and consequently to the imaging panel), and the copper plate is slowed down. Alternatively, the copper plate (or other conductive, non-magnetic material) may be attached to a pedestal, and the magnets may be fixed relative to the imaging panel. In either case, the relative movement of the conductive, non-magnetic material in the presence of a magnetic field generated by the permanent magnets generates a braking force on the imaging panel.

[0082] In an alternative embodiment, the permanent magnet of the magnetic braking system can be replaced by an electromagnet, which can also be used to drive the locking mechanism as described in more detail below.

[0083] Figure 5A A magnetic braking system 500 including an electromagnet 510 is illustrated according to some embodiments of the invention. The electromagnetic braking system 500 includes a conductive, non-magnetic plate 520 (e.g., a copper plate, an aluminum plate, or a plate made of any other suitable non-magnetic but current-conducting material). The plate 520 is fixed relative to a stage component 530 (e.g., an imaging panel 210) mounted on a guide rail 540 fixed to a stage. In this particular example, the stage component includes a recessed track 535 that engages with the guide rail 540 such that the recessed track 535 can slide along the guide rail (in the direction of entering or leaving the plane of the drawing). Thus, the stage component 530 including the plate 620 can travel along the guide rail, for example, between two positions (215A and 215B) on the stage.

[0084] In operation, when current is supplied to the electromagnet 510 (e.g., via a controller configured to control the supply of current to the electromagnet), a magnetic field is generated (by...). Figure 5A (Indicated by the circular arrow in the figure). The test bench component 530, and in particular the plate 520 mounted to the test bench component, is arranged adjacent to the electromagnet, such that when the test bench component 530 travels along the guide rail 540, the plate moves within the magnetic field generated by the electromagnet 510 (indicated by the circular arrow in the figure), thereby causing a drag force as described above. Apply to components on the test bench.

[0085] In some embodiments, a controller that controls the supply of current to the electromagnet can be used to control the speed of the component 530 on the frame as it travels along the guide rail 540. This can be achieved by adjusting the current supply, which in turn adjusts the magnetic field strength, thus regulating the amount of drag force generated in the plate 520. In some embodiments, the braking system 500 also includes a field reinforcement component 550, which may be a permanent magnet or a ferromagnetic / ferrimagnetic material. The field reinforcement component is arranged on the side of the plate 520 opposite to the electromagnet 510 and is used to focus the magnetic field, thereby increasing the field strength in the region of the plate 520. This can improve braking efficiency (due to the stronger magnetic field seen by the plate 520).

[0086] Figure 5B It shows Figure 5A A perspective view of the electromagnetic braking system shown. Figure 5B This includes arrow 500A indicating the direction of movement of the component on the test bench along guide rail 540, and arrow 500B indicating the direction of the drag force caused by eddy currents generated when plate 520 passes through the magnetic field generated by electromagnet 510 (opposite to the movement of the component on the test bench). As mentioned above, the magnitude of the eddy currents and thus the resulting drag force can be controlled by controlling the strength of the magnetic field generated by electromagnet 510. Furthermore, the magnitude of the drag force can be affected by the design (e.g., shape and size) of plate 520. As those skilled in the art will understand, the braking amount achieved by the magnetic braking system can be affected by the thickness of the plate, the width of the plate, the cross-sectional area of ​​the plate, and other characteristics. For example, as can be seen in this figure, plate 520 includes a plurality of slots arranged along its length. References below... Figure 5C Describe the function of the slot in more detail.

[0087] Figure 5C It shows Figure 5A and Figure 5B The electromagnetic braking system 500 is shown on the side. As can be clearly seen in this figure, plate 520 includes a central portion 520B with a slotted design. In particular, the central portion 520B of plate 520 includes a plurality of slots or holes arranged along its length. At either end of the central portion 520B, the plate includes ends 520A and 520C, which do not include slots. Instead, the ends are formed of a solid plate of a conductive, non-magnetic material (e.g., copper) with a solid cross-section.

[0088] The central portion 520B of the plate is designed as a high-speed movement region relative to the ends 520A and 520C. The slots / holes in the plate restrict eddy current generation in the central portion of the plate. In other words, the presence of the slots only allows for the formation of smaller eddy currents in the plate region between the slots. Therefore, a smaller drag force is induced when the central portion 520B passes through the magnetic field compared to when either end 520A, 520C passes through the magnetic field. This means that the gantry component can move at a higher speed during the central portion of the travel range between the first position 215A and the second position 215B, thereby reducing the total time for the gantry component (i.e., the imaging panel) to transition between different positions on the gantry. When the gantry component approaches either end position, one of the ends 520A, 520C of the plate 520 passes through the magnetic field, generating a relatively large eddy current at the end of the plate, thus inducing an increased drag force on the gantry component, thereby slowing it down before it reaches its final position at 215A or 215B.

[0089] Now for reference Figures 5C to 5E Describe the operation of the magnetic braking system 500.

[0090] refer to Figure 5C The component on the test bench initially assumes a first position (e.g., position 215A). Optionally, before or after the test bench rotates, a locking mechanism holding the component in the first position is released, allowing the component to travel along one or more guide rails towards a second position (e.g., position 215B) under the influence of gravity. The component then accelerates from an initial velocity of 0. Simultaneously, the drag force generated by eddies in the first end 520A of the plate 520 increases proportionally with velocity to control the speed of the component as it travels from the first position 215A towards position 215B.

[0091] When the component on the test bench has traveled a sufficient distance along the guide rail (corresponding to the length of end 520A), the component on the test bench reaches the center of its travel, which corresponds to the center slot 520B of plate 520. This is in Figure 5D As shown in the diagram, the eddy currents generated when the central portion 520B passes through the magnetic field are smaller than those generated when the first end portion 520A passes through the magnetic field. This means that the plate experiences less drag in the slotted central portion compared to the solid end portion. Therefore, the central portion 520B travels at a higher speed when passing through the magnetic field compared to the speed at which the end portion travels.

[0092] When the component on the test bench approaches the second position 215B (e.g.) Figure 5EAs shown), the second end 620C initially passes through the magnetic field at high speed (due to the increased speed at the center), resulting in an initial high drag force that decelerates the component on the test bench. The component on the test bench then reaches an end stop (e.g., a buffer) that stops the component on the test bench in the second position 215B. Alternatively, a locking mechanism can be used to hold the component on the test bench in the second position.

[0093] It should be understood that, in addition to or instead of the aforementioned slotted plate, other techniques can be used to adjust the speed of the component during its travel on the test bench. For example, the magnetic field strength can be adjusted during movement (e.g., decreasing for the center of the travel range and then increasing as the component on the test bench approaches either end position), and / or the test bench angle can be adjusted (to increase or decrease the gravitational acceleration vector acting on the component on the test bench in the direction of travel). Generally, the present invention can use any suitable technique to control the speed of the component on the test bench as it travels between two different positions on the test bench.

[0094] Magnetic Lock

[0095] The above about Figures 5A to 5E The described electromagnet 510 can be used to control the speed at which the imaging panel moves between different positions on the gantry. Meanwhile, in some embodiments, the same electromagnet 510 can be used as part of a locking mechanism 600, which is configured to hold a component on the gantry in place at any position (e.g., a first position 215A and a second position 215B, or more generally, any intermediate position along a guide rail between 215A and 215B).

[0096] Figure 6A and Figure 6B A perspective view of the locking mechanism 600 is shown, including the unlocked position ( Figure 6A ) and latch position ( Figure 6B The electromagnet 510 is movable between a latched position and an unlocked position. The electromagnet 510 has a locking pin 610 attached thereto and a spring 620 that biases the electromagnet toward the latched position. Arrow 625 indicates the biasing force provided by the spring 620, which drives the electromagnet and locking pin 610 toward the latched position. In the latched position, the locking pin engages with a corresponding portion of component 210 on the bench, such as... Figure 6C As shown, this is to keep the components on the test bench in a fixed position (i.e., to prevent the components from moving along the guide rails).

[0097] When the electromagnet 510 is not energized (i.e., there is no current supply), the spring 620 directs the electromagnet toward... Figure 6BThe latch position is shown as biased. When current is applied to the electromagnet, a magnetic field is generated. A fixed magnetic component 630 (e.g., a permanent magnet or other ferromagnetic / ferrimagnetic material) is located on the opposite side of the locking pin, i.e., in the direction opposite to the biasing force generated by the spring. When the electromagnet is energized, the presence of this magnetic component 630 causes a magnetic attraction force in the opposite direction to the spring (indicated by arrow 635). If the magnetic field is strong enough (i.e., sufficient current is supplied to the electromagnet 510), the magnetic attraction force between the electromagnet 510 and the magnetic component 630 (arrow 635) overcomes the spring biasing force (arrow 625) and moves the electromagnet 510 from the latch position to the unlock position, thereby disengaging the locking pin 610 from the component on the bench and allowing the component on the bench to move freely along the guide rail.

[0098] If the locking mechanism 600 is in the unlocked position Figure 6A The arrow 635, representing the magnetic force between the electromagnet 510 and the magnetic component 630, is longer than the arrow 625 representing the biasing force from the spring 620. This indicates that the magnetic force overcomes the biasing force to drive the locking mechanism to the unlocked position. Conversely, in which the locking mechanism 600 is in the latched position... Figure 6B Since the electromagnet is not energized, there is no magnetic force 635. Therefore, arrow 625, representing the biasing force from spring 620, drives the locking mechanism to the latch position.

[0099] Figure 6C A perspective view shows the locking pin 610 engaging with a cutout 640a in a plate 650 attached to the component 210 on the bench, thereby preventing movement of the component along the guide rail. Thus, by engaging the locking pin 610 with the plate 650, the component 210 on the bench is secured in a position, such as position 215A. The shape and size of the cutout correspond to the shape and size of the locking pin 610, such that the engagement of the locking pin and the cutout firmly holds the component on the bench in a fixed position. Figure 6C As can be seen, plate 650 has cutouts 640a and 640b at both ends of its length, each cutout corresponding to a different end position 215A or 215B. However, typically, components on the stand can be held in any of a plurality of different positions between end positions 215A and 215B by means of a magnetic locking mechanism via the corresponding plurality of cutouts along the length of plate 650.

[0100] Therefore, the electromagnet 600 can be used as a combination of speed control, braking control and position locking systems for components such as an imaging panel configured to move between different positions on a gantry.

[0101] refer to Figure 7The present invention describes a method 700 for positioning a component on a gantry of a displacement radiotherapy system. In step 710, a component 210 (e.g., an imaging panel) is positioned on the gantry at a first position (e.g., position 215A). Component 210 is secured by a locking mechanism (e.g., as described above regarding...). Figures 6A to 6C The described magnetic latch is held in place in the first position. In step 710, the locking mechanism is unlocked, allowing the component on the bench to slide freely along one or more guide rails to which the component is mounted under the influence of an external force. If the guide rails are horizontal in 710, and there is no other external force (e.g., from a human operator), the component will remain in place in the first position.

[0102] In step 720, the stage is rotated so that the guide rails on which the component is mounted are tilted at an angle relative to the horizontal plane. (As mentioned above...) Figure 2 and Figure 3 This causes component 210 to slide along the guide rail under the influence of gravity, because when the guide rail is tilted, the component of gravity acting on the component is parallel to the guide rail. Therefore, the rotation of the platform in step 720 causes the component to begin moving along the guide rail away from the first position 215A and toward the second position 215B.

[0103] In step 730, as the component moves along the guide rail under the influence of gravity, the speed of movement of the component can be controlled by using one or more speed control mechanisms or braking systems. In one example, a pneumatic braking system (e.g., as mentioned above) can be used. Figures 4A to 4D The described pneumatic braking system is used to control and limit the speed of a component as it moves along a guide rail. In other examples, magnetic braking systems (such as those described above) can be used. Figures 5A to 5E The described magnetic braking system is used to control and limit the speed of a component as it moves along a guide rail. In other examples, the rotation of the platform itself may be used, either additionally or alternatively, to control the speed of the components on the platform.

[0104] In step 740, when the component reaches the second position 215B, a locking mechanism (e.g., a latching mechanism) locks the component in place in the second position, such that further rotation of the platform in either direction will not cause further movement of the component along the guide rail.

[0105] It should be understood that method 700 can be repeated any number of times, starting from either the first position 215A or the second position 215B, and ending at the relative position. Thus, a method is provided for moving components on a gantry between two positions typically used on a radiotherapy system gantry.

[0106] Balance system

[0107] Figure 8A balancing system 800 according to some embodiments of the present invention is illustrated. The balancing system 800 includes a balancing counterweight 810, which is attached to a guide rail or track system 820 by means of a timing belt, line or chain 830 and a pulley system 840 that couples the movement of the balancing counterweight 810 to components on the gantry (e.g., imaging panel 210).

[0108] More specifically, the component 210 on the test bench is connected to the counterweight 810 via a timing belt 830, such that movement of the component on the test bench (e.g., under the influence of gravity) in one direction causes an equal and opposite movement of the counterweight. Figure 8 As shown, when a component on the test bench moves to the right (e.g., from the first position 215A to the second position 215B under the influence of gravity), the counterweight 810 moves to the left by an equal amount.

[0109] The mass of the counterweight 810 is similar to the mass of the component on the test bench, meaning that the center of gravity of the entire system 800 hardly shifts when the component on the test bench moves between its positions on the test bench. However, the mass of the counterweight 810 is less than the mass of the component on the test bench so as not to impede free movement of the component on the test bench under the influence of gravity when the test bench rotates (as described above). In particular, the mass of the counterweight 810 must be sufficiently less than the mass of the component on the test bench such that the weight difference remains greater than the sum of the resistances to the movement of the component on the test bench (including friction in the guide rail or track system 820 and the synchronization systems 830, 840). In other words, the counterweight 810 should not be so large as to prevent the component on the test bench from moving freely along the track / guide rail to which it is mounted under the influence of gravity.

[0110] Using a balancing system 800 may be desirable because it reduces the dynamic and static imbalance of the rotating system. A balancing system may be preferred if the moving parts are heavy and / or the angular velocity of the test bench is high, as it reduces the displacement of the test bench's center of mass when parts move. Static imbalance caused by the moving mass will affect the test bench's drive and may require appropriate drive and braking for safe operation (rotation) of the test bench. However, using a balancing system as described above avoids the need for such a particularly suitable drive / braking system.

[0111] In some embodiments, the balancing weight is made of a radiation-attenuating material and serves as a beam stop / shield for the radiotherapy beam. More specifically, in some embodiments, the component on the gantry is an MV imaging panel. During radiotherapy, the panel itself can be moved out of the path of the radiotherapy beam to protect components of the imaging panel (e.g., by moving the panel from one location (e.g., 215A) to another location 215B outside the beam path). Therefore, the balancing weight can be moved in the opposite direction and into the beam path. The balancing weight can thus serve as both a beam stop and a counterweight, since the counterweight will have to be in the path of the radiotherapy beam in any case. This reduces or potentially eliminates the need for a separate dedicated beam stop, as this function is already partially or entirely achieved by the balancing weight 810.

[0112] Radiotherapy system

[0113] Figure 9 A block diagram illustrating one implementation of a radiotherapy system 900 is provided. The radiotherapy system 900 includes a computing system 910 within which a set of instructions can be executed to cause the computing system 910 to perform any one or more methods discussed herein.

[0114] The computing system 910 should be considered to include any number of machines or collections of machines, such as one or more computing devices, which individually or jointly execute one or more sets of instructions to perform any one or more methods discussed herein. That is, the hardware and / or software may be provided in a single computing device or distributed across multiple computing devices in the computing system. In some implementations, one or more elements of the computing system may be connected (e.g., networked) to other machines in, for example, a local area network (LAN), intranet, extranet, or the Internet. One or more elements of the computing system may operate as a server or client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. One or more elements of the computing system may be a personal computer (PC), tablet computer, set-top box (STB), personal digital assistant (PDA), cellular phone, network appliance, server, network router, switch, or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) specifying the action to be taken by that machine.

[0115] The computing system 910 includes a controller circuit 911 and a memory 913 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.). The memory 913 may include static memory (e.g., flash memory, static random access memory (SRAM), etc.) and / or auxiliary memory (e.g., data storage devices), which communicate with each other via a bus (not shown).

[0116] The controller circuit 911 represents one or more general-purpose processors, such as microprocessors, central processing units, accelerated processing units, etc. More specifically, the controller circuit 911 may include a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing a combination of instruction sets. The controller circuit 911 may also include one or more special-purpose processing devices, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), network processors, etc. The one or more processors of the controller circuit may have a multi-core design. The controller circuit 911 is configured to execute processing logic for performing the operations and steps discussed herein.

[0117] The computing system 910 may also include network interface circuitry 915. The computing system 910 may be communicatively coupled to input device 920 and / or output device 930 via input / output circuitry 917. In some implementations, input device 920 and / or output device 930 may be elements of the computing system 910. Input device 920 may include alphanumeric input devices (e.g., keyboard or touchscreen), cursor control devices (e.g., mouse or touchscreen), audio devices such as microphones, and / or haptic input devices. Output device 930 may include audio devices such as speakers, video display units (e.g., liquid crystal displays (LCDs) or cathode ray tubes (CRTs)), and / or haptic output devices. In some implementations, input device 920 and output device 930 may be provided as a single device or as separate devices.

[0118] In some implementations, the computing system 910 may include image processing circuitry 919. Image processing circuitry 919 may be configured to process image data 980 (e.g., image or imaging data), such as medical images obtained from one or more imaging data sources, a treatment device 950, and / or an image acquisition device 940. Image processing circuitry 919 may be configured to process or preprocess image data. For example, image processing circuitry 919 may convert received image data into a specific format, size, resolution, etc. In some implementations, image processing circuitry 919 may be combined with controller circuitry 911.

[0119] In some embodiments, the radiotherapy system 900 may further include an image acquisition device 940 and / or a treatment device 950, as described herein. Figure 1 The device disclosed in the example. Image acquisition device 940 and treatment device 950 may be provided as a single device. In some implementations, treatment device 950 is configured to perform imaging, for example, in addition to providing treatment and / or during treatment. Treatment device 950 includes the main radiation delivery components of a radiotherapy system, such as a linear accelerator, a beam guide, and a beamforming system including a multi-leaf collimator.

[0120] Image acquisition device 940 can be configured to perform positron emission tomography (PET), computed tomography (CT), magnetic resonance imaging (MRI), or any other suitable imaging technique. Image acquisition device 940 can be configured to output image data 980 that can be accessed by computing system 910. Treatment device 950 can be configured to output treatment data 960 that can be accessed by computing system 910.

[0121] The computing system 910 can be configured to access or acquire treatment data 960, planning data 970, and / or image data 980. Treatment data 960 can be acquired from an internal data source (e.g., from memory 913) or from an external data source (e.g., treatment device 950 or an external database). Planning data 970 can be acquired from memory 913 and / or from an external source, such as a planning database. Planning data 970 may include information acquired from one or more of image acquisition device 940 and treatment device 950.

[0122] The various methods described above can be implemented by a computer program. The computer program may include computer code (e.g., instructions) 1010, arranged to instruct the computer to perform the functions of one or more of the various methods described above. The steps of the methods described above can be performed in any suitable order. For example, step 710 of method 700 can be performed simultaneously or substantially simultaneously with step 720. Figure 10On one or more computer-readable media as described herein, or more generally on computer program product 100, a computer program and / or code 1010 for performing this method is provided to a device, such as a computer. The computer-readable media may be transient or non-transient. One or more computer-readable media 1000 may be, for example, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, or a propagation medium for data transmission (e.g., for downloading code via the Internet). Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), hard disk, and optical disk (e.g., CD-ROM, CD-R / W, or DVD). Instructions may also reside wholly or at least partially within memory 913 and / or controller circuitry 911 during execution by computer system 910, which also constitute computer-readable storage media.

[0123] In implementation, the modules, components, and other features described herein can be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs, or similar devices.

[0124] A "hardware component" is a tangible (e.g., non-transient) physical component (such as a group or one or more processors) capable of performing certain operations and which can be configured or arranged in some physical manner. A hardware component may include dedicated circuitry or logic permanently configured to perform certain operations. A hardware component may include dedicated processors, such as FPGAs or ASICs. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0125] Additionally, modules and components can be implemented as firmware or functional circuitry within a hardware device. Furthermore, modules and components can be implemented as any combination of hardware devices and software components, or as software only (e.g., code stored or otherwise embodied in a machine-readable medium or transmission medium).

[0126] Unless otherwise specifically stated, it should be understood, as is apparent from the following discussion, that throughout this specification, the use of terms such as “receive,” “determine,” “compare,” “implement,” “maintain,” and “identify” refers to the actions and processes of a computer system or similar electronic computing device that manipulates data represented as physical (electronic) quantities in the registers and memories of the computer system and transforms it into other data similarly represented as physical quantities in the computer system’s memory or registers or other such information storage, transmission, or display devices.

[0127] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although the invention has been described with reference to specific exemplary implementations, it will be appreciated that the invention is not limited to the described implementations but can be practiced with modifications and variations within the spirit and scope of the appended claims. Therefore, the specification and drawings should be considered illustrative and not restrictive. Consequently, the scope of the invention should be determined by reference to the appended claims and the full scope of their authorized equivalents.

Claims

1. A radiotherapy system, comprising: A rotatable platform configured to rotate about a rotation axis; and A component mounted on a test bench, wherein the component is configured to travel between at least a first position and a second position on the test bench, and wherein the component is mounted on the test bench such that, when the test bench rotates about the axis of rotation in a first direction, the component is able to travel from the first position to the second position under the influence of gravity.

2. The system according to claim 1, characterized in that, It also includes a first locking mechanism configured to engage and disengage with a portion of the component on the test bench to hold the component on the test bench in the first position, wherein, when the first locking mechanism engages with the component on the test bench, the first locking mechanism prevents the component on the test bench from traveling to the second position.

3. The system according to any one of the preceding claims, characterized in that, When the platform rotates about the axis of rotation in a second direction, the components on the platform can also travel from the second position to the first position under the influence of gravity, the second direction being opposite to the first direction.

4. The system according to any one of the preceding claims, characterized in that, It also includes a second locking mechanism configured to engage and disengage with a portion of the component on the test bench to hold the component on the test bench in the second position, wherein, when the second locking mechanism engages with the component on the test bench, the second locking mechanism prevents the component on the test bench from traveling to the first position.

5. The system according to any one of the preceding claims, characterized in that, The component on the test bench is configured to move between the first position and the second position without requiring driving force from a dedicated drive system connected to the component on the test bench.

6. The system according to any one of the preceding claims, characterized in that, The component on the test bench is slidably mounted to one or more guide rails that generally extend between the first and second positions on the test bench, such that gravity acting on the component on the test bench allows the component on the test bench to slide along the guide rails.

7. The system according to claim 6, characterized in that, When the gravity acting on the component on the test bench is at least partially in the same direction as the direction of travel along the guide rail, the component on the test bench is able to travel along the guide rail under the influence of gravity.

8. The system according to any one of the preceding claims, characterized in that, It also includes a motion control device configured to control the speed of the components on the gantry during travel between the first position and the second position.

9. The system according to claim 8, characterized in that, The motion control device includes a braking system configured to limit the speed of the component on the test bench during at least a portion of the travel between the first position and the second position.

10. The system according to claim 9, characterized in that, The braking system includes a pneumatic braking system comprising a rod located internally and configured to move within a tube, wherein one of the rod and the tube is fixed relative to the component on the test bench, and wherein the other of the rod and the tube is fixed relative to the test bench such that movement of the component on the test bench between a first position and a second position on the test bench causes movement of the rod relative to the tube, and wherein the rod and the tube are arranged to apply a braking force to the component on the test bench as it travels between the first position and the second position.

11. The system according to claim 10, characterized in that, The rod is connected to a component on the platform or the platform via a connector extending through the open end of the tube, and wherein the opposite end of the tube is closed, such that movement of the rod within the tube causes expansion and compression of air in the tube located between the rod and the closed end of the tube, and wherein the expansion or compression of the air exerts a force on the rod against the movement of the rod relative to the tube.

12. The system according to claim 11, characterized in that, The closed end of the pipe includes a valve configured to control the inflow and outflow of air from the pipe.

13. The system according to any one of claims 10 to 12, characterized in that, The tube includes a central portion and two ends located at opposite ends of the central portion, wherein the inner diameter of the central portion is larger than the inner diameter of either end.

14. The system according to any one of claims 10 to 13, characterized in that, The pneumatic braking system includes a first rod and a second rod; the first rod is configured to move within a first tube, and the first rod and the first tube are configured to apply a braking force to the test component when the test component travels toward the first position; the second rod is configured to move within a second tube, and the second rod and the second tube are configured to apply a braking force to the test component when the test component travels toward the second position.

15. The system according to claim 9, characterized in that, The braking system includes a magnetic braking system comprising one or more magnets arranged adjacent to one or more conductive non-magnetic elements, wherein the one or more magnets or the one or more conductive non-magnetic elements are fixed relative to the component on the pedestal, and wherein another of the one or more magnets and the one or more conductive non-magnetic elements is fixed relative to the pedestal, such that movement of the component on the pedestal between the first position and the second position causes relative movement between the one or more magnets and the one or more conductive non-magnetic elements.

16. The system according to claim 15, characterized in that, The one or more magnets include electromagnets, and the system further includes a controller configured to control the power supply to the electromagnets.

17. The system according to claim 15 or 16, characterized in that, The one or more conductive non-magnetic elements include an elongated metal plate, the length of which approximately corresponds to the distance between the first position and the second position on the platform.

18. The system according to claim 17, characterized in that, The elongated metal plate includes a central portion and an end portion located at either end of the central portion, wherein the plate includes a plurality of holes or slots arranged along the length of the central portion.

19. The system according to claim 2 or 4, characterized in that, The first locking mechanism and the second locking mechanism include an electromagnetic latch configured to move between a latched position and an unlocked position to hold the component on the platform in the first position or the second position, wherein the electromagnetic latch includes: Electromagnet and locking pin attached to the electromagnet; A spring that biases the electromagnetic latch toward the latch position; and A magnetic component is arranged on the side of the electromagnet opposite to the locking pin.

20. The system according to claim 19, characterized in that, When in the latched position, the locking pin is configured to engage a portion of the component on the bench to hold the component on the bench in the first or second position, and wherein the electromagnetic latch is arranged such that power supplied to the electromagnet causes a magnetic attraction between the electromagnet and the magnetic component to drive the electromagnetic latch to the unlocked position, thereby disengaging the locking pin from the component on the bench.

21. The system according to any one of the preceding claims, characterized in that, It also includes a balancing system configured to counteract changes in weight distribution on the test bench as the component travels between the first and second positions, wherein the balancing system includes a counterweight configured to move in a direction substantially opposite to the component as the component travels between the first and second positions on the test bench.

22. The system according to claim 21, characterized in that, The counterweight is connected to the components on the platform via one or more of the following components such that the movement of the counterweight is synchronized with the movement of the components on the platform: a timing belt; a line; a chain pulley system; a gear; and a linkage mechanism.

23. The system according to claim 21 or 22, characterized in that, The balancing weight includes a radiation attenuation material.

24. A method for displacing a component on a gantry of a radiotherapy system according to any one of the preceding claims, the method comprising: When the component on the test stand is held in the first position on the test stand by the first locking mechanism, the first locking mechanism is unlocked, allowing the component on the test stand to move freely toward the second position on the test stand; The platform is rotated about the rotation axis in a first direction, such that the gravity acting on the components on the platform causes the components on the platform to move from the first position to the second position under the influence of gravity; While the component on the test bench is moving from the first position to the second position, the speed of the component on the test bench is controlled, wherein controlling the speed of the component on the test bench includes: Use a pneumatic or magnetic braking system to limit the speed of the components on the test bench; or While the component on the platform travels between the first position and the second position, the platform is rotated to adjust the gravitational acceleration vector acting on the component on the platform; and When the component on the test stand reaches the second position, the second locking mechanism is used to hold the component on the test stand in the second position, so that further rotation of the test stand will not cause further movement of the component on the test stand.

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