Stereotactic radiosurgery treatment system

Abstract

The application discloses a stereotactic radiosurgery treatment system, which comprises a six-degree-of-freedom robot, a linear accelerator treatment head, a collimator set, a robot-side male head and a tool-side female head. The linear accelerator treatment head is mounted at the end of the six-degree-of-freedom robot and can be driven to implement multi-angle non-coplanar irradiation, and is internally provided with a high-voltage generating module, a microwave generating and transmitting module and a beam module, wherein the beam module comprises a primary collimator. The robot-side male head is fixedly installed at the end of the primary collimator. The collimator set comprises a multileaf collimator and a multi-aperture circular collimator turntable module, and the tool-side female head is fixedly installed on both of the multileaf collimator and the multi-aperture circular collimator turntable module, and the tool-side female head is connected with the robot-side male head to realize quick switching of the multileaf collimator and the multi-aperture circular collimator turntable module. The application solves the technical problems that the collimator switching in the prior art depends on manual intervention and cannot be automatically switched across types, realizes quick and automatic switching of collimator types in different treatment scenes, and improves clinical work efficiency and treatment throughput.

Description

Technical Field

[0001] This application relates to the field of radiotherapy equipment, and more particularly to a stereotactic radiosurgery system. Background Technology

[0002] Radiation therapy is one of the main treatments for malignant tumors, with approximately 70% of cancer patients requiring it during treatment. Stereotactic radiotherapy and stereotactic radiosurgery, as representative techniques of precision radiotherapy, place extremely high demands on beam collimation accuracy and flexibility.

[0003] Different treatment scenarios require different types of collimators: for small, regular lesions (such as brain metastases, acoustic neuromas, etc.), a circular collimator is usually used for non-coplanar multi-arc irradiation. For large, irregular target areas or lesions near important organs, a multi-leaf collimator is required to achieve conformal intensity-modulated irradiation.

[0004] To achieve aperture switching of circular collimators, invention patent publication CN114452549A discloses a collimation system capable of automatic and rapid switching, which automatically switches between different collimator assembly components through transmission components and rotational movements. However, this solution can only switch between collimators of the same type and cannot meet the cross-type switching requirements between multi-circular collimators and multi-leaf collimators. Multi-circular collimators and multi-leaf collimators belong to different modules and cannot be automatically interchanged in the same treatment procedure, limiting the mixed irradiation strategies for complex cases. Summary of the Invention

[0005] To address at least one of the aforementioned technical problems, this application provides a stereotactic radiosurgery system.

[0006] The technical solution of this application is as follows: A stereotactic radiosurgery system includes: a six-degree-of-freedom robot, a linear accelerator treatment head, a collimator kit, a male robot head, and a female tool head, wherein: The linear accelerator treatment head is installed at the end of a six-degree-of-freedom robot and is configured to perform multi-angle non-coplanar irradiation under the drive of the six-degree-of-freedom robot. The linear accelerator treatment head is equipped with a high-voltage generation module, a microwave generation and transmission module, and a beam module. The beam module includes a primary collimator. The robot's side male head is fixedly installed at the end of the primary collimator; The collimator kit includes a multi-leaf collimator and a multi-aperture circular collimator turntable module. Both the multi-leaf collimator and the multi-aperture circular collimator turntable module are fixedly mounted with a tool-side female head. The multi-leaf collimator or the multi-aperture circular collimator turntable module connects to the robot-side male head through its tool-side female head.

[0007] The robot's male head is fixedly installed at the end of the primary collimator, and the tool's female head is fixedly installed on the multi-leaf collimator or multi-aperture circular collimator turntable module, enabling rapid switching between the multi-leaf collimator and the multi-aperture circular collimator turntable module. This solves the technical problem of collimator switching relying on manual intervention in the existing technology, thereby realizing rapid and automated switching of collimator types in different treatment scenarios and improving work efficiency.

[0008] Furthermore, by using a six-degree-of-freedom robot equipped with a linear accelerator treatment head to perform multi-angle non-coplanar irradiation, combined with an image guidance system to detect positioning errors, a treatment planning system to optimize the radiation field and calculate the dose, a six-degree-of-freedom treatment bed to adjust the patient's position, and a treatment control system to achieve signal connection and closed-loop control of the entire system, a flexible, efficient, and safe stereotactic radiosurgery treatment system is ultimately provided.

[0009] In some embodiments, the tool-side female head is locked and connected to the robot-side male head via a locking mechanism.

[0010] The tool-side female head is locked to the robot-side male head through a locking mechanism to ensure the connection strength between the tool-side female head and the robot-side male head, and to prevent the multi-leaf collimator or multi-aperture circular collimator turntable module from becoming loose.

[0011] In some embodiments, the locking mechanism employs a steel ball-conical double locking mechanism driven by a spring-loaded double-acting cylinder. During locking, air pressure pushes the piston to move in the locking direction, and the spring force provides auxiliary locking force. The inner conical surface of the piston squeezes the steel ball radially, causing the steel ball to engage with the conical pull stud groove on the tool-side female head. During unlocking, air pressure overcomes the spring force to push the piston to move in the opposite direction, allowing the steel ball to gain radial expansion space and disengage from the conical pull stud on the tool-side female head.

[0012] Through the specific structural design of the steel ball-conical surface double locking mechanism, the piston is pushed by air pressure to move in the locking direction, the spring force provides auxiliary locking force, and the inner conical surface of the piston squeezes the steel ball radially to retract and lock it into the groove of the female head conical pull stud on the tool side. This achieves high rigidity connection and repeatability of positioning accuracy of the quick-change device. When unlocking, the air pressure overcomes the spring force to push the piston to move in the opposite direction, causing the steel ball to disengage from the groove, achieving rapid release and ensuring accurate alignment of the beam axis after the collimator is replaced.

[0013] In some embodiments, the stereotactic radiosurgery system further includes a collimator placement stage, which includes a support platform and a collimator magazine disposed in the center of the support platform, wherein: The collimator magazine is used to store circular collimators with different apertures; The support platform also includes a first support station and a second support station located on both sides of the collimator magazine. The first support station is used to support multi-leaf collimators, and the second support station is used to support multi-aperture circular collimator turntable modules. The multi-aperture circular collimator turntable module has a turntable mechanism inside, which contains multiple circular collimator placement holes. Each placement hole is used to place a circular collimator with a different aperture. The turntable mechanism rotates under the drive of a stepper motor to automatically switch the circular collimator currently located on the beam path.

[0014] The collimator placement stage stores a variety of circular collimators with different apertures in its collimator library. Combined with the rotation drive of the internal turntable mechanism of the multi-aperture circular collimator turntable module, the automatic selection and aperture switching of the circular collimator during the treatment process are realized. It can quickly switch between different apertures without manual intervention. In addition, each placement hole on the turntable mechanism is equipped with a circular collimator with a corresponding aperture selected from the collimator library, providing efficient automated support for stereotactic treatments such as SRS / SBRT that require multiple circular apertures.

[0015] In some embodiments, the stereotactic radiosurgery system further includes a control and safety interlock system, which includes a collimator identification and verification module and safety interlock logic. The collimator identification and verification module is used to identify the collimator type and verify its consistency with the treatment plan. If the identification does not match, beam delivery is prohibited. The safety interlock logic includes at least two of the following: mechanical interlock, electrical interlock, and software interlock, forming multiple redundant safety guarantees.

[0016] The collimator identification and verification module identifies the type of collimator inserted into the treatment head, avoiding the risk of mis-irradiation due to mismatch between the collimator and the treatment plan. The safety interlocking logic is configured to include at least two of the mechanical, electrical, and software interlocks, forming multiple redundant safety safeguards. Even if one interlocking mechanism fails, the others can still trigger protection, preventing a complete safety failure caused by a single point of failure.

[0017] In some embodiments, the multi-leaf collimator includes an upper blade array and a lower blade array, which are misaligned in a transverse direction perpendicular to the beam direction and the blade movement direction to form a double-layer co-directional misaligned shielding structure, eliminating the straight gap at the blade splice.

[0018] By staggering the upper and lower blade arrays laterally, the blades at the joints mutually shield each other, eliminating the radiation leakage path caused by the straight-through gaps between blades in a single-layer multi-leaf collimator. The double-layer, unidirectional, staggered shielding structure utilizes the lateral staggered arrangement of the upper and lower blades, forcing leaked radiation to pass sequentially through the upper gap and the staggered lower blade structure. After two attenuations, the leakage dose is significantly reduced, thus significantly lowering the overall leakage rate without sacrificing field conformity.

[0019] In some embodiments, the linear accelerator treatment head includes a mounting frame, which includes a base plate, an accelerator tube support plate, a collimator support plate, and a rear support frame. The base plate is fixedly connected to the flange of a six-degree-of-freedom robot. The high-voltage generation module includes an oil-immersed pulse transformer, which is fixed to the surface of the base plate, forming a lower mounting space. The accelerator tube support plate is arranged parallel to the base plate and located above it. The microwave generation and transmission module includes an X-band magnetron, and the beam module includes an X-band accelerator tube, an electron gun, and an X-ray target. The X-band magnetron and the X-band accelerator tube are mounted above the accelerator tube support plate, forming an upper mounting space. The electron gun is mounted at one end of the X-band accelerator tube along the beam direction, and the X-ray target is mounted at the other end of the X-band accelerator tube along the beam direction. The collimator support plate is fixed to one side of the base plate along the beam direction, and a primary collimator passes through the opening in the collimator support plate and is fixedly installed. The rear support frame is fixed to the other side of the base plate along the beam direction, and its top is fixedly connected to the accelerator tube support plate.

[0020] By designing the linear accelerator treatment head's mounting structure into a layered structure comprising a base plate, an accelerator tube support plate, a collimator support plate, and a rear support frame, and fixing the oil-immersed pulse transformer to the base plate surface, a lower mounting space is formed. The X-band magnetron and X-band accelerator tube are mounted above the accelerator tube support plate, forming an upper mounting space, achieving a three-dimensional, compact integration of the high-voltage, microwave, and beam modules within the treatment head. The electron gun and X-ray target are respectively mounted at both ends of the accelerator tube along the beam direction, further clarifying the beam generation and transmission path and providing structural support for the overall miniaturization of the treatment head.

[0021] In some embodiments, the microwave generation and transmission module further includes a four-terminal circulator and a waveguide transmission assembly, wherein: the waveguide transmission assembly includes, in sequence according to the microwave transmission direction: a first E-plane single-bend waveguide, an H-plane single-bend waveguide, a non-twistable waveguide, a first E-plane double-bend waveguide, an inflatable sampling straight waveguide, a second E-plane double-bend waveguide, a rectangular right-hand twisted waveguide, and a second E-plane single-bend waveguide; the four-terminal circulator is connected between the inflatable sampling straight waveguide and the second E-plane double-bend waveguide; the waveguide transmission assembly has a U-shaped loop configuration, the X-band magnetron outlet is located above the waveguide transmission assembly, and the feed structure of the X-band accelerator tube is located in front of and below the waveguide transmission assembly relative to the X-band magnetron outlet, and the waveguide transmission assembly transmits the microwave output from the X-band magnetron outlet to the feed structure of the X-band accelerator tube.

[0022] By sequentially connecting the waveguide elements (E-plane single-bend waveguide, H-plane single-bend waveguide, non-twistable waveguide, E-plane double-bend waveguide, gas-filled sampling straight waveguide, rectangular right-hand twisted waveguide, etc.) in the waveguide transmission assembly according to the microwave transmission direction, and by rationally arranging the four-terminal circulator between the gas-filled sampling straight waveguide and the second E-plane double-bend waveguide, efficient and low-loss transmission of microwave signals in the U-shaped loop path is achieved. In some embodiments, the total length of the linear accelerator treatment head along the beam direction is 105cm, and the total weight of the linear accelerator treatment head is 176.3kg; the treatment isocenter is 132cm above the ground, the distance between the six-degree-of-freedom robot and the treatment isocenter is 225cm, the height of the six-degree-of-freedom robot above the ground is 132cm, and the connection distance between the six-degree-of-freedom robot and the linear accelerator treatment head is 33cm; the adjustable range of the treatment source axis is 60-100cm, and the non-coplanar angle range of the linear accelerator treatment head in head treatment mode is -32° to 90°, and the non-coplanar angle range in body treatment mode is -32° to 45°, where 0° is the horizontal direction, positive angles represent upward pitch, and negative angles represent downward pitch.

[0023] By limiting the total length of the treatment head to 105cm and its total weight to 176.3kg, sufficient lightweight design was ensured, enabling the six-degree-of-freedom robot to achieve a wide range of motion. By increasing the isocenter height from the ground to 132cm, the robot distance from the isocenter to 225cm, and the connection distance between the robot and the treatment head to 33cm, sufficient clearance was ensured between the treatment head and the ground during downward irradiation, avoiding interference between the treatment head and the ground. With an adjustable source-axis distance range of 60-100cm and non-coplanar angle coverage of -32° to 90° for the head and -32° to 45° for the body, a wide-range radiation field within a 4π three-dimensional space was achieved, providing the possibility of irradiating deep tumors such as those in the spine and abdominal / pelvic cavities from the patient's base.

[0024] In some embodiments, the stereotactic radiosurgery system further includes an image guidance system, a treatment planning system, a six-degree-of-freedom treatment bed, and a treatment control system, wherein: the image guidance system is used to detect patient positioning errors; the treatment planning system includes at least a field optimization module and a dose calculation module; the six-degree-of-freedom treatment bed is used to support and adjust the patient's position; and the treatment control system is signal-connected to the six-degree-of-freedom robot, the linear accelerator treatment head, the image guidance system, the treatment planning system, and the six-degree-of-freedom treatment bed.

[0025] Through signal connections between the treatment control system and the six-degree-of-freedom robot, linear accelerator treatment head, image guidance system, treatment planning system, and six-degree-of-freedom treatment bed, the entire process of information interaction and collaborative control, from patient positioning verification, image registration, and plan optimization to beam irradiation and collimator switching, is realized. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the embodiments will be briefly described below. The textual descriptions of these drawings are as follows, and actual drawing can be based on these descriptions: Figure 1 This is a schematic diagram of the stereotactic radiosurgery system in the embodiments of this application; Figure 2 This is a schematic diagram of the linear accelerator treatment head in the embodiments of this application after omitting the outer shell; Figure 3 This is a schematic diagram of the structure of the robot-side male head and the tool-side female head in the embodiments of this application; Figure 4 This is a three-dimensional structural diagram of the collimator placement stage in this embodiment of the application, after the outer shell is omitted; Figure 5 This is a top view of the collimator placement workbench in this embodiment of the application, with the outer shell removed. Figure 6 This is a schematic diagram of the structure of the double-layer misaligned multi-leaf collimator in the embodiments of this application; Figure 7 This is a cross-sectional view of the double-layer misaligned multi-leaf collimator in the embodiments of this application; Figure 8 This is a schematic diagram of a stereotactic radiosurgery system according to another embodiment of this application.

[0027] Figures 1 to 8 Includes: Six-degree-of-freedom robot 1; Linear accelerator treatment head 2: base plate 21, accelerator tube support plate 22, collimator support plate 23, rear support frame 24, oil-immersed pulse transformer 25, X-band magnetron 26, X-band accelerator tube 27; Robot side male head 3; Tool side female head 4; Multi-leaf collimator 5: upper blade array 51, lower blade array 52; Multi-aperture circular collimator turntable module 6: turntable mechanism 61, circular collimator 62; Locking mechanism 7; Collimator placement stage 8: bearing stage 81, collimator magazine 82, first positioning slot 83, second positioning slot 84, laser beam sensor 85, and placement contact pressure sensor 86; Image guidance system 9; 10 Degrees-of-Freedom Therapy Beds. Detailed Implementation

[0028] It should be noted that the following detailed descriptions are exemplary and intended to provide indicative explanations of the content of this application. It should be noted that all technical and scientific terms used in this application have the same meaning as commonly understood by a person skilled in the art to which this application pertains.

[0029] The system architecture and prior art solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the described embodiments are only for explanation and illustration of this application, and not the entirety of the content. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without creative effort are within the protection scope of this application.

[0030] As described in the background section, existing stereotactic radiosurgery systems can only switch between collimators of the same type, failing to meet the cross-type switching requirements between multi-circular collimators and multi-leaf collimators. Multi-circular collimators and multi-leaf collimators belong to different modules and cannot be automatically interchanged within the same treatment procedure, limiting the mixed irradiation strategies for complex cases. Therefore, this application provides a stereotactic radiosurgery system that enables rapid switching between multi-leaf collimators and multi-aperture circular collimator turntable modules.

[0031] like Figures 1 to 2 As shown, the stereotactic radiosurgery system provided in this application includes: a six-degree-of-freedom robot 1, a linear accelerator treatment head 2, a collimator kit, a robot-side male head 3, and a tool-side female head 4, wherein: The linear accelerator treatment head 2 is installed at the end of the six-degree-of-freedom robot 1 and is configured to perform multi-angle non-coplanar irradiation under the drive of the six-degree-of-freedom robot 1. The linear accelerator treatment head 2 is equipped with a high-voltage generation module, a microwave generation and transmission module and a beam module. The beam module includes a primary collimator.

[0032] The robot's side male head 3 is fixedly installed at the end of the primary collimator.

[0033] The collimator kit includes a multi-leaf collimator 5 and a multi-aperture circular collimator turntable module 6. Both the multi-leaf collimator 5 and the multi-aperture circular collimator turntable module 6 are fixedly mounted with tool-side female heads 4. The multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6 is connected to the robot-side male head 3 through the tool-side female head 4.

[0034] The robot-side male head 3 is fixedly installed at the end of the primary collimator, and the tool-side female head 4 is fixedly installed on the multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6, realizing rapid switching between the multi-leaf collimator 5 and the multi-aperture circular collimator turntable module 6. This solves the technical problem of collimator switching relying on manual intervention in the prior art, thereby realizing rapid and automated switching of collimator types in different treatment scenarios and improving work efficiency.

[0035] Furthermore, by using a six-degree-of-freedom robot 1 equipped with a linear accelerator treatment head 2 to perform multi-angle non-coplanar irradiation, combined with an image guidance system to detect positioning errors, a treatment planning system to optimize the radiation field and calculate the dose, a six-degree-of-freedom treatment bed to adjust the patient's position, and a treatment control system to achieve signal connection and closed-loop control of the entire system, a flexible, efficient, and safe stereotactic radiosurgery treatment system is ultimately provided.

[0036] like Figure 3 As shown, in some embodiments, the tool-side female head 4 is locked and connected to the robot-side male head 3 via a locking mechanism 7. This locking mechanism ensures the connection strength between the tool-side female head 4 and the robot-side male head 3, preventing loosening of the multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6.

[0037] In some embodiments, the locking mechanism 7 adopts a steel ball-conical surface double locking mechanism driven by a spring-loaded double-acting cylinder. When locking, the air pressure pushes the piston to move in the locking direction, the spring force provides auxiliary locking force, the inner conical surface of the piston squeezes the steel ball radially and the steel ball is inserted into the conical pull stud groove of the tool-side female head 4. When unlocking, the air pressure overcomes the spring force and pushes the piston to move in the opposite direction, the steel ball obtains radial expansion space and disengages from the conical pull stud of the tool-side female head 4.

[0038] Locking is achieved through a double locking mechanism consisting of a steel ball and a conical surface. Air pressure pushes the piston in the locking direction, spring force provides auxiliary locking force, and the conical surface inside the piston compresses the steel ball radially, causing it to engage with the conical pull stud groove on the tool-side female head 4. This achieves high rigidity and repeatability of the quick-change device. During unlocking, air pressure overcomes the spring force, pushing the piston in the opposite direction to disengage the steel ball from the groove, enabling rapid release and ensuring precise alignment of the beam axis after collimator replacement.

[0039] Of course, in other embodiments, other locking mechanisms can also be used to lock the tool-side female head 4 and the robot-side male head 3. For example, a magnetic locking mechanism can be used, which achieves attraction and locking by setting a permanent magnet or electromagnet between the robot-side male head and the tool-side female head. For example, a magnet and an armature that cooperate with each other can be set on the mating end faces of the robot-side male head and the tool-side female head respectively. When docking, the magnetic force attracts and fixes the two together. When unlocking, the magnet is demagnetized or removed by electric means, thereby achieving rapid release. This solution does not require a pneumatic source. Another example is a claw-type locking mechanism, which includes a base, a claw, and a slot. The base is fixedly installed on the robot-side male head 3, the claw is rotatably installed on the base via a pivot, and the slot is fixedly installed on the tool-side female head 4. When docking, the claw rotates and engages in the slot to achieve locking. When unlocking, the claw rotates and disengages from the slot to achieve release. In one specific embodiment, a synchronous hydraulic cylinder is provided in the base. The synchronous hydraulic cylinder drives the claw to extend or retract to complete the locking or unlocking with the slot.

[0040] like Figure 1 and Figure 4 As shown, in some embodiments, the stereotactic radiosurgery system of this application further includes a collimator placement stage 8.

[0041] The collimator placement stage 8 includes a support platform 81 and a collimator magazine 82 located in the middle of the support platform 81. The collimator magazine 82 is used to store various circular collimators 62 with different apertures. The support platform 81 also includes a first support station and a second support station located on both sides of the collimator magazine 82. The first support station is used to support the multi-leaf collimator 5, and the second support station is used to support the multi-aperture circular collimator turntable module 6. The multi-aperture circular collimator turntable module 6 has a turntable mechanism 61 inside, which contains multiple circular collimator placement holes, each of which is equipped with a circular collimator 62 with a different aperture. The turntable mechanism 61 rotates under the drive of a stepper motor to automatically switch the circular collimator 62 currently located on the beam path.

[0042] The collimator library 82 in the collimator placement stage stores various circular collimators 62 with different apertures. With the rotation drive of the turntable mechanism 61 inside the multi-aperture circular collimator turntable module 6, the automatic selection and aperture switching of the circular collimator 62 in the treatment process is realized. It can quickly switch between different apertures without manual intervention. In addition, each placement hole on the turntable mechanism 61 is equipped with a circular collimator 62 with a corresponding aperture selected from the collimator library 82, which provides efficient automated support for stereotactic treatments such as SRS / SBRT that require multiple circular apertures.

[0043] Figure 4In the illustrated embodiment, the collimator magazine 82 is a 13-position tungsten cylinder magazine, comprising 13 storage positions. Twelve of these positions store twelve circular collimators of different apertures (one each with diameters of 5mm, 10mm, ..., 55mm, 60mm, etc.), while the remaining position is a blind cylinder used to completely block the beam. Before treatment, the operator or robot removes the required circular collimator from the collimator magazine 82 and installs it into the placement hole of the turntable mechanism of the multi-aperture circular collimator turntable module 6. The multi-aperture circular collimator turntable module 6 is then inserted into the linear accelerator treatment head 2 via the tool-side female head 4 on the turntable mechanism. During treatment, the turntable mechanism is rotated to automatically switch the circular collimator 62 currently located on the beam path.

[0044] like Figure 5 As shown, in some embodiments, a first positioning groove 83 and a second positioning groove 84 are respectively provided at the first bearing station and the second bearing station. The first positioning groove 83 is used for fixing and positioning the multi-leaf collimator 5, and the second positioning groove 84 is used for fixing and positioning the multi-aperture circular collimator turntable module 6. A laser displacement sensor, a laser beam sensor 85, and a positioning contact pressure sensor 86 are each provided at the first positioning groove 83 and the second positioning groove 84. A laser displacement sensor is used to detect the Z-axis height position of the multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6 after it is placed in the corresponding positioning slot, to ensure that the placement posture of the multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6 on the support platform 81 meets the accuracy requirements of the robot's grasping. A laser beam sensor is used to detect whether the multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6 has been fully positioned in the positioning slot, and whether the robot-side male head 3 and the tool-side female head 4 are in place during docking or disengagement. A positioning contact pressure sensor is used to detect the contact pressure between the multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6 and the bottom surface of the positioning slot, to determine whether the multi-leaf collimator 5 or the multi-aperture circular collimator turntable module 6 has been securely placed in the positioning slot.

[0045] The sensors work in concert. During the placement of the collimator assembly on the support platform, a laser displacement sensor monitors the placement height, a laser beam sensor monitors the horizontal positioning status, and a placement contact pressure sensor monitors the vertical placement pressure. The system can acquire real-time placement status information of the collimator assembly in multiple directions. When any sensor detects abnormal data, the system determines that the collimator assembly is not correctly placed in the positioning slot. At this time, the control and safety interlock system prohibits the quick-change device from performing pick-up and place operations and issues an alarm, thereby ensuring that the robot is in an accurate positioning state every time it picks up or places the collimator assembly.

[0046] In some embodiments, the stereotactic radiosurgery system of this application further includes a control and safety interlock system, which includes a main controller, a collimator identification and verification module, and safety interlock logic.

[0047] The collimator identification and verification module is used to identify the type of collimator installed on the linear accelerator treatment head 2 and verify its consistency with the treatment plan. If the identification does not match, beam output is prohibited. In one specific embodiment, the collimator identification and verification module uses a resistance identification method: a resistance mark is set on the tool-side female head 4, where a zero-ohm resistor is used to determine the presence of the collimator, and resistors with different resistance values ​​are used to uniquely identify the collimator serial number; the robot-side male head 3 has a corresponding reading contact. After the robot-side male head 3 and the tool-side female head 4 are locked together, the main controller reads the resistance mark on the tool side to identify the currently installed collimator type and verify its consistency with the treatment plan. If the identification does not match, the main controller automatically pauses beam output and prompts manual intervention through the display screen.

[0048] The safety interlocking logic includes at least two of the following: mechanical interlocking, electrical interlocking, and software interlocking, forming multiple redundant safety guarantees. In one specific implementation, the safety interlocking logic includes three levels: mechanical interlocking, electrical interlocking, and software interlocking. A multi-redundant safety guarantee mechanism is formed through real-time RSS interlocking broadcasting, meeting the requirements of IEC 60601-1 and GB 9706.201.

[0049] The main controller adopts a Siemens SMART200 PLC, which supports the TCP / IP communication protocol and reports the system interlock status to the host computer at a 100ms cycle. It is responsible for communicating with the collimator identification and verification module, the controller of the six-degree-of-freedom robot 1, and the treatment control system to realize the safety interlock management of the entire system.

[0050] The collimator identification and verification module identifies the type of collimator inserted into the treatment head, avoiding the risk of mis-irradiation due to mismatch between the collimator and the treatment plan. The safety interlocking logic is configured to include at least two of the mechanical, electrical, and software interlocks, forming multiple redundant safety safeguards. Even if one interlocking mechanism fails, the others can still trigger protection, preventing a complete safety failure caused by a single point of failure.

[0051] like Figures 6 to 7 As shown, in some embodiments, the multi-leaf collimator 5 includes an upper blade array 51 and a lower blade array 52. ​​The upper blade array 51 and the lower blade array 52 are misaligned in a transverse direction perpendicular to the beam direction and the blade movement direction to form a double-layer co-directional misaligned shielding structure to eliminate the straight gap at the blade splice.

[0052] By staggering the upper blade array 51 and the lower blade array 52 in the lateral direction, the upper and lower blades mutually shield each other at the splicing gap, eliminating the radiation leakage path caused by the straight-through gap between the blades in the single-layer multi-leaf collimator 5. The double-layer co-directional staggered shielding structure utilizes the lateral staggered arrangement of the upper and lower blades, requiring the leaking radiation to pass through the upper gap and the lower staggered blade body in sequence. After two attenuations, the leakage dose is significantly reduced, thereby significantly reducing the overall leakage rate without sacrificing the conformal capability of the radiation field.

[0053] In some embodiments, the upper blade array includes 23 pairs of blades, and the lower blade array includes 22 pairs of blades; the upper and lower blade arrays are offset by 3.5 mm in the Y direction to achieve a double-layer, unidirectional offset shielding structure; the single-sided offset of each pair of blades is 0.1 mm, and the total offset is 0.2 mm. The upper and lower blade arrays complement each other through offset shielding, eliminating through gaps, and the overall leakage is no more than 1%. The blades are made of 95W3Ni2Cu high-density tungsten alloy with a density of not less than 18 g / cm³. 3 The blade is 65mm thick; the blade end face adopts a three-segment curve design with an R170 radius of curvature, and the theoretical penumbra is less than 1mm. The blade cross-section adopts a variable diameter conical structure, with the large diameter conical surface on top and the small diameter conical surface on the bottom, and the misalignment on one side is 0.1mm; the blade is driven by a screw drive mechanism, and the physical position control accuracy of the blade is no more than 0.5mm, and the positioning accuracy at the SAD is 1mm.

[0054] like Figure 2 As shown, in some embodiments, the linear accelerator treatment head 2 includes a mounting frame, which includes a base plate 21, an accelerator tube support plate 22, a collimator support plate 23, and a rear support frame 24, wherein: The substrate 21 is fixedly connected to the flange of the six-degree-of-freedom robot 1. The high-voltage generation module includes an oil-immersed pulse transformer 25, which is fixed to the surface of the substrate 21, forming a lower mounting space. The accelerating tube support plate 22 is arranged parallel to the substrate 21 and located above the substrate 21. The microwave generation and transmission module includes an X-band magnetron 26, and the beam module includes an X-band accelerating tube 27, an electron gun, and an X-ray target. The X-band magnetron 26 and the X-band accelerating tube 27 are mounted above the accelerating tube support plate 22, forming an upper mounting space. The electron gun is mounted at one end of the X-band accelerating tube along the beam direction, and the X-ray target is mounted at the other end of the X-band accelerating tube along the beam direction. The collimator support plate 23 is fixed to one side of the substrate 21 along the beam direction, and the primary collimator passes through the opening of the collimator support plate 23 and is fixedly installed. The rear support frame 24 is fixed to the other side of the substrate 21 along the beam direction, and its top is fixedly connected to the accelerating tube support plate 22.

[0055] By configuring the mounting structure of the linear accelerator treatment head 2 into a layered structure including a base plate 21, an accelerator tube support plate 22, a collimator support plate 23, and a rear support frame 24, the oil-immersed pulse transformer 25 is fixed to the surface of the base plate 21, forming the lower mounting space. The X-band magnetron 26 and the X-band accelerator tube are mounted above the accelerator tube support plate 22, forming the upper mounting space, achieving a three-dimensional and compact integration of the high-voltage, microwave, and beam modules inside the treatment head. The electron gun and X-ray target are respectively mounted at both ends of the accelerator tube along the beam direction, further clarifying the beam generation and transmission path and providing structural support for the overall miniaturization of the treatment head.

[0056] In some embodiments, the X-band accelerating tube adopts an asymmetrical layout, with the microwave feed interface located on the outside of the accelerating tube near the electron gun at an asymmetrical position. The longitudinal distance between the microwave feed interface and the end plane of the accelerating tube where the X-ray target is mounted is 313 mm. The length of the X-band accelerating tube is no more than 530 mm, and the total length after assembly with the X-ray target is no more than 523 mm. A water-cooling pipe is provided on the outside of the accelerating tube, with the water-cooling inlet and water-cooling outlet extending from the same side of the outer periphery of the accelerating tube. The water-cooling outlet is connected to the input end of the water-cooling pipe on the outside of the oil-immersed pulse transformer.

[0057] In some embodiments, the microwave generation and transmission module further includes a four-terminal circulator and a waveguide transmission assembly, wherein: the waveguide transmission assembly includes, in sequence according to the microwave transmission direction: a first E-plane single-bend waveguide, an H-plane single-bend waveguide, a non-twistable waveguide, a first E-plane double-bend waveguide, an inflatable sampling straight waveguide, a second E-plane double-bend waveguide, a rectangular right-hand twisted waveguide, and a second E-plane single-bend waveguide; the four-terminal circulator is connected between the inflatable sampling straight waveguide and the second E-plane double-bend waveguide; the waveguide transmission assembly has a U-shaped loop configuration, the outlet of the X-band magnetron 26 is located above the waveguide transmission assembly, and the feed structure of the X-band accelerator tube is located in front of and below the waveguide transmission assembly relative to the outlet of the X-band magnetron 26, and the waveguide transmission assembly transmits the microwave output from the outlet of the X-band magnetron 26 to the feed structure of the X-band accelerator tube.

[0058] By sequentially connecting the waveguide elements (E-plane single-bend waveguide, H-plane single-bend waveguide, non-twistable waveguide, E-plane double-bend waveguide, gas-filled sampling straight waveguide, rectangular right-hand twisted waveguide, etc.) in the waveguide transmission assembly according to the microwave transmission direction, and by rationally arranging the four-terminal circulator between the gas-filled sampling straight waveguide and the second E-plane double-bend waveguide, efficient and low-loss transmission of microwave signals in the U-shaped loop path is achieved.

[0059] In some embodiments, the total length of the linear accelerator treatment head 2 along the beam direction is 105cm, and the total weight of the linear accelerator treatment head 2 is 176.3kg; the height of the treatment isocenter from the ground is 132cm, the distance between the six-degree-of-freedom robot 1 and the treatment isocenter is 225cm, the height of the six-degree-of-freedom robot 1 from the ground is 132cm, and the connection distance between the six-degree-of-freedom robot 1 and the linear accelerator treatment head 2 is 33cm; the adjustable range of the treatment source axis is 60-100cm, and the non-coplanar angle range of the linear accelerator treatment head 2 in the head treatment mode is -32° to 90°, and the non-coplanar angle range in the body treatment mode is -32° to 45°, where 0° is the horizontal direction, positive angles represent upward pitch, and negative angles represent downward pitch.

[0060] By limiting the total length of the treatment head to 105cm and its total weight to 176.3kg, sufficient lightweight design was ensured, enabling the six-DOF robot to achieve a wide range of motion. By increasing the isocenter height from the ground to 132cm, the robot distance from the isocenter to 225cm, and the connection distance between the robot and the treatment head to 33cm, sufficient clearance was ensured between the treatment head and the ground during downward irradiation, avoiding interference between the treatment head and the ground. With an adjustable source-axis distance range of 60-100cm and non-coplanar angle coverage of -32° to 90° for the head and -32° to 45° for the body, a wide-range radiation field within a 4π three-dimensional space was achieved, providing the possibility of irradiating deep tumors such as those in the spine and abdominal / pelvic cavities from the patient's base.

[0061] like Figure 8 As shown, in some embodiments, the stereotactic radiosurgery system of this application further includes an image guidance system 9, a treatment planning system, a six-degree-of-freedom treatment bed 10, and a treatment control system, wherein: the image guidance system 9 is used to detect patient positioning errors; the treatment planning system includes at least a field optimization module and a dose calculation module; the six-degree-of-freedom treatment bed 10 is used to support and adjust the patient's position; and the treatment control system is signal-connected to the six-degree-of-freedom robot 1, the linear accelerator treatment head 2, the image guidance system 9, the treatment planning system, and the six-degree-of-freedom treatment bed 10.

[0062] Through signal connections between the treatment control system and the six-degree-of-freedom robot 1, the linear accelerator treatment head 2, the image guidance system 9, the treatment planning system, and the six-degree-of-freedom treatment bed 10, the entire process of information interaction and collaborative control, from patient positioning verification, image registration, and plan optimization to beam irradiation and collimator switching, is realized.

[0063] In some embodiments, the image guidance system 9 employs kV-level X-ray intersecting stereoscopic imaging technology. It uses computer-controlled imaging hardware systems consisting of X-ray tube assemblies, X-ray generators, and dynamic flat panel detectors. The software provides a 2D-3D image registration algorithm based on bone and gold standard, performing two-way perspective projection on the patient's anatomical structures or external implanted markers to obtain a pair of intersecting X-ray projection images. The obtained 2D X-ray projection images and the 3D CT images used for radiotherapy planning are then subjected to 2D-3D image registration and 2D-3D geometric transformation to accurately detect patient (lesion) positioning errors, including three translations and three rotations. It provides left, center, and right imaging units. During treatment, the left and right units are used normally for dual-projection imaging. When the left or right projection is obstructed by the accelerator, the center projection is selected as a substitute, forming left-center or right-center dual-projection imaging, providing image guidance and positioning functions throughout the treatment process.

[0064] In some embodiments, the treatment planning system includes a 4π spatial field optimization module, a fast and high-precision dose calculation engine, a robot optimal path planning module, an automatic collision detection module, and an online adaptive radiotherapy module.

[0065] The 4π spatial firing field optimization module establishes a digital twin simulation platform. Robot kinematics are analyzed using the standard DH parameter method, establishing four coordinate systems: T_Node (beam coordinate system relative to isocentric coordinate system), T_Linac (beam coordinate system relative to flange coordinate system), T_Flange (flange coordinate system relative to mounting coordinate system), and T_ISO (isocentric coordinate system relative to mounting coordinate system). Spatial firing field control is achieved by controlling the coordinate transformations of these four systems.

[0066] The fast and high-precision dose calculation engine integrates the PB algorithm, CCCS algorithm, GPU-MC algorithm, beamlet-level deep learning model, and full-dose deep learning model. It generates computational requirements for different stages based on the treatment plan and automatically selects dose algorithms with varying precision and speed. In the early optimization phase, the PB algorithm or beamlet-level deep learning model provides high-throughput, low-latency dose estimation. During the candidate plan evaluation phase, the full-dose deep learning model rapidly predicts the complete three-dimensional dose distribution. In the final plan validation phase, the CCCS algorithm or GPU-MC algorithm ensures high-precision validation.

[0067] The robot's optimal path planning module uses the LKH-3 heuristic algorithm for global path optimization, and plans in parallel or in advance processes such as treatment bed positioning time, multi-leaf collimator blade movement time, image guidance verification time, radiation field irradiation time, and system state transition time to ensure that the total treatment time does not exceed 10 minutes.

[0068] The automatic collision detection module uses the FCL collision detection algorithm library to detect collisions between the accelerator and the patient, and between the accelerator and other equipment in real time. The online adaptive radiotherapy module performs deformation registration based on CBCT images, and through rapid prediction using a fixed beam fluence map and local DAO optimization, it quickly generates the daily treatment plan while maintaining the initial beam geometry, achieving rapid dose correction.

[0069] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A stereotactic radiosurgery system, characterized in that, It includes a six-degree-of-freedom robot, a linear accelerator treatment head, a collimator kit, a robot-side male connector, and a tool-side female connector, wherein: The linear accelerator treatment head is installed at the end of the six-degree-of-freedom robot and is configured to perform multi-angle non-coplanar irradiation under the drive of the six-degree-of-freedom robot. The linear accelerator treatment head is provided with a high-voltage generation module, a microwave generation and transmission module and a beam module. The beam module includes a primary collimator. The robot's male head is fixedly installed at the end of the primary collimator; The collimator kit includes a multi-leaf collimator and a multi-aperture circular collimator turntable module. The tool-side female head is fixedly installed on both the multi-leaf collimator and the multi-aperture circular collimator turntable module. The multi-leaf collimator or the multi-aperture circular collimator turntable module is connected to the robot-side male head through the tool-side female head on it.

2. The stereotactic radiosurgery system as described in claim 1, characterized in that, The female head of the tool is locked and connected to the male head of the robot via a locking mechanism.

3. The stereotactic radiosurgery system as described in claim 2, characterized in that, The locking mechanism adopts a steel ball-conical surface double locking mechanism driven by a spring-loaded double-acting cylinder. When locking, the air pressure pushes the piston to move in the locking direction, and the spring force provides auxiliary locking force. The inner conical surface of the piston squeezes the steel ball radially and the steel ball is inserted into the conical pull stud groove of the tool-side female head. When unlocking, the air pressure overcomes the spring force and pushes the piston to move in the opposite direction. The steel ball obtains radial expansion space and disengages from the conical pull stud of the tool-side female head.

4. The stereotactic radiosurgery system as described in claim 1, characterized in that, The stereotactic radiotherapy system further includes a collimator placement stage, which comprises a support platform and a collimator magazine located in the center of the support platform, wherein: The collimator library is used to store various circular collimators with different apertures; The support platform also includes a first support station and a second support station located on both sides of the collimator library. The first support station is used to support the multi-leaf collimator, and the second support station is used to support the multi-aperture circular collimator turntable module. The multi-aperture circular collimator turntable module is provided with a turntable mechanism inside. The turntable mechanism contains multiple circular collimator placement holes, each of which is used to place a circular collimator with a different aperture. The turntable mechanism rotates under the drive of a stepper motor to automatically switch the circular collimator currently located on the beam path.

5. The stereotactic radiosurgery system as described in claim 1, characterized in that, The stereotactic radiotherapy system also includes a control and safety interlock system, which includes a collimator identification and verification module and safety interlock logic. The collimator identification and verification module is used to identify the collimator type and verify its consistency with the treatment plan. If the identification does not match, beam delivery is prohibited. The safety interlock logic includes at least two of the following: mechanical interlock, electrical interlock, and software interlock, forming multiple redundant safety guarantees.

6. The stereotactic radiosurgery system as described in claim 1, characterized in that, The multi-leaf collimator includes an upper blade array and a lower blade array. The upper blade array and the lower blade array are misaligned in a transverse direction perpendicular to the beam direction and the blade movement direction to form a double-layer co-directional misaligned shielding structure, eliminating the straight gap at the blade splice.

7. The stereotactic radiosurgery system as described in claim 1, characterized in that, The linear accelerator treatment head includes a mounting frame, which comprises a base plate, an accelerator tube support plate, a collimator support plate, and a rear support frame, wherein: The substrate is fixedly connected to the flange of the six-degree-of-freedom robot; The high-voltage generating module includes an oil-immersed pulse transformer, which is fixed on the surface of the substrate to form a lower mounting space. The accelerating tube support plate is arranged parallel to the substrate and located above the substrate; the microwave generation and transmission module includes an X-band magnetron, and the beam module includes an X-band accelerating tube, an electron gun, and an X-ray target. The X-band magnetron and the X-band accelerating tube are installed above the accelerating tube support plate to form an upper mounting space; the electron gun is installed at one end of the X-band accelerating tube along the beam direction, and the X-ray target is installed at the other end of the X-band accelerating tube along the beam direction. The collimator support plate is fixed on one side of the substrate along the beam direction, and the primary collimator passes through the opening of the collimator support plate and is fixedly installed. The rear support frame is fixed on the other side of the substrate along the beam direction, and its top is fixedly connected to the acceleration tube support plate.

8. The stereotactic radiosurgery system as described in claim 7, characterized in that, The microwave generation and transmission module also includes a four-terminal circulator and a waveguide transmission component, wherein: The waveguide transmission assembly includes, in sequence according to the microwave transmission direction: a first E-plane single-bend waveguide, an H-plane single-bend waveguide, a non-twistable waveguide, a first E-plane double-bend waveguide, an inflatable sampling straight waveguide, a second E-plane double-bend waveguide, a rectangular right-hand twisted waveguide, and a second E-plane single-bend waveguide. The four-terminal circulator is connected between the gas-filled sampling straight waveguide and the second E-plane double-bend waveguide. The waveguide transmission component has a U-shaped loop configuration. The X-band magnetron outlet is located above the waveguide transmission component. The feed structure of the X-band accelerator tube is located in front of and below the waveguide transmission component relative to the X-band magnetron outlet. The waveguide transmission component transmits the microwave output from the X-band magnetron outlet to the feed structure of the X-band accelerator tube.

9. The stereotactic radiosurgery system as described in claim 1, characterized in that, The total length of the linear accelerator treatment head along the beam direction is 105cm, and the total weight of the linear accelerator treatment head is 176.3kg. The treatment isocenter is 132cm above the ground. The distance between the six-degree-of-freedom robot and the treatment isocenter is 225cm. The six-degree-of-freedom robot is 132cm above the ground. The connection distance between the six-degree-of-freedom robot and the linear accelerator treatment head is 33cm. The adjustable range of the treatment source axis is 60-100cm. The non-coplanar angle range of the linear accelerator treatment head in head treatment mode is -32° to 90°, and in body treatment mode is -32° to 45°, where 0° represents the horizontal direction, positive angles represent upward pitch, and negative angles represent downward pitch.

10. The stereotactic radiosurgery system as described in claim 1, characterized in that, The stereotactic radiosurgery system also includes an image-guided system, a treatment planning system, a six-degree-of-freedom treatment bed, and a treatment control system, wherein: The image guidance system is used to detect patient positioning errors; The treatment planning system includes at least a field optimization module and a dose calculation module; The six-degree-of-freedom treatment bed is used to support and adjust the patient's position; The treatment control system is signal-connected to the six-degree-of-freedom robot, the linear accelerator treatment head, the image guidance system, the treatment planning system, and the six-degree-of-freedom treatment bed.

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