Zero-finding control method for treatment devices, treatment devices and treatment equipment

Abstract

This invention relates to the field of radiotherapy technology, and discloses a zeroing control method, a treatment device, and a treatment equipment. The zeroing control method includes: controlling the movement of the device body relative to a mounting assembly and detecting the position of the device body relative to the mounting assembly. When the device body moves to a calibration position, the support assembly is fixed at the calibration position, and then a multi-leaf collimator is rotated relative to the support assembly to initialize its rotation. The multi-leaf collimator is rotated relative to the support assembly until the direction of movement of the collimator's blades coincides with the tangential direction of rotation of the rotating seat, and the position of the multi-leaf collimator is set as its first zero point position. This treatment device can reliably detect the position of the device body, which is beneficial for miniaturizing the treatment equipment.

Description

Technical Field

[0001] This disclosure relates to the field of radiotherapy technology, and in particular to a treatment device, treatment equipment, and a zero-finding control method for the treatment device. Background Technology

[0002] The treatment device uses a beam of radiation to kill diseased cells, thus treating diseases such as tumors. To achieve rapid tracking of the target area with lesions, the treatment device is usually fixed on a rotating base of a gantry and rotates with the base. These treatment devices are typically equipped with a multi-leaf collimator (MLC) to shape the beam to fit the shape of the target area.

[0003] In related technologies, the position of the multi-leaf collimator can be lost during the initial operation of the treatment equipment or a sudden power outage during operation, necessitating zeroing control. Because the multi-leaf collimator's position is lost during zeroing, to prevent interference, the outer casing of the gantry assembly needs to be enlarged, and a sufficiently large gap needs to be maintained between the treatment head and the gantry assembly. This results in a larger size of the treatment equipment, hindering its miniaturization. Summary of the Invention

[0004] This disclosure provides a zeroing control method, a treatment device, and a treatment apparatus. The zeroing control method allows for calibration before zeroing, which facilitates miniaturization of the treatment apparatus. Furthermore, the treatment device can reliably detect whether the device body is in the calibration position, making it easy to position the device body in the calibration position and improving the zeroing reliability of the treatment apparatus.

[0005] The technical solution is as follows: According to a first aspect of the present disclosure, a zero-finding control method for a treatment device is provided, applied to a treatment apparatus. The treatment apparatus includes a frame assembly and a treatment device. The frame assembly includes a connecting seat and a rotating seat rotatably connected to the connecting seat. The treatment device includes a mounting assembly fixedly connected to the rotating seat and a device body. The device body includes a support assembly movably connected to the mounting assembly, a treatment head fixedly mounted on the support assembly, and a multi-leaf collimator rotatably mounted on the support assembly. The zero-finding control method includes: The control device body moves relative to the mounting assembly, and the position of the device body relative to the mounting assembly is detected.

[0006] When the device body is detected to have moved to the calibration position, the control support component is fixed in the calibration position, and then the multi-leaf collimator is controlled to rotate relative to the support component so that the multi-leaf collimator can perform initial rotation.

[0007] Control the multi-leaf collimator to rotate relative to the carrier assembly until the direction of movement of the blades of the multi-leaf collimator coincides with the direction of rotation tangent of the rotating seat, and set the position of the multi-leaf collimator as the first zero point position of the multi-leaf collimator.

[0008] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects: When the treatment equipment is first run or when a power outage occurs during operation, the control device moves relative to the mounting assembly and its position is detected. When the device is in the calibration position, the control device is fixed there. In this position, the multi-leaf collimator can rotate without interfering with the gantry assembly or the outer casing. At this time, the multi-leaf collimator is rotated relative to the support assembly to initialize its rotation. The collimator is rotated until the direction of the collimator's blade movement coincides with the tangential direction of the rotating seat, and its position is set as its first zero point. Thus, during the zeroing process, the device's position is calibrated first, ensuring it is in the calibration position before zeroing the multi-leaf collimator. This eliminates the need to increase the clearance between the gantry assembly's outer casing and the device to avoid interference, allowing for a smaller longitudinal dimension of the gantry assembly along the bed and facilitating the miniaturization of the treatment equipment.

[0009] The technical solution will be further explained below: In one embodiment, when the multi-leaf collimator is at the first zero point position, the direction of movement of the blades of the multi-leaf collimator coincides with the direction of rotation tangent of the rotating seat.

[0010] And / or, the zeroing control method further includes setting the midpoint of the calibration position as the second zero point position of the device body.

[0011] According to a second aspect of the present disclosure, a treatment device is provided, including a mounting assembly, a device body, and a first position detection assembly. The mounting assembly is fixedly connected to a rotating base. The device body is movably connected to the mounting assembly and is movable relative to the mounting assembly. The device body is provided with at least two triggers. The first position detection assembly includes a calibration sensor, a first sensor, and a second sensor. The calibration sensor, the first sensor, and the second sensor are fixedly mounted to the mounting assembly at intervals.

[0012] Specifically, when the calibration sensor is triggered in conjunction with at least one of the at least two triggers to generate a first detection signal, the device body is in the calibration position.

[0013] And / or, when one of the first sensor and the second sensor is triggered to generate a second detection signal with at least two triggers and the other of the first sensor and the second sensor is triggered to generate a third detection signal with at least two triggers, the device body is in the calibration position.

[0014] The technical solution will be further explained below: In one embodiment, at least two triggers include a first trigger and a second trigger.

[0015] When the calibration sensor triggers the first trigger to generate a first detection signal, the device body is in the calibration position. And / or, when the first sensor triggers the first trigger or one of the second trigger to generate a second detection signal, and when the second sensor triggers the first trigger or one of the second trigger to generate a third detection signal, the device body is in the calibration position.

[0016] In one embodiment, when the first sensor and one of the first and second triggers generate a second detection signal, while neither the calibration sensor nor the second sensor generates a detection signal, the device body is in a first position spaced apart from the calibration position.

[0017] When the second sensor triggers and cooperates with one of the first and second triggers to generate a third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in a second position that is spaced apart from the first position.

[0018] The calibration position is set between the first position and the second position.

[0019] In one embodiment, the first position detection component further includes a first limit sensor. When the first limit sensor is triggered in conjunction with one of the first trigger and the second trigger to generate a fourth detection signal, while the calibration sensor does not generate a detection signal, the device body is in a first extreme position spaced apart from the first position. The first position is located between the calibration position and the first extreme position.

[0020] And / or, the first position detection component further includes a second limit sensor. When the second limit sensor is triggered in conjunction with one of the first and second triggers to generate a fifth detection signal, while the calibration sensor does not generate a detection signal, the device body is in a second extreme position spaced apart from the second position. The second position is located between the calibration position and the second extreme position.

[0021] In one embodiment, the device body is rotatably connected to the mounting assembly, the calibration sensor and the first sensor are spaced apart along the first swing trajectory, and the first limit sensor, the second sensor and the second limit sensor are sequentially spaced apart along the second swing trajectory, with the first swing trajectory and the second swing trajectory spaced apart.

[0022] The first trigger includes a first trigger body that rotates along a first swing trajectory, and the second trigger includes a second trigger body that rotates along a second swing trajectory.

[0023] When the calibration sensor and the first trigger body trigger to generate a first detection signal, the device body is in the calibration position. And / or, when the first sensor and the first trigger body trigger to generate a second detection signal, and when the second sensor and the second trigger body trigger to generate a third detection signal, the device body is in the calibration position.

[0024] When the first sensor and the first trigger body trigger to generate a second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position.

[0025] When the second sensor and the second trigger body trigger to generate a third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position.

[0026] When the first limit sensor and the second trigger body trigger to generate a fourth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the first limit position.

[0027] When the second limit sensor and the second trigger body trigger to generate a fifth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the second limit position.

[0028] In one embodiment, the first trigger body includes a first trigger part and a second trigger part that are spaced apart along a first swing trajectory, and the second trigger body includes a third trigger part and a fourth trigger part that are spaced apart along a second swing trajectory.

[0029] When the calibration sensor triggers the first trigger to generate a first detection signal, the device body is in the calibration position. And / or, when the first sensor triggers the second trigger to generate a second detection signal and the second sensor triggers the third trigger to generate a third detection signal, the device body is in the calibration position.

[0030] When the first sensor and the second trigger unit trigger to generate a second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position.

[0031] When the second sensor and the third trigger unit trigger to generate a third detection signal, and neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position.

[0032] When the first limit sensor and the third trigger unit trigger to generate a fourth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the first limit position.

[0033] When the second limit sensor and the fourth trigger unit trigger to generate a fifth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the second limit position.

[0034] In one embodiment, the device body is slidably connected to the mounting assembly, and the first limit sensor, the calibration sensor, and the second limit sensor are sequentially spaced along the first straight line trajectory, the first sensor and the second sensor are spaced along the second straight line trajectory, and the first straight line trajectory and the second straight line trajectory are spaced apart.

[0035] The first trigger includes a first trigger body that rotates along a first linear trajectory, and the second trigger includes a second trigger body that rotates along a second linear trajectory.

[0036] When the calibration sensor triggers the first trigger body to generate a first detection signal, the device body is in the calibration position. And / or, when the first sensor triggers the second trigger body to generate a second detection signal and when the second sensor triggers the second trigger body to generate a third detection signal, the device body is in the calibration position.

[0037] When the first sensor and the second trigger body trigger to generate a second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position.

[0038] When the second sensor and the second trigger body trigger to generate a third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position.

[0039] When the first limit sensor and the first trigger body trigger to generate a fourth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the first limit position.

[0040] When the second limit sensor and the first trigger body trigger to generate a fifth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the second limit position.

[0041] In one embodiment, the first trigger body includes a trigger protrusion, and the second trigger body includes a trigger plate.

[0042] When the calibration sensor engages with the trigger protrusion to generate a first detection signal, the device body is in the calibration position. And / or, when the first sensor engages with the trigger plate to generate a second detection signal and the second sensor engages with the trigger plate to generate a third detection signal, the device body is in the calibration position.

[0043] When the first sensor and the trigger plate trigger together to generate a second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position.

[0044] When the second sensor and the trigger plate trigger together to generate a third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position.

[0045] When the first limit sensor and the trigger protrusion trigger together to generate a fourth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the first limit position.

[0046] When the second limit sensor and the trigger protrusion trigger together to generate the fifth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the second limit position.

[0047] In one embodiment, the treatment device further includes a first driver disposed between the mounting component and the device body, the first driver being used to drive the device body to move relative to the mounting component.

[0048] And / or, the device body includes a support assembly movably connected to a mounting assembly, a treatment head fixed on the support assembly, and a multi-leaf collimator mounted on the support assembly. The treatment head is used to emit radiation, and a first position detection assembly is used to detect the position of the support assembly relative to the mounting assembly. The treatment head is in a calibration position when a calibration sensor triggers at least one of at least two triggers to generate a first detection signal. And / or, the treatment head is in a calibration position when one of the first and second sensors triggers at least two triggers to generate a second detection signal, and the other of the first and second sensors triggers at least two triggers to generate a third detection signal.

[0049] In one embodiment, the multi-leaf collimator is rotatably mounted on the support assembly and also includes at least two trigger elements. The treatment device further includes a second position detection assembly, which in turn includes a calibration sensor, a first sensor, and a second sensor. The calibration sensor, the first sensor, and the second sensor are fixedly spaced to the support assembly and are used to detect the position of the multi-leaf collimator relative to the support assembly.

[0050] The multi-leaf collimator is at a first zero position when the calibration sensor of the second position detection component triggers at least one of the at least two triggers on the multi-leaf collimator to generate a first detection signal. And / or, the multi-leaf collimator is at a first zero position when one of the first and second sensors of the second position detection component triggers at least two triggers on the multi-leaf collimator to generate a second detection signal, and when the other of the first and second sensors triggers at least two triggers to generate a third detection signal.

[0051] According to a third aspect of the present disclosure, a treatment device is also provided, including a frame assembly and the treatment device in any of the above embodiments, wherein the mounting assembly is fixedly connected to the rotating seat.

[0052] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects: When the treatment device is first operated or when a sudden power outage occurs during operation, and the position of the device body needs to be detected, the device body is in the calibration position when a first detection signal is generated by the calibration sensor in conjunction with at least one of at least two triggers. And / or, the device body is in the calibration position when a second detection signal is generated by one of the first and second sensors in conjunction with at least two triggers, and a third detection signal is generated by the other of the first and second sensors in conjunction with at least two triggers. Thus, even if the calibration sensor is damaged, the device body can still be detected in the calibration position by using the second and third detection signals generated by the first and second sensors. Therefore, the treatment device can reliably detect whether the device body is in the calibration position, facilitating its placement in the calibration position for easy zeroing and contributing to the miniaturization of the treatment device.

[0053] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the structure of the treatment device shown in one embodiment.

[0055] Figure 2 This is a schematic diagram of the assembly of the treatment device and the frame assembly shown in one embodiment.

[0056] Figure 3 for Figure 2 The diagram shows the transition from non-overlapping to overlapping of the firing field and target area of ​​the multi-leaf collimator.

[0057] Figure 4 for Figure 2 A partial structural diagram of the treatment device shown.

[0058] Figure 5 for Figure 4 The diagram shows the interaction between at least two trigger elements on the device body and the first position detection component.

[0059] Figure 6 for Figure 5 The diagram shows the structure of the first trigger.

[0060] Figure 7 for Figure 5 The diagram shows the structure of the second trigger.

[0061] Figure 8 This is a schematic diagram showing the interaction between the first trigger and the second trigger with the first position detection component when the device body is in the first extreme position.

[0062] Figure 9 This is a schematic diagram showing the interaction between the first trigger and the second trigger with the first position detection component when the device body is in the first position.

[0063] Figure 10 This is a schematic diagram showing the interaction between the first trigger and the second trigger with the first position detection component when the device body is in the calibration position.

[0064] Figure 11 This is a schematic diagram showing the first trigger and the cooperation between the second trigger and the first position detection component when the device body is in the second position.

[0065] Figure 12 This is a schematic diagram showing the first trigger and the cooperation between the second trigger and the first position detection component when the device body is in the second extreme position.

[0066] Figure 13 This is a schematic diagram showing how the device triggers different sensors at different locations.

[0067] Figure 14 This is a schematic diagram of the assembly of the treatment device and the frame assembly shown in another embodiment.

[0068] Figure 15 The diagram shows the transition from non-overlapping to overlapping of the firing field and target area of ​​the multi-leaf collimator.

[0069] Figure 16 for Figure 14 A partial structural diagram of the treatment device shown.

[0070] Figure 17 for Figure 14 The diagram shows the first trigger and the second trigger in conjunction with the first position detection component.

[0071] Figure 18 for Figure 14The treatment device shown is a schematic diagram illustrating the connection structure between the multi-leaf collimator and the support assembly, with some parts of the structure hidden.

[0072] Explanation of reference numerals in the attached figures: 1. Treatment equipment; 10. Frame assembly; 11. Fixed base; 12. Rotating base; 20. Treatment bed; 30. Treatment device; 100. Mounting assembly; 110. Support base; 120. Connecting base; 200. Device body; 210. Bearing assembly; 211. Rotating component; 220. Treatment head; 222. Treatment head range of motion; 230. Multi-leaf collimator; 231. Radiation field; 232. Collimator body; 233. Connecting cylinder; 240. First trigger element; 241. First trigger body; 201. First trigger section; 202. Second trigger section; 205. Trigger protrusion; 250. Second trigger element; 251. Second trigger body; 203. Third trigger section; 204. Fourth trigger section; 206. Trigger plate; 300. First position detection group Components; 310, Calibration sensor; 311, Detection range of calibration sensor; 320, First sensor; 321, Detection range of first sensor; 330, Second sensor; 331, Detection range of second sensor; 340, First limit sensor; 341, Detection range of first limit sensor; 350, Second limit sensor; 351, Detection range of second limit sensor; 400, First driver; 410, Rotation drive mechanism; 411, First motor; 412, Right angle reducer; 413, Drive gear; 420, Linear drive mechanism; 421, Second motor; 422, Lead screw; 423, Nut; 500, Second driver; 510, Driven wheel; 520, Driving wheel; 530, Power source; 40, Target area. Detailed Implementation

[0073] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0074] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0075] As described in the background section, after the treatment equipment is installed in the treatment room, it needs to be adjusted. Alternatively, when the equipment is restarted after a power outage, the position of the multi-leaf collimator (also called a multi-leaf grating) may be lost, requiring zeroing control. Because the position of the multi-leaf collimator is lost during zeroing, to prevent interference, the outer casing of the gantry assembly needs to be enlarged, and a sufficiently large gap needs to be maintained between the treatment head and the gantry assembly. This results in a larger size for the treatment equipment, hindering its miniaturization.

[0076] Therefore, this disclosure provides a zeroing control method for a treatment device. This zeroing control method allows for calibration before zeroing, which is beneficial for miniaturizing the treatment device. Furthermore, the treatment device can reliably detect whether the device body is in the calibration position, facilitating its placement in that position and improving the reliability of zeroing.

[0077] The following description, in conjunction with the accompanying drawings, will explain the treatment equipment that utilizes this zero-finding control method.

[0078] like Figure 1 as well as Figure 2 As shown, in some embodiments, a treatment device 1 is provided, including a gantry assembly 10 and a treatment device 30. The gantry assembly 10 supports the treatment device 30 and is capable of rotating the treatment device 30 about an X-axis or an axis parallel to the X-axis. The gantry assembly 10 includes a fixed base 11 and a rotating base 12 rotatably connected to the fixed base 11. The treatment device 30 includes a mounting assembly 100 fixedly connected to the rotating base 12 and a device body 200. The device body 200 includes a support assembly 210 movably connected to the mounting assembly 100, a treatment head 220 fixed to the support assembly 210, and a multi-leaf collimator 230 rotatably disposed on the support assembly 210. The multi-leaf collimator 230 is disposed below the treatment head 220 to facilitate the shaping of the rays emitted by the treatment head 220 to form an irradiation field. The multi-leaf collimator adjusts the irradiation field by rotating with the treatment device and moving its internal leaves to coincide as closely as possible with the shape of the target area. Figure 2 As shown, the multi-leaf collimator 230 can rotate about the Z-axis or an axis parallel to the Z-axis.

[0079] The multi-leaf collimator 230 has multiple leaflets that can move along the Y-axis or an axis parallel to the Y-axis. The movement of the leaflets forms a radiation field 231 (i.e., a light-transmitting area) that is the same as or similar in shape to the target area 40 of the patient. When the radiation field 231 coincides with the target area 40, the radiation emitted by the treatment head 220 will be emitted along the radiation field 231, so that the radiation will not exceed the range of the target area 40, thereby protecting the normal tissue surrounding the target area 40 as much as possible.

[0080] like Figures 1 to 3 As shown, or Figure 1, Figure 14 as well as Figure 15 As shown, when using the treatment device 1, the patient is pushed into the treatment area of ​​the treatment device 30 via the treatment bed 20. Based on the shape of the patient's target area 40, the position of the blades of the multi-leaf collimator 230 is adjusted to form a radiation field 231 that matches the shape of the target area 40. Then, based on the position of the target area 40, the position of the device body 200 relative to the mounting assembly 100 and / or the position of the radiation field 231 of the multi-leaf collimator 230 relative to the supporting assembly 210 are adjusted so that the radiation field 231 coincides with the target area 40. At this time, the treatment head 220 emits therapeutic rays, which, after being shaped by the multi-leaf collimator 230, accurately irradiate the target area 40, destroying lesions (such as tumors) within the target area 40 while maximally protecting surrounding normal tissue.

[0081] In some embodiments, the treatment device employs a zeroing control method for the treatment apparatus, which includes: The control device body moves relative to the mounting assembly, and the position of the device body relative to the mounting assembly is detected.

[0082] When the device body is detected to have moved to the calibration position, the control support component is fixed in the calibration position, and then the multi-leaf collimator is controlled to rotate relative to the support component so that the multi-leaf collimator can perform initial rotation.

[0083] Control the multi-leaf collimator to rotate relative to the carrier assembly until the direction of movement of the blades of the multi-leaf collimator coincides with the direction of rotation tangent of the rotating seat, and set the position of the multi-leaf collimator as the first zero point position of the multi-leaf collimator.

[0084] Thus, when the treatment equipment is first run or when a power outage occurs during operation, the control device moves relative to the mounting assembly and its position is detected. When the device is in the calibration position, the control device is fixed in that position. When the device is in the calibration position, any rotation of the multi-leaf collimator will not interfere with the gantry assembly or the outer casing. At this time, the control device rotates relative to the support assembly to initialize its rotation. The multi-leaf collimator is rotated relative to the mounting assembly until the direction of the collimator's blade movement coincides with the tangential direction of the rotation of the rotating seat, and the position of the multi-leaf collimator is set as its first zero point. Furthermore, during the zeroing process of the multi-leaf collimator, the position of the device is calibrated first, ensuring the device is in the calibration position before zeroing the multi-leaf collimator. Since there is no need to increase the clearance between the gantry assembly's outer casing and the device to avoid motion interference, the longitudinal dimensions of the gantry assembly along the bed can be reduced, facilitating the miniaturization of the treatment equipment.

[0085] In some embodiments, when the multi-leaf collimator is at the first zero point position, the direction of blade movement of the multi-leaf collimator coincides with the direction of rotation tangent of the rotating seat. Thus, gravity is always perpendicular to the direction of blade movement, preventing the blades from sliding back and forth, and ensuring uniform and controllable blade friction and positioning deviation. This minimizes the interference of gravity on the blade positioning accuracy.

[0086] In addition, the centrifugal acceleration generated by the rotation of the rotating seat is along the tangential direction, the blade motion guide rail is in the same direction as the centrifugal force, the guide rail and the drive screw are subjected to uniform force, and it is not easy to have unilateral compression or jamming.

[0087] It should be noted that the "calibration position" can be flexibly set according to the characteristics of the device itself. For example, when the device is in this calibration position, the multi-leaf collimator can rotate arbitrarily without interfering with the frame assembly or the outer casing.

[0088] Furthermore, the aforementioned calibration positions include both specific location points and defined ranges. When the calibration position is a specific location point, it is also the second zero-point position.

[0089] It should be noted that the "movement" of the device body relative to the mounting components includes swinging and / or translation.

[0090] In some embodiments, the zero-finding control method further includes setting the midpoint of the calibration position as a second zero-point position of the device body. This achieves zero-point calibration of the treatment device, facilitating subsequent flexible adjustment of the multi-leaf collimator position based on the target area position of different patients, so that the multi-leaf collimator's field of view coincides with the target area.

[0091] like Figures 4 to 7 As shown, in some embodiments, the treatment device 30 further includes a first position detection component 300. The device body 200 is movably connected to the mounting component 100 and is movable relative to the mounting component 100. The device body 200 is provided with at least two triggers. The first position detection component 300 includes a calibration sensor 310, a first sensor 320, and a second sensor 330. The calibration sensor 310, the first sensor 320, and the second sensor 330 are fixedly spaced to the mounting component 100. The device body 200 is in a calibration position when the calibration sensor 310 triggers at least one of the at least two triggers to generate a first detection signal. And / or, the device body 200 is in a calibration position when one of the first sensor 320 and the second sensor 330 triggers at least two triggers to generate a second detection signal, and the other of the first sensor 320 and the second sensor 330 triggers at least two triggers to generate a third detection signal.

[0092] Thus, when the treatment device 1 is first operated or when a power outage occurs during operation, and the position of the device body 200 needs to be detected, the device body 200 is in the calibration position when the calibration sensor 310 generates a first detection signal in conjunction with at least one of the at least two triggers. And / or, the device body 200 is in the calibration position when one of the first sensor 320 and the second sensor 330 generates a second detection signal in conjunction with at least two triggers, and the other of the first sensor 320 and the second sensor 330 generates a third detection signal in conjunction with at least two triggers. Therefore, even if the calibration sensor 310 is damaged, the device body 200 can still be detected as being in the calibration position by using the second detection signal generated by the first sensor 320 and the third detection signal generated by the second sensor 330. This allows the treatment device 30 to reliably detect whether the device body 200 is in the calibration position, facilitating its placement in this position for easy zeroing and contributing to the miniaturization of the treatment device 1.

[0093] It should be noted that "at least two triggers" includes two triggers: one trigger can engage with both the calibration sensor 310 and the first sensor 320, and the other trigger can engage with the second sensor 330. Alternatively, "at least two triggers" includes three triggers: one trigger engages with the calibration sensor 310, another trigger engages with the first sensor 320, and the last trigger engages with the second sensor 330.

[0094] It should be noted that the specific structure of the mounting component 100 can be varied. For example, it can be assembled from multiple sheet metal parts. The first position detection component 300 can be modularly assembled onto the mounting component 100 through structures such as the support base 110.

[0095] like Figure 4 As shown, Figures 5 to 7As shown, in some embodiments, at least two triggers include a first trigger 240 and a second trigger 250. When the calibration sensor 310 triggers with the first trigger 240 to generate a first detection signal, the device body 200 is in the calibration position. And / or, when the first sensor 320 triggers with one of the first trigger 240 and the second trigger 250 to generate a second detection signal, and when the second sensor 330 triggers with one of the first trigger 240 and the second trigger 250 to generate a third detection signal, the device body 200 is in the calibration position. Thus, by utilizing the cooperation of the first trigger 240 and the second trigger 250, the device body 200 can be detected to be in the calibration position by coordinating with the calibration sensor 310, the first sensor 320, and the second sensor 330, which helps to reduce the number of triggers and makes the structure of the treatment device 30 more compact.

[0096] like Figures 8 to 13 As shown, in some embodiments, when the first sensor 320 triggers and cooperates with one of the first trigger 240 and the second trigger 250 to generate a second detection signal, while neither the calibration sensor 310 nor the second sensor 330 generates a detection signal, the device body 200 is in a first position spaced apart from the calibration position. When the second sensor 330 triggers and cooperates with one of the first trigger 240 and the second trigger 250 to generate a third detection signal, while neither the calibration sensor 310 nor the first sensor 320 generates a detection signal, the device body 200 is in a second position spaced apart from the first position. The calibration position is located between the first position and the second position. Thus, by utilizing the cooperation of the first trigger 240 and the second trigger 250, the device body 200 can detect whether it is in the first position, the calibration position, or the second position by cooperating with the calibration sensor 310, the first sensor 320, and the second sensor 330.

[0097] For example, the first trigger 240 engages with the calibration sensor 310, and the second trigger 250 engages with at least one of the first sensor 320 and the second sensor 330. When the device body 200 moves relative to the mounting assembly 100 along a first trajectory (including a rotational trajectory or a linear trajectory), the device body 200, moving in the positive direction of the first trajectory, sequentially triggers the first sensor 320 and the second trigger 250 to generate a second detection signal, the first sensor 320 and the second trigger 250 to generate a second detection signal, and the second sensor 330 and the second trigger 250 to generate a third detection signal (and / or the calibration sensor 310 and the first trigger 240 to generate a first detection signal), and the second sensor 330 and the second trigger 250 to generate a third detection signal, thereby enabling the detection of whether the device body 200 is in a first position, a calibration position, and a second position, respectively. When the device body 200 is detected to be in the first position, the device body 200 is controlled to move in the positive direction of the first trajectory until it is detected to be in the calibration position. When the device body 200 is detected to be in the second position, the device body 200 is controlled to move in the opposite direction of the first trajectory until the device body 200 is detected to be in the calibration position.

[0098] like Figures 5 to 7 As shown, or Figure 16 as well as Figure 17 As shown, in some embodiments, the first position detection component 300 further includes a first limit sensor 340. When the first limit sensor 340 is triggered and cooperates with one of the first trigger member 240 and the second trigger member 250 to generate a fourth detection signal, while the calibration sensor 310 does not generate a detection signal, the device body 200 is in a first extreme position spaced apart from the first position. The first position is located between the calibration position and the first extreme position. Thus, by utilizing the cooperation of the first trigger member 240 and the second trigger member 250, the device body 200 can be detected to be in the first position, calibration position, second position, and first extreme position by cooperating with the calibration sensor 310, the first sensor 320, the second sensor 330, and the first limit sensor 340.

[0099] Similarly, such as Figures 5 to 7 As shown, or Figure 16 as well as Figure 17As shown, in some embodiments, the first position detection component 300 further includes a second limit sensor 350. When the second limit sensor 350 triggers and cooperates with one of the first trigger 240 and the second trigger 250 to generate a fifth detection signal, while the calibration sensor 310 does not generate a detection signal, the device body 200 is in a second extreme position spaced apart from the second position. The second position is located between the calibration position and the second extreme position. Thus, by utilizing the cooperation of the first trigger 240 and the second trigger 250, the device body 200 can be detected to be in the first position, the calibration position, the second position, and the second extreme position by cooperating with the calibration sensor 310, the first sensor 320, the second sensor 330, and the first limit sensor 340.

[0100] For example, the first trigger 240 is triggered to cooperate with the calibration sensor 310, the first limit sensor 340 and the second limit sensor 350 respectively, and the second trigger 250 is triggered to cooperate with at least one of the first sensor 320 and the second sensor 330. When the device body 200 moves relative to the mounting assembly 100 along the first trajectory (including a rotational trajectory or a linear trajectory), the device body 200 moves in the positive direction of the first trajectory, causing the first limit sensor 340 and the first trigger 240 to trigger and cooperate to generate a fourth detection signal, the first sensor 320 and the second trigger 250 to trigger and cooperate to generate a second detection signal, the first sensor 320 and the second trigger 250 to trigger and cooperate to generate a second detection signal, the second sensor 330 and the second trigger 250 to trigger and cooperate to generate a third detection signal (and / or the calibration sensor 310 and the first trigger 240 to trigger and cooperate to generate a first detection signal), the second sensor 330 and the second trigger 250 to trigger and cooperate to generate a third detection signal, and the second limit sensor 350 and the first trigger 240 to trigger and cooperate to generate a fifth detection signal. This allows the device body 200 to be detected at the first limit position, the first position, the calibration position, the second position, and the second limit position, respectively.

[0101] When the device body 200 is detected to be in the first position, it is controlled to move along the first direction of the first trajectory. When the device body 200 is detected to be in the calibration position, the first direction is set as the positive direction of the first trajectory. When the device body 200 is detected to be in the first extreme position, the first direction is set as the opposite direction of the first trajectory. Then the device body 200 is controlled to move along the opposite direction of the first direction until it is detected to be in the calibration position.

[0102] Similarly, when the device body 200 is detected to be in the second position, the device body 200 is controlled to move along the second direction of the first trajectory. When the device body 200 is detected to be in the calibration position, the second direction is set to the opposite direction of the first trajectory. When the device body 200 is detected to be in the second limit position, the second direction is set to the positive direction of the first trajectory. Then the device body 200 is controlled to move along the opposite direction of the second direction until the device body 200 is detected to be in the calibration position.

[0103] For example, the first trigger 240 is triggered and engaged with one of the calibration sensor 310 and the first sensor 320, respectively, and the second trigger 250 is triggered and engaged with one of the first limit sensor, the second sensor 330, and the second limit sensor. When the device body 200 moves relative to the mounting assembly 100 along the first trajectory (including a rotational trajectory or a linear trajectory), the device body 200 moves in the positive direction of the first trajectory, causing the first limit sensor 340 and the second trigger 250 to trigger and cooperate to generate a fourth detection signal, the first sensor 320 and the first trigger 240 to trigger and cooperate to generate a second detection signal, the first sensor 320 and the first trigger 240 to trigger and cooperate to generate a second detection signal, the second sensor 330 and the second trigger 250 to trigger and cooperate to generate a third detection signal (and / or the calibration sensor 310 and the first trigger 240 to trigger and cooperate to generate a first detection signal), the second sensor 330 and the second trigger 250 to trigger and cooperate to generate a third detection signal, and the second limit sensor 350 and the second trigger 250 to trigger and cooperate to generate a fifth detection signal, thereby enabling the detection of whether the device body 200 is in the first limit position, the first position, the calibration position, the second position, and the first limit position, respectively.

[0104] When the device body 200 is detected to be in the first position, the device body 200 is controlled to move along the first direction of the first trajectory.

[0105] When the device body 200 is detected to be in the calibration position, the first direction is set to the positive direction of the first trajectory. When the device body 200 is detected to be in the first extreme position, the first direction is set to the opposite direction of the first trajectory. Then, the device body 200 is controlled to move in the opposite direction of the first direction until the device body 200 is detected to be in the calibration position.

[0106] Similarly, when the device body 200 is detected to be in the second position, the device body 200 is controlled to move along the second direction of the first trajectory. When the device body 200 is detected to be in the calibration position, the second direction is set to the opposite direction of the first trajectory. When the device body 200 is detected to be in the second limit position, the second direction is set to the positive direction of the first trajectory. Then the device body 200 is controlled to move along the opposite direction of the second direction until the device body 200 is detected to be in the calibration position.

[0107] It should be noted that any of the above sensors can be implemented in various ways, including but not limited to photoelectric switches, micro switches, proximity switches, and magnetic switches—generally referring to any switch that can identify whether it has been triggered and output a 1 or 0. This also includes detection devices such as machine vision sensors that can be used to detect the position of objects.

[0108] In combination with any of the above embodiments, such as Figure 4 As shown, in some embodiments, the device body 200 is rotatably connected to the mounting assembly 100. The mounting assembly 100 includes a support 110 that carries the first position detection assembly 300. In this case, the device body 200 can swing about the Y-axis or an axis parallel to the Y-axis.

[0109] like Figure 5 As shown, the device body 200 includes a rotating member 211 rotatably connected to the mounting assembly 100. A first trigger member 240 and a second trigger member 250 are fixed to the rotating member 211. In this example, the calibration sensor 310 and the first sensor 320 are spaced apart along a first swing trajectory, and the first limit sensor 340, the second sensor 330, and the second limit sensor 350 are sequentially spaced apart along a second swing trajectory. The first swing trajectory and the second swing trajectory are spaced apart. The first trigger member 240 includes a first trigger body 241 that rotates along the first swing trajectory, and the second trigger member 250 includes a second trigger body 251 that rotates along the second swing trajectory. Thus, the device body 200 is rotatably connected to the mounting assembly 100, and the first position detection assembly 300 can detect changes in the angle of the device body 200 relative to the mounting assembly 100. During the detection process, when the first trigger 241 engages with one of the calibration sensor 310 and the first sensor 320, it will not interfere with the engagement of the second trigger 250 with one of the first limit sensor 340, the second sensor 330, and the second limit sensor 350, thus avoiding distortion of position detection.

[0110] In conjunction with the bearing assembly 210 of the foregoing embodiment, the rotating member 211 is fixedly mounted on the bearing assembly 210, so that the bearing assembly 210 is rotatably connected to the mounting assembly 100. Figures 8 to 13 As shown, when the calibration sensor 310 triggers the first trigger body 241 to generate a first detection signal, the device body 200 is in the calibration position. And / or, when the first sensor 320 triggers the first trigger body 241 to generate a second detection signal and the second sensor 330 triggers the second trigger body 251 to generate a third detection signal, the device body 200 is in the calibration position. Thus, the first position detection component 300 can detect that the device body 200 is in the calibration position, thereby eliminating the need to control the device body 200 to move.

[0111] When the first sensor 320 and the first trigger 241 trigger to generate a second detection signal, and neither the calibration sensor 310 nor the second sensor 330 generates a detection signal, the device body 200 is in the first position. Thus, if the device body 200 is detected to be in the first position, it is controlled to rotate along a first rotation direction. When the device body 200 is detected to be in the calibration position, the first rotation direction is set to the positive direction. When the device body 200 is detected to be in the first extreme position, the first rotation direction is set to the negative direction. Then, the device body 200 is controlled to rotate in the negative direction of the first rotation direction until it is detected to be in the calibration position.

[0112] When the second sensor 330 and the second trigger 251 trigger to generate a third detection signal, and neither the calibration sensor 310 nor the first sensor 320 generates a detection signal, the device body 200 is in the second position. Thus, if the device body 200 is detected to be in the second position, it is controlled to rotate along the first rotation direction. When the device body 200 is detected to be in the calibration position, the first rotation direction is set to the positive direction. When the device body 200 is detected to be in the second extreme position, the first rotation direction is set to the negative direction. Then, the device body 200 is controlled to rotate in the opposite direction of the first rotation direction until it is detected to be in the calibration position.

[0113] When the first limit sensor 340 and the second trigger 251 trigger to generate a fourth detection signal, and the calibration sensor 310 does not generate a detection signal, the device body 200 is in the first limit position. Thus, when the device body 200 is detected to be in the first limit position, the device body 200 is controlled to rotate in the rotatable direction until the device body 200 is detected to be in the calibration position.

[0114] When the second limit sensor 350 and the second trigger 251 trigger to generate a fifth detection signal, and the calibration sensor 310 does not generate a detection signal, the device body 200 is in the second limit position. Thus, when the device body 200 is detected to be in the second limit position, the device body 200 is controlled to rotate in the rotatable direction until the device body 200 is detected to be in the calibration position.

[0115] It should be noted that the specific structures of the first trigger 241 and the second trigger 251 can vary. For example... Figures 5 to 13As shown, in some embodiments, the first trigger 241 includes a first trigger portion 201 and a second trigger portion 202 spaced apart along a first swing trajectory, and the second trigger 251 includes a third trigger portion 203 and a fourth trigger portion 204 spaced apart along a second swing trajectory. When the calibration sensor 310 triggers and cooperates with the first trigger portion 201 to generate a first detection signal, the device body 200 is in the calibration position. And / or, when the first sensor 320 triggers and cooperates with the second trigger portion 202 to generate a second detection signal and the second sensor 330 triggers and cooperates with the third trigger portion 203 to generate a third detection signal, the device body 200 is in the calibration position. When the first sensor 320 triggers and cooperates with the second trigger portion 202 to generate a second detection signal, while neither the calibration sensor 310 nor the second sensor 330 generates a detection signal, the device body 200 is in the first position. When the second sensor 330 triggers and cooperates with the third trigger portion 203 to generate a third detection signal, while neither the calibration sensor 310 nor the first sensor 320 generates a detection signal, the device body 200 is in the second position. When the first limit sensor 340 and the third trigger unit 203 trigger to generate a fourth detection signal, and the calibration sensor 310 does not generate a detection signal, the device body 200 is in the first extreme position. When the second limit sensor 350 and the fourth trigger unit 204 trigger to generate a fifth detection signal, and the calibration sensor 310 does not generate a detection signal, the device body 200 is in the second extreme position. Thus, by setting different trigger units to cooperate with different sensors to generate different detection signals, it is convenient to flexibly set different structures of trigger bodies according to the position detection accuracy requirements. For example, when the detection accuracy requirement of the calibration position is high, the trigger area of ​​the first trigger unit 201 and the calibration sensor 310 can be designed to be smaller. The trigger area of ​​the first sensor 320 and the second trigger unit 202 triggering to generate the second detection signal, and the trigger area of ​​the second sensor 330 and the third trigger unit 203 triggering to generate the third detection signal can also be designed to be smaller. Conversely, when the first position requirement is low, the trigger area of ​​the first sensor 320 and the second trigger unit 202 triggering to generate the second detection signal can be designed to be larger.

[0116] like Figure 2 As shown, in some embodiments, the treatment device 30 further includes a first driver 400 disposed between the mounting assembly 100 and the device body 200. The first driver 400 is used to drive the device body 200 to move relative to the mounting assembly 100. Thus, the first driver 400 can electrically drive the device body 200 to move relative to the mounting assembly 100, facilitating the adjustment of the position of the device body 200 to move the device body 200 to a calibration position.

[0117] In some embodiments, the treatment device 1 further includes a controller. The controller is communicatively connected to the first position detection component 300, the first driver 400, and the device body 200. It can control the first driver 400 to move according to the detection signal from the first position detection component 300, thereby driving the device body 200 to adjust its position (including adjusting to a calibration position). When the device body 200 is used for treatment, the controller can control the first driver 400 to move the device body 200 to the treatment position based on the patient's lesion location. Then, the controller controls the device body 200 to emit a beam of radiation to kill lesion cells, thus achieving treatment for diseases such as tumors.

[0118] Table 1 shows the triggering relationships of the sensors in the first position detection component.

[0119] like Figures 8 to 13 As shown in the figure and Table 1 above, the calibration position of the device body 200 is determined by the joint use of calibration sensor 310, first sensor 320 and second sensor 330. Even in the event of a single failure (e.g., calibration sensor 310 or first sensor 320 is faulty), the device body 200 can still detect that the device body 200 has moved to the calibration position. Specific details are as follows: 1. If the first limit sensor 340 is faulty, the device body 200 can still be moved to the calibration position by using the calibration sensor 310 or the first sensor 320 and the second sensor 330, since the first sensor 320 is triggered.

[0120] 2. If the second limit sensor 350 is faulty, since the second sensor 330 is triggered, the device body 200 can still be moved to the calibration position by using the calibration sensor 310 or the first sensor 320 and the second sensor 330.

[0121] 3. If the first sensor 320 or the second sensor 330 is faulty: A. If the calibration sensor 310 is triggered at this time, then the device body 200 is already in the calibration position and does not need to move.

[0122] B. If the first limit sensor 340 or the second limit sensor 350 is triggered, it can be identified whether the device body 200 is in the first position or the second position. Then, when the device body 200 moves to the calibration position, the calibration position can still be detected by the calibration sensor 310.

[0123] C. If none of the switches are triggered, the device body 200 is set to move towards the first position until the calibration sensor 310 or the first limit sensor 340 is triggered. At this time, it can be identified whether the device body 200 is in the first position or the second position, and when the device body 200 moves to the calibration position, it can still be detected by the calibration sensor 310.

[0124] 3. If the calibration sensor 310 is faulty: A. If the first sensor 320 and the second sensor 330 are triggered at the same time, then the device body 200 is already in the calibration position and does not need to move.

[0125] B. If the first sensor 320 is triggered at this time, the device body 200 moves toward the second position until the first sensor 320 and the second sensor 330 are triggered at the same time. At this time, the device body 200 is already in the calibration position and does not need to move.

[0126] C. If the second sensor 330 is triggered at this time, the device body 200 moves toward the first position until the first sensor 320 and the second sensor 330 are triggered at the same time. At this time, the device body 200 is already in the calibration position and does not need to move.

[0127] Understandably, when the device body moves to the first stop position and the second stop position, it can be indirectly detected by the idling of the first driver or by changes in voltage and current. This is a conventional technology and will not be elaborated here.

[0128] like Figures 14 to 16 As shown, in some embodiments, the device body 200 is slidably connected to the mounting assembly 100. The first limit sensor 340, calibration sensor 310, and second limit sensor 350 are sequentially spaced along a first linear trajectory, and the first sensor 320 and second sensor 330 are spaced along a second linear trajectory. The first and second linear trajectories are also spaced apart. The first trigger 240 includes a first trigger body 241 that rotates along the first linear trajectory, and the second trigger 250 includes a second trigger body 251 that rotates along the second linear trajectory. Thus, the device body 200 and mounting assembly 100 are slidably connected, allowing the first position detection assembly 300 to detect changes in the linear position of the device body 200 relative to the mounting assembly 100. During detection, when the first trigger body 241 engages with one of the calibration sensor 310 or the first sensor 320, it does not interfere with the engagement of the second trigger 250 with one of the first limit sensors 340, 330, or 350, thus avoiding distortion in position detection.

[0129] At this time, the device body 200 reciprocates along an axis about or parallel to the X-axis.

[0130] When the calibration sensor 310 triggers the first trigger body 241 to generate a first detection signal, the device body 200 is in the calibration position. And / or, when the first sensor 320 triggers the second trigger body 251 to generate a second detection signal and the second sensor 330 triggers the second trigger body 251 to generate a third detection signal, the device body 200 is in the calibration position. Thus, the first position detection component 300 can detect that the device body 200 is in the calibration position, thereby eliminating the need to control the device body 200 to move.

[0131] When the first sensor 320 and the second trigger 251 trigger to generate a second detection signal, and neither the calibration sensor 310 nor the second sensor 330 generates a detection signal, the device body 200 is in the first position. Thus, if the device body 200 is detected to be in the first position, it is controlled to move along a first linear direction. When the device body 200 is detected to be in the calibration position, the first linear direction is set to the positive direction. When the device body 200 is detected to be in the first extreme position, the first linear direction is set to the negative direction. Then, the device body 200 is controlled to move in the negative direction of the first linear direction until it is detected to be in the calibration position.

[0132] When the second sensor 330 and the second trigger 251 trigger to generate a third detection signal, and neither the calibration sensor 310 nor the first sensor 320 generates a detection signal, the device body 200 is in the second position. Thus, if the device body 200 is detected to be in the second position, it is controlled to move along a first linear direction. When the device body 200 is detected to be in the calibration position, the first linear direction is set as the positive direction. When the device body 200 is detected to be in the second extreme position, the first linear direction is set as the negative direction. Then, the device body 200 is controlled to move in the negative direction of the first linear direction until it is detected to be in the calibration position.

[0133] When the first limit sensor 340 and the first trigger body 241 trigger to generate a fourth detection signal, and the calibration sensor 310 does not generate a detection signal, the device body 200 is in the first extreme position. Thus, when the device body 200 is detected to be in the first extreme position, the device body 200 is controlled to move in a linear direction until the device body 200 is detected to be in the calibration position.

[0134] When the second limit sensor 350 and the first trigger 241 trigger to generate a fifth detection signal, and the calibration sensor 310 does not generate a detection signal, the device body 200 is in the second limit position. Thus, when the device body 200 is detected to be in the second limit position, the device body 200 is controlled to move in a linear direction until the device body 200 is detected to be in the calibration position.

[0135] It should be noted that the specific structures of the first trigger 241 and the second trigger 251 can vary. For example... Figure 17 As shown, in some embodiments, the first trigger body 241 includes a trigger protrusion 205, and the second trigger body 251 includes a trigger plate 206. When the calibration sensor 310 triggers and engages with the trigger protrusion 205 to generate a first detection signal, the device body 200 is in the calibration position. And / or, when the first sensor 320 triggers and engages with the trigger plate 206 to generate a second detection signal, and the second sensor 330 triggers and engages with the trigger plate 206 to generate a third detection signal, the device body 200 is in the calibration position. When the first sensor 320 triggers and engages with the trigger plate 206 to generate a second detection signal, while neither the calibration sensor 310 nor the second sensor 330 generates a detection signal, the device body 200 is in the first position. When the second sensor 330 triggers and engages with the trigger plate 206 to generate a third detection signal, while neither the calibration sensor 310 nor the first sensor 320 generates a detection signal, the device body 200 is in the second position. When the first limit sensor 340 triggers and engages with the trigger protrusion 205 to generate a fourth detection signal, while the calibration sensor 310 does not generate a detection signal, the device body 200 is in the first extreme position. When the second limit sensor 350 triggers and engages with the trigger protrusion 205 to generate a fifth detection signal, while the calibration sensor 310 does not generate a detection signal, the device body 200 is in the second extreme position. Thus, by setting different trigger structures and engaging different sensors to generate different detection signals, it is convenient to flexibly set different trigger structures according to the position detection accuracy requirements. For example, when the detection accuracy requirements for the calibration position, the first extreme position, and the second extreme position are high, the trigger area can be designed to be smaller by setting the trigger protrusion 205. Conversely, when the accuracy requirement for the first position is low, the trigger area for the first sensor 320 to engage with the trigger plate 206 to generate the second detection signal can be designed to be larger.

[0136] In combination with any of the above embodiments, such as Figure 2 as well as Figure 4 As shown, or as Figure 14 as well as Figure 16As shown, in some embodiments, the device body 200 includes a support component 210 movably connected to the mounting component 100, a treatment head 220 fixed on the support component 210, and a multi-leaf collimator 230 mounted on the support component 210. The treatment head 220 is used to emit radiation, and the first position detection component 300 is used to detect the position of the support component 210 relative to the mounting component 100. The treatment head 220 is in the calibration position when the calibration sensor 310 is triggered to generate a first detection signal by at least one of at least two triggers. And / or, the treatment head 220 is in the calibration position when one of the first sensor 320 and the second sensor 330 is triggered to generate a second detection signal by at least two triggers, and the other of the first sensor 320 and the second sensor 330 is triggered to generate a third detection signal by at least two triggers. Thus, when the treatment device 1 is first operated or when a power outage occurs during operation, and the position of the treatment head 220 needs to be detected, the treatment head 220 is in the calibration position when the calibration sensor 310 generates a first detection signal in conjunction with at least one of the at least two triggers. And / or, the treatment head 220 is in the calibration position when one of the first sensor 320 and the second sensor 330 generates a second detection signal in conjunction with at least two triggers, and the other of the first sensor 320 and the second sensor 330 generates a third detection signal in conjunction with at least two triggers. Therefore, even if the calibration sensor 310 is damaged, the second detection signal generated by the first sensor 320 and the third detection signal generated by the second sensor 330 can still be used to detect whether the treatment head 220 is in the calibration position, thereby reliably setting the treatment head 220 in the calibration position, reducing the clearance space required during the zeroing process of the treatment device 1, and facilitating the miniaturization of the treatment device 1.

[0137] Understandably, since the treatment head 220 is fixedly connected to the support component 210, the position of the support component 210 relative to the mounting component 100 can also be detected by detecting the position of the treatment head 220 relative to the mounting component 100. When the treatment head 220 is in the calibration position, that is, the entire device body 200 is in the calibration position.

[0138] The treatment head can both rotate and slide relative to the mounting assembly. In this case, the first position detection assembly comprises two sets: one set detects angular changes in the treatment head relative to the mounting assembly, and the other set detects linear changes in the treatment head relative to the mounting assembly.

[0139] In some embodiments, the treatment head is rotatably mounted on a support assembly, which is slidably connected to a mounting assembly. Thus, rotation of the treatment head relative to the support assembly indirectly enables rotation of the treatment head relative to the mounting assembly. In one example, the first actuator includes a rotary drive mechanism for driving rotation of the treatment head and a linear drive mechanism for driving sliding of the support assembly.

[0140] The rotating component in conjunction with the foregoing embodiments, such as Figure 4 As shown, the mounting assembly 100 includes a support base 110 rotatably connected to the rotating member 211. The rotating member 211 is equipped with a gear structure (not labeled). The rotation drive mechanism 410 includes a right-angle reducer 412 fixedly connected to the mounting assembly 100 and a first motor 411 driven by the right-angle reducer 412. The right-angle reducer 412 is equipped with a drive gear 413 that meshes with the gear structure. In this way, the right-angle reducer 412 can fully utilize the area space of the mounting assembly 100 and reduce the occupation of the longitudinal space of the frame assembly. At the same time, the gear structure is integrated on the rotating member and meshes with the drive gear, so that the rotation drive mechanism and the device body fit tightly.

[0141] In other embodiments, the support assembly includes a support seat slidably connected to the mounting assembly, and the support seat has a through hole. The treatment head includes a treatment body and a cylindrical body fixedly connected to the treatment body. The cylindrical body is rotatably mounted on the support seat, and the rays emitted by the treatment head can pass through the through hole and be transmitted into the multi-leaf collimator. In this way, the treatment head can be compactly rotatably mounted on the support seat and slidably connected to the mounting assembly through the support seat, making the structure of the treatment device more compact. The rotation drive mechanism drives the cylindrical body to rotate, thus enabling the treatment head to be rotatably mounted on the support seat.

[0142] Specifically, the rotation drive mechanism includes a driven wheel fixed to the cylinder, a driving wheel that drives the driven wheel to rotate, and a power source that drives the driving wheel to rotate (see reference). Figure 18 (For understanding purposes only). The driving pulley includes a driving gear, and the driven pulley includes a driven gear. Alternatively, the driving pulley includes a driving belt pulley, and the driven pulley includes a driven belt pulley. The rotary drive mechanism also includes a belt that drives and meshes with the driving and driven belt pulleys.

[0143] The linear drive mechanism includes a linear motor, a lead screw and nut transmission mechanism, etc.

[0144] like Figure 16As shown, in some embodiments, the linear drive mechanism 420 includes a second motor 421 fixedly connected to the mounting assembly 100, a lead screw 422 rotatably disposed on the mounting assembly 100, and a nut 423 threadedly engaged with the first lead screw 422. The output shaft of the second motor 421 is fixedly connected to the lead screw 422, and the length direction of the lead screw 422 is aligned with the moving direction of the bearing assembly 210. The nut 423 is slidably connected to the mounting assembly 100 and fixedly connected to the bearing assembly 210. Thus, the rotational power output by the second motor 421 can drive the bearing assembly 210 to slide relative to the mounting assembly 100 through the nut 423.

[0145] like Figure 16 As shown, in some embodiments, the mounting assembly 100 includes two connecting seats 120 that are slidably connected to the support assembly 210. One connecting seat 120 is used to support the linear drive mechanism 420, and the other connecting seat 120 is used to support the first position detection assembly 300.

[0146] In some embodiments, the treatment device 1 further includes a controller, which is communicatively connected to the first position detection component 300, the linear drive mechanism 420, the rotation drive mechanism 410, and the device body 200. The controller can control the linear drive mechanism 420 and / or the rotation drive mechanism 410 to move according to the detection signal from the first position detection component 300, thereby driving the device body 200 to adjust its position (including adjusting to a calibration position). When the device body 200 is used for treatment, the controller can control the linear drive mechanism 420 and / or the rotation drive mechanism 410 to move according to the patient's lesion location, thereby driving the device body 200 to the treatment position. Then, the controller controls the device body 200 to emit a beam of radiation to kill lesion cells, achieving treatment for diseases such as tumors.

[0147] As described in the foregoing embodiments, the multi-leaf collimator is rotatably mounted on the support assembly. The multi-leaf collimator also includes at least two trigger elements. The treatment device further includes a second position detection assembly (not shown), which also includes a calibration sensor, a first sensor, and a second sensor. The calibration sensor, the first sensor, and the second sensor are fixedly spaced on the support assembly and are used to detect the position of the multi-leaf collimator relative to the support assembly. When the calibration sensor of the second position detection assembly triggers at least one of the at least two trigger elements on the multi-leaf collimator to generate a first detection signal, the multi-leaf collimator is at a first zero-point position. And / or, when one of the first and second sensors of the second position detection assembly triggers at least two trigger elements on the multi-leaf collimator to generate a second detection signal, and the other of the first and second sensors triggers at least two trigger elements to generate a third detection signal, the multi-leaf collimator is at a first zero-point position.

[0148] Thus, when the treatment device is first operated or experiences a sudden power outage during operation, the second position detection component ensures that the multi-leaf collimator is in the calibration position when the position needs to be detected. This is achieved by the calibration sensor engaging with at least one of the at least two triggers to generate a first detection signal. Alternatively, the multi-leaf collimator is in the calibration position when one of the first and second sensors engages with at least two triggers to generate a second detection signal, and when the other of the first and second sensors engages with at least two triggers to generate a third detection signal. Therefore, even if the calibration sensor is damaged, the first sensor can still generate a second detection signal, and the second sensor can generate a third detection signal to detect whether the multi-leaf collimator is in the calibration position, thus reliably setting the multi-leaf collimator in the calibration position.

[0149] Furthermore, in some embodiments, the calibration position includes a first zero-point position. That is, when the multi-leaf collimator is zeroing, the multi-leaf collimator is controlled to rotate relative to the support assembly, and the position of the multi-leaf collimator relative to the support assembly is detected by the second detection assembly. When the multi-leaf collimator is detected to have moved to the calibration position, the calibration position is set as the first zero-point position.

[0150] like Figure 18 As shown, the treatment device 30 also includes a second driver 500 for driving the multi-leaf collimator 230 to rotate relative to the support assembly 210. Thus, the second driver 500 can electrically drive the multi-leaf collimator 230 to rotate relative to the support assembly 210, facilitating the adjustment of the position of the multi-leaf collimator 230 to rotate it to the calibration position. It should be noted that the second driver 500 can be implemented in various ways, as long as it can drive the multi-leaf collimator 230 to rotate. For example... Figure 18 As shown, in some embodiments, the multi-leaf collimator 230 includes a collimator body 232 and a connecting cylinder 233 fixedly connected to the collimator body 232. The connecting cylinder 233 is rotatably connected to the bearing assembly 210. The second driver 500 includes a driven wheel 510 fixed to the outside of the connecting cylinder 233, a driving wheel 520 driving the driven wheel 510 to rotate, and a power source 530 driving the driving wheel 520 to rotate. The driving wheel 520 includes a driving gear, and the driven wheel 510 includes a driven gear. Alternatively, the driving wheel 520 includes a driving pulley, and the driven wheel 510 includes a driven pulley. The rotation drive mechanism 410 also includes a belt that drives and cooperates with the driving pulley and the driven pulley.

Claims

1. A zero-finding control method for a treatment device, characterized in that, The treatment device is applied to a treatment device, which includes a frame assembly and a treatment device. The frame assembly includes a connecting seat and a rotating seat rotatably connected to the connecting seat. The treatment device includes a mounting assembly fixedly connected to the rotating seat and a device body. The device body includes a support assembly movably connected to the mounting assembly, a treatment head fixed on the support assembly, and a multi-leaf collimator rotatably mounted on the support assembly. The change control method includes: Control the movement of the device body relative to the mounting assembly, and detect the position of the device body relative to the mounting assembly; When the device body is detected to have moved to the calibration position, the support assembly is fixed at the calibration position, and then the multi-leaf collimator is rotated relative to the support assembly to initialize the multi-leaf collimator. The multi-leaf collimator is controlled to rotate relative to the support assembly in a first rotation direction to a first stop position, and then rotated in the opposite direction of the first rotation direction to a second stop position. The midpoint between the first stop position and the second stop position is set as the first zero point position of the multi-leaf collimator.

2. The change-making control method according to claim 1, characterized in that, When the multi-leaf collimator is at the first zero point position, the direction of movement of the blades of the multi-leaf collimator coincides with the direction of rotation tangent of the rotating seat; And / or, the zero-finding control method further includes setting the midpoint of the calibration position as the second zero-point position of the device body.

3. A treatment device, characterized in that, include: Mounting components are used for fixed connection with the rotating base; The device body is movably connected to the mounting assembly and can move relative to the mounting assembly. The device body is provided with at least two trigger elements. as well as A first position detection component includes a calibration sensor, a first sensor, and a second sensor, wherein the calibration sensor, the first sensor, and the second sensor are fixedly spaced to the mounting component. When the calibration sensor is triggered in conjunction with at least one of the at least two triggers to generate a first detection signal, the device body is in the calibration position. And / or, when one of the first sensor and the second sensor triggers and generates a second detection signal in conjunction with the at least two triggers, and when the other of the first sensor and the second sensor triggers and generates a third detection signal in conjunction with the at least two triggers, the device body is in the calibration position.

4. The treatment device according to claim 3, characterized in that, The at least two triggers include a first trigger and a second trigger; When the calibration sensor triggers the first trigger to generate the first detection signal, the device body is in the calibration position; and / or, when the first sensor triggers the first trigger and one of the second trigger to generate the second detection signal, and the second sensor triggers the first trigger and one of the second trigger to generate the third detection signal, the device body is in the calibration position.

5. The treatment device according to claim 4, characterized in that, When the first sensor triggers and cooperates with one of the first trigger and the second trigger to generate the second detection signal, while neither the calibration sensor nor the second sensor generates a detection signal, the device body is in a first position that is spaced apart from the calibration position. When the second sensor triggers and cooperates with one of the first trigger and the second trigger to generate the third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in a second position that is spaced apart from the first position. The calibration position is located between the first position and the second position.

6. The treatment device according to claim 5, characterized in that, The first position detection component further includes a first limit sensor; when the first limit sensor triggers and generates a fourth detection signal in conjunction with one of the first trigger and the second trigger, while the calibration sensor does not generate a detection signal, the device body is in a first extreme position spaced apart from the first position; wherein, the first position is located between the calibration position and the first extreme position; And / or, the first position detection component further includes a second limit sensor; when the second limit sensor triggers and cooperates with one of the first trigger and the second trigger to generate a fifth detection signal, while the calibration sensor does not generate a detection signal, the device body is in a second extreme position spaced apart from the second position; wherein, the second position is located between the calibration position and the second extreme position.

7. The treatment device according to claim 6, characterized in that, The device body is rotatably connected to the mounting assembly. The calibration sensor and the first sensor are spaced apart along the first swing trajectory. The first limit sensor, the second sensor, and the second limit sensor are sequentially spaced apart along the second swing trajectory. The first swing trajectory and the second swing trajectory are spaced apart. The first trigger includes a first trigger body that rotates along the first swing trajectory, and the second trigger includes a second trigger body that rotates along the second swing trajectory; When the calibration sensor and the first trigger body trigger together to generate the first detection signal, the device body is in the calibration position; and / or, when the first sensor and the first trigger body trigger together to generate the second detection signal and the second sensor and the second trigger body trigger together to generate the third detection signal, the device body is in the calibration position. When the first sensor and the first trigger body trigger to generate the second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position; When the second sensor and the second trigger body trigger to generate the third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position; When the first limit sensor and the second trigger body trigger to generate the fourth detection signal, and the calibration sensors do not generate any detection signal, the device body is in the first limit position; When the second limit sensor and the second trigger body trigger to generate the fifth detection signal, and the calibration sensors do not generate any detection signal, the device body is in the second limit position.

8. The treatment device according to claim 7, characterized in that, The first trigger body includes a first trigger part and a second trigger part that are spaced apart along the first swing trajectory; the second trigger body includes a third trigger part and a fourth trigger part that are spaced apart along the second swing trajectory. When the calibration sensor and the first trigger unit trigger together to generate the first detection signal, the device body is in the calibration position; and / or, when the first sensor and the second trigger unit trigger together to generate the second detection signal and the second sensor and the third trigger unit trigger together to generate the third detection signal, the device body is in the calibration position; When the first sensor and the second trigger unit trigger to generate the second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position; When the second sensor and the third trigger unit trigger to generate the third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position; When the first limit sensor and the third trigger unit trigger to generate the fourth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the first limit position; When the second limit sensor and the fourth trigger unit trigger to generate the fifth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the second limit position.

9. The treatment device according to claim 6, characterized in that, The device body is slidably connected to the mounting assembly. The first limit sensor, the calibration sensor, and the second limit sensor are sequentially spaced along a first straight line trajectory. The first sensor and the second sensor are spaced along a second straight line trajectory. The first straight line trajectory and the second straight line trajectory are spaced apart. The first trigger includes a first trigger body that rotates along the first straight line trajectory, and the second trigger includes a second trigger body that rotates along the second straight line trajectory; When the calibration sensor and the first trigger body trigger together to generate the first detection signal, the device body is in the calibration position; and / or, when the first sensor and the second trigger body trigger together to generate the second detection signal and the second sensor and the second trigger body trigger together to generate the third detection signal, the device body is in the calibration position. When the first sensor and the second trigger body trigger to generate the second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position; When the second sensor and the second trigger body trigger to generate the third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position; When the first limit sensor and the first trigger body trigger to generate the fourth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the first extreme position; When the second limit sensor and the first trigger body trigger to generate the fifth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the second limit position.

10. The treatment device according to claim 9, characterized in that, The first trigger body includes a trigger protrusion, and the second trigger body includes a trigger plate; When the calibration sensor engages with the trigger protrusion to generate the first detection signal, the device body is in the calibration position; and / or, when the first sensor engages with the trigger plate to generate the second detection signal and the second sensor engages with the trigger plate to generate the third detection signal, the device body is in the calibration position. When the first sensor and the trigger plate trigger together to generate the second detection signal, and neither the calibration sensor nor the second sensor generates a detection signal, the device body is in the first position; When the second sensor and the trigger plate trigger together to generate the third detection signal, while neither the calibration sensor nor the first sensor generates a detection signal, the device body is in the second position; When the first limit sensor cooperates with the trigger protrusion to generate the fourth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the first extreme position. When the second limit sensor cooperates with the trigger protrusion to generate the fifth detection signal, and the calibration sensor does not generate a detection signal, the device body is in the second limit position.

11. The treatment device according to any one of claims 3 to 10, characterized in that, The treatment device further includes a first driver disposed between the mounting component and the device body, the first driver being used to drive the device body to move relative to the mounting component; And / or, the device body includes a support component movably connected to the mounting component, a treatment head fixed on the support component, and a multi-leaf collimator mounted on the support component, the treatment head being used to emit rays, and the first position detection component being used to detect the position of the support component relative to the mounting component; The treatment head is in the calibration position when the calibration sensor is triggered to generate a first detection signal with at least one of the at least two triggers; and / or, the treatment head is in the calibration position when one of the first sensor and the second sensor is triggered to generate a second detection signal with the at least two triggers and the other of the first sensor and the second sensor is triggered to generate a third detection signal with the at least two triggers.

12. The treatment device according to claim 11, characterized in that, The multi-leaf collimator is rotatably mounted on the support assembly. The multi-leaf collimator is also provided with at least two trigger elements. The treatment device also includes a second position detection assembly, which includes a calibration sensor, a first sensor, and a second sensor. The calibration sensor, the first sensor, and the second sensor are fixed to the support assembly at intervals and are used to detect the position of the multi-leaf collimator relative to the support assembly. When the calibration sensor of the second position detection component triggers at least one of the at least two triggers on the multi-leaf collimator to generate a first detection signal, the multi-leaf collimator is at a first zero position; and / or, when the first sensor and one of the second sensors of the second position detection component trigger at least two triggers on the multi-leaf collimator to generate a second detection signal, and the other of the first sensor and the second sensor triggers at least two triggers to generate a third detection signal, the multi-leaf collimator is at a first zero position.

13. A treatment device, characterized in that, The device includes a frame assembly and the treatment apparatus according to any one of claims 1 to 12, wherein the frame assembly includes a connecting seat and a rotating seat rotatably connected to the connecting seat, and the mounting assembly is fixedly connected to the rotating seat.

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