Image-guided radiotherapy device

Abstract

The utility model relates to an image-guided radiotherapy device. According to one specific embodiment, the radiation therapy device comprises a therapy unit which comprises a therapy head used for generating radiation therapy rays; the imaging unit is used for imaging a target region of a patient, and the imaging unit and the treatment head are integrally installed; and the planning unit is connected with the treatment unit and the imaging unit through cables. The radiotherapy device can be suitable for in-vitro radiotherapy and intraoperative radiotherapy, and has high radiotherapy precision.

Description

Technical Field

[0001] The utility model generally relates to the field of radiotherapy equipment, and in particular, to a radiotherapy device. Background Art

[0002] Radiotherapy is one of the important means of tumor treatment at present, and it occupies an important position in the field of tumor treatment. According to the patient's exposure status, radiotherapy can be divided into external radiotherapy and intraoperative radiotherapy. During external radiotherapy, the patient is awake, and the radiation passes through the skin and normal tissue to reach the tumor area, killing tumor cells while causing certain damage to normal tissues or organs. During intraoperative radiotherapy, the patient is anesthetized, and after the tumor is surgically removed, the radiation directly irradiates the fully exposed tumor bed or residual lesion area, with little collateral damage to normal tissues or organs.

[0003] External radiotherapy mostly uses a C-arm linear accelerator, which rotates around the patient through a rotating frame to achieve radiation exposure. Early intraoperative radiotherapy was also based on the C-arm linear accelerator, and the patient needed to be transferred from the operating room to the accelerator room, which posed a greater risk of infection.

[0004] Existing radiotherapy devices cannot take into account both external radiotherapy and intraoperative radiotherapy, and have poor versatility. For example, existing external radiotherapy devices cannot be moved, require a dedicated shielded machine room, and are not suitable for intraoperative radiotherapy. Existing intraoperative radiotherapy devices have complex structures and are inconvenient to operate, and have no image guidance and planning system support, making it impossible to achieve high-precision radiotherapy. Utility Model Content

[0005] In order to solve the above-mentioned defects existing in the prior art, the utility model patent proposes an image-guided radiotherapy device and control method, which takes into account both intraoperative radiotherapy and conventional external radiotherapy, and obtains image information of the treatment area through an optical imaging system to complete simulated positioning, which can meet the high-precision operation requirements for intraoperative radiotherapy and external radiotherapy.

[0006] According to one aspect of the utility model, an image-guided radiotherapy device is provided, characterized in that the radiotherapy device comprises: a treatment unit, which includes a treatment head, and the treatment head is used to generate radiation for radiotherapy; an imaging unit, which is used to image a patient's target area, and the imaging unit is integrally installed with the treatment head; and a planning unit, which is connected to the treatment unit and the imaging unit via a cable.

[0007] In some embodiments, the treatment unit further includes: a chassis; a fixed frame fixedly connected to the chassis; a moving assembly mounted on the fixed frame, and the treatment head mounted on the moving assembly; a beam stop assembly movably arranged on the chassis; and an applicator assembly coaxially arranged below the treatment head.

[0008] In some embodiments, the treatment head includes a beam module and a display screen for displaying an image of the target area and / or beam parameters of the beam module.

[0009] In some embodiments, the treatment head is configured to control the movement component to move via a force control handle.

[0010] In some embodiments, the chassis includes a base, a first support leg and a second support leg, wherein the first support leg and the second support leg are fixedly connected to both sides of the base, the first support leg, the second support leg and / or the base are provided with mounting holes for installing anchor bolts and / or mounting interfaces for installing rollers and carts, and the beam blocking assembly includes a translational motion platform and a beam blocker, the translational motion platform is slidably disposed on the first support leg and the second support leg, the beam blocker is movably disposed on the translational motion platform relative to the support legs, and the beam blocker is a heavy metal block which is thick in the middle and thin at the edges.

[0011] In some embodiments, the applicator assembly includes an adapter and an applicator, wherein the applicator is coaxially arranged with the adapter below the treatment head.

[0012] In some embodiments, the imaging unit includes a camera and a light source, the camera is used to collect image information of the target area, and the light source is installed below the treatment head.

[0013] In some embodiments, the camera includes two cameras symmetrically mounted on both sides of the treatment head.

[0014] In some embodiments, the imaging unit further includes an image acquisition control module, which is configured to adjust imaging parameters and perform segmentation processing on the generated image.

[0015] According to another aspect of the utility model, a control method for a radiotherapy device is provided, and the control method is used to control the radiotherapy device described above, and the method may include the following steps: positioning the radiotherapy device so that the center point of the treatment area coincides with the virtual isocenter of the radiotherapy device; using an imaging unit to acquire an optical image of the treatment area; using a planning unit to generate an anatomical structure contour of the target area based on the optical image; and the planning unit determines the size parameters and / or motion parameters of the treatment unit based on the anatomical structure contour, and sends the motion parameters to the treatment unit for execution.

[0016] In some embodiments, acquiring the optical image of the treatment area includes pushing the treatment unit near the patient so that the center point of the treatment area coincides with the virtual isocenter, and then acquiring the optical surface image of the treatment area according to the instruction.

[0017] In some embodiments, the virtual isocenter can be set at any position in a spatial region and determined by one or more reference points in the spatial region, wherein the reference points can be fixed relative to the fixed gantry position and located in the left-right symmetry plane of the treatment unit.

[0018] In some embodiments, the camera in the imaging unit can move around the virtual isocenter driven by the multi-degree-of-freedom motion unit to align with the treatment area, and collect optical surface image information of the treatment area according to the instructions of the image acquisition control module. The optical surface image may include visible light images and / or fluorescence images, and image segmentation is performed to determine the contour of the treatment area.

[0019] In some embodiments, the planning unit may identify contour image information of the treatment area and generate the anatomical structure contour of the target area. Alternatively, the contour may be manually drawn by a doctor based on an optical surface image of the treatment area.

[0020] In some embodiments, the planning unit may further register the optical surface image of the treatment area with images of other modalities to obtain a fused image.

[0021] In some embodiments, when the radiotherapy apparatus is used for fixed-angle irradiation, the size / motion parameters of the treatment unit may include parameters such as the type or size of the applicator, the placement angle, the virtual isocenter coordinates, and the translation distance of the beam blocker.

[0022] In some embodiments, when the radiotherapy device is used for scanning irradiation, the size / motion parameters of the treatment unit may include parameters such as the size of the light-limiting tube, the initial placement angle, the virtual isocenter coordinates, the scanning range, and the scanning path.

[0023] The utility model provides a radiotherapy device and a control method, which can be used for both external radiotherapy and intraoperative radiotherapy, and has strong versatility. By integrating an optical imaging unit and a planning unit, high-precision radiotherapy is achieved, and the rays emitted by a treatment head can be accurately irradiated on a pre-identified target area. In addition, more complex scanning irradiation can be achieved through multi-degree-of-freedom movement, which can avoid damage to endangered organs and improve the radiotherapy effect.

[0024] Certain aspects, advantages and novel features of the present invention have been described above for the purpose of summarizing the present application. It should be understood that, according to any particular embodiment of the present invention, not all of these advantages must be achieved. Therefore, the present invention can be implemented or implemented in a manner that achieves or optimizes one advantage or a group of advantages taught herein without having to achieve other advantages taught or illustrated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Various aspects of at least one example are discussed below with reference to the accompanying drawings, which are not intended to be drawn to scale. The drawings are included to provide illustration and further understanding of the various aspects and examples, and are incorporated into and constitute a part of this specification, but are not intended as a definition of limitations of the present application. In the drawings, each identical or nearly identical component shown in various figures is represented by the same number. For clarity, not every component is labeled in every figure. In the drawings:

[0026] Figure 1 It is a structural schematic diagram of a radiotherapy device according to an embodiment of the utility model;

[0027] Figure 2 is a structural schematic diagram of an optical imaging unit according to an embodiment of the utility model;

[0028] Figure 3 The figure is a flow chart of a control method of a radiotherapy device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, and the present invention is not limited to the precise forms of these exemplary embodiments.

[0030] Figure 1 FIG. 2 shows a schematic diagram of the structure of a radiotherapy device according to an embodiment of the present utility model. Figure 1 As shown, the radiotherapy device of the embodiment of the utility model may include: a treatment unit 100, an imaging unit 200 and a planning unit 300. The treatment unit 100 and the imaging unit 200 are installed as one body, and the treatment unit 100 and the imaging unit 200 can be connected to the planning unit 300 through a connecting line 400 such as a cable or an optical fiber to realize two-way transmission of data such as images and treatment plans.

[0031] The treatment unit 100 may include a treatment component for implementing radiotherapy, which may include, for example, a treatment head 110 for generating radiation for radiotherapy, and the imaging unit 200 may include an imaging component for imaging a target area of ​​a patient. Figure 1 As shown, the imaging unit and the treatment head can be installed in a housing as a whole, and the positions of the two can be relatively fixed. During radiotherapy, the imaging unit can be used to capture images of the irradiated part and determine the target area, and the radiation emitted by the treatment head can be accurately irradiated on the target area, thereby realizing image-guided radiotherapy and improving the accuracy of radiotherapy.

[0032] In one embodiment of the present invention, the treatment unit may further include a multi-degree-of-freedom motion assembly 120, a fixed frame 130, a chassis 140, a beam blocking assembly 150 and an illuminator assembly 160. The treatment head 110 is mounted on the multi-degree-of-freedom motion assembly 120, and the multi-degree-of-freedom motion assembly 120 can drive the treatment head and the imaging unit 200 to move, and can be mounted on the fixed frame 130. The fixed frame 130 is fixedly arranged on the chassis 140, and can be fixedly connected to the chassis 140. The beam blocking assembly 150 is movably arranged on the chassis 140, and can be used to shield a part of the radiation emitted by the treatment head during radiotherapy, thereby avoiding beam leakage, so that the radiotherapy device of the present invention can be flexibly applied to various scenarios. The illuminator assembly 160 is detachably mounted below the treatment head 110 and the imaging unit 200. For example, the illuminator assembly 160 can be coaxially arranged below the treatment head 110, so as to guide the radiation emitted by the treatment head to the patient's target area in a certain shape.

[0033] In one embodiment, the fixed frame 130 has a hollow structure, and some accessories of the treatment unit 100 and the imaging unit 200 can be arranged therein, for example, some connecting components, solid-state modulators, motion controllers, water coolers, etc. can be installed in the frame to make the treatment device as a whole more compact and easy to operate. Figure 1 As shown, the fixed frame 130 is composed of three sections and is in an S-shape as a whole, that is, it is divided into a first section, a second section, and a third section from top to bottom, wherein the length of each section is less than the overall length of the fixed frame. In one embodiment, the motion assembly 120 is at least partially embedded in the fixed frame 130, for example, it is connected to the first section and the second section of the fixed frame 130, so that the overall length of the radiotherapy device can be shortened, thereby improving the applicability of the device.

[0034] Continue to refer to Figure 1The treatment head 110 may include a beam module 111 and a display screen 112 for displaying the image of the target area and / or the beam parameters of the beam module. The beam module 111 may generate a beam of rays, which may be an electron beam and / or an X-ray, and the beam energy may be adjusted to meet different radiation requirements. In a specific example, the beam of rays is an electron beam of 6-12 MeV. The display screen 112 may be data-connected to the imaging unit and the planning unit 300 to receive image data and beam parameters, and display these data so that doctors or relevant personnel can obtain relevant radiotherapy data online. The multi-degree-of-freedom motion assembly 120 may include a plurality of mechanical arms, which may be, for example, electric, pneumatic or hydraulically driven mechanical arms, and may realize a plurality of translational and rotational movements under manual or program control, so that the irradiator installed under the treatment head 110 may be aligned with the treatment site to implement fixed-angle irradiation or scanning irradiation. In one example, the multi-degree-of-freedom motion assembly 120 can be controlled by a force control handle, that is, the treatment head 110 can move by manipulating the multi-degree-of-freedom motion assembly 120 through the force control handle. For example, two force control handles 121 are installed on both sides of the treatment head 110 for easy operation, or the multi-degree-of-freedom motion assembly 120 is remotely controlled by a hand control box hung on one side of the frame 130.

[0035] The chassis 140 may include a base 141, a first support leg 142, and a second support leg 143, wherein the first support leg 142 and the second support leg 143 may be fixedly connected to both sides of the base 141, and the first support leg 142, the second support leg 143 and / or the base 141 are provided with mounting holes 144 for mounting anchor bolts and / or mounting interfaces for mounting rollers 145 and a trolley 146. The chassis 140 may be fixed to the ground by the anchor bolts, so that the radiotherapy device may be used to implement conventional external radiotherapy, or the rollers and the trolley may be pivotally mounted on the chassis 140, so that the radiotherapy device may be pushed to move between various surgical rooms for flexible use in implementing intraoperative radiotherapy. Figure 1 As described above, four rollers 145 may be provided, which are respectively installed under the first support leg 142 and the second support leg 143. The rollers 145 may be common universal wheels or Tottenham wheels. A trolley 146 may be provided on a side of the fixed frame 130 opposite to the multi-degree-of-freedom motion assembly 120. For example, the trolley 146 is fixedly connected to the base 141. The trolley may be configured to be manually or electrically actuated to achieve translation and steering of the radiotherapy device.

[0036] The beam blocking assembly 150 includes a translation platform 151 and a beam blocker 152. The translation platform 151 is slidably disposed on the first support leg 142 and the second support leg 143. The beam blocker 152 is disposed on the translation platform 151 and can perform three-dimensional movement orthogonally relative to the support legs 142 and 143. Figure 1As shown, the beam blocker 152 may be a circular metal block. In one example, the beam blocker 152 may be a heavy metal block (lead block, etc.) that is thick in the middle and thin at the edge to absorb excess radiation after passing through the patient. For example, the thickness of the beam blocker decreases from the center to the edge. In one example, the translational motion platform 151 of the beam blocker assembly 150 may have the degree of freedom of translational motion in the front-back and left-right directions through a slide rail mechanism, etc., or may have the degree of freedom of translational motion in the front-back, left-right, and up-down directions through a slide rail mechanism and a lifting mechanism to achieve a larger range of motion for the beam blocker 152, thereby better adapting to intraoperative radiotherapy. In one example, the translational motion platform 151 and the multi-degree-of-freedom motion assembly 120 may be controlled in a coordinated manner, that is, the treatment head 110 and the beam blocker 152 may move synchronously, so that the axis of the beam emitted by the treatment head 110 may be collinear with the center of the beam blocker 152 during the treatment process.

[0037] As mentioned above, the applicator assembly 160 can be disposed below the treatment head 110 to guide the beam emitted from the treatment head to the target area in a certain shape as required. Figure 2 , which shows the structural composition of the illuminator assembly. The illuminator assembly 160 may include a separate adapter 161 and an illuminator 162. The illuminator 162 and the adapter 161 may be coaxially arranged below the treatment head 110. For example, the adapter 161 is fixedly installed in the housing accommodating the treatment head 110, and the illuminator 162 may be installed on the adapter 161 by a fastening method such as a snap or a threaded connection. Figure 2 In the example of FIG. 1 , the adapter 161 is in the shape of a cylinder with a central through hole so as to facilitate installation and connection with the applicator 162. Figure 2 As shown, the illuminator can be selected according to different radiotherapy applications, such as cylindrical or square light-limiting tubes 162 of different sizes for fixed angle irradiation or scanning irradiation, or spherical spherical illuminators 163 and hemispherical spherical illuminators 164 for intraoperative radiotherapy requiring spherical or hemispherical dose distribution. Figure 2 As shown, the illuminator assembly may include a set of cylindrical or square light-limiting tubes, a set of spherical illuminators, and a set of hemispherical spherical illuminators. The spherical spherical illuminator 163 or the hemispherical spherical illuminator 164 may include a hollow shell with an opening, and a scattering foil (which may be made of high atomic number materials such as metal tungsten) may be provided at the opening to scatter the radiation beam from the treatment head 110 and form a uniform dose distribution outside the shell of the spherical illuminators 163 and 164. A connection structure such as a buckle may be provided at the shell opening of the spherical illuminator to connect with the light-limiting tube, and the two may also be designed as one body and installed under the treatment head 110 through an adapter.

[0038] Continue to refer to Figure 2, which also shows a schematic diagram of the structure of an optical imaging unit of an embodiment of the utility model, such as Figure 2 As shown, the imaging unit 200 may include a camera 210 and a light source 230 for collecting target area image information. The camera 210 may be installed in a housing accommodating the treatment head 110, and the light source 230 may be installed below the treatment head. Figure 2 As shown, the light source 230 can be installed below the camera 210 and arranged around the adapter 161. Two or more light sources 230 can be arranged around the axis of the treatment head, for example, two light sources 230 can be provided, and the optical axis of the light source is configured to be parallel to the optical axis of the camera 210 to assist in imaging the target area.

[0039] like Figure 2 As shown, the camera 210 may include two cameras 210, which are powered by a power source 220 and can be controlled for imaging by an image acquisition control module 240 of the imaging unit 200. The camera 210 may be a dual-spectrum camera, which can perform both visible light imaging and fluorescence imaging. The two cameras 210 may be symmetrically mounted on both sides of the treatment head 110 to form binocular vision, so as to better obtain image information of the treatment area, and the optical axes of the two cameras 210 intersect with the axis of the treatment head 110 at one point. The image acquisition control module 240 may be configured to adjust the imaging parameters and perform segmentation processing on the generated image, so as to outline the contour of the treatment target area. Alternatively, the camera 210 may also use a camera for visible light imaging or fluorescence imaging, which may be mounted on one side of the treatment head 110, and it may also realize the acquisition of image information of the treatment area.

[0040] return Figure 1 The radiotherapy device of the present invention may also include a planning unit 300, which is connected to the treatment unit and the imaging unit through a cable. The planning unit 300 may include a hardware system and a software system, wherein the hardware system includes components such as a computer 310, a display 320, a keyboard 330, and a mouse 340, and the software system includes but is not limited to a patient data transmission module, an image data processing module, a contour definition module, a plan design and dose calculation module, a plan evaluation module, and a system configuration module, etc. One or more modules are used for target area image processing and radiotherapy plan design. For example, after receiving the target area image acquired by the imaging unit 200, the image processing data module performs image recognition to generate an anatomical structure contour, and then the plan design module can determine the size and / or movement and other related parameters of each component (treatment unit, imaging unit) of the radiotherapy device based on the anatomical structure contour and other information. The functions of these modules will be described in more detail below in conjunction with the control method of the device.

[0041] According to the radiation irradiation device of the embodiment disclosed in the utility model, through the specific structural settings of the treatment unit, imaging unit, etc., it is possible to take into account both external radiotherapy and intraoperative radiotherapy, and through the flexible arrangement of the applicator component and the multi-degree-of-freedom motion component, the device can be applicable to radiotherapy in various scenarios and provide more complex scanning irradiation; in addition, through the integration of the optical imaging unit and the planning unit, high-precision radiotherapy is achieved, and the beam can be accurately irradiated on the target area pre-identified by the image, which can avoid damage to the endangered organs and improve the radiotherapy effect.

[0042] Figure 3 FIG. 1 is a flow chart of a control method for a radiotherapy device according to an embodiment of the present invention. Figure 3 As shown, the control method of the radiotherapy device may include the following step 410, positioning the radiotherapy device so that the center point of the treatment area coincides with the virtual isocenter of the radiotherapy device; step 420, using an imaging unit to acquire an optical image of the treatment area; step 430, using a planning unit to generate an anatomical structure contour of the target area based on the optical image; and step 440, the planning unit determines the size parameters and / or motion parameters of the treatment unit based on the anatomical structure contour, and the determined parameters may be combined with Figure 1-2 The motion parameters are related to the size or position of the illuminator or the light-limiting cylinder of the described radiotherapy device, so that the determined motion parameters can be sent to the treatment unit for execution, so as to control the radiotherapy operation of the radiotherapy device.

[0043] In step 410, for example, the radiotherapy device is first pushed to the vicinity of the patient lying on the treatment bed, at which time the treatment unit 100 is located above the patient, and the motion component is adjusted manually or electrically so that the center point of the (patient) treatment area coincides with the (treatment device) virtual isocenter. The position of the radiotherapy device is positioned based on the virtual isocenter so that the radiotherapy device can be moved as needed, thereby facilitating operations such as intraoperative radiotherapy. The virtual isocenter can be set to any position in a spatial area, for example, determined by one or more reference points in the spatial area, wherein the reference point can be fixed relative to the fixed frame 130 and is located in the left-right symmetric plane of the treatment unit. For example, the spatial area can be a cubic space, and the geometric center of the cubic space is the reference point.

[0044] In step 420, the optical imaging unit 200 may be used to obtain an optical surface image of the treatment target area. Since the imaging unit is installed integrally with the treatment unit, the camera 210 in the imaging unit may be driven by the multi-degree-of-freedom motion assembly 120 to move around the virtual isocenter to align with the treatment area, and collect optical surface image information of the treatment area, such as a visible light image or a fluorescent image, according to the instructions of the image acquisition control module 240, and perform image segmentation to determine the contour of the treatment area and thus determine the target area.

[0045] In step 430, the target area image information obtained in step 420 may be transmitted to the planning unit 300, and the contour definition module of the planning unit may identify the contour image information of the treatment area and generate the anatomical structure and contour of the target area. In different embodiments, various appropriate image processing algorithms and target recognition algorithms may be used to analyze and identify the color, geometry and other image information of the treatment area. Alternatively, it may also be manually outlined by a doctor based on the optical surface image of the treatment area.

[0046] In one embodiment, the image data processing module of the planning unit 300 can also align the optical surface image of the treatment area with the modality image of the treatment site (for example, EPID, CBCT, MRI, etc.) to obtain a fused image, so as to better determine the planning information to protect the endangered organs.

[0047] In step 440 , the planning unit 300 may determine parameters such as the size and movement of the treatment unit 110 based on the anatomical structure contour or the fused image determined in step 430 .

[0048] For example, when the radiotherapy device is applied to fixed-angle irradiation, the planning design module of the planning unit 300 can determine the size / motion parameters of the treatment unit based on the shape, position and size of the anatomical structure contour or the fused image, which may include parameters such as the type or size of the illuminator, the placement angle, the virtual isocenter coordinates, the blocking range or translation distance of the beam blocker. In some embodiments, when the radiotherapy device is applied to scanning irradiation, the size / motion parameters of the treatment unit may include parameters such as the size of the illuminator, the initial placement angle, the virtual isocenter coordinates, the scanning range, the scanning path, etc. The determined size parameters may be displayed on the display 320 of the planning unit, for example, and the determined motion parameters may be sent to the control device of the radiotherapy device for the treatment unit 110 to perform corresponding motion operations.

[0049] It is understandable that after determining the size and motion parameters of the treatment unit 110, the operator can select the corresponding illuminator and coaxially install it under the treatment head 110. Afterwards, the operator can use the force control handle 121 to guide the movement of the treatment head so that the center point of the end of the illuminator coincides with the virtual isocenter, so that the radiation beam can pass through the illuminator and aim at the tumor bed. During the radiotherapy process, the control device of the radiotherapy device can drive the treatment head to move according to the determined motion parameters to implement fixed-angle irradiation or scanning irradiation. During the implementation of radiotherapy, the optical imaging unit 200 can display the obtained tumor bed image in real time on the display 320 of the planning unit 300 and / or the display screen 112 of the treatment head to monitor the state of the tumor bed.

[0050] The principles of the present invention have been described above with reference to specific embodiments. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, but many modifications and changes in details and forms may be made without departing from the idea and scope of the present invention, such as certain variations, modifications, changes, additions and sub-combinations of the disclosed embodiments. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An image-guided radiotherapy device, characterized in that: The radiotherapy device comprises: A treatment unit, comprising a treatment head, wherein the treatment head is used to generate radiation for radiotherapy; An imaging unit, which is used to image a target area of ​​a patient, wherein the imaging unit and the treatment head are integrally mounted in a housing; and A planning unit is connected to the treatment unit and the imaging unit via cables.

2. The radiotherapy apparatus according to claim 1, wherein: The treatment unit further comprises: Chassis; A fixed frame, which is fixedly connected to the chassis; A moving assembly, which is mounted on the fixed frame and at least partially embedded in the fixed frame, and the treatment head is mounted on the moving assembly; a restraint assembly movably disposed on the chassis; and An applicator assembly is coaxially disposed below the treatment head.

3. The radiotherapy apparatus according to claim 1 or 2, wherein: The treatment head includes a beam module and a display screen for displaying an image of the target area and / or beam parameters of the beam module.

4. The radiotherapy apparatus according to claim 2, wherein: The treatment head is configured to control the movement component to move through a force control handle.

5. The radiotherapy apparatus according to claim 2, wherein: The chassis includes a base, a first supporting leg and a second supporting leg, wherein the first supporting leg and the second supporting leg are fixedly connected on both sides of the base, and the first supporting leg, the second supporting leg and / or the base are provided with mounting holes for installing anchor bolts and / or mounting interfaces for installing rollers and carts, and wherein the beam blocking assembly includes a translational motion platform and a beam blocker, the translational motion platform is slidably arranged on the first supporting leg and the second supporting leg, the beam blocker is movably arranged on the translational motion platform relative to the supporting legs, and the beam blocker is a heavy metal block which is thick in the middle and thin at the edges.

6. The radiotherapy apparatus according to claim 2, wherein: The applicator assembly comprises an adapter and an applicator, wherein the applicator and the adapter are coaxially arranged below the treatment head.

7. The radiotherapy apparatus according to claim 1, wherein: The imaging unit comprises a camera and a light source. The camera is installed in the housing and is used to collect image information of the target area. The light source is installed below the treatment head.

8. The radiotherapy apparatus according to claim 7, wherein: The camera comprises two cameras symmetrically installed on both sides of the treatment head.

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