Light limiting cylinder, docking system and radiotherapy equipment

Abstract

The utility model provides a light limiting cylinder, a docking system and radiotherapy equipment, and according to the embodiment of the utility model, the light limiting cylinder comprises a light limiting cylinder main body which is provided with a beam limiting hole; the mounting plate comprises a first connecting part, and the first connecting part is arranged on the light limiting cylinder main body in a sleeving manner; a marking component group is fixedly arranged on the second connecting part; the third connecting part is located between the first connecting part and the second connecting part, and the two ends of the third connecting part are connected with the first connecting part and the second connecting part respectively; wherein the marking component group comprises at least three marking components, and the at least three marking components are non-collinear and are arranged at intervals. The light limiting cylinder solves the technical problem that in the prior art, the size of a light limiting cylinder is large.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to a light-limiting tube, a docking system and radiotherapy equipment. Background Art

[0002] Radiotherapy refers to local treatment through radiation to eliminate and cure the primary and metastatic lesions of local tumors. Radiotherapy, together with surgery and chemotherapy, constitute the three basic treatment methods for tumors. However, radiotherapy has the advantages of a wide range of applications, good efficacy, simple process, few side effects, and low requirements on the patient's own conditions. About 2 / 3 of patients need radiotherapy during the treatment of cancer, which has become one of the main means of treatment.

[0003] In radiotherapy, due to the radiation hazards of the radiation itself to normal tissues or the environment, in actual clinical operations, the existing radiotherapy equipment cannot be adjusted in place at one time due to the limited adjustment range and manual adjustment. Some need to be adjusted multiple times, which takes a long time and prolongs the entire operation time. This process is inconvenient to operate, greatly affecting the efficiency of treatment and increasing the probability of infection in patients. Most of the equipment under this alignment method has an alignment process of more than 20 minutes, which is a very bad experience for doctors who are originally tired from long-term surgery, and also affects the treatment time of patients. Therefore, an alignment system for automatic beam alignment is proposed. At present, in the final precise alignment stage of radiotherapy equipment, visual guidance is mostly used.

[0004] However, this method may cause the problem of field obstruction when used on some radiotherapy equipment. Due to the limitation of the installation position of the optical measurement sensor, the beam tube and other treatment head components are blocked in its field of view, and there is a possibility that the target ball on the light-limiting tube cannot be effectively identified. Especially for small-sized light-limiting tubes, the entire light-limiting tube may be blocked, and the position and posture of the light-limiting tube cannot be determined at all, and the automatic alignment of the beam and the light-limiting tube cannot be achieved. In order to be able to identify the marker ball, the installation plate area is designed to be larger, and then the marker ball is arranged at the edge of the installation plate, which will cause the volume of the entire light-limiting tube to become larger and larger, making the storage and installation of the light-limiting tube inconvenient.

[0005] Therefore, the prior art needs to be further developed. Utility Model Content

[0006] The purpose of the utility model is to overcome the above technical deficiencies and provide a light-limiting tube, a docking system and radiotherapy equipment to solve the technical problem of the large volume of the light-limiting tube in the related art.

[0007] In order to achieve the above technical objectives, the utility model adopts the following technical solutions: a light-limiting tube is provided, comprising: a light-limiting tube main body, the light-limiting tube main body is provided with a limited beam hole; a mounting plate, the mounting plate comprises: a first connecting part, the first connecting part is sleeved on the light-limiting tube main body; a second connecting part, a marking component group is fixedly arranged on the second connecting part; a third connecting part, the third connecting part is located between the first connecting part and the second connecting part, and the two ends of the third connecting part are respectively connected to the first connecting part and the second connecting part; wherein the marking component group comprises at least three marking components, and the at least three marking components are non-collinear and spaced apart from each other.

[0008] Furthermore, the at least three marking components include a first marking component, a second marking component and a third marking component. The first marking component and the second marking component are located on a side of the second connecting portion close to the light limiting tube body, and the third marking component is located on a side of the second connecting portion away from the light limiting tube body.

[0009] Furthermore, the mounting plate is a long strip-shaped plate.

[0010] Further, the marking component group includes a marking symbol, and the marking symbol is arranged on the mounting plate.

[0011] Furthermore, the mounting plate comprises a connecting hole, a first internal thread is arranged in the connecting hole, a first external thread is opened on the outer wall of the light-limiting tube body, and the mounting plate is threadedly connected to the light-limiting tube body.

[0012] Further, the light-limiting cylinder comprises an adjusting cylinder, the adjusting cylinder comprises a beam-emitting hole connected to the beam-limiting hole, one end of the adjusting cylinder is connected to the light-limiting cylinder body, and the other end of the adjusting cylinder is used for beam emission.

[0013] Furthermore, the beam outlet hole is provided with a second internal thread, and one end of the light-limiting tube body close to the adjusting tube is provided with a second external thread, and the adjusting tube is threadedly connected to the light-limiting tube body.

[0014] A docking system includes a light-limiting cylinder, which is the light-limiting cylinder mentioned above and is used to align the patient's lesion; the docking system also includes: a treatment device, which is used to release treatment rays to the beam-limiting hole; a docking device, which includes a measuring module and a control module, the measuring module is used to emit a marking signal to the light-limiting cylinder and the marking information fed back by the measuring marking component group, and the control module is respectively connected to the measuring module and the treatment device signals.

[0015] A radiotherapy device comprises a docking system, wherein the docking system is the above-mentioned docking system.

[0016] Beneficial effects:

[0017] 1. The light-limiting tube in this embodiment has the third connecting portion arranged on a side of the mounting plate away from the main body of the light-limiting tube, and the marking component group arranged on one side of the mounting plate. The light-limiting tube is designed to be an off-axis light-limiting tube structure, thereby reducing the design area of ​​the mounting plate. At the same time, the marking component group can be used to accurately track and measure the six-dimensional position and posture of the light-limiting tube, thereby solving the technical problem of the large volume of the light-limiting tube in related technologies.

[0018] 2. By providing an adjustment tube, the adjustment tube is detachably connected to the main body of the light-limiting tube, which facilitates replacement of the adjustment tube and adjustment of the adjustment tube to align with tumors in different positions and directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the light-limiting cylinder used in the embodiment of the utility model;

[0020] Figure 2 It is a side view of the light-limiting cylinder used in the embodiment of the utility model;

[0021] Figure 3 It is a bottom view of the light-limiting cylinder used in the embodiment of the utility model;

[0022] Figure 4 It is a top view of the light-limiting cylinder used in the embodiment of the utility model;

[0023] Figure 5 It is a structural schematic diagram of the radiotherapy equipment used in the embodiment of the utility model.

[0024] The above drawings include the following reference numerals:

[0025] 10. Treatment device; 20. Optical measurement sensor; 1. Light-limiting tube body; 11. Beam-limiting hole; 12. Second external thread; 2. Mounting plate; 21. First connection part; 22. Second connection part; 23. Third connection part; 3. Marking component group; 31. Marking component; 311. First marking component; 312. Second marking component; 313. Third marking component; 32. Marking symbol; 4. Adjustment tube; 41. Beam-exit hole; 42. Adjustment surface. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] According to an embodiment of the utility model, a light limiting tube is provided. Figures 1 to 5 , including: a light-limiting tube main body 1, the light-limiting tube main body 1 is provided with a limited beam hole 11; a mounting plate 2, the mounting plate 2 includes: a first connecting part 21, the first connecting part 21 is sleeved on the light-limiting tube main body 1; a second connecting part 22, a marking component group 3 is fixedly arranged on the second connecting part 22; a third connecting part 23, the third connecting part 23 is located between the first connecting part 21 and the second connecting part 22, and the two ends of the third connecting part 23 are respectively connected to the first connecting part 21 and the second connecting part 22; wherein, the marking component group 3 includes at least three marking components 31, and the at least three marking components 31 are non-collinear and spaced apart from each other.

[0028] Through the above-mentioned arrangement, the second connecting portion 22 is arranged on the side of the mounting plate 2 away from the light-limiting tube main body 1, so that the marking component group 3 is arranged on one side of the mounting plate 2, and the light-limiting tube is designed to be an off-axis light-limiting tube structure, thereby reducing the design area of ​​the mounting plate 2. At the same time, the marking component group 3 can be used to accurately track and measure the six-dimensional posture of the light-limiting tube, thereby solving the technical problem of the large volume of the light-limiting tube in the related technology.

[0029] Specifically, the marking component group 3 is arranged at a place far away from the light-limiting tube body 1 to ensure that the marking component group 3 is not blocked by the beam-exiting tube.

[0030] In the light-limiting tube of this embodiment, see Figure 1 The mounting plate 2 is a long strip-shaped plate, such as a runway-shaped plate.

[0031] In other embodiments of the light-limiting tube, the mounting plate 2 may be elliptical or in other shapes, as long as the marking component group 3 is located on a side of the mounting plate 2 away from the light-limiting tube body 1 .

[0032] In the light-limiting tube of this embodiment, see Figure 1 At least three marking components 31 include a first marking component 311, a second marking component 312 and a third marking component 313. The first marking component 311 and the second marking component 312 are located on a side of the second connecting portion 22 close to the light limiting tube body 1, and the third marking component 313 is located on a side of the second connecting portion 22 away from the light limiting tube body 1.

[0033] Specifically, the marking component 31 includes a medical optical marking ball for auxiliary positioning and a base for fixing the marking ball. The surface of the ball has a special reflective coating that can efficiently reflect near-infrared light and other light. The inside of the marking ball adopts a snap-on design, which is used in conjunction with the marking ball base for easy installation and disassembly. The medical marking ball base is used to fix the medical optical marking ball on the mounting plate 2. The marking ball base is made of stainless steel, with one end being a snap and the other end being a thread, and the threaded end is connected to the mounting plate 2.

[0034] Specifically, the mounting plate 2 is made of a non-reflective material to avoid interfering with the tracking and positioning of the marking component 31 by the optical measurement sensor as much as possible.

[0035] In some embodiments, the surface of the mounting board 2 is subjected to a matte finish.

[0036] In the light-limiting tube of this embodiment, see Figure 4 , the marking component group 3 includes a marking symbol 32, and the marking symbol 32 is set on the mounting plate 2. Specifically, in order for the measuring module to efficiently identify the light limiting tube model, it is necessary to engrave a marking symbol 32 representing the light limiting tube model above the light limiting tube, such as numbers, letters, etc., and the marking symbol 32 is located on the side of the mounting plate away from the light limiting tube body 1. The edges of the marking symbol 32 should be clearly visible and easy to split.

[0037] For example, in this embodiment, the marking symbol 32 "D5" engraved on the mounting plate 2 indicates that the inner diameter of the light limiting tube body 1 is 50 mm. Of course, the field of the marking symbol can also be expanded to add other information of the light limiting tube, such as material information.

[0038] Specifically, the setting of the marking component 31 needs to meet the following conditions:

[0039] ① The layout of the marking components 31 needs to ensure that during the entire visual guidance process, the optical measurement sensor in the measurement module can always scan more than three marking components 31, so as to avoid the situation in the prior art where the light-limiting tube marking ball is blocked. That is, there are always more than three marking components 31 in the non-blocking area, so the marking component group 3 and the light-limiting tube body 1 are respectively arranged at both ends of the mounting plate 2.

[0040] ② The total number of marking components 31 is not less than 3, and the marking components 31 shall not all be arranged in a straight line, so that the position and posture of the light-limiting tube can be determined by at least three marking components 31.

[0041] Preferably, the marking components 31 in this embodiment include three to prevent the size of the mounting plate 2 from being too large.

[0042] ③ The marking symbol 32 printed on the mounting plate 2 needs to ensure that the optical measurement sensor can scan it at any angle, and the digital color needs to be different from the mounting plate 2 and the marking component 31 to improve the accuracy and speed of recognition.

[0043] See also Figure 4 , wherein the center of the light-limiting tube body 1 is located on the midline of the line connecting the first marking component 311 and the second marking component 312 , and is away from the third marking component 313 .

[0044] Preferably, during the beam alignment process, according to the above-mentioned layout, the treatment device 10 can plan the trajectory in an adjustment manner on the midline of the line connecting the first marking component 311 and the second marking component 312 and away from one end of the third marking component 313.

[0045] In some embodiments, the marking component 31 may also adopt other layout methods. As long as there are at least three marking components 31 and all the marking components 31 are not in a straight line, the recognition condition of the marking component 31 can be met, and then the position of the beam limiting hole is determined according to the positional relationship between the beam limiting hole and the marking component 31.

[0046] At the same time, when in use, in order to prevent the entire treatment device 10 and the robotic arm on which the treatment device 10 is installed from having awkward bending postures or obstructions during the recognition process, the end of the light-limiting tube on which the marking component group 3 is installed is oriented toward the direction away from the treatment head, that is, the corresponding side on which the optical measurement sensor in the measuring module is installed. In this way, during recognition, the optical measurement sensor on the treatment device 10 will always recognize the marking component group 3, and when the treatment device 10 is aligned with the beam-limiting hole 11 of the light-limiting tube body 1, the movement trajectory of the entire robotic arm is the simplest, and there is no obstruction.

[0047] In the light-limiting tube of this embodiment, see Figure 1 The mounting plate 2 includes a connection hole, a first internal thread is provided in the connection hole, a first external thread is provided on the outer wall of the light limiting tube body 1, and the mounting plate 2 is threadedly connected to the light limiting tube body 1. Through the above arrangement, the mounting plate 2 is detachably connected to the light limiting tube body 1.

[0048] In the light-limiting tube of this embodiment, see Figure 3 The light-limiting tube includes an adjusting tube 4, which includes a beam-emitting hole 41 connected to the beam-limiting hole 11. One end of the adjusting tube 4 is connected to the light-limiting tube body 1, and the other end of the adjusting tube 4 is used for beam emission.

[0049] In the light-limiting tube of this embodiment, see Figure 2 An adjustment surface 42 is provided at one end of the adjustment tube 4 where the light is emitted, and a certain angle a is provided between the adjustment surface 42 and the extension direction of the light-limiting tube body 1 , wherein 0°≤a<45°.

[0050] Specifically, during the treatment process, the irradiated position of the tumor may not be a plane, but may be an oblique spatial plane or curved surface. In this case, the adjustment surface 42 needs to be designed with an oblique cutting angle ranging from 0° to 45° to match the spatial posture of the tumor through the oblique cutting angle.

[0051] In the light-limiting tube of this embodiment, see Figure 1The beam outlet 41 is provided with a second internal thread, and one end of the light-limiting tube body 1 close to the adjustment tube 4 is provided with a second external thread 12, and the adjustment tube 4 is threadedly connected to the light-limiting tube body 1. Through the above arrangement, the adjustment tube 4 is detachably connected to the light-limiting tube body 1, which is convenient for selecting and replacing the adjustment tube 4 with different bevel angles, and for adjusting the adjustment tube 4 to align with tumors in different positions and directions.

[0052] In addition, because the adjustment tube 4 of the traditional light-limiting tube is directly processed on the light-limiting tube body 1, the adjustment needs to be made as a whole, which is very inconvenient for a large-sized light-limiting tube. It is necessary to loosen the locking device of the light-limiting tube, rotate the light-limiting tube, and then lock it again. At the same time, the upper mounting plate 2 has a large area and the field of view is not optimal, so the line of sight is easily blocked when adjusting the bevel angle.

[0053] In the light-limiting tube of this embodiment, a split adjustment tube 4 is designed, and the relative position of the bevel angle and the tumor can be adjusted by simply rotating the adjustment tube 4, which is very convenient. Moreover, the light-limiting tube body 1 of the same specification can be used with adjustment tubes 4 of multiple angles, saving equipment costs.

[0054] In some embodiments, the light-limiting tube body 1 is made of graphite or aluminum.

[0055] In the docking system of this embodiment, see Figure 5 , including a light limiting cylinder, which is the above-mentioned light limiting cylinder, and is used to align the patient's lesion; the docking system also includes: a treatment device 10, which is used to release treatment rays to the beam limiting hole 11; a docking device, which includes a measuring module and a control module, the measuring module is used to emit a marking signal to the light limiting cylinder and measure the marking information fed back by the marking component group 3, and the control module is respectively connected to the measuring module and the treatment device 10 signals.

[0056] In the radiotherapy device of this embodiment, see Figure 5 , including a docking system, the docking system is the above-mentioned docking system.

[0057] Specifically, the measurement module in this embodiment includes an optical measurement sensor 20. The optical measurement sensor assembly can emit near-infrared light to the marking component group 3 and track and measure the three-dimensional position of the marking component group 3 in real time, thereby obtaining the posture of the beam limiting hole 11. The control module controls the rotation and translation of the treatment device 10 according to the posture of the beam limiting hole 11, so that the treatment device 10 is docked with the beam limiting hole 11.

[0058] The alignment process of the radiotherapy device 10 and the beam limiting tube in this embodiment is specifically as follows:

[0059] 1. The optical measurement sensor 20 in the measurement module scans the marking component group 3 in real time.

[0060] 2. The optical measurement sensor 20 transmits the real-time scanned image data to the control module, which extracts and matches the marking components, calculates the three-dimensional position of the marking component group by triangulation, and solves the six-dimensional posture of the target object (light-limiting tube or mounting plate 2), and then continuously calculates the expected posture of the treatment device 10 according to the current posture of the treatment device 10, the relative posture of the treatment device 10 and the light-limiting tube, and the calibration external parameters; at the same time, it determines whether the guidance stop condition is met. If it is met, the guidance is stopped and the robot arm is locked. If not, proceed to the next step.

[0061] The stop condition can be set as: the difference between the current posture of the treatment device 10 and the posture of the light limiting tube meets a certain set value.

[0062] 3. The control module plans a motion trajectory for the robot arm according to the current posture and expected posture trajectory of the treatment device 10.

[0063] 4. The control module controls the robotic arm to move to the desired position along the planned trajectory.

[0064] 5. When the control module controls the robot arm to move along the planned trajectory, the optical measurement sensor 20 will continue to identify the marking components, continue to calculate the desired posture of the treatment device 10, and continue to plan the movement path of the robot arm until the current posture of the treatment device 10 meets the stop condition.

[0065] Before solving the pose of the marking component group, the model information of the light-limiting tube can be identified and checked first, and the subsequent solution can be performed if the information is correct. If it is incorrect, an error is reported and the alignment process stops.

[0066] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0067] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0068] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0069] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0070] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A light-limiting tube, characterized in that: include: A light-limiting tube body (1), wherein the light-limiting tube body (1) is provided with a beam-limiting hole (11); A mounting plate (2), the mounting plate (2) comprising: A first connecting portion (21), wherein the first connecting portion (21) is sleeved on the light-limiting tube body (1); A second connecting portion (22), on which a marking component group (3) is fixedly arranged; A third connecting portion (23), the third connecting portion (23) is located between the first connecting portion (21) and the second connecting portion (22), and two ends of the third connecting portion (23) are respectively connected to the first connecting portion (21) and the second connecting portion (22); wherein, The marking component group (3) comprises at least three marking components (31), and the at least three marking components (31) are non-collinear and spaced apart from each other.

2. The light-limiting tube according to claim 1, characterized in that: The at least three marking components (31) include a first marking component (311), a second marking component (312) and a third marking component (313); the first marking component (311) and the second marking component (312) are located on a side of the second connecting portion (22) close to the light-limiting tube body (1); and the third marking component (313) is located on a side of the second connecting portion (22) away from the light-limiting tube body (1).

3. The light-limiting tube according to claim 1, characterized in that: The mounting plate (2) is a long strip-shaped plate.

4. The light-limiting tube according to claim 1, characterized in that: The marking component group (3) comprises a marking symbol (32), and the marking symbol (32) is arranged on the mounting plate (2).

5. The light-limiting tube according to claim 1, characterized in that: The mounting plate (2) comprises a connecting hole, a first internal thread is arranged in the connecting hole, a first external thread is opened on the outer wall of the light-limiting tube body (1), and the mounting plate (2) is threadedly connected to the light-limiting tube body (1).

6. The light-limiting tube according to claim 1, characterized in that: The light-limiting tube comprises an adjustment tube (4), the adjustment tube (4) comprises a beam-emitting hole (41) connected to the beam-limiting hole (11), one end of the adjustment tube (4) is connected to the light-limiting tube body (1), and the other end of the adjustment tube (4) is used for beam emission.

7. The light-limiting tube according to claim 6, characterized in that: The beam outlet hole (41) is provided with a second internal thread, and one end of the light-limiting tube body (1) close to the adjustment tube (4) is provided with a second external thread (12), and the adjustment tube (4) is threadedly connected to the light-limiting tube body (1).

8. A docking system, characterized in that: It comprises a light-limiting cylinder, wherein the light-limiting cylinder is the light-limiting cylinder according to any one of claims 1 to 7, and the light-limiting cylinder is used to align the lesion of the patient; The docking system also includes: A treatment device (10) for releasing treatment radiation toward the beam limiting hole (11); A docking device, comprising a measuring module and a control module, wherein the measuring module is used to transmit a marking signal to the light-limiting tube and measure the marking information fed back by the marking component group (3), and the control module is respectively connected to the measuring module and the treatment device (10) by signals.

9. A radiotherapy device, characterized in that: It comprises a docking system, and the docking system is the docking system described in claim 8.

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