Radiotherapy head and radiotherapy equipment

Abstract

The utility model provides a radiotherapy head and radiotherapy equipment, and the radiotherapy head comprises a radiotherapy head body which is provided with a beam-out tube used for releasing treatment rays, a traction device which is used for pulling the radiotherapy head body, and a beam-out tube which is used for releasing treatment rays. The six-dimensional force sensor is connected with the traction device, and the six-dimensional force sensor is used for measuring traction force and torque borne by the traction device; the driving device is used for driving the radiotherapy head body to move; the controller is in signal connection with the six-dimensional force sensor and the driving device, and the controller controls the radiotherapy head body to move according to the traction force and the torque borne by the traction device. The radiotherapy head provided by the utility model solves the technical problem that the compliant traction of the radiotherapy head end of a mechanical arm is very difficult in the prior art.

Description

Technical Field

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

[0002] The FLASH intraoperative radiotherapy device is an ultra-high dose rate radiotherapy device that performs a single high-dose close-range irradiation of the lesion after surgical resection of the tumor. It can effectively kill the remaining tumor tissue while protecting normal tissue to the greatest extent possible. It aims to reduce damage to the patient's normal tissue while greatly reducing the probability of cancer recurrence and improving the patient's survival rate.

[0003] In the above application context, achieving high-precision alignment between the linear accelerator and the light-limiting cylinder fixed on the tumor bed is of vital importance for radiotherapy equipment to accurately kill cancer cells. The high-precision positioning process of the linear accelerator is generally divided into two stages: coarse adjustment and fine adjustment. In the coarse adjustment stage, the doctor manually pulls the traction handle at the end of the radiotherapy head to pull the linear accelerator from the initial working position to the vicinity of the light-limiting cylinder, and the target of the light-limiting cylinder appears within the line of sight of the vision guidance sensor; in the fine adjustment stage, the vision guidance system identifies the target on the light-limiting cylinder and guides the linear accelerator to accurately align with the light-limiting cylinder.

[0004] In the coarse adjustment stage, due to the use characteristics of large friction, large torque and high rigidity of each joint of the robotic arm, it is extremely difficult to achieve compliant traction of the robotic arm radiotherapy head. Existing robotic arm systems with compliant traction function all use small load robotic arms, and most of them use zero force control based on torque control. Unfortunately, zero force control requires accurate known information of the robotic arm dynamics model, which is obviously unrealistic for large load robotic arms. In addition, admittance control is another important method to achieve compliant traction at the end of the robotic arm. Through the force / torque information detected by the six-dimensional force sensor, the admittance control generates a new desired position command compensation for the end of the robotic arm, which can effectively achieve compliant traction at the end of the robotic arm.

[0005] However, when the robotic arm used in the FLASH intraoperative radiotherapy equipment is a large-load robotic arm, the large-load robotic arm exhibits great inertia, and the installation position of the six-dimensional force sensor is far away from the robotic arm flange, which hinders the accurate calculation of the manual traction intention and the accurate control of the traction force. The above-mentioned radiotherapy equipment and control method are completely unsuitable for large-load robotic arms.

[0006] Therefore, the prior art needs to be further developed. Utility Model Content

[0007] The purpose of the utility model is to overcome the above technical deficiencies and provide a radiotherapy head and radiotherapy equipment to solve the technical problem that it is extremely difficult to achieve smooth traction at the end of the radiotherapy head of a mechanical arm in the related art.

[0008] In order to achieve the above technical objectives, the utility model adopts the following technical solutions: a radiotherapy head is provided, comprising: a radiotherapy head body, on which a beam-out tube for releasing therapeutic rays is arranged; a traction device, which is used to traction the radiotherapy head body; a six-dimensional force sensor, which is connected to the traction device, and is used to measure the traction force and torque exerted on the traction device; a driving device, which is used to drive the radiotherapy head body to move; and a controller, which is respectively connected to the six-dimensional force sensor and the driving device signals, and controls the movement of the radiotherapy head body according to the traction force and torque exerted on the traction device.

[0009] Furthermore, the traction device includes a traction handle, which includes: a first connecting part, the first connecting part is fixedly connected to the six-dimensional force sensor; a second connecting part, one end of the second connecting part is connected to an end of the first connecting part away from the radiotherapy head body, and the other end of the second connecting part extends in a direction away from the driving device, and a holding space for accommodating a human hand is formed between the second connecting part and the radiotherapy head body.

[0010] Furthermore, an extension direction of the second connecting portion and an extension direction of the beam-outlet pipe are parallel to each other.

[0011] Furthermore, the beam outlet tube includes a beam outlet, and the traction handle is located at one end of the radiotherapy head body close to the beam outlet.

[0012] Furthermore, the radiotherapy head body comprises a mounting plate, which is located on a side of the radiotherapy head body close to the beam-emitting tube, is connected to the driving device, and is provided with a first connecting portion.

[0013] Furthermore, the radiotherapy head includes a first switch, which is arranged on the second connecting portion and is connected to the controller signal.

[0014] Furthermore, the radiotherapy head includes a second switch spaced apart from the traction handle, the second switch is arranged on the mounting plate, the second switch includes a plurality of control gears, the second switch is connected to the controller signal, and the second switch is used to select the working mode.

[0015] Furthermore, the radiotherapy head includes an indicator light, which is arranged on the radiotherapy head body and is connected to the controller signal.

[0016] Furthermore, the driving device is a six-degree-of-freedom robotic arm.

[0017] A radiotherapy device comprises a radiotherapy head, wherein the radiotherapy head is the above-mentioned radiotherapy head.

[0018] Beneficial effects:

[0019] By setting up a traction device and a six-dimensional force sensor, when the traction radiotherapy head moves, the six-dimensional force sensor measures the size of the traction force and torque exerted on the traction device, and by processing the traction force and torque, the traction intention is solved, and the collected force and torque information is converted into position and posture instructions in Cartesian space. The movement trajectory of the robotic arm is planned according to the position and posture instructions, so that the drive device conforms to the movement of the manual drag force, making the alignment process time-saving and labor-saving. In particular, when the radiotherapy head is used in conjunction with a large-load robotic arm, the traction process becomes lighter and faster, which solves the technical problem of extremely difficult realization of smooth traction at the end of the robotic arm radiotherapy head in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the radiotherapy head used in the embodiment of the utility model.

[0021] The above drawings include the following reference numerals:

[0022] 1. Radiotherapy head body; 11. Beam outlet; 12. Mounting plate; 2. Traction handle; 21. First connecting part; 22. Second connecting part; 3. Six-dimensional force sensor; 4. Driving device; 5. Second switch. DETAILED DESCRIPTION

[0023] 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.

[0024] According to an embodiment of the present invention, a radiotherapy head is provided. Figure 1 , including: a radiotherapy head body 1, on which a beam-emitting tube for releasing therapeutic rays is arranged; a traction device, which is used to pull the radiotherapy head body 1; a six-dimensional force sensor 3, which is connected to the traction device, and is used to measure the traction force and torque exerted on the traction device; a driving device 4, which is used to drive the radiotherapy head body 1 to move; and a controller, which is respectively connected to the signals of the six-dimensional force sensor 3 and the driving device 4, and controls the movement of the radiotherapy head body 1 according to the traction force and torque exerted on the traction device.

[0025] By setting up a traction device and a six-dimensional force sensor 3, when the traction radiotherapy head moves, the six-dimensional force sensor 3 measures the magnitude of the traction force and torque exerted on the traction device, and by processing the traction force and torque, the traction intention is solved, and the collected force and torque information is converted into position and posture instructions in Cartesian space. The movement trajectory of the robotic arm is planned according to the position and posture instructions, so that the driving device 4 can move in accordance with the dragging force of the human hand, making the alignment process time-saving and labor-saving. In particular, when the radiotherapy head is used in combination with a large-load-load robotic arm, the traction process becomes lighter and faster, which solves the technical problem in the related technology that it is extremely difficult to achieve smooth traction at the end of the robotic arm radiotherapy head.

[0026] In the radiotherapy head of this embodiment, see Figure 1 The driving device 4 is a six-degree-of-freedom mechanical arm. The driving device 4 can realize flexible dragging of the radiotherapy head with six degrees of freedom.

[0027] In the radiotherapy head of this embodiment, see Figure 1 The traction device includes a traction handle 2, which includes: a first connection part 21, the first connection part 21 is fixedly connected to the six-dimensional force sensor 3; a second connection part 22, one end of the second connection part 22 is connected to the end of the first connection part 21 away from the radiotherapy head body 1, and the other end of the second connection part 22 extends in a direction away from the driving device 4, and a holding space for accommodating a human hand is formed between the second connection part 22 and the radiotherapy head body 1. Specifically, by holding the second connection part 22 by hand, the user pulls the operating rod according to the required moving position, posture, and speed, so that the traction device obtains traction force and torque.

[0028] Specifically, the six-dimensional force sensor 3 is rigidly connected to the radiotherapy head body 1 , and the first connecting portion 21 is rigidly connected to the six-dimensional force sensor 3 .

[0029] Specifically, the three-dimensional orthogonal force and three-dimensional orthogonal moment on the traction handle 2 can be measured by the six-dimensional force sensor.

[0030] Specifically, the user pulls the traction handle 2 according to the required moving position, posture, and speed, and converts the traction force exerted on the traction handle 2 into the target's x, y, z three-dimensional position coordinates and α, β, γ three-dimensional posture coordinates through a coordinate conversion algorithm, and transmits the information to the controller. The controller converts the x, y, z three-dimensional position coordinates and α, β, γ three-dimensional posture coordinates into the expected coordinates of the end of the radiotherapy head, and controls the joint movement of the drive device 4 to the target position, thereby realizing the smooth traction function.

[0031] In some embodiments, the radiotherapy head needs to meet the following requirements: the traction force trigger threshold of the radiotherapy head is ≤5N, and the controller is also required to respond to the detected traction force in a timely manner and move with the traction force. When the traction force disappears, the soft traction stops in time and stays at the desired position without shaking.

[0032] In the radiotherapy head of this embodiment, see Figure 1 The extension direction of the second connecting portion 22 is parallel to the extension direction of the beam-exiting tube. Through the above arrangement, it is convenient to unify the directions of the coordinate systems of the traction handle 2 and the radiotherapy head, thus simplifying the calculation process.

[0033] In the radiotherapy head of this embodiment, see Figure 1 The beam outlet tube includes a beam outlet 11, and the traction handle 2 is located at one end of the radiotherapy head body 1 close to the beam outlet 11. Specifically, through the above arrangement, the traction handle 2 is arranged close to the beam outlet 11, and the traction intention obtained by the traction handle 2 is closer to the desired posture of the beam outlet 11, that is, closer to the desired posture of the end of the radiotherapy head.

[0034] In the radiotherapy head of this embodiment, see Figure 1 The radiotherapy head body 1 includes a mounting plate 12 , which is located on a side of the radiotherapy head body 1 close to the beam-emitting tube. The mounting plate 12 is connected to the driving device 4 , and a first connecting portion 21 is installed on the mounting plate 12 .

[0035] In the radiotherapy head of this embodiment, see Figure 1 The radiotherapy head includes a first switch, which is arranged on the second connection part 22 and is connected to the controller signal. Specifically, the first switch is located on the side of the second connection part 22 close to the radiotherapy head, and the first switch is used to control the start and stop of the compliant traction program. By setting the first switch, when a person holds the second connection part 22, the first switch can be pressed to turn on the first switch and start the compliant traction program. If the six-dimensional force sensor 3 detects traction force or traction torque, the radiotherapy head body 1 moves; when the person releases the second connection part 22, the first switch is released and automatically pops up, and the compliant traction exits.

[0036] Specifically, from the perspective of the ease of use of flexible traction, the flexible traction is divided into three working modes for users to choose: six-degree-of-freedom flexible traction mode, position traction mode and posture traction mode. In the "six-degree-of-freedom flexible traction mode", the user can drag the traction handle 2 to achieve arbitrary posture adjustment of the radiotherapy head end in six degrees of freedom. When you only need to drag the radiotherapy head end to any position in Cartesian space, use the "position flexible traction mode". When you only need to drag the radiotherapy head end to adjust the posture at a fixed position in Cartesian space, use the "posture flexible traction mode".

[0037] In the radiotherapy head of this embodiment, see Figure 1The radiotherapy head includes a second switch 5 spaced apart from the traction handle 2, the second switch 5 is arranged on the mounting plate 12, the second switch 5 includes a plurality of control gears, the second switch 5 is connected to the controller signal, and the second switch 5 is used to select a working mode. The second switch 5 is set to select different compliant traction working modes, such as only position adjustment, or only posture adjustment around a certain point in space, or simultaneous position and posture adjustment.

[0038] In the radiotherapy head of this embodiment, see Figure 1 The radiotherapy head includes an indicator light, which is arranged on the radiotherapy head body 1 and is connected to the controller signal. Specifically, the indicator light includes multiple indication modes to indicate the current state of the device. For example, when the radiotherapy device is in the soft traction mode, the indicator light is always on to indicate that the soft traction program is in the start state; the indicator light flashes at a fixed frequency to indicate that the driving device 4 is pulling; when the first switch is released, the indicator light goes out to indicate that the soft traction mode is not started.

[0039] In the radiotherapy device of this embodiment, see Figure 1 , including a radiotherapy head, which is the radiotherapy head mentioned above.

[0040] Specifically, the user operates the traction device, and the six-dimensional force sensor 3 detects the force or torque applied by the user, and transmits the force or torque signal to the controller, which is responsible for performing zero point compensation, gravity compensation, calculation of the traction force and torque of the human hand, generation of new Cartesian space position compensation instructions, forward kinematics, inverse kinematics joint position instruction calculation, and joint position instruction issuance, etc. on the data signal collected by the six-dimensional force sensor 3. The controller communicates with each servo axis group in the drive device 4 through EtherCAT, and the servo driver uses the CSP (Cyc lic Synchronous Position, synchronous cycle position) mode to complete the precise execution of the joint position instruction of the drive device 4. The servo driver control cycle and the position instruction issuance cycle of the compliant traction mode are both set to 1ms. Thereby, the three-dimensional force on the traction device is converted into the compliant traction of the end position of the radiotherapy head, and the three-dimensional torque is converted into the compliant traction of the end posture of the radiotherapy head.

[0041] To realize the above conversion process, it is necessary to define the correspondence between the traction device center of gravity matrix, the traction force matrix and the six-degree-of-freedom force sensor measurement data matrix, and define the correspondence between the radiotherapy equipment coordinate matrix, the radiotherapy head terminal coordinate matrix, the six-degree-of-freedom force sensor measurement data matrix and the six-degree-of-freedom joint matrix, so as to realize the correspondence between the traction force matrix and the radiotherapy head terminal coordinate matrix.

[0042] In order to realize the flexible traction function of the large load-bearing manipulator with six degrees of freedom, the admittance control method is adopted. Therefore, it is necessary to establish an admittance relationship between the traction force and the torque to the coordinate matrix of the end of the radiotherapy head. Through the admittance relationship, the relationship between the traction force and the acceleration of the radiotherapy head is established. Through two integral conversions, the acceleration of the end of the radiotherapy head corresponds to the speed of the end of the radiotherapy head and the expected coordinates of the end of the radiotherapy head. At the same time, the relationship between the torque and the posture accelerator of the end of the radiotherapy head and the expected coordinates of the posture of the end of the radiotherapy head is established. In order to realize the six-degree-of-freedom admittance control, the admittance control of the position and the admittance control of the posture.

[0043] When the radiotherapy head is placed within a certain spatial range from the light-limiting tube through flexible traction, the user can exit the flexible traction mode and enter the precise alignment stage.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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 radiotherapy head, characterized in that: include: A radiotherapy head body (1), wherein the radiotherapy head body (1) is provided with a beam-emitting tube for releasing therapeutic radiation: A traction device, the traction device is used to pull the radiotherapy head body (1); A six-dimensional force sensor (3), the six-dimensional force sensor (3) is connected to the traction device, and the six-dimensional force sensor (3) is used to measure the traction force and torque applied to the traction device; A driving device (4), the driving device (4) being used to drive the radiotherapy head body (1) to move; A controller is respectively connected to the six-dimensional force sensor (3) and the driving device (4) by signals, and controls the movement of the radiotherapy head body (1) according to the traction force and torque applied to the traction device.

2. The radiotherapy head according to claim 1, characterized in that: The traction device comprises a traction handle (2), and the traction handle (2) comprises: A first connecting portion (21), the first connecting portion (21) being fixedly connected to the six-dimensional force sensor (3); A second connecting portion (22), one end of the second connecting portion (22) is connected to an end of the first connecting portion (21) away from the radiotherapy head body (1), the other end of the second connecting portion (22) extends in a direction away from the driving device (4), and a holding space for accommodating a human hand is formed between the second connecting portion (22) and the radiotherapy head body (1).

3. The radiotherapy head according to claim 2, characterized in that: The extension direction of the second connecting portion (22) is parallel to the extension direction of the beam-outlet pipe.

4. The radiotherapy head according to claim 2, characterized in that: The beam outlet tube comprises a beam outlet (11), and the traction handle (2) is located on one end of the radiotherapy head body (1) close to the beam outlet (11).

5. The radiotherapy head according to claim 2, characterized in that: The radiotherapy head body (1) comprises a mounting plate (12), the mounting plate (12) being located on a side of the radiotherapy head body (1) close to the beam-emitting tube, the mounting plate (12) being connected to the driving device (4), and the first connecting portion (21) being mounted on the mounting plate (12).

6. The radiotherapy head according to claim 2, characterized in that: The radiotherapy head comprises a first switch, which is arranged on the second connecting part (22) and is connected to the controller signal.

7. The radiotherapy head according to claim 5, characterized in that: The radiotherapy head comprises a second switch (5) spaced apart from the traction handle (2); the second switch (5) is arranged on the mounting plate (12); the second switch (5) comprises a plurality of control gears; the second switch (5) is connected to the controller signal; and the second switch (5) is used to select a working mode.

8. The radiotherapy head according to claim 1, characterized in that: The radiotherapy head comprises an indicator light, which is arranged on the radiotherapy head body (1) and is connected to the controller signal.

9. The radiotherapy head according to claim 1, characterized in that: The driving device (4) is a six-degree-of-freedom mechanical arm.

10. A radiotherapy device, characterized in that: It comprises a radiotherapy head, wherein the radiotherapy head is the radiotherapy head according to any one of claims 1 to 9.

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