Self-adaptive radiotherapy equipment guided by real-time image
By introducing a real-time image guidance system and an adaptive follow-up treatment head into the radiotherapy device, the treatment errors caused by organ movement and the harm to normal tissues are solved, and the accuracy of radiotherapy is significantly improved.
Patent Information
- Application Number
- CN202421456605.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-25
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-06-25
AI Technical Summary
Existing radiotherapy equipment is difficult to capture organ movement, resulting in treatment errors, non-essential damage to normal tissues and off-target problems, affecting the accuracy of treatment.
Design a real-time image-guided adaptive radiotherapy device to capture organ movements in real time and automatically adjust the treatment head through the adaptive follow-up of the real-time image guidance system and the treatment head.
It effectively solves the treatment errors and damage to normal tissues caused by organ movement, improves the accuracy of radiotherapy, and reduces off-target phenomenon.
Smart Images
Figure CN222900032U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the medical field, in particular to a real-time image-guided adaptive radiotherapy device. Background Art
[0002] Radiotherapy is one of the main treatment means for tumors. If radiotherapy is compared to firing at a target with artillery fire, the early extensive era was equivalent to "covering a large area with artillery fire", and the toxic and side reactions were very strong. With the progress of technology, technologies such as image guidance, stereotactic and intensity-modulated conformal radiotherapy have been applied to radiotherapy. However, there are currently problems such as difficulty in capturing organ movement and the inability of the device to automatically adjust the treatment head according to organ movement, resulting in missed targets and damage to normal tissues due to organ movement during the treatment process.
[0003] Therefore, it is necessary to provide a new radiotherapy device to solve problems such as treatment errors caused by patient organ movement, unnecessary damage to normal tissues, and even missed targets through real-time image guidance and adaptive follow-up of the treatment head, and improve the accuracy of clinical treatment. Summary of the Utility Model
[0004] To solve the above technical problems in the background art, the utility model provides a real-time image-guided adaptive radiotherapy device with real-time image guidance and adaptive follow-up of the treatment head, which solves problems such as treatment errors caused by patient organ movement, unnecessary damage to normal tissues, and even missed targets, and improves the accuracy of clinical treatment.
[0005] The technical solution of the utility model is: The utility model is a real-time image-guided adaptive radiotherapy device, including a gantry, a roller, a treatment couch and a treatment head. The treatment couch is connected to the gantry, the roller is arranged inside the gantry, and the treatment head is arranged on the roller. The special feature is that the real-time image-guided adaptive radiotherapy device further includes a turntable rotation drive mechanism and a real-time image guidance system. The treatment head includes a turntable, an arc-shaped guide rail assembly, a three-dimensional platform, a ray emission device and a three-dimensional platform rotation drive mechanism capable of driving the three-dimensional platform to rotate. The ray emission device is arranged below the three-dimensional platform, the arc-shaped guide rail assembly is arranged on the turntable, the three-dimensional platform rotation drive mechanism and the three-dimensional platform are both connected to the arc-shaped guide rail assembly. The turntable rotation drive mechanism can drive the turntable to rotate. The real-time image guidance system and the turntable rotation drive mechanism are both arranged on the roller, and the turntable is connected to the roller.
[0006] Further, the three-dimensional platform includes a Z-direction component, a Y-direction component and an X-direction component. The Z-direction component is connected to the arc-shaped guide rail assembly, the Y-direction component is arranged between the Z-direction component and the X-direction component, the X-direction component is arranged below the Y-direction component, and the ray emission device is arranged below the X-direction component.
[0007] Further, the arc-shaped guide rail assembly includes a mounting plate and an arc-shaped guide rail. The arc-shaped guide rail is arranged inside the mounting plate, and the Z-direction assembly is connected to the arc-shaped guide rail.
[0008] Further, the Z-direction assembly includes a Z-direction base, a Z-direction transmission mechanism, a first linear guide rail, and a first slider. The Z-direction transmission mechanism and the first linear guide rail are both vertically arranged inside the Z-direction base. The first slider is arranged outside the Z-direction base and is in mating connection with the arc-shaped guide rail. The Y-direction assembly includes a Y-direction base, a Y-direction transmission mechanism, a second linear guide rail, and a second slider. The Y-direction base is "U"-shaped. The second slider is arranged outside the side surface of the Y-direction base and is in mating connection with the first linear guide rail. The Y-direction transmission mechanism and the second linear guide rail are both horizontally and vertically arranged at the bottom of the Y-direction base. The X-direction assembly includes an X-direction base, an X-direction transmission mechanism, a third linear guide rail, a third slider, a fourth slider, and a ray emission device mounting seat. The third slider is arranged above the X-direction base and is in mating connection with the second linear guide rail. The X-direction transmission mechanism and the third linear guide rail are both horizontally and transversely arranged below the X-direction base. A fourth slider is arranged above the ray emission device mounting seat, and the fourth slider is in mating connection with the third linear guide rail. The ray emission device is arranged on the ray emission device mounting seat.
[0009] Further, there are two arc-shaped guide rail assemblies, and correspondingly two Z-direction assemblies, which are symmetrically arranged on both sides of the Y-direction assembly respectively.
[0010] Further, there are two first linear guide rails, which are symmetrically arranged vertically on both sides inside the Z-direction base. The Z-direction transmission mechanism is vertically arranged between the two first linear guide rails. There are two second sliders corresponding to the first linear guide rails.
[0011] Further, there are two second linear guide rails, which are symmetrically arranged horizontally and vertically on both sides at the bottom of the Y-direction base. The Y-direction transmission mechanism is horizontally and vertically arranged between the two second linear guide rails. There are two third sliders corresponding to the second linear guide rails.
[0012] Further, there are two third linear guide rails, which are symmetrically arranged horizontally and transversely on both sides at the bottom of the X-direction base. The X-direction transmission mechanism is horizontally and transversely arranged between the two third linear guide rails. There are two fourth sliders corresponding to the third linear guide rails.
[0013] Further, the real-time image guidance system includes two X-ray emission devices and two X-ray detection devices. The two X-ray detection devices are respectively arranged on both sides inside the drum below the treatment head, and two corresponding X-ray detection devices are arranged on both sides inside the drum below the two X-ray detection devices.
[0014] Further, the two X-ray emission devices and the two X-ray detection devices are arranged at a 90° angle.
[0015] The utility model provides a real-time image-guided adaptive radiotherapy device with real-time image guidance and adaptive follow-up of the treatment head, which solves problems such as treatment errors caused by the movement of patient organs, unnecessary damage to normal tissues, and even missed targets, and improves the accuracy of clinical treatment. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 is a schematic structural diagram of the utility model;
[0017] Figure 2 is Figure 1 a cross-sectional schematic diagram of
[0018] Figure 3 is a schematic structural diagram of the treatment head of the utility model;
[0019] Figure 4 is a schematic structural diagram of the arc guide rail assembly of the utility model
[0020] Figure 5 is a schematic structural diagram of the three-dimensional platform of the utility model;
[0021] Figure 6 is a schematic structural diagram of the Z-direction component of the utility model;
[0022] Figure 7 is a schematic structural diagram of the Y-direction component of the utility model;
[0023] Figure 8 is a schematic structural diagram of the X-direction component of the utility model;
[0024] Figure 9 is a schematic structural diagram of the real-time image guidance system of the utility model;
[0025] Figure 10 is an application schematic diagram of the utility model.
[0026] The description of the reference numerals is as follows:
[0027] 1, frame; 2, roller; 3, treatment couch; 4, treatment head; 5, real-time image guidance system; 6, turntable rotation drive mechanism; 7, roller rotation axis; 8, three-dimensional platform rotation axis; 9, turntable rotation axis;
[0028] 4.1, turntable; 4.2, three-dimensional platform; 4.3, radiation emission device; 4.4, three-dimensional platform rotation drive mechanism, 4.5, arc guide rail assembly;
[0029] 4.5.1 mounting plate, 4.5.2 arc guide rail;
[0030] 4.2.1, Z-direction component; 4.2.2, Y-direction component; 4.2.3, X-direction component;
[0031] 4.2.1.1, Z-direction base; 4.2.1.2, first linear guide; 4.2.1.3, Z-direction drive mechanism; 4.2.1.4, first slider;
[0032] 4.2.2.1, Y-direction base; 4.2.2.2, second linear guide; 4.2.2.3, Y-direction drive mechanism; 4.2.2.4, second slider;
[0033] 4.2.3.1, X-direction base; 4.2.3.2, third linear guide; 4.2.3.3, X-direction drive mechanism;
[0034] 4.2.3.4, ray emission device mounting base; 4.2.3.5, fourth slider;
[0035] 5.1, X-ray emission device; 5.2, X-ray detection device. Detailed implementation manners
[0036] The present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0037] See Figure 1 , 2 , the structure of the specific embodiment of the present utility model includes a frame 1, a roller 2, a treatment bed 3, a treatment head 4, a real-time image guidance system 5 and a turntable rotation drive mechanism 6. The roller 2 is arranged on the frame 1 and can rotate around the roller rotation axis 7; the treatment bed 3 is connected to the frame 1; the treatment head 4 and the real-time image guidance system 5 are both arranged on the roller 2 and rotate with the roller 2; the turntable rotation drive mechanism 6 is arranged on the roller 2, and the turntable rotation drive mechanism 6 drives the treatment head 4 to rotate around the Z direction.
[0038] See Figure 3 , the structure of the specific embodiment of the treatment head 4 of the present utility model includes a turntable 4.1, a three-dimensional platform 4.2, a ray emission device 4.3, a three-dimensional platform rotation drive mechanism 4.4 and an arc guide rail assembly 4.5. The arc guide rail assembly 4.5 is arranged on the turntable 4.1, the three-dimensional platform rotation drive mechanism 4.4 and the three-dimensional platform 4.2 are both arranged on the arc guide rail assembly 4.5, the ray emission device 4.3 is arranged below the three-dimensional platform 4.2, and the three-dimensional platform rotation drive mechanism 4.4 drives the three-dimensional platform 4.2 to rotate around the X direction. In this embodiment, there are two groups of arc guide rail assemblies 4.5, which are symmetrically arranged on both sides of the three-dimensional platform 4.2. The turntable 4.1 is movably connected to the roller 2.
[0039] See Figure 4, the structure of the specific embodiment of the arc guide rail assembly 4.5 of the present utility model includes a mounting plate 4.5.1 and an arc guide rail 4.5.2. The arc guide rail 4.5.2 is arranged inside the mounting plate 4.5.1, and the mounting plate 4.5.1 is arranged on the turntable 4.1.
[0040] See Figure 5 , the structure of the specific embodiment of the three-dimensional platform 4.2 of the present utility model includes a Z-direction component 4.2.1, a Y-direction component 4.2.2, and an X-direction component 4.2.3. The Z-direction component 4.2.2 is arranged on the arc guide rail assembly 4.5. The Y-direction component 4.2.2 is arranged between the Z-direction component 4.2.1 and the X-direction component 4.2.3. The X-direction component 4.2.3 is arranged below the Y-direction component 4.2.2. The ray emitting device 4.3 is arranged below the X-direction component 4.2.3. Among them, there are two groups of Z-direction components 4.2.1, symmetrically arranged on both sides of the Y-direction component 4.2.2, and two groups of arc guide rail assemblies 4.5 are respectively arranged outside the two groups of Z-direction components 4.2.1.
[0041] See Figure 6 , the structure of the specific embodiment of the Z-direction component 4.2.1 of the present utility model includes a Z-direction base 4.2.1.1, a first linear guide rail 4.2.1.2, a Z-direction transmission mechanism 4.2.1.3, and a first slider 4.2.1.4. The first slider 4.2.1.4 is arranged outside the Z-direction base and is connected in cooperation with the arc guide rail 4.5.2. There are two first linear guide rails 4.2.1.4, symmetrically arranged vertically on both sides inside the Z-direction base 4.2.1.1, and the Z-direction transmission mechanism 4.2.1.3 is arranged vertically between the two first linear guide rails 4.2.1.4.
[0042] See Figure 7 , the structure of the specific embodiment of the Y-direction component 4.2.2 of the present utility model includes a Y-direction base 4.2.2.1, a second linear guide rail 4.2.2.2, a Y-direction transmission mechanism 4.2.2.3, and a second slider 4.2.2.4. The Y-direction base 4.2.2.1 is in a "U" shape. There are two second sliders 4.2.2.4, respectively arranged outside the two side surfaces of the Y-direction base and connected in corresponding cooperation with the two first linear guide rails 4.2.1.4. There are two second linear guide rails 4.2.2.2, symmetrically arranged horizontally and vertically on both sides of the bottom of the Y-direction base 4.2.2.1, and the Y-direction transmission mechanism 4.2.2.3 is arranged horizontally and vertically between the two second linear guide rails 4.2.2.2.
[0043] See Figure 8, the structure of the specific embodiment of the X-direction component 4.2.3 of the present utility model includes an X-direction base 4.2.3.1, a third linear guide rail 4.2.3.2, an X-direction transmission mechanism 4.2.3.3, a ray emission device mounting seat 4.2.3.4, a third slider and a fourth slider 4.2.3.5. There are two third sliders, which are symmetrically arranged on both sides above the X-direction base 4.2.3.1 and are correspondingly and cooperatively connected to the two second linear guide rails 4.2.2.2. There are two third linear guide rails 4.2.3.2, which are horizontally and symmetrically arranged on both sides of the bottom of the X-direction base 4.2.3.1. The X-direction transmission mechanism 4.2.3.3 is horizontally arranged between the two third linear guide rails 4.2.3.2. There are two fourth sliders 4.2.3.5, which are respectively arranged on both sides above the ray emission device mounting seat 4.2.3.4 and are correspondingly and cooperatively connected to the third linear guide rail 4.2.3.2. The ray emission device 4.3 is arranged on the ray emission device mounting seat 4.2.3.4.
[0044] In the preferred embodiment of the present utility model, there are two sets of arc guide rail components 4.5, which are symmetrically arranged on both sides of the Z-direction component 4.2.1. There are two sets of Z-direction components 4.2.1, which are symmetrically arranged on both sides of the Y-direction component 4.2.2.
[0045] The turntable rotation drive mechanism 6, the three-dimensional platform rotation drive mechanism 4.4, the Z-direction transmission mechanism 4.2.1.3, the Y-direction transmission mechanism 4.2.2.3, and the X-direction transmission mechanism 4.2.3.3 all adopt existing mechanisms.
[0046] See Figure 9 , the real-time image guidance system 5 of the present utility model is composed of two X-ray emission devices 5.1 and two X-ray detection devices 5.2. The two X-ray detection devices 5.2 are respectively arranged on both sides inside the drum 2 below the treatment head 4. The two X-ray emission devices 5.1 are correspondingly arranged on both sides inside the drum 2 below the two X-ray detection devices 5.2. The two X-ray emission devices 5.1 and the two X-ray detection devices 5.2 are arranged at a 90° angle. The two X-ray emission devices 5.1 and the two X-ray detection devices 5.2 are controlled to perform image acquisition through software for controlling image acquisition and processing.
[0047] See Figure 10, during the application process of the present utility model, the real-time image guidance system 5 collects images of the patient's lesion in real time through two X-ray emitting devices 5.1 and two X-ray detecting devices 5.2 arranged at 90°, analyzes the position change of the tumor, and when the tumor position changes, adjusts the ray focusing device through the three-dimensional platform 4.2 to perform follow-up irradiation on the tumor, so as to achieve precise irradiation. During the treatment process, the three-dimensional platform 4.2 is driven to rotate around the turntable rotation axis 9 by the three-dimensional platform rotation driving mechanism 4.4 (realized by the cooperation of the arc guide rail 4.5.2 and the first slider 4.2.1.4), which can effectively avoid normal sensitive tissues. The treatment head 4 is driven to rotate around the three-dimensional platform rotation axis 8 by the turntable rotation driving mechanism 6 to achieve a larger focus-skin ratio, thereby effectively reducing the dose received by normal tissues.
[0048] The follow-up of the ray emitting device 4.3 is not limited to being realized by the independent movement of each axis, but can also be realized by the mutual combination of several axes. Specifically: through the cooperation of the second slider 4.2.2.4 and the first linear guide rail 4.2.1.4 and the drive of the Z-direction transmission mechanism 4.2.1.3, the ray emitting device 4.3 is moved in the Z direction; through the cooperation of the third slider and the second linear guide rail 4.2.2.2 and the drive of the Y-direction transmission mechanism 4.2.2.3, the ray emitting device 4.3 is moved in the Y direction; through the cooperation of the fourth slider 4.2.3.5 and the third linear guide rail 4.2.3.2 and the drive of the X-direction transmission mechanism 4.2.3.3, the ray emitting device 4.3 is moved in the X direction.
[0049] During the treatment process, the real-time image guidance system will collect orthogonal CT images at regular intervals to obtain whether the relative position between the patient's lesion and the treatment bed has changed. If it has changed, it will be fed back to the control system to control the three-dimensional platform to make modifications in the X, Y, and Z directions to ensure that the ray follows the lesion for follow-up irradiation and improve the treatment accuracy.
[0050] The technical content not specifically described in the content of the present utility model and the above embodiments is the same as the prior art. The above is only the specific implementation manner disclosed by the present utility model, but the protection scope disclosed by the utility model is not limited thereto. The protection scope disclosed by the present utility model shall be subject to the protection scope of the claims.
Claims
1. A real-time image-guided adaptive radiotherapy device, comprising a frame, a drum, a treatment bed and a treatment head, wherein the treatment bed is connected to the frame, the drum is arranged in the frame, and the treatment head is arranged on the drum, characterized in that: The real-time image-guided adaptive radiotherapy equipment also includes a turntable rotation drive mechanism and a real-time image guidance system. The treatment head includes a turntable, an arc guide rail assembly, a three-dimensional platform, a ray emitting device and a three-dimensional platform rotation drive mechanism that can drive the three-dimensional platform to rotate; the ray emitting device is arranged below the three-dimensional platform, the arc guide rail assembly is arranged on the turntable, the three-dimensional platform rotation drive mechanism and the three-dimensional platform are both connected to the arc guide rail assembly, the turntable rotation drive mechanism can drive the turntable to rotate, the real-time image guidance system and the turntable rotation drive mechanism are both arranged on a roller, and the turntable is connected to the roller.
2. The real-time image-guided adaptive radiotherapy device according to claim 1, characterized in that: The three-dimensional platform includes a Z-axis component, a Y-axis component and an X-axis component. The Z-axis component is connected to the arc guide rail component. The Y-axis component is arranged between the Z-axis component and the X-axis component. The X-axis component is arranged below the Y-axis component. The ray emitting device is arranged below the X-axis component.
3. The real-time image-guided adaptive radiotherapy device according to claim 2, characterized in that: The arc guide rail assembly comprises a mounting plate and an arc guide rail, wherein the arc guide rail is arranged on the inner side of the mounting plate, and the Z-direction assembly is connected to the arc guide rail.
4. The real-time image-guided adaptive radiotherapy device according to claim 3, characterized in that: The Z-direction component includes a Z-direction base, a Z-direction transmission mechanism, a first linear guide and a first slider, the Z-direction transmission mechanism and the first linear guide are both vertically arranged on the inner side of the Z-direction base, the first slider is arranged on the outer side of the Z-direction base and is connected with the circular arc guide; the Y-direction component includes a Y-direction base, a Y-direction transmission mechanism, a second linear guide and a second slider, the Y-direction base is "U"-shaped, the second slider is arranged on the outer side of the side of the Y-direction base and is connected with the first linear guide, the Y-direction transmission mechanism and the second linear guide are both horizontally and vertically arranged at the bottom of the Y-direction base; the X-direction component includes an X-direction base, an X-direction transmission mechanism, a third linear guide, a third slider, a fourth slider and a ray emitting device mounting seat, the third slider is arranged above the X-direction base and is connected with the second linear guide, the X-direction transmission mechanism and the third linear guide are both horizontally and laterally arranged below the X-direction base, a fourth slider is arranged above the ray emitting device mounting seat, the fourth slider is connected with the third linear guide, and the ray emitting device is arranged on the ray emitting device mounting seat.
5. The real-time image-guided adaptive radiotherapy device according to claim 4, characterized in that: There are two arc-shaped guide rail components, and there are two corresponding Z-direction components, which are symmetrically arranged on both sides of the Y-direction component.
6. The real-time image-guided adaptive radiotherapy device according to claim 5, characterized in that: There are two first linear guides, which are symmetrically arranged on both sides of the inner side of the Z-direction base in the vertical direction. The Z-direction transmission mechanism is vertically arranged between the two first linear guides. There are two second sliding blocks corresponding to the first linear guides.
7. The real-time image-guided adaptive radiotherapy device according to claim 6, characterized in that: There are two second linear guide rails, which are symmetrically arranged horizontally and vertically on both sides of the bottom of the Y-axis base. The Y-axis transmission mechanism is horizontally and vertically arranged between the two second linear guide rails. There are two third sliding blocks corresponding to the second linear guide rails.
8. The real-time image-guided adaptive radiotherapy device according to claim 7, characterized in that: There are two third linear guide rails, which are horizontally and laterally symmetrically arranged on both sides of the bottom of the X-direction base. The X-direction transmission mechanism is horizontally and laterally arranged between the two third linear guide rails. There are two fourth sliding blocks corresponding to the third linear guide rails.
9. The real-time image-guided adaptive radiotherapy device according to any one of claims 1 to 8, characterized in that: The real-time image guidance system includes two X-ray emitting devices and two X-ray detecting devices. The two X-ray detecting devices are respectively arranged on both sides of the drum below the treatment head, and the two X-ray detecting devices are correspondingly arranged on both sides of the drum below the two X-ray detecting devices.
10. The real-time image-guided adaptive radiotherapy device according to claim 9, characterized in that: The two X-ray emitting devices and the two X-ray detecting devices are arranged at an angle of 90°.