Automatic laser fine tuning device and laser-assisted positioning system for radiotherapy

Abstract

The utility model relates to an automatic laser fine tuning device and a radiotherapy auxiliary positioning system, and the automatic laser fine tuning device comprises a laser lamp pitching deflection mechanism and a laser lamp rotating mechanism. The laser lamp pitching deflection mechanism comprises a U-shaped base, a support, a pin shaft and a first servo electric cylinder, wherein the support is fixed to the bottom edge of the U-shaped base, and the two ends of the pin shaft are supported on the two side edges of the U-shaped base. The laser lamp rotating mechanism comprises a clamping seat clamped on the pin shaft, a laser lamp and a second servo electric cylinder; the automatic laser fine adjustment device further comprises a linear moving mechanism. The linear moving mechanism comprises a sliding seat, a sliding rail, a third servo electric cylinder, a fixing seat and a fixing block, wherein a sliding groove is formed in the lower surface of the sliding seat. And the laser lamp is a laser lamp for generating a thin-sheet light beam. The automatic laser fine tuning device has the advantages of high automation degree, accurate positioning and convenient operation.

Description

Technical Field

[0001] The utility model relates to radiotherapy, in particular to a laser positioning device for radiotherapy, and more particularly to a laser fine-tuning mechanism of the laser positioning device. Background Art

[0002] A laser positioning device is an effective and essential radiotherapy positioning tool for ensuring the repeatability of radiotherapy position and improving the accuracy of radiotherapy. The role of a laser locator in tumor radiotherapy is to assist in radiotherapy positioning through external markers. By using the principle that the intersection point of three-dimensional laser beams coincides with the isocenter, the tumor treatment center of the patient coincides with the isocenter of the accelerator to achieve precise treatment. Since the existing laser positioning device cannot adjust the laser beam in various directions such as line width, deflection, rotation, and translation, the adjustment is inaccurate. To solve the above problems, a patent application with the publication number CN 102688561 A discloses a laser adjustment mechanism, which includes a laser lamp pitching and deflecting mechanism and a laser lamp rotating mechanism. Among them, the laser lamp pitching and deflecting mechanism is composed of an L-shaped frame (11), a U-shaped groove (13) provided on the inner side of the vertical plane of the L-shaped frame (11), a spiral fixing member (9) provided on the outer side of the vertical plane of the L-shaped frame (11) and passing through and hinging the U-shaped groove (13) on the vertical plane of the L-shaped frame (11), and a deflection fine-tuning knob (6) provided at the top of the vertical plane of the L-shaped frame (11) for pushing the U-shaped groove (13) to rotate around the spiral fixing member (9); the laser lamp rotating mechanism is composed of a U-shaped groove (13) with a laser lamp (5) passing through its side edge, a platform (18) fixed in the middle of the laser lamp (5), a rotation fine-tuning set screw (19) for fixing the upper head of the laser lamp (5) and the upper side edge of the U-shaped groove (13) together, and a rotation fine-tuning knob (1) provided at the end of the upper side edge of the U-shaped groove (13) (see paragraphs

[0031] to

[0035] of the specification of the patent application with the publication number CN102688561 A and the attached Figures 1 to 4)。Although the above patent application claims that it can finely adjust the laser light line width, deflection, rotation and other directions accurately and quickly, it obviously has the following deficiencies: 1. The pitching and deflecting mechanism and the rotating mechanism of the laser lamp are both manually adjusted, relying entirely on human experience and visual inspection, making it difficult or even impossible to achieve accurate and quick adjustment. Especially before adjusting the rotation angle of the laser lamp (5), it is necessary to loosen the rotation fine-tuning set screw (19) first, so it is difficult or even impossible to improve and achieve automatic adjustment; 2. In addition, the technical solution of the above patent application also has the following defects: The entire laser adjustment mechanism is supported on the L-shaped frame (11) by the fine-tuning set screw (19) to form a cantilever support, with a large deflection, poor rotation stability and flexibility; 3. Although the patent application with the publication number CN 102688561 A also discloses the linear movement mechanism of the laser adjustment mechanism, this linear movement mechanism is guided by the second installation groove (30) with both ends closed. Although the shape of the guide rail cooperating with it is not disclosed in the specification (nor shown in the drawings), conventionally understood, the guide rail must be inserted into it from above the second installation groove (30). The two not only have a large fitting gap but also a small contact surface, and the guiding accuracy is worrying (see the Figures 5 - 8 )。 Summary of the Invention

[0003] The technical problem to be solved by the present utility model is to provide an automatic laser fine-tuning device, which has the advantages of high automation degree, accurate positioning and convenient operation.

[0004] The technical solution for the present utility model to solve the above problems is as follows:

[0005] An automatic laser fine-tuning device, which includes a laser lamp pitching and deflecting mechanism and a laser lamp rotating mechanism, and is characterized in that

[0006] The laser lamp pitching and deflecting mechanism includes a U-shaped base, a bracket fixed on the bottom edge of the U-shaped base, a pin shaft supported at both ends on the two side edges of the U-shaped base, and a first servo electric cylinder. The middle of the pin shaft is horizontally and vertically provided with a round hole for inserting the laser lamp. A short back is horizontally provided on the pin shaft on one side of the round hole. The two ends of the first servo electric cylinder are respectively hinged on the bracket and the short back to push the laser lamp arranged in the round hole to pitch and rotate around the pin shaft;

[0007] The described laser lamp rotation mechanism includes a card seat stuck on the pin shaft, a laser lamp, and a second servo electric cylinder; wherein the card seat consists of an upper half seat and a lower half seat, the laser lamp passes through the upper half seat, the pin shaft, and the lower half seat from top to bottom in sequence, and the upper part is fixed to the upper half seat, and the lower part is pivotally connected to the pin shaft and the lower half seat; both ends of the second servo electric cylinder are respectively hinged to the ends of the upper half seat and the lower half seat to push the laser lamp to rotate around its own axis;

[0008] The described automatic laser fine-tuning device further includes a linear movement mechanism, which includes a slide seat with a chute on its lower surface, a slide rail, a third servo electric cylinder, a fixed seat, and a fixed block. The slide seat is fixed to the lower surface of the bottom of the U-shaped seat. The slide rail is arranged in the chute, and the matching side surfaces of the two are arc-shaped. One end of the third servo electric cylinder is fixed to the fixed block, and the other end is fixed to the fixed seat to push the bottom of the U-shaped seat to reciprocate along the slide rail through the slide seat;

[0009] The described laser lamp is a laser lamp that generates a thin sheet beam.

[0010] As known from the prior art (Liu Pifu, Zhong Yubin, etc., Isocentric radiotherapy technology, Journal of China-Japan Friendship Hospital, Vol. 2, No. 2, June 1988, pp. 111-114; Wang Rongwen, Laser positioning system for radiotherapy, Applied Laser Serial, Vol. 8, No. 3, pp. 157-170; Yu Xiuhuai, Li Shengyuan, Ren Ye, Dai Zhuojie, etc., Inspection and calibration of laser positioning system, Journal of General Armament Department of Medicine, Vol. 10, No. 3, September 2008, pp. 173-174; utility model patent application with the authorization announcement number of CN 217938391U), the laser-assisted positioning system for radiotherapy usually consists of three groups of laser adjustment devices, and the three groups of laser adjustment devices can be respectively installed on the left and right walls and the ceiling of the radiotherapy equipment, or can be installed on the gantry. In order to be not restricted by the site, this application selects to install the three groups of laser adjustment devices on the gantry. The radiotherapy auxiliary positioning system disclosed in this application includes a gantry, which consists of a cross beam and a left column and a right column respectively fixed at both ends of the cross beam; the inner surfaces of the cross beam, the left column, and the right column are all provided with an automatic laser fine-tuning device assembly; this automatic laser fine-tuning device assembly includes an installation box and two of the above-mentioned automatic laser fine-tuning devices. The installation box is formed by buckling a box body and a box cover together up and down. The two automatic laser fine-tuning devices are perpendicularly fixed to the bottom of the box body. On the upper surface of the box cover, directly above the corresponding position of the laser lamp, there is respectively a laser emission hole, and a transparent glass is arranged in the emission hole. The glass can be ordinary glass or organic glass.

[0011] The utility model has the following effects compared with the prior art:

[0012] 1. Not only is the rotating fine-tuning set screw of the fixed laser lamp discarded, but the pitching and yaw deflection of the laser lamp, its own rotation, and the reciprocating movement provided on the U-shaped base are all driven by a servo electric cylinder. Therefore, it has the advantages of high automation, convenience, speed, and high positioning accuracy.

[0013] 2. Both ends of the pin shaft are supported on the U-shaped base, significantly improving the rotation stability and flexibility.

[0014] 3. The slide rail is inserted into the end of the chute, and the matching side surfaces of the two are arc-shaped, which is beneficial to improving the guiding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figures 1 - 6 This is a schematic structural diagram of a specific embodiment of the automatic laser fine-tuning device, where Figure 1 is the front view, Figure 2 is the rear view, Figure 3 is the right view, Figure 4 is the left view, Figure 5 is the top view, Figure 6 is the bottom view.

[0016] Figure 7 and Figure 8 are Figures 1 - 6 schematic three-dimensional structural diagrams of the embodiment shown from two different perspectives.

[0017] Figure 9 and Figure 10 are Figures 1 - 6 schematic three-dimensional structural diagrams of the laser lamp pitching and yaw deflection mechanism in the embodiment shown from two different perspectives.

[0018] Figure 11 and Figure 12 are Figures 1 - 6 schematic three-dimensional structural diagrams of the laser lamp rotation mechanism in the embodiment shown from two different perspectives.

[0019] Figure 13 is Figures 1 - 6 a schematic three-dimensional structural diagram of one perspective of the linear movement mechanism in the embodiment shown.

[0020] Figure 14 is Figures 1 - 6 a schematic diagram of a laser-assisted positioning system for radiotherapy including the automatic laser fine-tuning device shown.

[0021] Figure 15 is Figure 14 a schematic three-dimensional structural diagram of the combination of the automatic laser fine-tuning device in

[0022] Figures 16 - 17 is Figure 15Schematic structural diagram of the automatic laser fine-tuning device assembly without the upper cover, where Figure 16 is the front view, Figure 17 is the top view.

[0023] Figure 18 is Figures 16 - 17 the three-dimensional structural diagram of the automatic laser fine-tuning device assembly without the upper cover as shown.

[0024] The dotted line in the above-mentioned specification drawings represents the laser beam. Detailed implementation mode

[0025] Example 1 (Automatic laser fine-tuning device)

[0026] Refer to Figures 1 - 8 , the automatic laser fine-tuning device described in this example is composed of a laser lamp pitching and deflecting mechanism, a laser lamp rotating mechanism, and a linear moving mechanism.

[0027] Refer to Figures 9 - 10 and in combination with Figures 1 - 6 , the laser lamp pitching and deflecting mechanism includes a U-shaped base 1, a tiger-mouth-shaped bracket 2 fixed on the bottom surface of the U-shaped base 1, a pin shaft 3 supported at both ends on the two side edges of the U-shaped base 1, and a first servo electric cylinder 4; among them, a round hole 3-1 for inserting the laser lamp 5 is horizontally and vertically provided in the middle of the pin shaft 3, and a short back 6 bent downward is horizontally provided on the pin shaft 3 on the right side of the round hole 3-1 (see Figure 1 ); the tiger mouth at the end of the push rod of the first servo electric cylinder 4 is stuck at the end of the short back 6, and a first cylindrical pin 13 fixed at the end of the short back 6 is used to hinge the tiger mouth at the end of the push rod of the first servo electric cylinder 4 on the short back 6; the tail end of the push rod of the first servo electric cylinder 4 is hinged on the bracket 2 by a second cylindrical pin 14 arranged in the tiger mouth of the bracket 2; when the first servo electric cylinder 4 makes a telescopic movement, it will push the laser lamp 5 arranged in the round hole 3-1 to make a pitching rotation around the pin shaft 3.

[0028] Refer to Figures 11 - 12 and in combination with Figures 1 - 6 , the laser lamp rotating mechanism includes a card seat 7 stuck on the pin shaft 3, a laser lamp 5, and a second servo electric cylinder 8; among them, the card seat 7 is composed of an upper half seat 7-1 and a lower half seat 7-2, and the laser lamp 5 sequentially passes through the upper half seat 7-1, the pin shaft 3, and the lower half seat 7-2 from top to bottom, and is fixed to the upper half seat 7-1 at the upper part and passes through the pin shaft 3 and the lower half seat 7-2 at the lower part; both ends of the second servo electric cylinder 8 are respectively hinged to the ends of the upper half seat 7-1 and the lower half seat 7-2 to push the laser lamp 5 to rotate around its own axis.

[0029] Refer to Figures 11 - 12 and in combination with Figures 1 - 6, To prevent the upper half 7-1 of the card seat 7 from separating from the lower half 7-2, an arc-shaped long hole 7-1-3 for limiting is provided at the head of the upper half 7-1, and a step is provided at the lower part of the hole, and the upper half 7-1 is restricted on the lower half 7-2 by a limit screw 15.

[0030] See Figures 11 - 12 and in combination with Figures 1 - 6 , To make the structure more compact, the parting surface at one end of the half seat 7-1 is cut off upward to form a notch, and a rotating pin 16 is provided in the notch. The head of the telescopic rod of the second servo electric cylinder 8 is fixed on the rotating pin 16, and the tail of the second servo electric cylinder 8 is hinged on the platform extending outward from the lower half seat 7-2.

[0031] See Figures 1 - 6 , The laser lamp 5 used in this embodiment is a 1mw one-dimensional laser lamp that produces a thin sheet beam produced by Shenzhen Leizhijie Company.

[0032] See Figure 13 and in combination with Figures 1 - 6 , The linear movement mechanism includes a slide base 9 with a chute on its lower surface, a slide rail 10, a third servo electric cylinder 11, and a fixed base 12; wherein the slide base 9 is fixed to the lower surface of the U-shaped seat bottom 1, the slide rail 10 is arranged in the chute provided on the lower surface of the slide base 9, a first mounting hole 10-1 is provided along the length direction on the slide rail 10, the fixed base 12 is fixed to the side surface of the slide base 9, the end of the telescopic rod of the third servo electric cylinder 11 is fixed to the fixed base 12, and the tail is fixed to the mounting block 17 with a second mounting hole 17-1; when the third servo electric cylinder 11 works, it pushes the U-shaped seat bottom 1 to reciprocate along the slide rail 10 through the slide base 9.

[0033] Example 2 (Radiotherapy Auxiliary Positioning System)

[0034] See Figures 14 - 18 , The radiotherapy auxiliary positioning system described in this example includes a gantry 18, which is composed of a cross beam 18-1 and left and right columns 18-2 and 18-3 respectively fixed at both ends of the cross beam 18-1; an automatic laser fine-tuning device assembly 19 is provided on the inner surfaces of the cross beam 18-1, the left column 18-2, and the right column 18-3; the automatic laser fine-tuning device assembly 19 includes an installation box 20 and two automatic laser fine-tuning devices 21 obtained in Example 1. The installation box 20 is composed of a box body 20-1 and a box cover 20-2 that are buckled together up and down. The two automatic laser fine-tuning devices 21 are perpendicularly fixed to the bottom of the box body 20-1, and laser body emission holes are respectively provided directly above the corresponding positions of the laser lamp 5 on the upper surface of the box cover 20-2, and transparent organic glass 20-3 is installed in the holes.

[0035] See Figures 14 - 18 and in combination with Figures 1 - 6, during the radiotherapy process, in order to ensure the accuracy of the target area irradiation, it is necessary to use the laser lamp positioning system to display the machine isocenter as the origin of the three-dimensional space coordinate system to ensure the accuracy and repeatability of the patient's treatment position. However, it is very difficult to ensure that the intersection point of the three laser beams completely coincides with the machine isocenter. In this case, according to the inspection and calibration method of the laser positioning system published by scholars Yu Xiuhuai et al. (Yu Xiuhuai, Li Shengyuan, Ren Ye, Dai Zhuojie et al., Inspection and Calibration of Laser Positioning System, Journal of Medical Sciences of the General Armaments Department, Vol. 10, No. 3, September 2008, pp. 173-174), first install the gantry 18 together with the combined body 19 of the three laser fine-tuning devices near the isocenter of the linear accelerator, and then adjust the laser lamp pitching and yaw mechanism, the laser lamp rotation mechanism and the linear movement mechanism respectively, so that the centers of the cross-line beams emitted by the combined body 19 of the three laser fine-tuning devices on the gantry 18 coincide, and so that the rays of the centers of the cross-line beams emitted by the combined body 19 of the laser fine-tuning devices on the left and right columns are located in the cross-section and coronal plane of the isocenter of the linear accelerator equipment, and the rays of the centers of the cross-line beams emitted by the combined body 19 of the laser fine-tuning devices on the cross beam 18-1 are located in the sagittal plane of the isocenter of the linear accelerator equipment (see Figure 1 in the above-mentioned paper by Yu Xiuhuai et al.), and then the software system in supporting memory stores the current position and attitude of the laser lamp 5 in each automatic laser fine-tuning device 21, so that subsequent equipment can be adjusted based on this when there are deviations such as translation. Figure 1 )

Claims

1. An automatic laser fine-tuning device, which comprises a laser lamp pitching and deflecting mechanism and a laser lamp rotating mechanism, and is characterized in that the laser lamp pitching and deflecting mechanism includes a U-shaped base, a bracket fixed on the bottom edge of the U-shaped base, a pin shaft supported at both ends on the two side edges of the U-shaped base, and a first servo electric cylinder. A circular hole for inserting the laser lamp is transversely and vertically provided in the middle of the pin shaft. A short back is transversely provided on the pin shaft on one side of the circular hole. The two ends of the first servo electric cylinder are respectively hinged to the bracket and the short back to push the laser lamp arranged in the circular hole to pitch and rotate around the pin shaft; the laser lamp rotating mechanism includes a card seat stuck on the pin shaft, a laser lamp and a second servo electric cylinder; the card seat is composed of an upper half seat and a lower half seat. The laser lamp sequentially passes through the upper half seat, the pin shaft and the lower half seat from top to bottom, and is fixed to the upper half seat at the upper part, and is hinged to the pin shaft and the lower half seat at the lower part; the two ends of the second servo electric cylinder are respectively hinged to the ends of the upper half seat and the lower half seat to push the laser lamp to rotate around its own axis; the automatic laser fine-tuning device further includes a linear moving mechanism, which includes a sliding seat with a chute on the lower surface, a slide rail, a third servo electric cylinder, a fixed seat and a fixed block. The sliding seat is fixed to the lower surface of the U-shaped base. The slide rail is arranged in the chute, and the side surfaces of the two in cooperation are arc-shaped. One end of the third servo electric cylinder is fixed to the fixed block, and the other end is fixed to the fixed seat to push the bottom edge of the U-shaped seat to reciprocate along the slide rail through the sliding seat; the laser lamp is a laser lamp that generates a thin sheet beam.

2. A laser-assisted positioning system for radiotherapy, the system comprising a gantry, the gantry consisting of a crossbeam and a left upright column and a right upright column respectively fixed at both ends of the crossbeam; characterized in that, The inner surfaces of the cross beam, the left column and the right column are all provided with an automatic laser fine-tuning device assembly; the automatic laser fine-tuning device assembly includes an installation box and two automatic laser fine-tuning devices as described in claim 1. The installation box is composed of a box body and a box cover buckled together up and down. The two automatic laser fine-tuning devices are perpendicularly fixed to the bottom of the box body. On the upper surface of the box cover, directly above the corresponding position of the laser lamp, there is respectively a laser emission hole, and a transparent glass is arranged in the emission hole.

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