Cylinder system of stereotactic radiotherapy equipment with annular rack

Abstract

The utility model discloses a cylinder system of an annular rack stereotactic radiotherapy device, and relates to the technical field of stereotactic radiotherapy. According to the utility model, the surface of the human body is divided into a plurality of areas according to a plurality of grid types, and information of the areas is transmitted to the cyber knife interaction robot; in the prior art, the cyber-knife interaction robot is provided with a high-intelligence processing system, and when coordinate information guided by the grids is obtained, the cyber-knife interaction robot can move according to actual conditions, so that the accuracy of movement of the cyber-knife interaction robot is improved, and the accuracy of movement of the cyber-knife interaction robot is improved. Specifically, after the grid coordinate lines are formed on the body surface, the grid coordinate lines are fixed, if the patient slightly moves in the period, the movement deviation of the grid coordinate lines can be found by the cyber knife interaction robot, and then fine adjustment is carried out when a focus is focused, so that accurate focusing is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to a stereotactic radiotherapy equipment technical field, concretely relates to a cylindrical system of annular frame stereotactic radiotherapy equipment. BACKGROUND

[0002] Annular frame stereotactic radiotherapy is a kind of high-precision radiotherapy technology, it is focused on tumor or other lesions accurately by using high-dose radiation, to realize the destruction of pathological tissue, while maximumly reduce the damage to surrounding normal tissue.

[0003] The annular frame stereotactic radiotherapy equipment of prior art mainly includes image navigation system, cyberknife interactive robot, annular frame, linear accelerator and patient fixation and positioning system, wherein the positioning system is a very important component, and the positioning precision of the positioning system determines whether the cyberknife interactive robot can be accurately focused on tumor or other lesions, and the main structure of the patient positioning system includes head frame, body fixing frame and cylinder or cylindrical container etc.

[0004] And the cylinder is an important part of building patient positioning system, how to cooperate with the cyberknife interactive robot to construct a three-dimensional coordinate is very important, therefore, the present application provides a cylindrical system of annular frame stereotactic radiotherapy equipment. UTILITY MODEL CONTENT

[0005] The utility model aims at: construct a cylindrical system that cooperates with the cyberknife interactive robot and is accurately focused on tumor or other lesions, and the utility model provides a cylindrical system of annular frame stereotactic radiotherapy equipment.

[0006] The utility model discloses a specific technical scheme in order to realize the above-mentioned purpose:

[0007] A cylindrical system of annular frame stereotactic radiotherapy equipment, including the cylinder that sets up in the circular through-hole of annular frame, its characterized in that, still include:

[0008] Laser positioning unit is set up in the top of cylinder, so that when the human body is located in the cylinder, constructs the grid coordinate line of horizontal and vertical intersection on the body surface;

[0009] Coordinate information acquisition system is set up in the top of cylinder, and real-time coordinate information is obtained and is transmitted to the cyberknife interactive robot;

[0010] Carry device is used to carry the cyberknife interactive robot.

[0011] Further, the cylinder includes at least three fixed rings and the cylinder wall connected to the three fixed rings.

[0012] Further, the laser positioning unit comprises a plurality of transverse laser markers arranged in a linear equidistant manner, the transverse laser markers are used for forming transverse light beam lines on the body surface and are symmetrically arranged at two quadrant points of the cylinder.

[0013] Further, the coordinate information acquisition system comprises a plurality of high-definition cameras arranged in a matrix on the cylinder wall, the high-definition cameras penetrate the cylinder wall and are fixed thereon, and the high-definition cameras are electrically connected with the CyberKnife interactive robot.

[0014] Further, the mounting device comprises a mounting seat and a ring frame for guiding the annular movement of the mounting seat, and the mounting seat is used for mounting the CyberKnife interactive robot.

[0015] Further, the ring frame comprises a ring body and a fixing lug fixed to the outer wall of the ring body, the fixing lug is provided with a plurality of through holes, and a guide rod penetrating the through hole is slidably arranged in the through hole and fixed to the fixing ring at the end.

[0016] Further, one of the guide rods is a lead screw, a first servo motor with an output shaft connected to the end of the lead screw is mounted on the fixing ring, the first servo motor is electrically connected with the CyberKnife interactive robot, and the lead screw is threadedly connected with the inner wall of the through hole.

[0017] Further, the mounting seat comprises a moving unit moving along the annular direction of the ring body and a mounting base fixed to the moving unit and provided with a mounting hole, and the mounting base is used for fixedly mounting the CyberKnife interactive robot through bolts and nuts.

[0018] Further, the moving unit comprises a gear ring fixed to the inner ring part of the ring body and a moving sleeve sleeved on the outer ring of the ring body, the moving sleeve is fixedly connected with the mounting base and internally rotatably mounted with a gear engaged with the gear ring through a shaft, the gear is fixedly connected with the shaft, the shaft is rotatably connected with the moving sleeve, and a second servo motor with an output shaft connected to the end of the shaft is fixedly mounted on the side wall of the moving sleeve, the second servo motor is electrically connected with the CyberKnife interactive robot.

[0019] Further, the side wall of the ring body is symmetrically provided with a wheel groove, and a roller is rotatably arranged in each of the two wheel grooves.

[0020] The beneficial effects of the utility model are as follows:

[0021] 1. The utility model discloses a human body surface is divided into multiple areas according to multiple grid formats, and the information of these areas is transmitted to the ray knife interactive robot, and the ray knife interactive robot with grid division can realize accurate movement according to the grid.

[0022] 2. The utility model discloses a first servo motor rotation is controlled through ray knife interactive robot, and then control screw rod rotation, make with screw rod thread connection fixed ear drive ring body along guide rod and move.

[0023] 3. The utility model discloses a second servo motor rotation is controlled through ray knife interactive robot, and then drive gear rotation, and the restriction of mobile cover and the guidance of ring body, gear can drive mobile cover and move on the circumference of ring body. DRAWINGS

[0024] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0025] Figure 2 It is another angle three-dimensional structure schematic diagram of the utility model;

[0026] Figure 3 It is the three-dimensional structure schematic diagram of the utility model loading device;

[0027] Figure 4 It is the three-dimensional structure sectional view of the utility model loading device;

[0028] Figure 5 It is the utility model Figure 3 The enlarged view of A in it;

[0029] Figure 6 It is the utility model Figure 4 The enlarged view of B in it;

[0030] Label: 1, cylinder; 101, fixed ring; 102, cylinder wall; 2, laser positioning unit; 21, transverse laser scribe; 22, longitudinal laser scribe; 3, coordinate information acquisition system; 31, high-definition camera; 4, carrying device; 41, carrying seat; 411, moving unit; 4111, gear ring; 4112, moving sleeve; 4113, shaft; 4114, gear; 4115, second servo motor; 412, mounting seat; 42, ring frame; 421, ring body; 4211, wheel groove; 4212, roller; 422, fixed lug; 423, through hole; 424, guide rod; 5, lead screw; 6, first servo motor. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model.

[0032] The cylinder system of the circular gantry stereoscopic directional radiotherapy equipment provided in the embodiments is mainly used for constructing a cylinder system that cooperates with the CyberKnife interactive robot to accurately focus on tumors or other lesions, and provides the following technical scheme, which will be described in detail below in combination with the drawings. Figures 1-6 Detailed description:

[0033] The cylinder system of the circular gantry stereoscopic directional radiotherapy equipment comprises a cylinder 1 arranged at a circular through hole of the circular gantry, wherein the cylinder 1 is mainly installed on the circular gantry through the bolt at the circular through hole of the circular gantry in the stereoscopic directional radiotherapy equipment, and the top of the cylinder 1 is provided with a laser positioning unit 2, which is used for constructing transverse and longitudinal intersecting grid coordinate lines on the body surface when the human body is located in the cylinder 1, the coordinate lines provide reference movement parameters for the movement of the CyberKnife interactive robot, and in order to enable the parameters to be acquired by the CyberKnife interactive robot, the top of the cylinder 1 is provided with a coordinate information acquisition system 3, and the inside of the cylinder 1 is further provided with a carrying device 4 for carrying the CyberKnife interactive robot.

[0034] The present application constructs the visible transverse and longitudinal intersecting grid coordinate lines on the body surface, divides the body surface into multiple areas according to multiple grid formats, and transmits the information of the areas to the CyberKnife interactive robot, so that the CyberKnife interactive robot with grid division can accurately move according to the grid (the CyberKnife interactive robot in the prior art has a highly intelligent processing system, which can move according to the actual situation when acquiring the coordinate information with grid guidance), which is specifically embodied in that the grid coordinate lines are fixed after being formed on the body surface, if the patient moves slightly during this period, the movement deviation of the patient compared with the grid coordinate lines can be found by the CyberKnife interactive robot, and then the CyberKnife interactive robot can make fine adjustment when focusing on the lesion, thereby achieving accurate focusing.

[0035] like Figure 1 As shown, in this embodiment, the cylinder 1 includes at least three fixing rings 101 and a cylinder wall 102 connecting and fixing the three fixing rings 101, specifically as follows: Figure 1 As shown, the cylinder is composed of three fixing rings 101 and a cylinder wall 102 connecting the two fixing rings 101. The laser positioning unit 2 includes multiple horizontal laser scribing units 21 arranged in a straight line at equal intervals. The horizontal laser scribing units 21 are used to form horizontal beam lines on the surface of the object and are provided with two sets of symmetrically located at two quadrant points of the cylinder 1. Between the two horizontal laser scribing units 21, multiple vertical laser scribing units 22 are arranged in a ring at equal intervals. The vertical laser scribing units 22 are mounted on the fixing rings 101 to form vertical beam lines on the surface of the object. It should be noted that the laser scribing units here adopt the principle of a horizontal scribing instrument, which can form a beam of light on the surface of the object and project it onto it. The prisms of the multiple laser scribing units are arranged at equal intervals and, together with a semiconductor pump laser and an optical lens, realize the generation of grid coordinate lines.

[0036] like Figure 1 and Figure 2 As shown, in this embodiment, the coordinate information acquisition system 3 consists of multiple high-definition cameras 31 distributed in a matrix on the cylinder wall 102. The high-definition cameras 31 are high-definition high-speed cameras, which need to continuously take pictures. The high-definition cameras 31 penetrate the cylinder wall 102 and are fixed thereon. At the same time, the high-definition cameras 31 are electrically connected to the CyberKnife interactive robot to send the captured picture information to the CyberKnife interactive robot in real time for calculation and operation to determine the focus area.

[0037] like Figures 1 to 4 As shown, in this embodiment, after the CyberKnife interactive robot acquires its position information, it is provided with a large-path movement method. The CyberKnife interactive robot is a high-precision robot, but its movement capability along the length of the human body is limited. To cooperate with and control its movement, the mounting device 4 includes a mounting base 41 and a ring frame 42 that guides the mounting base 41 to move in a ring. The mounting base 41 is used to mount the CyberKnife interactive robot; please refer to... Figure 3Wherein the ring frame 42 comprises a ring body 421 and fixing ears 422 fixed on the outer wall of the ring body 421, the fixing ears 422 are provided with a plurality of groups of through holes 423, and guide rods 424 are slidably arranged in the through holes 423 and fixedly arranged on the fixing ring 101 at the end portion. The guide rods 424 are fixed on the fixing ring 101 by the end portion fixing block, and the sliding connection between the guide rods 424 and the through holes 423 provides support and direction guidance for the movement of the ring body 421. In order to provide a power source for the movement of the ring body 421, one of the guide rods 424 is provided as a lead screw 5, and a first servo motor 6 with an output shaft connected to the end of the lead screw 5 is arranged on the fixing ring 101. The first servo motor 6 is electrically connected to the radio knife interactive robot. When the radio knife interactive robot obtains coordinate information, the first servo motor 6 is controlled to rotate through signal transmission, thereby controlling the rotation of the lead screw 5, so that the fixing ear 422 connected with the lead screw 5 drives the ring body 421 to move along the guide rod 424.

[0038] As shown in Figures 1 to 6 , in order to obtain the movement ability in the ring direction and realize the mounting and carrying of the radio knife interactive robot, the carrying seat 41 in this embodiment comprises a moving unit 411 moving along the ring direction of the ring body 421 and a mounting seat 412 fixed with the moving unit 411 and provided with mounting holes. The mounting seat 412 is used for fixedly mounting the radio knife interactive robot by bolts and nuts. The moving unit 411 comprises a gear ring 4111 fixed on the inner ring part of the ring body 421 and a moving sleeve 4112 sleeved on the outside of the ring body 421. The moving sleeve 4112 is fixedly connected with the mounting seat 412 and internally rotatably arranged with a shaft 4113. The shaft 4113 is fixedly connected with a gear 4114 engaged with the gear ring 4111. When the gear 4114 rotates, the gear ring 4111 does not move due to the engagement, so that the power for self movement can be generated. The shaft 4113 is rotatably connected with the moving sleeve 4112, and the side wall of the moving sleeve 4112 is fixedly arranged with a second servo motor 4115 with an output shaft connected to the end of the shaft 4113. The second servo motor 4115 is electrically connected with the radio knife interactive robot. When the movement in the ring direction is needed, the radio knife interactive robot controls the second servo motor 4115 to rotate, thereby driving the gear 4114 to rotate. The gear 4114 can drive the moving sleeve 4112 to move along the circumferential direction of the ring body 421 under the restriction of the moving sleeve 4112 and the guidance of the ring body 421.

[0039] As shown in Figures 3 to 6 , in order to better and smoothly move on the ring body 421, please refer to Figure 5The side wall of the ring body 421 is symmetrically provided with a wheel groove 4211, two wheels 4212 are rotatably arranged in the two wheel grooves 4211, and the wheels 4212 are rotationally connected with the moving sleeve 4112.

[0040] The working process of the utility model is as follows:

[0041] The horizontal laser scribe 21 and the longitudinal laser scribe 22 construct visible grid coordinate lines on the surface of the human body, thereby dividing the human body into regions (it should be noted that the human body is in the inside of the cylinder 1, and this is realized by a treatment bed, which already exists in the prior art, and will not be described in detail here), and meanwhile, the high-definition camera 31 shoots photos at high speed and continuously and transmits the photos to the harmonic knife interactive robot, the harmonic knife interactive robot can easily find whether the human body is displaced compared with the grid coordinate lines between the two photos after calculation and comparison, if displacement occurs, adjustment can be made in time, and the moving mode is realized by rotating the first servo motor 6, thereby rotating the lead screw 5, so that the fixed lug 422 connected with the lead screw 5 drives the ring body 421 to move along the guide rod 424, and the second servo motor 4115 is controlled to rotate, thereby rotating the gear 4114, and the gear 4114 can drive the moving sleeve 4112 to move in the circumferential direction of the ring body 421 under the limitation of the moving sleeve 4112 and the guidance of the ring body 421.

[0042] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cylinder system of a ring gantry stereotactic radiation therapy apparatus, comprising a cylinder (1) disposed at a circular through hole of a ring gantry, characterized in that, Also include: Laser positioning unit (2) is arranged at the top of the cylinder (1), so that the human body is located in the cylinder (1) when the body surface constructs horizontal and vertical grid coordinate line; Coordinate information acquisition system (3) is arranged at the top of the cylinder (1), which can obtain coordinate information in real time and transmit it to the CyberKnife interactive robot; The carrying device (4) is used for carrying the CyberKnife interactive robot.

2. A cylinder system of a ring gantry stereotactic radiation treatment apparatus according to claim 1, wherein, The cylinder (1) includes at least three fixed rings (101) and a cylinder wall (102) connecting the three fixed rings (101).

3. A cylinder system for a ring gantry stereotactic radiation treatment apparatus according to claim 2, wherein, The laser positioning unit (2) includes a plurality of horizontal laser line markers (21) arranged in a straight line at equal intervals, which are used to form horizontal light beam lines on the body surface and are provided with two groups of symmetrically located at two quadrant points of the cylinder (1). A plurality of vertical laser line markers (22) arranged in a ring at equal intervals are arranged between the two horizontal laser line markers (21), which are installed on the fixed ring (101) and used to form vertical light beam lines on the body surface.

4. A cylinder system of a ring gantry stereotactic radiation treatment apparatus according to claim 2, wherein, The coordinate information acquisition system (3) is composed of a plurality of matrix high-definition cameras (31) distributed on the cylinder wall (102), which penetrates the cylinder wall (102) and is fixed thereon. The high-definition camera (31) is electrically connected with the CyberKnife interactive robot.

5. A cylinder system of a ring gantry stereotactic radiation treatment apparatus according to claim 1, wherein, The carrying device (4) includes a carrying seat (41) and a ring frame (42) for guiding the ring-shaped movement of the carrying seat (41), and the carrying seat (41) is used for installing the CyberKnife interactive robot.

6. A cylinder system for a ring gantry stereotactic radiation treatment apparatus as defined in claim 5, wherein, The ring frame (42) includes a ring body (421) and a fixed lug (422) fixed on the outer wall of the ring body (421), and the fixed lug (422) is provided with a plurality of through holes (423) and fixed lugs (422). The guide rod (424) fixedly installed on the end of the fixed ring (101) is slidably arranged in the through hole (423).

7. A cylinder system for a ring gantry stereotactic radiation treatment apparatus according to claim 6, wherein, One of the guide rods (424) is provided as a lead screw (5), and the fixed ring (101) is provided with a first servo motor (6) having an output shaft connected with the end of the lead screw (5). The first servo motor (6) is electrically connected with the CyberKnife interactive robot, and the lead screw (5) is threadedly connected with the inner wall of the through hole (423) through which it passes.

8. A cylinder system of a ring gantry stereotactic radiation treatment apparatus according to claim 6, wherein, The carrying seat (41) includes a moving unit (411) moving along the ring of the ring body (421) and a mounting seat (412) fixed with the moving unit (411) and provided with a mounting hole thereon, and the mounting seat (412) is used for fixedly mounting the CyberKnife interactive robot by bolts and nuts.

9. A cylinder system for a ring gantry stereotactic radiation treatment apparatus as defined in claim 8, wherein, The moving unit (411) comprises a gear ring (4111) fixed to the inner ring part of the ring body (421) and a moving sleeve (4112) sleeved outside the ring body (421), the moving sleeve (4112) is fixedly connected with the mounting seat (412) and internally rotatably installed with a gear (4114) engaged with the gear ring (4111) through a shaft rod (4113), the gear (4114) is fixedly connected with the shaft rod (4113), the shaft rod (4113) is rotatably connected with the moving sleeve (4112), and the side wall of the moving sleeve (4112) is fixedly installed with a second servo motor (4115) with the end of the shaft rod (4113) connected, and the second servo motor (4115) is electrically connected with the installation microwave knife interaction robot.

10. A cylinder system for a ring gantry stereotactic radiation treatment apparatus as defined in claim 9, wherein, The side wall of the ring body (421) is symmetrically provided with wheel grooves (4211), and the two wheel grooves (4211) are both rollingly provided with rollers (4212), and the rollers (4212) are rotatably connected with the moving sleeve (4112).

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