Patient support apparatus and radiation exposure system

Abstract

The utility model provides a kind of patient support device and radiation exposure system, the patient support device includes: placing piece, for carrying irradiated body;Position adjusting mechanism, for moving placing piece, position adjusting mechanism has fixed part and moving part;The installation plane of fixed part is below the placing piece;One end of moving part is connected with fixed part, the other end is connected with placing piece, moving part can move or rotate relative to fixed part, to correspond to adjust the horizontal position, vertical position or angle of placing piece.The utility model solves the technical problem that the existing mechanical arm is limited in activity space due to the limitation of treatment room and its own structure, cannot control the accurate positioning or irradiation of placing piece.

Description

Technical Field

[0001] This utility model relates to the field of radiation irradiation technology, and in particular to a patient support device and a radiation irradiation system. Background Technology

[0002] With the development of atomic science, radiation therapy, such as cobalt-60, linear accelerators, and electron beams, has become one of the main methods of cancer treatment. However, traditional photon or electron therapy is limited by the physical conditions of radiation itself. While killing tumor cells, it also damages a large amount of normal tissue along the beam path. In addition, due to the different sensitivities of tumor cells to radiation, traditional radiation therapy is often ineffective for more radiation-resistant malignant tumors (such as glioblastoma multiforme and melanoma).

[0003] To reduce radiation damage to surrounding normal tissues, the concept of targeted therapy in chemotherapy has been applied to radiotherapy. Furthermore, for highly radiation-resistant tumor cells, radiation sources with high relative biological effectiveness (RBE) are being actively developed, such as proton therapy, heavy ion therapy, and neutron capture therapy. Neutron capture therapy combines these two concepts; for example, boron neutron capture therapy utilizes the specific accumulation of boron-containing drugs on tumor cells, combined with precise neutron beam modulation, to provide a better cancer treatment option than traditional radiation. Utility Model Content

[0004] Existing robotic arms used for radiotherapy are limited by their placement location. During neutron capture therapy, they are restricted by the treatment space and their own rotation direction, making it impossible to make large-scale translational or rotational adjustments. As a result, the patient-carrying device on the robotic arm cannot reach the appropriate irradiation position, thus failing to achieve precise patient positioning and efficient irradiation.

[0005] The purpose of this invention is to provide a patient support device and a radiation irradiation system. After positioning the patient at different irradiation sites in a treatment space where the treatment beam is set vertically or horizontally, the robotic arm can perform a wide range of horizontal and / or vertical translation and / or rotational movements within the horizontal and / or vertical space according to the patient's irradiation site. This avoids motion interference caused by the top, top sidewall, or upper middle sidewall of the treatment space, as well as the robotic arm itself, achieving efficient and accurate positioning of the irradiation site, ensuring a reasonable source-skin distance, and achieving the required irradiation intensity.

[0006] The objective of this utility model can be achieved by the following solutions:

[0007] This utility model provides a patient support device, comprising:

[0008] A carrier used to hold the irradiated object;

[0009] A position adjustment mechanism for moving the mounting component;

[0010] The position adjustment mechanism has a fixed part and a movable part;

[0011] The mounting plane of the fixed part is located below the carrier; one end of the movable part is connected to the fixed part, and the other end is connected to the carrier. The movable part can move or rotate relative to the fixed part to adjust the horizontal position, vertical position, or angle of the carrier.

[0012] In a preferred embodiment of this utility model,

[0013] The fixing part includes a base, which is disposed below the mounting member;

[0014] The moving part includes a robotic arm, one end of which is connected to the base and the other end of which is connected to the carrier, so as to adjust the horizontal position, vertical position or angle of the carrier through the robotic arm.

[0015] In a preferred embodiment of the present invention, the robotic arm includes a first arm, a second arm, a third arm, and a fourth arm. The rear end of the first arm is connected to the base, the front end of the first arm is connected to the rear end of the second arm, the rear end of the second arm is connected to the front end of the third arm, the rear end of the third arm is connected to the front end of the fourth arm, and the carrier is rotatably disposed at the front end of the fourth arm.

[0016] The first arm and the base have a first connecting shaft, the second arm and the first arm have a second connecting shaft, and the first connecting shaft and the second connecting shaft coincide; the third arm and the second arm have a third connecting shaft, the third connecting shaft and the second connecting shaft both extend vertically and are parallel; the fourth arm and the third arm have a fourth connecting shaft, the fourth connecting shaft extends horizontally.

[0017] In a preferred embodiment of the present invention, the second arm, the third arm, and / or the fourth arm are retractable structures.

[0018] In a preferred embodiment of the present invention, the robotic arm further includes a fifth arm, the rear end of which is rotatably connected to the front end of the fourth arm, and the carrier is rotatably connected to the front end of the fifth arm; the fourth arm has a fourth arm central axis, the fifth arm has a fifth arm central axis, the fourth arm central axis and the fifth arm central axis coincide, and the fifth arm can rotate around the fifth arm central axis.

[0019] In a preferred embodiment of the present invention, the robotic arm further includes a sixth arm, which is rotatably connected to the front end of the fifth arm, and the carrier is disposed on the sixth arm; the sixth arm has a sixth arm central axis, which is perpendicular to the central axis of the fifth arm, and the sixth arm can rotate around the sixth arm central axis.

[0020] In a preferred embodiment of the present invention, a first connecting portion is provided on the sixth arm, and a second connecting portion is provided on the carrier, wherein the first connecting portion and the second connecting portion are engaged and connected.

[0021] In a preferred embodiment of this utility model, a connecting flange is provided on the sixth arm, and the first connecting part is connected to the connecting flange by bolts.

[0022] In a preferred embodiment of this utility model, the carrier is a treatment bed or a treatment chair.

[0023] This utility model provides a radiation irradiation system, comprising:

[0024] A carrier used to hold the irradiated object;

[0025] A position adjustment mechanism for moving the mounting component;

[0026] The position adjustment mechanism has a fixed part and a movable part;

[0027] The fixing part is located at the bottom of the treatment space;

[0028] One end of the movable part is connected to the fixed part, and the other end is connected to the carrier. The movable part can move or rotate relative to the fixed part to adjust the horizontal position, vertical position, or angle of the carrier.

[0029] In a preferred embodiment of the present invention, the fixing part is fixedly disposed on the ground or surface or bottom side wall of the treatment space.

[0030] In a preferred embodiment of this invention, a beam outlet is provided at the top of the treatment space.

[0031] In a preferred embodiment of the present invention, the treatment space is a treatment room or a simulation room, the top or side wall of the treatment room is provided with a beam outlet, and the top or side wall of the simulation room is provided with a simulated beam outlet.

[0032] In a preferred embodiment of this utility model, the position adjustment mechanism includes:

[0033] The fixing part includes a base, which is disposed at the bottom of the treatment space;

[0034] The moving part includes a robotic arm, one end of which is connected to the base and the other end of which is connected to the carrier, so as to adjust the horizontal position, vertical position or angle of the carrier through the robotic arm.

[0035] In a preferred embodiment of the present invention, the robotic arm includes a first arm, a second arm, a third arm, and a fourth arm. The rear end of the first arm is connected to the base, the front end of the first arm is connected to the rear end of the second arm, the rear end of the second arm is connected to the front end of the third arm, the rear end of the third arm is connected to the front end of the fourth arm, and the carrier is rotatably disposed at the front end of the fourth arm.

[0036] The first arm and the base are connected by a first connecting shaft, and the second arm and the first arm are connected by a second connecting shaft, wherein the first connecting shaft and the second connecting shaft coincide.

[0037] The third arm and the second arm are connected by a third connecting shaft, both of which extend vertically and are parallel to each other;

[0038] The fourth arm has a fourth connecting shaft between it and the third arm, and the fourth connecting shaft extends in a horizontal direction.

[0039] In a preferred embodiment of the present invention, the second arm, the third arm, and / or the fourth arm are retractable structures.

[0040] In a preferred embodiment of the present invention, the robotic arm further includes a fifth arm, the rear end of which is rotatably connected to the front end of the fourth arm, and the carrier is rotatably connected to the front end of the fifth arm; the fourth arm has a fourth arm central axis, the fifth arm has a fifth arm central axis, the fourth arm central axis and the fifth arm central axis coincide, and the fifth arm can rotate around the fifth arm central axis.

[0041] In a preferred embodiment of the present invention, the robotic arm further includes a sixth arm, which is rotatably connected to the front end of the fifth arm, and the carrier is disposed on the sixth arm; the sixth arm has a sixth arm central axis, which is perpendicular to the central axis of the fifth arm, and the sixth arm can rotate around the sixth arm central axis.

[0042] In a preferred embodiment of the present invention, a first connecting portion is provided on the sixth arm, and a second connecting portion is provided on the carrier, wherein the first connecting portion and the second connecting portion are engaged and connected.

[0043] In a preferred embodiment of this utility model, a connecting flange is provided on the sixth arm, and the first connecting part is connected to the connecting flange by bolts.

[0044] In a preferred embodiment of this utility model, the carrier is a treatment bed or a treatment chair.

[0045] This utility model provides a radiation irradiation system, comprising:

[0046] A treatment room for irradiating a subject or a simulation room for simulating the positioning of an irradiated subject, wherein the top or side wall of the treatment room is provided with a beam outlet, and the top or side wall of the simulation room is provided with a simulated beam outlet.

[0047] A radiation generating device used to generate a beam for irradiation;

[0048] A beam transmission chamber for transmitting the beam to the treatment chamber;

[0049] The patient support device is provided at the bottom of the treatment room or simulation room. The patient support device includes a carrier for supporting the irradiated body and a position adjustment mechanism for adjusting the horizontal position, vertical position or angle of the carrier.

[0050] At least a portion of the radiation generating device is located in the beam transmission chamber, and the beam generated by the radiation generating device passes through the beam transmission chamber and the beam outlet of the treatment chamber in sequence, irradiating the carrier vertically or horizontally.

[0051] Based on the above, the beneficial effects of the patient support device and radiation irradiation system provided by this utility model are as follows:

[0052] The position adjustment mechanism has a fixed part and a moving part. One end of the moving part is connected to the fixed part, and the other end of the moving part is connected to the carrier for carrying the irradiated body. To avoid interference from the top, top side wall, or upper middle side wall of the treatment space on the movement of the moving part, the mounting plane of the fixed part is set below the carrier. Thus, according to the position of the part to be irradiated in the treatment space, the moving part can be controlled to move horizontally, vertically, and rotate relative to the fixed part, so as to adjust the horizontal position, vertical position, or angle of the carrier accordingly. The moving part has a large range of motion, while avoiding motion interference caused by the top, top side wall, or upper middle side wall of the treatment space, so as to achieve efficient and accurate positioning of the part to be irradiated, ensure a reasonable source-skin distance, and achieve the required irradiation intensity. Attached Figure Description

[0053] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the present invention. Wherein:

[0054] Figure 1 ; This is a schematic diagram of the spatial layout of the radiation irradiation system provided by this utility model, located in the upper space of the patient support device.

[0055] Figure 2 ; This is a structural diagram of the space where the patient support device is located and the space above it in the radiation irradiation system provided by this utility model.

[0056] Figure 3 : One of the structural schematic diagrams of the patient support device provided by this utility model.

[0057] Figure 4 : A schematic diagram of the position adjustment mechanism in the patient support device provided by this utility model, with the mounting component hidden.

[0058] Figure 5 : A schematic diagram of the structure of the first connecting part and the second connecting part in the patient support device provided by this utility model.

[0059] Figure 6 : A schematic diagram of the position adjustment mechanism in the patient support device provided by this utility model, with the first connecting part hidden.

[0060] Figure 7 : This is the second structural schematic diagram of the patient support device provided by this utility model.

[0061] The reference numerals in the accompanying drawings of this utility model are:

[0062] 1. Position adjustment mechanism; 101. Fixing part;

[0063] 102. Moving part; 103. Base;

[0064] 104. Robotic arm; 1041. First arm;

[0065] 1042. Second arm; 1043. Third arm;

[0066] 1044, Fourth Arm; 10441, Central Axis of the Fourth Arm;

[0067] 1045. Fifth arm; 10451. Central axis of the fifth arm;

[0068] 1046. The sixth arm; 10461. The central axis of the sixth arm;

[0069] 1047. First connecting part; 10471. Connecting hole;

[0070] 10472, snap-fit ​​hole; 1048, connecting flange;

[0071] 2. Mounting component; 201. Second connecting part;

[0072] 2011, Card-connecting block; 10 (10A / 10B / 10c), Treatment space;

[0073] 20. Charged particle beam generation chamber; 30. Accelerator;

[0074] 40. Beam transmission unit; 41. First transmission unit;

[0075] 42. First beam direction switcher; 43. Second beam direction switcher;

[0076] 44. Second transmission unit; 45A. Third transmission unit;

[0077] 45B, Fourth Transmission Section; 45C, Fifth Transmission Section;

[0078] 50 (50A / 50B / 50C), Neutron Beam Generation Unit; 60, Beam Transmission Chamber. Detailed Implementation

[0079] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0080] It should be noted that in the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0081] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0082] Neutron capture therapy has seen increasing application as an effective cancer treatment method in recent years, with boron neutron capture therapy being the most common. Neutrons for boron neutron capture therapy can be supplied by nuclear reactors or accelerators. This application's embodiments use accelerator-based boron neutron capture therapy as an example. The basic components of accelerator-based boron neutron capture therapy typically include an accelerator for accelerating charged particles (such as protons, deuterons, etc.) and a neutron capture therapy system. The neutron capture therapy system includes a target material, a thermal removal system, and a beam shaper. The accelerated charged particles interact with the target material to produce neutrons. A suitable nuclear reaction is selected based on the required neutron yield and energy, the available energy and current of the accelerated charged particles, and the physicochemical properties of the target material. Commonly discussed nuclear reactions include... 7 Li(p,n) 7 Be and 9 Be(p,n) 9 B. Both of these reactions are endothermic. The energy thresholds for the two nuclear reactions are 1.881 MeV and 2.055 MeV, respectively. Since the ideal neutron source for boron neutron capture therapy is hyperthermal neutrons at the keV energy level, theoretically, if protons with energies only slightly higher than the threshold are used to bombard a lithium metal target, relatively low-energy neutrons can be produced, which can be used clinically without much slowing treatment. However, the interaction cross-section between lithium metal (Li) and beryllium metal (Be) targets and protons at the threshold energy is not high. In order to generate a sufficiently large neutron flux, higher-energy protons are usually selected to initiate the nuclear reaction.

[0083] like Figure 1 , Figure 2As shown, the radiation irradiation system of this invention is part of a boron neutron capture therapy system. The boron neutron capture therapy system is configured within two layers (upper space L2 and lower space L1). The boron neutron capture therapy system also includes treatment spaces 10 (10A, 10B, 10C) and a charged particle beam generation chamber 20. Patients undergo neutron beam irradiation treatment in treatment spaces 10 (10A, 10B, 10C). The charged particle beam generation chamber 20 is equipped with an accelerator 30 and at least a portion of the beam transmission unit 40. There may be one or more neutron beam generation units 50 to generate one or more therapeutic neutron beams. The beam transmission unit 40 can selectively transmit charged particle beams to one or more neutron beam generation units 50 or simultaneously transmit charged particle beams to multiple neutron beam generation units 50. Each neutron beam generation unit 50 corresponds to one treatment space 10. Figure 6 , Figure 7 In the embodiment shown, there are three neutron beam generating units 50 and three treatment spaces 10, namely neutron beam generating units 50A, 50B, 50C and treatment spaces 10A, 10B, 10C.

[0084] The main body of the beam transmission unit 40 is located inside the beam transmission chamber 60. The beam transmission unit 40 includes: a first transmission unit 41, which is connected to the accelerator 30; first and second beam direction switchers 42 and 43, which are used to switch the direction of travel of the charged particle beam; a second transmission unit 44, which is connected to the first and second beam direction switchers 42 and 43; and third, fourth, and fifth transmission units 45A, 45B, and 45C, which respectively transmit the charged particle beam from the first beam direction switcher 42 or the second beam direction switcher 43 to the neutron beam generation units 50A, 50B, and 50C, and the generated neutron beams then irradiate the patients in the treatment spaces 10A, 10B, and 10C. The third transmission section 45A connects to the first beam direction switcher 42 and the neutron beam generating section 50A; the fourth transmission section 45B connects to the second beam direction switcher 43 and the neutron beam generating section 50B; and the fifth transmission section 45C connects to the second beam direction switcher 43 and the neutron beam generating section 50C. That is, the first transmission section 41 branches into the second transmission section 44 and the third transmission section 45A in the first beam direction switcher 42, and the second transmission section 44 further branches into the fourth transmission section 45B and the fifth transmission section 45C in the second beam direction switcher 43. The first and second transmission units 41 and 44 transmit along the X-axis, the third transmission unit 45A transmits along the Z-axis, and the fourth and fifth transmission units 45B and 45C transmit in the XY plane, forming a "Y" shape with the transmission directions of the first and second transmission units 41 and 44. Neutron beam generating units 50A, 50B, and 50C, and their corresponding treatment spaces 10A, 10B, and 10C are respectively positioned along the transmission directions of the third, fourth, and fifth transmission units 45A, 45B, and 45C. The generated neutron beam directions are the same as those of the third, fourth, and fifth transmission units 45A, 45B, and 45C, respectively. Therefore, the neutron beam directions generated by neutron beam generating units 50B and 50C are in the same plane, while the neutron beam direction generated by neutron beam generating unit 50A is perpendicular to this plane. This arrangement effectively utilizes space, allows for simultaneous treatment of multiple patients, avoids excessively long beam transmission lines, and minimizes beam loss.

[0085] In an optional embodiment of this utility model, the treatment space 10A is a vertical treatment room in which the beam enters vertically from top to bottom, and the patient support device can be set in the treatment space 10A.

[0086] In an optional embodiment of this utility model, treatment spaces 10B and 10C are horizontal treatment chambers in which a beam shaper is disposed within its sidewall and the beam is incident horizontally. The patient support device may also be disposed in treatment spaces 10B and 10C.

[0087] like Figures 3 to 4As shown, this utility model provides a patient support device, which includes a carrier 2 for supporting the irradiated body and a position adjustment mechanism 1 for moving the carrier 2. The position adjustment mechanism 1 has a fixed part 101 and a moving part 102. The mounting plane of the fixed part 101 is located below the carrier 2. One end of the moving part 102 is connected to the fixed part 101, and the other end of the moving part 102 is connected to the carrier 2. The moving part 102 can move or rotate relative to the fixed part 101 to adjust the horizontal position, vertical position, or angle of the carrier 2 accordingly.

[0088] In an optional embodiment of the present invention, the movement of the moving part 102 relative to the fixed part 101 includes horizontal movement and vertical movement; and the rotation of the moving part 102 relative to the fixed part 101 includes the rotation of the moving part 102 about itself as the axis of rotation.

[0089] In an optional embodiment of this invention, the irradiated body may be, but is not limited to, a patient requiring radiation therapy. In actual use, based on the preset position of the irradiated body, the moving part 102, in conjunction with the fixed part 101, can simultaneously move horizontally, vertically, and rotate, thereby adjusting the horizontal, vertical, or angle position of the carrier 2. Alternatively, the moving part 102 can drive the fixed part 101 to perform one or both of these movements—horizontal, vertical, or rotation—to ensure that the carrier 2 can accurately move to the preset position or coordinates, achieving efficient and precise simulation of the irradiated area's placement and irradiation.

[0090] In an optional embodiment of this utility model, the mounting plane of the fixed part 101 of the position adjustment mechanism 1 is located below the carrier 2. According to the preset position of the part to be irradiated in the treatment space, the moving part 102 can be controlled to move horizontally, vertically, or rotate relative to the fixed part 101 in one or more of these ways. This is to adjust the horizontal position, vertical position, and / or angle of the carrier 2 accordingly. By setting the position of the fixed part 101, the moving part 102 can have a large range of motion while avoiding the movement interference caused by the top, top side wall, or upper middle side wall of the treatment space to the position adjustment mechanism 1. This achieves efficient and accurate positioning of the part to be irradiated, ensures a reasonable source-skin distance, and achieves the required irradiation intensity.

[0091] In one optional embodiment of this utility model, such as Figure 3 As shown, the carrier 2 can be a treatment bed. When the area to be irradiated is in a lying position for easier irradiation, the patient can lie on the treatment bed, ensuring not only better patient comfort but also allowing the radiation to accurately irradiate the area to be irradiated. In another optional embodiment of this utility model, as... Figure 7As shown, the carrier 2 can also be a treatment chair. When it is more convenient to irradiate the area to be irradiated by sitting, the patient can sit on the treatment chair, which ensures the patient's comfort while also allowing the radiation to accurately irradiate the area to be irradiated. Of course, the carrier 2 can also be other equipment used to carry the patient, as long as it can carry the patient and transport them to different positions; no specific limitation is made here.

[0092] In one optional embodiment of this utility model, such as Figure 3 , Figure 4 , Figure 6 , Figure 7 As shown, the fixed part 101 includes a base 103, and the moving part 102 includes a robotic arm 104 with multiple degrees of freedom of movement. The base 103 is located at a fixed position below the carrier 2 (such as inside the floor of the treatment space) and the position adjustment mechanism 1 is fixed by the base 103. One end of the robotic arm 104 is connected to the base 103, and the other end of the robotic arm 104 is connected to the carrier 2, so that the horizontal position, vertical position or angle of the carrier 2 can be adjusted by the robotic arm 104.

[0093] In one optional embodiment of this utility model, such as Figure 3 , Figure 4 , Figure 6 , Figure 7 As shown, the robotic arm 104 includes a first arm 1041, a second arm 1042, a third arm 1043, and a fourth arm 1044. The rear end of the first arm 1041 is connected to the base 103, the front end of the first arm 1041 is connected to the rear end of the second arm 1042, the rear end of the second arm 1042 is connected to the front end of the third arm 1043, and the rear end of the third arm 1043 is connected to the front end of the fourth arm 1044. The carrier 2 is rotatably disposed at the front end of the fourth arm 1044. A first connecting shaft is provided between the first arm 1041 and the base 103, and a second connecting shaft is provided between the second arm 1042 and the first arm 1041, with the first and second connecting shafts coinciding. A third connecting shaft is provided between the third arm 1043 and the second arm 1042, both extending vertically and parallel to each other. A fourth connecting shaft is provided between the fourth arm 1044 and the third arm 1043, extending horizontally.

[0094] Specifically, the connections between the rear end of the first arm 1041 and the base 103, between the front end of the first arm 1041 and the rear end of the second arm 1042, between the rear end of the second arm 1042 and the front end of the third arm 1043, and between the rear end of the third arm 1043 and the front end of the fourth arm 1044 are all pivot connections. That is, the connections between the rear end of the first arm 1041 and the base 103, between the front end of the first arm 1041 and the rear end of the second arm 1042, between the rear end of the second arm 1042 and the front end of the third arm 1043, and between the rear end of the third arm 1043 and the front end of the fourth arm 1044 are respectively made via pivot shafts, so that the first arm... 1041 has rotational degrees of freedom relative to the base 103, the first arm 1041 has rotational degrees of freedom relative to the second arm 1042, the second arm 1042 has rotational degrees of freedom relative to the third arm 1043, and the third arm 1043 has rotational joints of the robotic arm 104 at each pivot position. This achieves the purpose of the robotic arm 104 having multiple degrees of freedom of movement, enabling the robotic arm 104 to have a large range of motion while avoiding motion interference caused by the top, top sidewall, or upper middle sidewall of the treatment space. This achieves efficient and precise positioning of the irradiated area, ensures a reasonable source-skin distance, and achieves the required irradiation intensity.

[0095] During operation, the rotation of the first arm 1041 relative to the base 103 causes the entire robotic arm 104 to rotate in a horizontal plane. Additionally, the second arm 1042 and the third arm 1043 can also rotate in a horizontal plane, thus enabling the carrier 2 to have a large translational range in the horizontal space. The fourth arm 1044 can rotate in a vertical plane, thereby enabling the carrier 2 to have a large pitch range in the vertical space.

[0096] Furthermore, the fourth arm 1044 is a telescopic structure, which increases the range of motion of the robotic arm 104. Additionally, if interference occurs between the robotic arm 104 and the wall of the treatment space, it can be appropriately shortened to improve the flexibility of its control and ensure precise radiation therapy. Of course, in addition to the fourth arm 1044, the second arm 1042 and / or the third arm 1043 can also be telescopic structures to enhance the adjustability of the robotic arm 104.

[0097] In this embodiment, as Figure 3 , Figure 4 , Figure 6 , Figure 7As shown, the robotic arm 104 also includes a fifth arm 1045, the rear end of which is rotatably connected to the front end of the fourth arm 1044. The carrier 2 is rotatably connected to the front end of the fifth arm 1045. The fourth arm 1044 has a fourth arm central axis 10441, and the fifth arm 1045 has a fifth arm central axis 10451. The fourth arm central axis 10441 and the fifth arm central axis 10451 coincide, and the fifth arm 1045 can rotate around the fifth arm central axis 10451. By rotating the fifth arm 1045, the rotation angle of the carrier 2 in the direction of the fifth arm central axis 10451 can be adjusted (see reference for details). Figure 6 If the direction toward the paper is defined as the front-back direction, then the carrier 2 rotates back and forth, thereby allowing the vertical angle of the patient on the carrier 2 to be adjusted. This not only meets the patient's comfort needs but also allows for fine-tuning of the patient's irradiation site, ensuring that the radiation can accurately irradiate the patient's irradiation site.

[0098] Furthermore, such as Figure 3 , Figure 4 , Figure 6 , Figure 7 As shown, the robotic arm 104 also includes a sixth arm 1046, which is rotatably connected to the front end of the fifth arm 1045. A mounting member 2 is disposed at the end of the sixth arm 1046. The sixth arm 1046 has a sixth arm central axis 10461, which is perpendicular to the fifth arm central axis 10451. The sixth arm 1046 can rotate around the sixth arm central axis 10461. The rotation angle of the mounting member 2 in the direction of the sixth arm central axis 10461 is adjusted by rotating the sixth arm 1046 (see reference for details). Figure 6 If the direction toward the paper is defined as the front-back direction, then the carrier 2 will rotate left and right, so as to adjust to a suitable angle for quick disassembly, assembly, and replacement of the carrier 2, and to facilitate the patient to move from the ground or the transport vehicle to the carrier 2 at a more comfortable angle or position.

[0099] Specifically, such as Figure 4 , Figure 5 As shown, the end of the sixth arm 1046 is provided with a first connecting part 1047, and the carrier 2 is provided with a second connecting part 201. The first connecting part 1047 and the second connecting part 201 are engaged and connected, thereby facilitating the disassembly, assembly and replacement of the carrier 2 and the robotic arm 104.

[0100] Furthermore, such as Figure 4 , Figure 6As shown, the end of the sixth arm 1046 is provided with a connecting flange 1048, and the first connecting part 1047 is provided with a ring of spaced connecting holes 10471. Multiple bolts are provided between the connecting flange 1048 and the first connecting part 1047, and the multiple bolts are inserted into the corresponding connecting holes 10471, thereby connecting the sixth arm 1046 and the first connecting part 1047 through multiple bolts.

[0101] Furthermore, such as Figure 4 , Figure 5 As shown, the first connecting part 1047 and the second connecting part 201 are plate-shaped structures. The first connecting part 1047 is provided with a plurality of snap-fit ​​holes 10472. The second connecting part 201 has a plurality of snap-fit ​​blocks 2011 at positions corresponding to the plurality of snap-fit ​​holes 10472. By engaging the plurality of snap-fit ​​holes 10472 with the snap-fit ​​blocks 2011, the first connecting part 1047 and the second connecting part 201 can be detachably connected, thereby realizing the detachable connection between the sixth arm 1046 and the carrier 2.

[0102] In an optional embodiment of this utility model, the rotation of the first arm 1041, the second arm 1042, the third arm 1043, the fourth arm 1044, the fifth arm 1045, and the sixth arm 1046 can be controlled by multiple motors. By connecting the output shafts of multiple motors to their corresponding output shafts, the rotation angles of the first arm 1041 to the sixth arm 1046 can be controlled by controlling the working states of different motors.

[0103] When controlling the position adjustment mechanism 1 to adjust the position of the carrier 2, coordinate control can be used. That is, the position of the carrier 2 in the treatment space is presented in the form of spatial coordinates. By positioning the robotic arm 104 of the position adjustment mechanism 1 in the spatial coordinate system and preset the coordinate position (the position or angle of the patient's irradiated part) in the spatial coordinate system, the robotic arm 104 can be controlled to move the carrier 2 accurately to the preset coordinate position and precisely adjust the angle of the patient on the carrier 2. This ensures that the patient's irradiated part can be accurately positioned or accurately irradiated by the radiation, achieving the purpose of efficient and accurate positioning and irradiation treatment.

[0104] The patient support device provided by this utility model can, on the one hand, move the moving part 102 horizontally, vertically, or rotate itself according to the position of the irradiated body through the moving part 102 and the fixed part 101, thereby achieving the purpose of simultaneously adjusting the horizontal position, vertical position, or angle of the carrier 2, ensuring that the carrier 2 can be accurately moved to the preset position, and achieving the purpose of efficient and accurate positioning and irradiation of the irradiated part. On the other hand, the patient support device is mounted on the mounting plane of the fixed part 101 of the position adjustment mechanism 1 below the carrier 2. According to the preset position of the part to be irradiated in the treatment space, the moving part 102 can be controlled to move horizontally, vertically, or rotate relative to the fixed part 101 in one or more of these ways, so as to adjust the horizontal position, vertical position and / or angle of the carrier 2 accordingly. The moving part 102 of this invention has a large range of motion, while also avoiding the movement interference caused by the top, top side wall or middle and upper side wall of the treatment space to the position adjustment mechanism 1, so as to achieve efficient and accurate positioning and irradiation of the part to be irradiated, thereby ensuring a reasonable source-skin distance to achieve the required irradiation intensity.

[0105] like Figures 3 to 7 As shown, this utility model provides a radiation irradiation system, which includes a carrier 2 for carrying the irradiated body and a position adjustment mechanism 1. The position adjustment mechanism 1 is used to move the carrier 2 and has a fixed part 101 and a movable part 102. The fixed part 101 is disposed at the bottom of the treatment space. One end of the movable part 102 is connected to the fixed part 101, and the other end of the movable part 102 is connected to the carrier 2. The movable part 102 can move or rotate relative to the fixed part 101 to adjust the horizontal position, vertical position or angle of the carrier 2 accordingly. The fixing part 101 is fixedly installed at the bottom or surface of the treatment space. Alternatively, it can be installed on the bottom side wall of the treatment space. This ensures that the fixing part 101 of the position adjustment mechanism 1 is located at or near the bottom of the treatment space. This allows the position adjustment mechanism 1 of this invention to have a large range of motion while avoiding motion interference caused by the top, top side wall, or upper middle side wall of the treatment space. This achieves efficient and accurate positioning of the irradiated area, ensures a reasonable source-skin distance, and achieves the required irradiation intensity.

[0106] The bottom sidewall of the aforementioned treatment space is where the fixing part 101 is fixedly installed at or near the bottom of the treatment space. In this configuration, to ensure that the robotic arm 104 has sufficient length to carry the irradiated body to the simulated beam exit or the beam exit, the length of each arm segment of the robotic arm 104 is appropriately extended. Therefore, while lengthening each arm segment, to ensure the stability of the robotic arm 104, the stiffness, strength, and other parameters of the robotic arm 104 must also be appropriately increased to meet the requirement of being able to drive the carrier 2 and the patient to move stably and reliably under normal working conditions.

[0107] In the case where the fixing part 101 is fixedly installed underground in the treatment space, it is necessary to appropriately extend the height of the base 103 and / or the length of the first arm 1041 so that the first arm 1041 can extend to the surface of the treatment space. Therefore, in order to ensure the stability of the robotic arm 104, the stiffness, strength and other parameters of the base 103 and / or the first arm 1041 should also be appropriately increased to meet the requirements of being able to drive the carrier 2 and the patient to move under normal working conditions. In an optional embodiment of this utility model, the first arm 1041 can be set as a telescopic structure relative to the base 103. When not in use, the first arm 1041 can be at least partially retracted into the base 103 located underground, reducing the volume of the robotic arm 104 in the treatment space and reducing the occupation of the treatment space; when needed, the first arm 1041 can extend from the base 103 to above the ground.

[0108] In an optional embodiment of the present invention, the movement of the moving part 102 relative to the fixed part 101 includes horizontal movement and vertical movement; and the rotation of the moving part 102 relative to the fixed part 101 includes the rotation of the moving part 102 about itself as the axis of rotation.

[0109] In one optional embodiment of this invention, a beam outlet is provided at the top of the treatment space. The treatment space can be a vertical treatment chamber, with the beam outlet at its top, ensuring that the beam emitted from the treatment chamber is a vertical beam irradiating from top to bottom. The patient support device is located below the beam outlet. Alternatively, the treatment chamber can be a vertical simulation chamber, used to simulate a vertical treatment chamber to allow for precise patient positioning according to the treatment plan before irradiation. The vertical simulation chamber has a simulated beam outlet at its top, and the patient support device is located below the simulated beam outlet.

[0110] In an optional embodiment of this invention, the treatment space can also be a horizontal treatment room, with a beam outlet provided on the side wall of the horizontal treatment room. In this case, the emitted beam is a horizontal beam emitted from the beam outlet, and the patient support device is located at the bottom of the horizontal treatment room. Similarly, the treatment space can also be a horizontal simulation room, which is used to simulate a horizontal treatment room to achieve precise positioning simulation of the patient according to the treatment plan before irradiation. A simulated beam outlet is provided on the side wall of the horizontal simulation room, and the patient support device is located at the bottom of the horizontal simulation room.

[0111] like Figure 3 As shown, the carrier 2 can be a treatment bed. When the area to be irradiated is in a lying position for easier irradiation, the patient can lie on the treatment bed, ensuring not only better patient comfort but also allowing the radiation to accurately irradiate the area to be irradiated. In another optional embodiment of this utility model, as... Figure 7 As shown, the carrier 2 can also be a treatment chair. When it is more convenient to irradiate the area to be irradiated by sitting, the patient can sit on the treatment chair, which ensures the patient's comfort while also allowing the radiation to accurately irradiate the area to be irradiated. Of course, the carrier 2 can also be other equipment used to carry the patient, as long as it can carry the patient and transport them to different positions; no specific limitation is made here.

[0112] In one optional embodiment of this utility model, such as Figure 3 , Figure 4 , Figure 6 , Figure 7 As shown, the fixed part 101 includes a base 103, and the moving part 102 includes a robotic arm 104 with multiple degrees of freedom of movement. The base 103 can be the fixed part 101 of the position adjustment mechanism 1. The base 103 is located at the bottom of the treatment room and the position adjustment mechanism 1 is fixed by the base 103. One end of the robotic arm 104 is connected to the base 103, and the other end of the robotic arm 104 is connected to the carrier 2, so that the horizontal position, vertical position or angle of the carrier 2 can be adjusted by the robotic arm 104.

[0113] In one optional embodiment of this utility model, such as Figure 3 , Figure 4 , Figure 6 , Figure 7As shown, the robotic arm 104 includes a first arm 1041, a second arm 1042, a third arm 1043, and a fourth arm 1044. The rear end of the first arm 1041 is pivotally connected to the base 103, the front end of the first arm 1041 is pivotally connected to the rear end of the second arm 1042, the rear end of the second arm 1042 is pivotally connected to the front end of the third arm 1043, and the rear end of the third arm 1043 is pivotally connected to the front end of the fourth arm 1044. The carrier 2 is rotatably disposed at the front end of the fourth arm 1044. A first connecting shaft is provided between the first arm 1041 and the base 103, and a second connecting shaft is provided between the second arm 1042 and the first arm 1041, with the first and second connecting shafts coinciding. A third connecting shaft is provided between the third arm 1043 and the second arm 1042, both extending vertically and parallel to each other. A fourth connecting shaft is provided between the fourth arm 1044 and the third arm 1043, extending horizontally.

[0114] Specifically, the connections between the rear end of the first arm 1041 and the base 103, between the front end of the first arm 1041 and the rear end of the second arm 1042, between the rear end of the second arm 1042 and the front end of the third arm 1043, and between the rear end of the third arm 1043 and the front end of the fourth arm 1044 are all pivot connections. That is, the connections between the rear end of the first arm 1041 and the base 103, between the front end of the first arm 1041 and the rear end of the second arm 1042, between the rear end of the second arm 1042 and the front end of the third arm 1043, and between the rear end of the third arm 1043 and the front end of the fourth arm 1044 are respectively made via pivot shafts, so that the first arm... 1041 has rotational degrees of freedom relative to the base 103, the first arm 1041 has rotational degrees of freedom relative to the second arm 1042, the second arm 1042 has rotational degrees of freedom relative to the third arm 1043, and the third arm 1043 has rotational joints of the robotic arm 104 at each pivot position. This achieves the purpose of the robotic arm 104 having multiple degrees of freedom of movement, enabling the robotic arm 104 to have a large range of motion while avoiding motion interference caused by the top, top sidewall, or upper middle sidewall of the treatment space. This achieves efficient and precise positioning of the irradiated area, ensures a reasonable source-skin distance, and achieves the required irradiation intensity.

[0115] During operation, the rotation of the first arm 1041 relative to the base 103 causes the entire robotic arm 104 to rotate in a horizontal plane. Additionally, the second arm 1042 and the third arm 1043 can also rotate in a horizontal plane, thus enabling the carrier 2 to have a large translational range in the horizontal space. The fourth arm 1044 can rotate in a vertical plane, thereby enabling the carrier 2 to have a large pitch range in the vertical space.

[0116] Furthermore, the fourth arm 1044 is a telescopic structure, which increases the range of motion of the robotic arm 104. Additionally, if interference occurs between the robotic arm 104 and the wall of the treatment room, it can be appropriately shortened to improve the flexibility of its control and ensure precise radiation therapy. Of course, in addition to the fourth arm 1044, the second arm 1042 and / or the third arm 1043 can also be telescopic structures to enhance the adjustability of the robotic arm 104.

[0117] In this embodiment, as Figure 3 , Figure 4 , Figure 6 , Figure 7 As shown, the robotic arm 104 also includes a fifth arm 1045, the rear end of which is rotatably connected to the front end of the fourth arm 1044. The carrier 2 is rotatably connected to the front end of the fifth arm 1045. The fourth arm 1044 has a fourth arm central axis 10441, and the fifth arm 1045 has a fifth arm central axis 10451. The fourth arm central axis 10441 and the fifth arm central axis 10451 coincide, and the fifth arm 1045 can rotate around the fifth arm central axis 10451. By rotating the fifth arm 1045, the rotation angle of the carrier 2 in the direction of the fifth arm central axis 10451 can be adjusted (see reference for details). Figure 6 If the direction toward the paper is defined as the front-back direction, then the carrier 2 rotates back and forth, thereby allowing the vertical angle of the patient on the carrier 2 to be adjusted. This not only meets the patient's comfort needs but also allows for fine-tuning of the patient's irradiation site, ensuring that the radiation can accurately irradiate the patient's irradiation site.

[0118] Furthermore, such as Figure 3 , Figure 4 , Figure 6 , Figure 7 As shown, the robotic arm 104 also includes a sixth arm 1046, which is rotatably connected to the front end of the fifth arm 1045. A mounting member 2 is disposed at the end of the sixth arm 1046. The sixth arm 1046 has a sixth arm central axis 10461, which is perpendicular to the fifth arm central axis 10451. The sixth arm 1046 can rotate around the sixth arm central axis 10461. The rotation angle of the mounting member 2 in the direction of the sixth arm central axis 10461 is adjusted by rotating the sixth arm 1046 (see reference for details). Figure 6 If the direction toward the paper is defined as the front-back direction, then the carrier 2 will rotate left and right, so as to adjust to a suitable angle for quick disassembly, assembly, and replacement of the carrier 2, and to facilitate the patient to move from the ground or the transport vehicle to the carrier 2 at a more comfortable angle or position.

[0119] Specifically, such as Figure 4 , Figure 5 As shown, the end of the sixth arm 1046 is provided with a first connecting part 1047, and the carrier 2 is provided with a second connecting part 201. The first connecting part 1047 and the second connecting part 201 are engaged and connected, thereby facilitating the disassembly, assembly and replacement of the carrier 2 and the robotic arm 104.

[0120] Furthermore, such as Figure 4 , Figure 6 As shown, the end of the sixth arm 1046 is provided with a connecting flange 1048, and the first connecting part 1047 is provided with a ring of spaced connecting holes 10471. Multiple bolts are provided between the connecting flange 1048 and the first connecting part 1047, and the multiple bolts are inserted into the corresponding connecting holes 10471, thereby connecting the sixth arm 1046 and the first connecting part 1047 through multiple bolts.

[0121] Furthermore, such as Figure 5 As shown, the first connecting part 1047 and the second connecting part 201 are plate-shaped structures. The first connecting part 1047 is provided with a plurality of snap-fit ​​holes 10472. The second connecting part 201 has a plurality of snap-fit ​​blocks 2011 at positions corresponding to the plurality of snap-fit ​​holes 10472. By engaging the plurality of snap-fit ​​holes 10472 with the snap-fit ​​blocks 2011, the first connecting part 1047 and the second connecting part 201 can be detachably connected, thereby realizing the detachable connection between the sixth arm 1046 and the carrier 2.

[0122] In an optional embodiment of this utility model, the base 103 of the position adjustment mechanism 1 is fixedly installed at the bottom of the treatment room where the beam irradiates from top to bottom. During operation, the rotation of the first arm 1041 causes the mechanical arm 104 to rotate in a horizontal plane. The second arm 1042 and the third arm 1043 can rotate in a horizontal plane, thereby causing the carrier 2 to translate in a horizontal space. The fourth arm 1044 can rotate in a vertical plane, thereby causing the carrier 2 to pitch in a vertical space. The rotation of the fifth arm 1045 and the sixth arm 1046 can adjust the position of the carrier. The vertical rotation angle of the mounting device 2 is as follows: the fifth arm 1045 is used to adjust the pitch rotation of the mounting device 2 in the front-back direction, and the sixth arm 1046 is used to adjust the pitch rotation of the mounting device 2 in the left-right direction. This allows for adjustment of the vertical angle of the patient on the mounting device 2, which not only meets the patient's comfort needs but also allows for fine-tuning of the patient's irradiation site, ensuring that the radiation accurately irradiates the patient's irradiation site. Furthermore, it can be used to adjust the mounting device 2 to a suitable angle for quick disassembly, assembly, and replacement, facilitating the patient's movement from the ground or transport vehicle to the mounting device 2 at a more comfortable angle or position.

[0123] When replacing, disassembling, and placing or lowering the patient, the position of the carrier 2 in the horizontal direction can be changed by the second arm 1042 and / or the third arm 1043. After the horizontal position of the carrier 2 is adjusted to the correct position, the position of the carrier 2 in the vertical direction can be changed by the pitch and rotation of the fourth arm 1044. Then, the orientation of the first connecting part 1047 can be adjusted by the rotation of the fifth arm 1045 and / or the sixth arm 1046, thereby adjusting it to a suitable position and quickly switching and connecting it with the carrier 2 (treatment bed or treatment seat), so that the patient can be moved from the ground or the transport vehicle to the carrier 2 at a more comfortable angle or position. After the selection and installation of the carrier 2 are completed, and the patient is placed on the carrier 2, the position of the carrier 2 can be adjusted by rotating the second arm 1042 and / or the third arm 1043 in the plane, and / or the pitch rotation of the fourth arm 1044, and / or the rotation of the fifth arm 1045 and the sixth arm 1046, so that the patient is moved to the preset position or coordinate, thereby achieving efficient and accurate positioning and irradiation of the patient.

[0124] The radiation irradiation system provided in this embodiment of the invention, on the one hand, allows for a wide range of translational and / or rotational adjustments of the patient support device during the positioning and irradiation of different irradiated areas of the patient in a treatment room where the treatment beam is set vertically or horizontally. This avoids interference with the movement of conventional robotic arms and the walls of the treatment room, achieving efficient and precise patient positioning, thereby ensuring a reasonable source-to-skin distance and thus guaranteeing the required irradiation intensity. On the other hand, this radiation irradiation system shares the same characteristics and advantages as the aforementioned patient support device, which will not be elaborated upon here.

[0125] Furthermore, this utility model provides a radiation irradiation system, which includes:

[0126] A treatment room for irradiating a subject or a simulation room for simulating the positioning of an irradiated subject, wherein the top or side wall of the treatment room is provided with a beam outlet, and the top or side wall of the simulation room is provided with a simulated beam outlet.

[0127] A radiation generating device used to generate a beam for irradiation;

[0128] Beam transmission chamber 60, used to transmit the beam to the treatment room;

[0129] The patient support device is provided at the bottom of the treatment room or simulation room. The patient support device includes a carrier 2 for supporting the irradiated body and a position adjustment mechanism 1 for adjusting the horizontal position, vertical position or angle of the carrier 2.

[0130] At least part of the radiation generating device is located in the beam transmission chamber 60, and the beam generated by the radiation generating device passes through the beam transmission chamber 60 and the beam outlet of the treatment chamber in sequence and irradiates the carrier 2 vertically or horizontally.

[0131] In this invention, the treatment room can be a vertical treatment room in which the beam enters vertically from top to bottom; the simulation room is a vertical simulation room set up in conjunction with the vertical treatment room for simulating the patient's positioning before irradiation treatment.

[0132] In addition, the treatment room in this invention can also be a horizontal treatment room with horizontal beam incidence; the simulation room is a horizontal simulation room set up in conjunction with the horizontal treatment room for simulating patient positioning before irradiation treatment.

[0133] The above description is merely an illustrative embodiment of this utility model and is not intended to limit the scope of this utility model. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of this utility model should fall within the protection scope of this utility model.

Claims

1. A patient support device, characterized in that, include: A carrier used to hold the irradiated object; A position adjustment mechanism for moving the mounting component; The position adjustment mechanism includes a fixed part and a movable part; The mounting plane of the fixed part is located below the carrier; one end of the movable part is connected to the fixed part, and the other end is connected to the carrier. The movable part can move or rotate relative to the fixed part to adjust the horizontal position, vertical position, or angle of the carrier.

2. The patient support device as described in claim 1, characterized in that, The fixing part includes a base, which is disposed below the mounting member; The moving part includes a robotic arm, one end of which is connected to the base and the other end of which is connected to the carrier, so as to adjust the horizontal position, vertical position or angle of the carrier through the robotic arm.

3. The patient support device as described in claim 2, characterized in that, The robotic arm includes a first arm, a second arm, a third arm, and a fourth arm. The rear end of the first arm is connected to the base, the front end of the first arm is connected to the rear end of the second arm, the rear end of the second arm is connected to the front end of the third arm, the rear end of the third arm is connected to the front end of the fourth arm, and the carrier is rotatably disposed at the front end of the fourth arm. The first arm and the base are connected by a first connecting shaft, the second arm and the first arm are connected by a second connecting shaft, and the first connecting shaft and the second connecting shaft coincide; the third arm and the second arm are connected by a third connecting shaft, the third connecting shaft and the second connecting shaft both extend vertically and are parallel; the fourth arm and the third arm are connected by a fourth connecting shaft, the fourth connecting shaft extends horizontally.

4. The patient support device as described in claim 3, characterized in that, The robotic arm also includes a fifth arm, the rear end of which is rotatably connected to the front end of the fourth arm, and the carrier is rotatably connected to the front end of the fifth arm. The fourth arm has a fourth arm central axis, and the fifth arm has a fifth arm central axis. The central axes of the fourth and fifth arms coincide, and the fifth arm can rotate around the central axis of the fifth arm. The second arm, the third arm, and / or the fourth arm are telescopic structures.

5. The patient support device as described in claim 4, characterized in that, The robotic arm further includes a sixth arm, which is rotatably connected to the front end of the fifth arm, and the carrier is disposed on the sixth arm; the sixth arm has a central axis, which is perpendicular to the central axis of the fifth arm, and the sixth arm can rotate around the central axis; the sixth arm is provided with a first connecting part, and the carrier is provided with a second connecting part, the first connecting part and the second connecting part being engaged; the sixth arm is provided with a connecting flange, and the first connecting part is connected to the connecting flange by bolts.

6. The patient support device as described in claim 5, characterized in that, The mounting device is a treatment bed or treatment chair.

7. A radiation irradiation system, characterized in that, include: A carrier used to hold the irradiated object; A position adjustment mechanism for moving the mounting component; The position adjustment mechanism includes a fixed part and a movable part; The fixing part is located at the bottom of the treatment space; One end of the movable part is connected to the fixed part, and the other end is connected to the carrier. The movable part can move or rotate relative to the fixed part to adjust the horizontal position, vertical position, or angle of the carrier.

8. The radiation irradiation system as described in claim 7, characterized in that, The fixing part is fixedly installed at the bottom, surface or bottom side wall of the treatment space; the top or side wall of the treatment space is provided with a beam outlet.

9. The radiation irradiation system as described in claim 7, characterized in that, The treatment space is a treatment room or a simulation room. The top or side wall of the treatment room is provided with a beam outlet, and the top or side wall of the simulation room is provided with a simulated beam outlet.

10. The radiation irradiation system as claimed in claim 7, characterized in that, The position adjustment mechanism includes: The fixing part includes a base, which is disposed at the bottom of the treatment space; The moving part includes a robotic arm, one end of which is connected to the base and the other end of which is connected to the carrier, so as to adjust the horizontal position, vertical position or angle of the carrier through the robotic arm.

11. The radiation irradiation system as claimed in claim 10, characterized in that, The robotic arm includes a first arm, a second arm, a third arm, and a fourth arm. The rear end of the first arm is connected to the base, the front end of the first arm is connected to the rear end of the second arm, the rear end of the second arm is connected to the front end of the third arm, the rear end of the third arm is connected to the front end of the fourth arm, and the carrier is rotatably disposed at the front end of the fourth arm. The first arm and the base are connected by a first connecting shaft, and the second arm and the first arm are connected by a second connecting shaft, wherein the first connecting shaft and the second connecting shaft coincide. The third arm and the second arm are connected by a third connecting shaft, and both the third connecting shaft and the second connecting shaft extend vertically and are parallel to each other. The fourth arm has a fourth connecting shaft between it and the third arm, and the fourth connecting shaft extends in a horizontal direction.

12. A radiation irradiation system, characterized in that, include: A treatment room for irradiating a subject or a simulation room for simulating the positioning of an irradiated subject, wherein the top or side wall of the treatment room is provided with a beam outlet, and the top or side wall of the simulation room is provided with a simulated beam outlet. A radiation generating device used to generate a beam for irradiation; A beam transmission chamber for transmitting the beam to the treatment chamber; The patient support device is provided at the bottom of the treatment room or simulation room. The patient support device includes a carrier for supporting the irradiated body and a position adjustment mechanism for adjusting the horizontal position, vertical position or angle of the carrier. At least a portion of the radiation generating device is located in the beam transmission chamber, and the beam generated by the radiation generating device passes through the beam transmission chamber and the beam outlet of the treatment chamber in sequence, irradiating the carrier vertically or horizontally.

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