Automated target changing system and neutron capture therapy system

Abstract

The utility model provides a kind of automatic target changing system and neutron capture treatment system, the automatic target changing system is used to replace the target component of neutron generating device, the neutron generating device includes beam shaping body and support frame, the beam shaping body is supported by the support frame, the beam shaping body has accommodating cavity accommodating at least part of the target component, the automatic target changing system includes auxiliary support arm;The auxiliary support arm is movably installed on the support frame, to drive the target component to separate from the accommodating cavity.By the automatic target changing system, the technical problem that the operation difficulty of the target component in neutron capture treatment system is relatively large is solved.

Description

Technical Field

[0001] This utility model relates to the technical field of medical devices, and in particular to an automatic target-changing system and a neutron capture therapy system. Background Technology

[0002] The beam system used in boron neutron capture therapy (BNCT) typically includes a target assembly that, when bombarded by a high-energy particle beam, produces a therapeutic neutron beam. The target assembly is usually integrated into the target module. The target assembly used to produce neutrons has a limited lifespan and may need to be replaced multiple times per year. As a byproduct of the treatment, the target assembly becomes radioactive, releasing radiation through various nuclear decay processes, posing a radiation risk to personnel near the target assembly. This makes the removal, storage, or transportation of the target assembly, as well as any unforeseen maintenance procedures, radioactive.

[0003] Since the target assembly is assembled on the beam system as part of the beam system, and both ends are connected to other structures in the beam system, with one end near the accelerator connected to the beam transmission pipe and the other end connected to the beam shaper, the configuration structure of the target assembly in the beam system also makes the disassembly of the target assembly more difficult, increasing the difficulty of target replacement operations. Utility Model Content

[0004] The purpose of this invention is to provide an automatic target-changing system and a neutron capture therapy system, which solves the technical problem that the operation of changing the target component in the neutron capture therapy system is quite difficult.

[0005] The above-mentioned objectives of this utility model can be achieved by the following technical solutions:

[0006] This utility model provides an automatic target changing system for replacing target components of a neutron generating device. The neutron generating device includes a beam shaper and a support frame. The beam shaper is supported by the support frame and has a receiving cavity for accommodating at least a portion of the target components. The automatic target changing system includes an auxiliary support arm. The auxiliary support arm is movably mounted on the support frame to drive the target components out of the receiving cavity.

[0007] In a preferred embodiment, the receiving cavity has an extending axis, the target assembly is configured to be received in the receiving cavity along the direction of the extending axis, and the auxiliary support arm is configured to be movable along the direction of the extending axis to drive the target assembly out of the receiving cavity.

[0008] In a preferred embodiment, the automatic target changing system includes a support arm drive mechanism, which includes a power source and a transmission mechanism. The power source is connected to the auxiliary support arm through the transmission mechanism to drive the auxiliary support arm to move the target assembly out of the receiving cavity.

[0009] In a preferred embodiment, the automatic target changing system includes a robotic arm and a transfer box; the auxiliary support arm is detachably coupled with the target assembly, and after the auxiliary support arm drives the target assembly out of the receiving cavity, the robotic arm can take over the target assembly and transfer the target assembly to the transfer box.

[0010] In a preferred embodiment, the automatic target changing system includes a transfer box; the auxiliary support arm is detachably coupled with the target assembly, and the auxiliary support arm can drive the target assembly to move out of the receiving cavity and transfer the target assembly to the transfer box.

[0011] In a preferred embodiment, the automatic target changing system includes a robotic arm and a transfer box. The auxiliary support arm is detachably coupled with the target assembly. After the auxiliary support arm drives the target assembly out of the receiving cavity, the robotic arm can take over the target assembly and transfer the target assembly to the transfer box.

[0012] In a preferred embodiment, the auxiliary support arm includes a drive unit, the robotic arm is detachably connected to the drive unit, and the drive unit can drive the auxiliary support arm to move along the direction of the extension axis to move the target assembly out of the receiving cavity.

[0013] In a preferred embodiment, the drive unit includes a vertical cantilever, and the robotic arm can be detachably connected to the vertical cantilever.

[0014] In a preferred embodiment, the robotic arm is provided with a mounting platform, which is connected to a clamp and a cantilever drive plate. The clamp is used to hold the target assembly. The cantilever drive plate is provided with a positioning groove, and the end of the vertical cantilever can extend into the positioning groove.

[0015] In a preferred embodiment, the automatic target changing system further includes a guide rail disposed on the support frame, at least a portion of the guide rail extending along the extension axis, and the auxiliary support arm moving along the guide rail to disengage the target assembly from the receiving cavity.

[0016] In a preferred embodiment, the automatic target changing system further includes a guide block, which is connected to the auxiliary support arm, and the auxiliary support arm moves along the guide rail via the guide block.

[0017] In a preferred embodiment, the receiving cavity is located within the support frame and is disposed toward the top of the support frame, and the extending axis extends from within the support frame toward the top of the support frame.

[0018] In a preferred embodiment, the auxiliary support arm drives the target assembly to move from inside the support frame to outside the support frame.

[0019] In a preferred embodiment, the automatic target changing system includes a pivot axis disposed toward the top of the support frame, and an auxiliary support arm configured to rotate about the pivot axis. The auxiliary support arm drives the target assembly to move from inside the support frame to outside the support frame by rotating about the pivot axis.

[0020] In a preferred embodiment, the receiving cavity is located within the support frame and is disposed towards the top of the support frame, the extension axis extends from within the support frame towards the top of the support frame, the transmission mechanism includes a flexible transmission element, one end of the flexible transmission element is connected to the power source, and the other end of the flexible transmission element is connected to the auxiliary support arm to drive the auxiliary support arm to move the target assembly away from the receiving cavity.

[0021] In a preferred embodiment, a portion of the support frame is configured as a hollow structure, the hollow structure forming a cavity in which the power source and a portion of the flexible transmission component are housed.

[0022] In a preferred embodiment, the automatic target changing system further includes a guide rail disposed on the support frame, at least a portion of which extends toward the top of the support frame, and the flexible transmission member drives the auxiliary support arm to move along the guide rail.

[0023] In a preferred embodiment, the automatic target changing system further includes a guide block, which is connected to the auxiliary support arm, and the auxiliary support arm moves along the guide rail via the guide block.

[0024] In a preferred embodiment, the guide block is provided with a pivot axis, which is disposed toward the top of the support frame, and the auxiliary support arm is configured to rotate about the pivot axis. The auxiliary support arm drives the target assembly to move from inside the support frame to outside the support frame by rotating about the pivot axis.

[0025] In a preferred embodiment, the power source includes an electric linear drive mechanism and a pneumatic rotary mechanism. The electric linear drive mechanism drives the auxiliary support arm to move along the guide rail by driving the flexible transmission component. The auxiliary support arm is mounted on the guide block by the pneumatic rotary mechanism.

[0026] In a preferred embodiment, at least one side of the support frame is configured as a shielding door;

[0027] The auxiliary support arm drives the target assembly through the shielding door to the outside of the support frame.

[0028] In a preferred embodiment, the receiving cavity is located within the support frame and is disposed towards the top of the support frame, the extension axis extends from within the support frame towards the top of the support frame, the auxiliary support arm drives the target assembly to move from within the support frame to outside the support frame, and the automatic target changing system further includes a self-locking structure, which can lock the position of the auxiliary support arm after the auxiliary support arm moves to outside the support frame.

[0029] In a preferred embodiment, the self-locking structure includes one or more locking protrusions disposed on the support frame, the auxiliary support arm being movable to overlap the locking protrusion, and the locking protrusion being able to prevent the auxiliary support arm from descending.

[0030] In a preferred embodiment, the target assembly is provided with a positioning part, and the auxiliary support arm cooperates with the positioning part along one side of the target assembly near the surface of the target assembly.

[0031] In a preferred embodiment, the positioning part includes a positioning protrusion; the auxiliary support arm is provided with a positioning groove, the auxiliary support arm can support the target assembly through the positioning part, and at least a portion of the surface of the target assembly is confined in the positioning groove.

[0032] In a preferred embodiment, the auxiliary support arm can drive the target assembly from the installation position to detach from the receiving cavity.

[0033] In a preferred embodiment, the neutron generating device further includes a vacuum tube, the end of the target assembly is connected to the vacuum tube, the vacuum tube has a retractable section that can be retracted vertically, and the support frame is connected to a vacuum tube support arm, which is connected to the vacuum tube.

[0034] In a preferred embodiment, the automatic target changing system further includes a guide rail disposed on the support frame, at least a portion of the guide rail extending along the extension axis, and the auxiliary support arm moving along the guide rail to disengage the target assembly from the receiving cavity.

[0035] In a preferred embodiment, the automatic target changing system further includes a guide block, which is connected to the auxiliary support arm, and the auxiliary support arm moves along the guide rail via the guide block.

[0036] In a preferred embodiment, the automatic target changing system further includes a pivot axis disposed on the guide block and facing the top of the support frame. The auxiliary support arm is configured to rotate around the pivot axis, and the auxiliary support arm drives the target assembly to move from inside the support frame to outside the support frame by rotating around the pivot axis.

[0037] This utility model provides a target replacement method applied to an automatic target replacement system. The automatic target replacement system is used to replace the target assembly of a neutron generating device. The neutron generating device includes a beam shaper and a support frame. The beam shaper is supported by the support frame and has a receiving cavity for accommodating the target assembly. The automatic target replacement system includes an auxiliary support arm; the auxiliary support arm is movably mounted on the support frame. The target replacement method includes:

[0038] The auxiliary support arm drives the target assembly to move, so as to pull the target assembly out of the receiving cavity and detach it from the receiving cavity.

[0039] In a preferred embodiment, the receiving cavity is located within the support frame and is disposed towards the top of the support frame, and the method further includes:

[0040] The auxiliary support arm drives the target component to move from inside the support frame to outside the support frame.

[0041] In a preferred embodiment, at least one side of the support frame is configured as a shielding door; the target changing method includes: the auxiliary support arm moving the target assembly to the outside of the support frame through the shielding door.

[0042] In a preferred embodiment, the auxiliary support arm is detachably coupled with the target assembly, and the target changing method further includes: after the auxiliary support arm moves the target assembly to the outside of the support frame, the robotic arm takes over the target assembly and transfers the target assembly to the transfer box.

[0043] In a preferred embodiment, the auxiliary support arm can move the target component outside the support frame and transfer the target component to the transfer box.

[0044] This utility model provides a neutron capture therapy system, including: an accelerator, a neutron generating device, a therapy device, and an auxiliary support arm;

[0045] The neutron generating device includes a beam shaper, a support frame, and a target assembly. The beam shaper is supported by the support frame and has a receiving cavity for accommodating the target assembly.

[0046] The accelerator generates charged particles and transmits them to the target assembly, which generates a neutron beam. The neutron beam is shaped by the beam shaper to generate a therapeutic neutron beam to irradiate the patient on the treatment device.

[0047] The auxiliary support arm is mounted on the support frame. The auxiliary support arm is detachably coupled with the target assembly. The auxiliary support arm is movable and can move the target assembly out of the receiving cavity.

[0048] In a preferred embodiment, the receiving cavity is located within the support frame and is positioned towards the top of the support frame, and at least one side of the support frame is configured as a shielding door; the auxiliary support arm is capable of driving the target assembly through the shielding door to the outside of the support frame.

[0049] The features and advantages of this utility model are:

[0050] When the neutron generator is operating, the target assembly is installed in the receiving cavity of the beam shaper. When the target assembly needs to be replaced, the auxiliary support arm can move the target assembly and detach it from the receiving cavity, thereby separating the target assembly from the beam shaper for easy removal from the neutron generator for replacement. Furthermore, during operation, the auxiliary support arm can connect to the target assembly to provide auxiliary support and positioning, ensuring the target assembly remains stable and contributing to the stable operation of the neutron generator. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the first state during the target changing process of the automatic target changing system provided by this utility model;

[0053] Figure 2 for Figure 1 A magnified view of point A in the image;

[0054] Figure 3 This is a schematic diagram of the second state during the target changing process of the automatic target changing system provided by this utility model;

[0055] Figure 4 for Figure 3 A magnified view of section B in the image;

[0056] Figure 5 A schematic diagram of the third state during the target changing process of the automatic target changing system provided by this utility model;

[0057] Figure 6 for Figure 5 A magnified view of point C in the image;

[0058] Figure 7 This is a schematic diagram of the fourth state during the target changing process of the automatic target changing system provided by this utility model;

[0059] Figure 8 for Figure 7 A magnified view of a portion of point D in the image;

[0060] Figure 9 This is a schematic diagram of the fifth state during the target changing process of the automatic target changing system provided by this utility model;

[0061] Figure 10 for Figure 9 A magnified view of point E in the image;

[0062] Figure 11 This is a schematic diagram of the sixth state during the target changing process of the automatic target changing system provided by this utility model;

[0063] Figure 12 for Figure 11 A magnified view of point F in the image;

[0064] Figure 13 An isometric view of the auxiliary support arm in the automatic target changing system provided by this utility model;

[0065] Figure 14 A top view of the auxiliary support arm in the automatic target changing system provided by this utility model;

[0066] Figure 15 A schematic diagram of the mounting platform and fixture on the robotic arm in the automatic target changing system provided by this utility model;

[0067] Figure 16 A schematic diagram of the target changing state of one embodiment of the automatic target changing system provided by this utility model, which has a support arm drive mechanism.

[0068] Figure 17 for Figure 16 The diagram shows the structure of the support arm drive mechanism connected to the auxiliary support arm in the automatic target changing system.

[0069] Figure 18A schematic diagram of the structure of the support arm drive mechanism of the automatic target changing system provided by this utility model, which is equipped with a shielding component.

[0070] Figure 19 for Figure 18 A top view showing the connection between the support arm drive mechanism and the auxiliary support arm in the automatic target changing system.

[0071] Figure 20 A schematic diagram of the first state of another embodiment of the automatic target changing system provided by this utility model having a support arm drive mechanism;

[0072] Figure 21 A schematic diagram of the second state of another embodiment of the automatic target changing system provided by this utility model, which has a support arm drive mechanism;

[0073] Figure 22 This is a schematic diagram of the upper spatial layout of the neutron capture therapy system provided by this utility model;

[0074] Figure 23 This is a schematic diagram showing the layout of the upper and lower spaces of the neutron capture therapy system provided by this utility model.

[0075] Explanation of icon numbers:

[0076] 10. Neutron generating device;

[0077] 11. Target assembly; 111. Positioning part; 112. Positioning protrusion;

[0078] 12. Beam shaping body; 121. Receiving cavity;

[0079] 13. Vacuum tube; 131. Vacuum tube support arm;

[0080] 14. Support frame; 141. Platform screen door;

[0081] 20. Auxiliary support arm;

[0082] 21. Positioning groove; 211. Curved plate; 212. Notch;

[0083] 22. Drive unit; 221. Vertical cantilever;

[0084] 31. Guide rail; 32. Guide block;

[0085] 40. Robotic arm;

[0086] 41. Mounting platform; 42. Cantilever drive plate;

[0087] 43. Clamp; 431. Gripper; 432. Gripper body; 433. Hollowed-out part;

[0088] 50. Transfer box;

[0089] 60. Support arm drive mechanism;

[0090] 61. Electric linear drive mechanism; 611. Servo motor; 612. Lead screw mechanism; 613. Slider; 614. Linear guide rail;

[0091] 62. Flexible transmission components; 621. Synchronous belt; 63. Synchronous pulley;

[0092] 64. Pneumatic rotary mechanism;

[0093] 65. Shielding components;

[0094] 70. Central shielding structure; 71. Opening and closing mechanism; 72. Shielding shell;

[0095] L2, upper space; L1, lower space;

[0096] 100. Treatment Space; 10A. First Treatment Space; 10B. Second Treatment Space; 10C. Third Treatment Space;

[0097] 200. Charged particle beam generation chamber; 300. Accelerator;

[0098] 400. Beam transmission unit;

[0099] 410. First transmission unit; 420. First beam direction switcher; 430. Second beam direction switcher;

[0100] 45A, Third Transmission Unit; 45B, Fourth Transmission Unit; 45C, Fifth Transmission Unit;

[0101] 500, Neutron beam generating section; 50A, First neutron beam generating section; 50B, Second neutron beam generating section; 50C, Third neutron beam generating section;

[0102] 600. Beam transmission chamber. Detailed Implementation

[0103] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0104] Neutron capture therapy has seen increasing application as an effective cancer treatment 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 invention uses 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 and deuterons) 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 7Li(p,n)7Be and 9Be(p,n)9B, both of which are endothermic reactions. 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 lithium metal targets, relatively low-energy neutrons can be produced, which can be used clinically without much slowing down. 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 produce a sufficiently large neutron flux, higher-energy protons are usually selected to initiate the nuclear reaction.

[0105] An ideal target material should possess characteristics such as high neutron yield, neutron energy distribution close to the hyperthermic neutron energy region (described in detail below), minimal strong penetration radiation, safety, low cost, ease of operation, and high temperature resistance. However, it is difficult to find a nuclear reaction that meets all these requirements. In the embodiments of this invention, a target material made of lithium metal is used. However, as those skilled in the art know, the target material can also be made of other metallic materials besides those discussed above.

[0106] The requirements for the thermal removal system vary depending on the chosen nuclear reaction. For example, the requirements for the thermal removal system of 7Li(p,n)7Be are higher than those of 9Be(p,n)9B due to the difference in melting point and thermal conductivity of the metal target (lithium metal). The embodiments of this invention employ the nuclear reaction of 7Li(p,n)7Be.

[0107] Regardless of whether the neutron source for boron neutron capture therapy originates from the nuclear reaction between charged particles and the target material in a nuclear reactor or accelerator, the resulting radiation field is a mixed field, meaning the beam contains neutrons and photons ranging from low to high energy. For boron neutron capture therapy of deep tumors, the higher the content of radiation other than hyperthermic neutrons, the greater the proportion of non-selective dose deposition in normal tissues. Therefore, these radiations that cause unnecessary doses should be minimized. In addition to air beam quality factors, to better understand the dose distribution caused by neutrons in the human body, this invention uses a human head tissue prosthesis for dose calculation in its embodiments, and uses the prosthesis beam quality factors as a design reference for the neutron beam, which will be described in detail below.

[0108] The International Atomic Energy Agency (IAEA) has issued five recommendations regarding air beam quality factors for neutron sources used in clinical boron neutron capture therapy. These recommendations can be used to compare the advantages and disadvantages of different neutron sources and serve as a reference for selecting neutron generation pathways and designing beam shapers. The five recommendations are as follows:

[0109] Epithermal neutron flux > 1 x 10⁹ N / cm²s;

[0110] Fast neutron contamination < 2 x 10⁻¹³ Gy-cm² / n;

[0111] Photon contamination < 2 x 10⁻¹³ Gy-cm² / n;

[0112] The thermal to epithermal neutron flux ratio is <0.05.

[0113] The epithermal neutron current to flux ratio is greater than 0.7.

[0114] Note: The ultrathermal neutron energy ranges from 0.5 eV to 10 keV, the thermal neutron energy range is less than 0.5 eV, and the fast neutron energy range is greater than 10 keV.

[0115] 1. Superthermal neutron beam flux:

[0116] The neutron beam flux and the concentration of boron-containing drugs in the tumor jointly determine the clinical treatment time. If the concentration of boron-containing drugs in the tumor is high enough, the required neutron beam flux can be reduced; conversely, if the concentration of boron-containing drugs in the tumor is low, a high-flux hyperthermic neutron is required to deliver a sufficient dose to the tumor. The IAEA requires a hyperthermic neutron beam flux of more than 10⁹ hyperthermic neutrons per square centimeter per second. At this flux, the treatment time can be roughly controlled within one hour for current boron-containing drugs. In addition to its advantages in patient positioning and comfort, the short treatment time can also make more effective use of the limited residence time of boron-containing drugs within the tumor.

[0117] 2. Fast neutron pollution:

[0118] Fast neutrons are considered contamination because they cause unnecessary doses to normal tissues. This dose is positively correlated with neutron energy; therefore, the content of fast neutrons should be minimized in neutron beam design. Fast neutron contamination is defined as the fast neutron dose per unit hyperthermic neutron flux. The IAEA recommends that fast neutron contamination be less than 2 x 10⁻¹³ Gy⁻cm² / n.

[0119] 3. Photon pollution (gamma-ray pollution):

[0120] Gamma rays are strong penetrating radiation that can non-selectively cause dose deposition in all tissues along the beam path. Therefore, reducing gamma ray content is also a necessary requirement for neutron beam design. Gamma ray contamination is defined as the gamma ray dose associated with a unit of hyperthermal neutron flux. The IAEA recommends that gamma ray contamination be less than 2 x 10⁻¹³ Gy-cm² / n.

[0121] 4. Ratio of thermal neutron to ultrathermal neutron flux:

[0122] Because thermal neutrons decay rapidly and have poor penetrating power, most of their energy is deposited in skin tissue after entering the body. Except for epidermal tumors such as melanoma, which require thermal neutrons as a neutron source for boron neutron capture therapy, the thermal neutron content should be reduced for deep tumors such as brain tumors. The IAEA recommends a thermal neutron to ultrathermal neutron flux ratio of less than 0.05.

[0123] 5. Neutron current to flux ratio:

[0124] The neutron current-to-flux ratio represents the directionality of the beam. A higher ratio indicates better forward neutron beam directionality. A highly forward-oriented neutron beam can reduce the dose to surrounding normal tissues caused by neutron divergence, and also improves the depth of treatment and the flexibility of positioning. The IAEA recommends a neutron current-to-flux ratio greater than 0.7.

[0125] The neutron capture therapy system of this invention can be configured as a whole in two layers, including an upper layer L2 and a lower layer L1. It can also be configured in other configurations depending on the characteristics of the beam path; this invention does not limit this configuration. Figures 22-23 As shown, the neutron capture therapy system also includes a treatment space 100 and a charged particle beam generation chamber 200. The patient undergoes neutron beam irradiation treatment in the treatment space 100. The charged particle beam generation chamber 200 is equipped with an accelerator 300 and at least a portion of a beam transmission unit 400. There may be one or more neutron beam generation units 500 to generate one or more therapeutic neutron beams. The beam transmission unit 400 can selectively transmit charged particle beams to one or more neutron beam generation units 500 or simultaneously transmit charged particle beams to multiple neutron beam generation units 500. Each neutron beam generation unit 500 corresponds to a treatment space 100. Figures 22-23 In the embodiment shown, there are three neutron beam generating units 50 and three treatment spaces 10, namely, a first neutron beam generating unit 50A, a second neutron beam generating unit 50B, a third neutron beam generating unit 50C, a first treatment space 10A, a second treatment space 10B, and a third treatment space 10C.

[0126] The main body of the beam transmission unit 400 is located inside the beam transmission chamber 600. The beam transmission unit 400 includes: a first transmission unit 410, which is connected to the accelerator 300; a first beam direction switcher 420 and a second beam direction switcher 430, which are used to switch the direction of travel of the charged particle beam; a second transmission unit 440, which is connected to the first beam direction switcher 420 and the second beam direction switcher 430; and a third transmission unit 45A, a fourth transmission unit 45B, and a fifth transmission unit 45C, which respectively transmit the charged particle beam from the first beam direction switcher 420 or the second beam direction switcher 430 to the neutron beam generation unit 500, and the generated neutron beam is then irradiated onto the patient in the corresponding treatment space 100. The third transmission section 45A connects to the first beam direction switcher 420 and the neutron beam generating section 50A; the fourth transmission section 45B connects to the second beam direction switcher 430 and the neutron beam generating section 50B; and the fifth transmission section 45C connects to the second beam direction switcher 430 and the neutron beam generating section 50C. That is, the first transmission section 410 branches into the second transmission section 440 and the third transmission section 45A in the first beam direction switcher 420, and the second transmission section 440 further branches into the fourth transmission section 45B and the fifth transmission section 45C in the second beam direction switcher 430. The first transmission unit 410 and the second transmission unit 440 transmit along the X-axis, the third transmission unit 45A transmits along the Z-axis, and the fourth transmission unit 45B and the fifth transmission unit 45C transmit in the XY plane, forming a "Y" shape with the transmission directions of the first transmission unit 410 and the second transmission unit 440. The neutron beam generating unit 500 and the corresponding treatment space 100 are respectively arranged along the transmission directions of the third transmission unit 45A, the fourth transmission unit 45B, and the fifth transmission unit 45C, and the generated neutron beam directions are the same as the transmission directions of the third transmission unit 45A, the fourth transmission unit 45B, and the fifth transmission unit 45C. Therefore, the neutron beam directions generated by the neutron beam generating units 50B and 50C are in the same plane, and the neutron beam direction generated by the neutron beam generating unit 50A is perpendicular to this plane. This arrangement effectively utilizes space, allows for simultaneous treatment of multiple patients, and avoids excessively long beam transmission lines, resulting in lower losses.

[0127] like Figure 23 As shown, the first treatment space 10A is a vertical treatment chamber in which the beam enters from top to bottom in a generally vertical direction, and the treatment device can be installed in the first treatment space 10A.

[0128] like Figure 22 As shown, the second treatment space 10B and the third treatment space 10C are horizontal treatment rooms in which the beam is incident in a roughly horizontal direction, and are respectively the first horizontal treatment room and the second horizontal treatment room.

[0129] Charged particles are accelerated by accelerator 300 in the accelerator chamber and then transmitted to beam transmission chamber 600. Beam transmission chamber 600 is equipped with a beam switcher (such as a deflecting magnet) that can switch the charged particle beam as needed to the first horizontal treatment chamber and the second horizontal treatment chamber located on the same floor as the beam transmission chamber. It can also transmit the beam to the vertical treatment chamber located below the beam transmission chamber. The beam in the horizontal treatment chamber is roughly horizontal, and the beam in the vertical treatment chamber is roughly vertical from top to bottom. The charged particle beam is transmitted through the beam transmission unit to the target material in the horizontal and vertical treatment chambers (the target material is generally embedded in the beam shaping body). The charged particle beam interacts with the target material in the treatment chamber to produce neutrons (neutrons include fast neutrons, thermal neutrons, hyperthermal neutrons, gamma rays, etc., which cannot be used directly for treatment). After the neutrons are shaped by the beam shaping body, a hyperthermal neutron beam that meets the treatment requirements is output. The hyperthermal neutron beam irradiates the patient's irradiated area in the horizontal and vertical treatment chambers to achieve the purpose of treatment.

[0130] This utility model provides an automatic target changing system for replacing the target assembly 11 of a neutron generating device 10. The neutron generating device 10 includes a beam shaper 12 and a support frame 14. The beam shaper 12 is supported by the support frame 14. In optional embodiments of this utility model, the support frame 14 can form a space in which all or part of the beam shaper 12 is disposed. Alternatively, the support frame 14 can form a support plane in which the beam shaper 12 is positioned. This utility model does not limit the way the support frame supports the beam shaper 12, but rather focuses on meeting diverse setting requirements.

[0131] The beam shaper 12 has a receiving cavity 121 that accommodates at least a portion of the target assembly 11, such as Figures 1-12As shown, the automatic target changing system includes an auxiliary support arm 20. The auxiliary support arm 20 is movably mounted on the support frame 14. Specifically, the auxiliary support arm 20 can be set in the part of the support frame 14 that supports the beam shaper 12, or it can be set in the part of the support frame 14 that supports the beam shaper 12. The part of the support frame 14 that supports the beam shaper 12 and the part of the support frame 14 that supports the auxiliary support arm 20 can be at the same position reference. For example, the same position reference can be the ground or the side wall of the room. This utility model does not limit this. The auxiliary support arm 20 is installed on the support frame 14 and can move to drive the target assembly 11 out of the receiving cavity 121. The auxiliary support arm 20 is set on the support frame 14 that supports the beam shaping body 12. The auxiliary support arm 20 is set close to the beam shaping body 12 that houses the target assembly 11, which facilitates the pre-positioning of the auxiliary support arm 20 with the target assembly 11. This avoids the need to re-grab the target assembly from a distance during the target replacement process, shortens the process of achieving dynamic positioning connection between the auxiliary support arm 20 and the target assembly, avoids radiation from the radiation field generated after the nuclear reaction of the target material to the power components of the target assembly or other drive bodies, reduces the uncontrollability of the radiation field's influence on the power components during the target replacement process, and improves the controllability of the target replacement process.

[0132] When the neutron generating device 10 is in operation, the target assembly 11 is installed in the receiving cavity 121 of the beam shaper 12. When the target assembly 11 needs to be replaced, the auxiliary support arm 20 can move the target assembly 11 and disengage it from the receiving cavity 121, thereby separating the target assembly 11 from the beam shaper 12, so that the target assembly 11 can be removed from the neutron generating device 10 for replacement. In this embodiment of the invention, when the neutron generating device 10 is working, the auxiliary support arm 20 can be connected to the target assembly 11 to provide auxiliary support and positioning for the target assembly 11. On the one hand, this ensures the distance between the target assembly 11 and the end face of the beam shaper 12, thus ensuring the assembly position between the target assembly 11 and the beam shaper 12, to meet the beam shaping installation requirements of the target material and the end face of the beam shaper 12. On the other hand, the auxiliary support arm 20 is already connected to the target assembly 11 or other structures that can be connected to the target assembly 11 before the target assembly needs to be replaced. This avoids the need for the auxiliary support arm 20 to dynamically move and position itself with the target assembly 11 during the target replacement process. It also avoids the radiation field generated after the nuclear reaction of the target material from the power component or other indirect driving body used to drive the auxiliary support arm 20 to position itself with the target assembly 11. This reduces the uncontrollability of the radiation field's influence on the power component during the target replacement process and improves the controllability of the target replacement process.

[0133] The auxiliary support arm 20 can be configured to be directly or indirectly connected to the target assembly 11 before the target assembly needs to be replaced. This allows it to drive the target assembly 11, enabling it to achieve positioning between the auxiliary support arm 20 and the target assembly 11 during the target replacement process. This avoids complex dynamic movements or simple spontaneous operation within the radiation field of the nuclear reaction after the charged particle beam bombards the target material. It prevents radiation from the target assembly's power components or other drive mechanisms from the radiation field generated after the nuclear reaction, reducing the uncontrollability of the radiation field's influence on the power components during target replacement and improving the controllability of the process. It also improves the stability of the relative positional relationship between the target assembly 11 and other components throughout the entire operation, or the relative position between the auxiliary support arm 20 and the target assembly during target replacement. This contributes to the stable operation of the entire neutron generation device 10, significantly reduces the difficulty of system maintenance, and lowers the cost of radiation protection during target replacement.

[0134] The receiving cavity 121 has an extending axis, which can be the central axis of symmetry of the receiving cavity 121 or the contour axis of all or part of the receiving cavity 121. The target assembly 11 is arranged to be received in the receiving cavity 121 along the direction of the extending axis. The auxiliary support arm 20 is arranged to be movable along the direction of the extending axis to drive the target assembly 11 out of the receiving cavity 121. The opening of the receiving cavity 121 faces the direction along the extending axis. The target assembly 11 moves along the direction of the extending axis under the drive of the auxiliary support arm 20, which enables the target assembly 11 to move from the installation position to the point of being detached from the receiving cavity 121.

[0135] In one embodiment, the automatic target changing system further includes a guide rail 31 disposed on the support frame 14. At least a portion of the guide rail 31 extends along an extension axis. An auxiliary support arm 20 moves along the guide rail 31 to disengage the target assembly 11 from the receiving cavity 121. The guide rail 31 guides the auxiliary support arm 20 and the target assembly 11 to move along the extension axis to facilitate smooth removal of the target assembly 11 from the receiving cavity 121.

[0136] Furthermore, the automatic target changing system also includes a guide block 32, which is connected to the auxiliary support arm 20. The auxiliary support arm 20 moves along the guide rail 31 via the guide block 32, and can move along the extended axis of the guide rail 31 together with the guide block 32.

[0137] The extension axis can be generally horizontal, generally vertical, or inclined. When the extension axis is generally horizontal, the opening of the receiving cavity 121 is also generally horizontal. When installing or replacing the target assembly 11, the target assembly 11 moves generally horizontally to be inserted into or removed from the receiving cavity 121. When the extension axis is generally vertical, the opening of the receiving cavity 121 is also generally vertical. When installing or replacing the target assembly 11, the target assembly 11 moves generally vertically to be inserted into or removed from the receiving cavity 121. The process of installing or replacing the target assembly 11 can be driven by the auxiliary support arm 20. At this time, the auxiliary support arm 20 and the target assembly 11 are first in a cooperative state, and then the auxiliary support arm 20 drives the target assembly 11 to move, thereby realizing the installation or replacement of the target assembly 11.

[0138] The target assembly 11 is in the installation position, which is the position where the target assembly 11 is installed in the receiving cavity 121 so that the neutron generating device 10 can operate normally and generate neutrons. At this time, the auxiliary support arm 20 can remain connected to the target assembly 11 to provide support and positioning for the target assembly 11, ensuring the distance between the target assembly 11 and the end face of the beam shaper 12. The auxiliary support arm 20 moves the target assembly 11 from the installation position to detach it from the receiving cavity 121, that is, the target assembly 11 detaches from the receiving cavity 121 under the action of the auxiliary support arm 20, thus separating it from the beam shaper 12. The auxiliary support arm 20 can move at least along the extension direction of the axis of the target assembly 11, thereby moving the target assembly 11 out of the receiving cavity 121. Specifically, when the extension axis is generally horizontal, the auxiliary support arm 20 can move at least generally in the horizontal direction; when the extension axis is generally vertical, the auxiliary support arm 20 can move at least generally in the vertical direction, so as to... Figures 1-12 Taking the structure shown as an example, the auxiliary support arm 20 can be displaced at least along the extension direction of the axis of the target assembly 11, so as to pull the target assembly 11 upward and detach it from the receiving cavity 121. The extension direction of the axis of the target assembly 11 is parallel or substantially parallel to the extension axis of the receiving cavity 121.

[0139] In one embodiment, the receiving cavity 121 is located within the support frame 14 and disposed towards the top of the support frame 14, and the extending axis extends from within the support frame 14 towards the top of the support frame 14, such as... Figures 1-12 As shown, when the extended axis is generally vertical, the auxiliary support arm 20 can move at least generally vertically to pull the target assembly 11 upward and out of the receiving cavity 121.

[0140] Furthermore, the auxiliary support arm 20 can move the target assembly 11 to the outside of the support frame 14. On the one hand, by moving the target assembly 11 to the outside of the support frame 14 through the auxiliary support arm 20, it is easier to transport the target assembly 11 to the transfer box 50 for convenient replacement. Specifically, in one embodiment, after the target assembly 11 is moved to the outside of the support frame 14 by the auxiliary support arm 20, it can be transferred to the transfer box 50 by the robotic arm 40 or other devices. In this process, the target assembly 11 is transferred in a relay manner. The auxiliary support arm 20 prepares for the next step of the robotic arm 40 or other devices to continue transferring the target assembly 11, so that the robotic arm 40 or other devices do not need to enter the support frame 14 or only need to enter a small area within the support frame 14. The range of motion and size of the robotic arm 40 or other devices do not need to be set too large, which helps to reduce the design difficulty of the robotic arm 40 or other devices and facilitates the adaptation of the robotic arm 40 or other devices to other equipment. In another embodiment, the auxiliary support arm 20 has a large enough range of motion to directly move the target assembly 11 to the transfer box 50.

[0141] On the other hand, the auxiliary support arm 20 is installed on the support frame 14. When the neutron generating device 10 is working, the main body or all of the auxiliary support arm 20 is located in the space of the support frame 14. Furthermore, the auxiliary support arm 20 serves as a connection between the target assembly 11 and the support frame 14. The support frame 14 supports and positions the target assembly 11 through the auxiliary support arm 20, which helps to keep the position of the target assembly 11 stable and accurate.

[0142] In one embodiment, the automatic target changing system includes a pivot axis disposed toward the top of the support frame 14, and an auxiliary support arm 20 configured to rotate about the pivot axis. The auxiliary support arm 20, through rotation about the pivot axis, drives the target assembly 11 to move from inside the support frame 14 to outside the support frame 14. Figures 3-6 As shown, the auxiliary support arm 20 is mounted on the guide block 32 via a pivot axis. Furthermore, the auxiliary support arm 20 can rotate relative to the guide block 32 around the pivot axis to achieve outward movement from within the support frame 14. The guide rail 31 can be arranged generally vertically or parallel to the vertical direction. The pivot axis is arranged vertically, meaning it can be parallel to the vertical direction or at an angle to it. The size of the angle can be set according to actual conditions, but it must ensure that the end of the auxiliary support arm 20 undergoes horizontal displacement when rotating around the pivot axis.

[0143] like Figure 1As shown, the receiving cavity 121 is located within the support frame 14 and faces the top of the support frame 14. The auxiliary support arm 20 is movable along its extension axis and can move outward from within the support frame 14. When the auxiliary support arm 20 descends, it causes the target assembly 11 to be inserted into the receiving cavity 121. When the auxiliary support arm 20 rises, it causes the target assembly 11 to disengage from the receiving cavity 121 and be pulled out of the beam shaper 12. When the auxiliary support arm 20 moves outward from within the support frame 14, it causes the target assembly 11 to move from within the support frame 14 to the outside of the support frame 14 or from the outside of the support frame 14 to within the support frame 14. Specifically, the direction of movement of the auxiliary support arm 20 along its extension axis can be generally vertical or parallel to the vertical direction. The axis of movement of the auxiliary support arm 20 from within the support frame 14 can be generally vertical or parallel to the vertical direction.

[0144] In one embodiment, the automatic target changing system includes a support arm drive mechanism 60. An auxiliary support arm 20 is directly or indirectly connected to the support arm drive mechanism 60. The support arm drive mechanism 60 drives the auxiliary support arm 20 to move the target assembly 11 out of the receiving cavity 121. Specifically, the support arm drive mechanism 60 drives the auxiliary support arm 20 to move along the extension axis, thereby moving the target assembly 11 along the extension axis and thus removing the target assembly 11 from the receiving cavity 121. The support arm drive mechanism 60 includes a power source and a transmission mechanism. The power source is connected to the auxiliary support arm 20 through the transmission mechanism to drive the auxiliary support arm 20 to move the target assembly 11 out of the receiving cavity 121.

[0145] In one embodiment, the receiving cavity 121 is located within the support frame 14 and is disposed towards the top of the support frame 14. An extension axis extends from within the support frame 14 towards the top of the support frame 14. A power source drives the auxiliary support arm 20 to move towards the top of the support frame 14 via a transmission mechanism, so as to pull out the target assembly 11 and remove it from the receiving cavity 121. Figures 1-4 As shown, for a vertical treatment room, the auxiliary support arm 20 moves along the extension axis to perform lifting and lowering movements. Specifically, the auxiliary support arm 20 moves towards the top of the support frame 14 to rise, and moves away from the top of the support frame 14 to fall.

[0146] The auxiliary support arm 20 can move under the guidance of the guide rail 31 and the guide block 32. The structure and operation of the guide rail 31 and the guide block 32 have been introduced above and will not be repeated here.

[0147] The auxiliary support arm 20 can also rotate around a pivot axis to move the target assembly 11 from inside the support frame 14 to outside the support frame 14. The structure and operation of the pivot axis have been described above and will not be repeated here. The support arm drive mechanism 60 is used to drive the auxiliary support arm 20 to move along the extension axis and from inside the support frame 14 outward. The support arm drive mechanism 60 provides power for the movement of the auxiliary support arm 20 along the extension axis and from inside the support frame 14 outward, and can control the movement of the auxiliary support arm 20 along the extension axis and from inside the support frame 14 outward. Preferably, the support arm drive mechanism 60 provides power and controls the start, stop and distance of the movement of the auxiliary support arm 20 along the extension axis, as well as the start, stop and angle of the movement from inside the support frame 14 outward.

[0148] Furthermore, the transmission mechanism includes a flexible transmission mechanism (not shown in the figure). The power source is connected to the auxiliary support arm 20 through the flexible transmission mechanism, thereby driving the auxiliary support arm 20 to move along the extension axis and move outward from inside the support frame 14. Specifically, the flexible transmission mechanism includes a first pulley mechanism for driving the auxiliary support arm 20 to move along the extension axis and a second pulley mechanism for driving the auxiliary support arm 20 to move outward from inside the support frame 14. The first pulley mechanism includes a first flexible element and one or more pulleys. The first flexible element is wound around the pulleys. One end of the first flexible element is connected to the power source, and the other end is connected to the auxiliary support arm 20 or the guide block 32. The power source drives the auxiliary support arm 20 to move along the extension axis through the first flexible element. The second pulley mechanism includes a second flexible element and one or more pulleys. The second flexible element is wound around the pulleys. One end of the second flexible element is connected to the power source, and the other end is connected to the auxiliary support arm 20. The power source drives the auxiliary support arm 20 to move outward from inside the support frame 14 through the second flexible element. The power source can be an electric motor or a cylinder; through a flexible transmission mechanism, the power source provides power for the movement of the auxiliary support arm 20. The specific arrangement of the first pulley mechanism and the second pulley mechanism can adopt existing technologies. The first flexible component and the second flexible component can be traction ropes or synchronous belts 621.

[0149] The power source in the support arm drive mechanism 60 is connected to the auxiliary support arm 20 through a flexible transmission mechanism. The power source can be set at a position far away from the support frame 14, thereby reducing the impact of radiation on the power source.

[0150] In another embodiment, the transmission mechanism includes a flexible transmission element 62, one end of which is connected to a power source, and the other end of which is connected to an auxiliary support arm 20 to drive the auxiliary support arm 20 to move the target assembly 11 out of the receiving cavity 121. Preferably, a portion of the support frame 14 is configured as a hollow structure, forming a cavity in which the power source and part of the flexible transmission mechanism components are housed to reduce the impact of radiation.

[0151] Furthermore, such as Figures 16-19 As shown, the power source includes an electric linear drive mechanism 61 and a pneumatic rotary mechanism 64. The auxiliary support arm 20 is mounted on the guide block 32 via the pneumatic rotary mechanism 64. The electric linear drive mechanism 61 is connected to the guide block 32 via a flexible transmission member 62 to drive the guide block 32 and the auxiliary support arm 20 to rise together. The electric linear drive mechanism 61 drives the auxiliary support arm 20 to rise together via the flexible transmission member 62. The auxiliary support arm 20 can descend on its own or perform a descent action under the drive of the electric linear drive mechanism 61. The pneumatic rotary mechanism 64 pivots the auxiliary support arm 20 relative to the guide block 32, and the rotation axis of the pneumatic rotary mechanism 64 serves as the pivot axis of the auxiliary support arm 20.

[0152] Specifically, the electric linear drive mechanism 61 includes a servo motor 611, a lead screw mechanism 612, a slider 613, and a linear guide rail 614. The servo motor 611 is connected to the slider 613 via the lead screw mechanism 612 to drive the slider 613 to move along the linear guide rail 614. The flexible transmission component 62 can be a synchronous belt 621, which is deflected by a synchronous pulley 63. The two ends of the synchronous belt 621 are connected to the slider 613 and the guide block 32, respectively. Thus, when the slider 613 moves under the drive of the servo motor 611, it also drives the guide block 32 to move along the guide rail 31 via the synchronous belt 621. Preferably, a shielding component 65 is provided on the side of the electric linear drive mechanism 61.

[0153] Furthermore, such as Figures 20-21 As shown, a central shielding structure 70 that can be opened and closed is provided within the support frame 14. The central shielding structure 70 is arranged around the target assembly 11. When the target assembly 11 is in the installation position, the central shielding structure 70 forms a continuous shielding structure around the target assembly 11. After the central shielding structure 70 is opened, the auxiliary support arm 20 can drive the target assembly 11 into the central shielding structure 70, or the auxiliary support arm 20 can drive the target assembly 11 from inside the central shielding structure 70 to the outside. Furthermore, after the central shielding structure 70 is opened, a portion of the central shielding structure 70 can block radiation from propagating to the electric linear drive mechanism 61.

[0154] In one embodiment, the central shielding structure 70 includes an opening and closing mechanism 71 and two shielding shells 72 with opposite openings. The opening and closing mechanism 71 is connected to the shielding shells 72 to drive the two shielding shells 72 to move closer or further apart. Preferably, the shielding shells 72 are U-shaped. When the central shielding structure 70 is opened, one shielding shell 72 is located on the side where the electric linear drive mechanism 61 is located, and one sidewall of the shielding shell 72 can block radiation toward the electric linear drive mechanism 61. The opening and closing mechanism 71 can be installed on the top of the support frame 14, and the opening and closing mechanism 71 can be a cylinder or a linear drive mechanism driven by a motor.

[0155] In one embodiment, the automatic target changing system includes a robotic arm 40 and a transfer box 50, with the transfer box 50 located outside the support frame 14. An auxiliary support arm 20 is detachably coupled to the target assembly 11. After the auxiliary support arm 20 moves the target assembly 11 outside the support frame 14, the robotic arm 40 can take over the target assembly 11 and transfer it to the transfer box 50. In this embodiment, the target assembly 11 is transported in a relay manner. The support arm drive mechanism 60 drives the auxiliary support arm 20 to move along the extension axis and from inside the support frame 14 outward, so as to move the target assembly 11 out of the receiving cavity 121 and to the outside of the support frame 14. Then, the robotic arm 40 takes over and continues to transfer the target assembly 11 to the transfer box 50. This simplifies the structure and size of the auxiliary support arm 20, and also allows the robotic arm 40 to avoid entering the support frame 14 or only enter a small area within the support frame 14. The range of motion and size of the robotic arm 40 do not need to be set too large, making it easier for the robotic arm 40 to be adapted to other equipment and reducing the design difficulty of the robotic arm 40. Furthermore, since the auxiliary support arm 20 is pre-fitted with the target assembly 11, the process of having a moving part grab the target assembly 11 during target replacement is avoided. This avoids the problem of aging of moving parts caused by setting up moving parts in a radiation environment, ensuring the reliability of the target replacement operation. The structure of the robotic arm 40 can adopt existing technology, which will not be described in detail here.

[0156] When installing the target assembly 11, after the support arm transfers the target assembly 11 to a set position outside the support frame 14, the auxiliary support arm 20 can take over the target assembly 11 and continue to transfer the target assembly 11 into the support frame 14, and then install the target assembly 11 into the receiving cavity 121. After the target assembly 11 is installed, the auxiliary support arm 20 does not need to be removed. The auxiliary support arm 20 remains connected to the target assembly 11 to provide support and positioning for the target assembly 11.

[0157] In another embodiment, the automatic target changing system includes a transfer box 50 located outside the support frame 14; an auxiliary support arm 20 is detachably engaged with the target assembly 11, capable of moving the target assembly 11 outside the support frame 14 and transferring the target assembly 11 to the transfer box 50. A support arm drive mechanism 60 drives the auxiliary support arm 20 to move along its extension axis and outward from within the support frame 14, thereby disengaging the target assembly 11 from the receiving cavity 121 and directly moving the target assembly 11 to the transfer box 50. Then, the auxiliary support arm 20 separates from the target assembly 11, and the target assembly 11 enters the transfer box 50. During target assembly 11 installation, after the auxiliary support arm 20 receives the target assembly 11, the target assembly 11 is transferred to the support frame 14 and then installed into the receiving cavity 121. After the target assembly 11 is installed, the auxiliary support arm 20 does not need to separate from the target assembly 11; the auxiliary support arm 20 remains connected to the target assembly 11 to provide support and positioning.

[0158] In one embodiment, the automatic target changing system includes a robotic arm 40 and a transfer box 50. An auxiliary support arm 20 is detachably coupled to the target assembly 11. After the auxiliary support arm 20 moves the target assembly 11 outside the support frame 14, the robotic arm 40 can take over the target assembly 11 and transfer it to the transfer box 50. The target assembly 11 is transported in a relay manner. The auxiliary support arm 20 moves the target assembly 11 out of the receiving cavity 121 and to the outside of the support frame 14, and then the robotic arm 40 takes over and continues to transfer the target assembly 11 to the transfer box 50. In this embodiment, the power for the movement of the auxiliary support arm 20 can be provided by the robotic arm 40 or by the support arm drive mechanism 60.

[0159] The robotic arm 40 can be reused from the robotic arm 40 connected to the treatment device in the neutron capture therapy system.

[0160] The auxiliary support arm 20 supports the target assembly 11 in the initial stage of target changing. After the treatment device at the end of the robotic arm 40 is removed, the robotic arm 40 and the auxiliary support arm 20 work together to complete the target changing.

[0161] When the power for the movement of the auxiliary support arm 20 can be provided by the robotic arm 40, the robotic arm 40 cooperates with the auxiliary support arm 20 to drive the auxiliary support arm 20 to move, thereby pulling the target assembly 11 out of the beam shaping body 12. Then, the robotic arm 40 continues to drive the auxiliary support arm 20 to pivot to the outside of the support frame 14, in preparation for the next step of the robotic arm 40 to locate and grasp the target assembly 11 and continue to transfer the target assembly 11.

[0162] After the robotic arm 40 transports the target assembly 11 to the transfer box 50, it inserts the target assembly 11 into the guide rail of the transfer box 50. Once the slide on the target assembly 11 engages with the guide rail, the robotic arm 40 releases the target assembly 11 and moves away. A fixing structure can be provided at the bottom of the transfer box 50 to secure it after it has moved into position, facilitating the cooperation between the transfer box 50 and the robotic arm 40 in transferring the target assembly 11.

[0163] Furthermore, the auxiliary support arm 20 is connected to a drive unit 22, and the robotic arm 40 can be detachably connected to the drive unit 22. The drive unit 22 can drive the auxiliary support arm 20 to move along its extension axis and to move outward from within the support frame 14. In this embodiment, the movement of both the auxiliary support arm 20 and the robotic arm 40 itself is powered by the robotic arm 40. This eliminates the need for a support arm drive mechanism 60, while ensuring that the robotic arm 40 does not need to enter the support frame 14 or only needs to enter a small area within the support frame 14. This allows the robotic arm 40 to move within a relatively small area, without requiring an excessively large range of motion or size, and also facilitates quick adjustment of the treatment device position during treatment. The robotic arm 40 provides the motion power for the target assembly 11, while the auxiliary support arm 20 primarily supports the target assembly 11. This combination improves the reliability of target assembly 11 transfer during target changing and avoids the radiation risks associated with manual operation.

[0164] In this embodiment, the power for the auxiliary support arm 20 to move along the extension axis and to move outward from inside the support frame 14 is provided and controlled by the robotic arm 40. The auxiliary support arm 20 itself does not need to be equipped with a power drive structure, thereby avoiding the influence of radiation on the power drive structure.

[0165] In one embodiment, such as Figures 1-8 As shown, the drive unit 22 includes a vertical cantilever 221, and the robotic arm 40 can be detachably connected to the vertical cantilever 221. After the robotic arm 40 moves to connect with the vertical cantilever 221, when the robotic arm 40 moves vertically, it can drive the auxiliary support arm 20 to move along the extension axis. When the robotic arm 40 moves around the pivot axis, it can drive the auxiliary support arm 20 to move from inside the support frame 14 to the outside around the pivot axis, thereby enabling the robotic arm 40 to provide motion power to the target assembly 11.

[0166] Furthermore, the robotic arm 40 is equipped with a mounting platform 41, which is connected to a clamp 43 and a cantilever drive plate 42. The clamp 43 is used to hold the target assembly 11. The cantilever drive plate 42 is equipped with a positioning groove (not shown in the figure), and the lower end of the vertical cantilever 221 can extend into the positioning groove. After the lower end of the vertical cantilever 221 extends into the positioning groove, the vertical cantilever 221 and the positioning groove are connected. When the robotic arm 40 moves upward, it can push the auxiliary support arm 20 upward through the vertical cantilever 221. When the robotic arm 40 moves downward, the auxiliary support arm 20 can move downward with the robotic arm 40 under its own weight. When the robotic arm 40 moves around the pivot axis, it drives the vertical cantilever 221 to move around the pivot axis, thereby driving the auxiliary support arm 20 to move from inside the support frame 14 outward around the pivot axis. The cooperation between the vertical cantilever 221 and the positioning groove facilitates a reliable connection between the robotic arm 40 and the auxiliary support arm 20, and also allows for easy separation of the robotic arm 40 and the auxiliary support arm 20. This enables the auxiliary support arm 20 and the robotic arm 40 to replace the target assembly 11 in a relay-like manner. Simultaneously, it simplifies the connection structure between the robotic arm 40 and the auxiliary support arm 20, facilitating the assembly of the neutron generating device 10 with the automatic target changing system. The depth direction of the positioning groove is approximately parallel to the extension direction of the vertical cantilever 221. Preferably, both the depth direction of the positioning groove and the extension direction of the vertical cantilever 221 are parallel to or approximately parallel to the extension axis of the receiving cavity 121. The opening of the positioning groove faces the top of the support frame 14.

[0167] The robotic arm 40 receives the target assembly 11 from the auxiliary support arm 20 by gripping the target assembly 11 with a clamp 43. The clamp 43 can be an existing mechanism that can be adapted to and clamp the target assembly 11. Preferably, the clamp 43 includes two grippers 431 that can move relatively close or far apart. When the two grippers 431 are close together, they grip the target assembly 11; when the two grippers 431 are far apart, they release the target assembly 11, facilitating the transfer of the target assembly 11 from the auxiliary support arm 20 to the robotic arm 40. Furthermore, as... Figure 9 , Figure 10 and Figure 15 As shown, the gripper 431 has at least two overlapping gripper bodies 432, and a hollow portion 433 is provided between two adjacent gripper bodies 432. The hollow portion 433 can make way for the protrusion (not shown in the figure) on the side wall of the target assembly 11. At the same time, the two gripper bodies 432 of the same gripper 431 are located on both sides of the protrusion on the side wall of the target assembly 11, which is beneficial to ensure accurate positioning of the two when the clamp 43 clamps the target assembly 11 and improves the firmness of the clamp 43 in clamping the target assembly 11.

[0168] In one embodiment, the automatic target changing system includes a self-locking structure (not shown in the figure). The self-locking structure can lock the position of the auxiliary support arm 20 after the auxiliary support arm 20 moves outside the support frame 14, so that after the robotic arm 40 separates from the auxiliary support arm 20, the position of the auxiliary support arm 20 and the target assembly 11 on the auxiliary support arm 20 remains stable, so that the robotic arm 40 can separate from the auxiliary support arm 20 and switch to receiving the target assembly 11, and then drive the target assembly 11 to move towards the transfer box 50.

[0169] Furthermore, the self-locking structure includes one or more locking protrusions disposed on the support frame 14. The auxiliary support arm 20 can move to overlap the locking protrusion, and the locking protrusion can prevent the auxiliary support arm 20 from descending. The locking protrusion provides support, allowing the auxiliary support arm 20 to remain on the locking protrusion under its own weight and the weight of the target assembly 11, thereby stabilizing the position of the target assembly 11 and facilitating the robotic arm 40 to take over the target assembly 11. This self-locking structure is relatively simple in structure, easy to assemble, and easy to unlock. After the robotic arm 40 reconnects to the auxiliary support arm 20, it drives the auxiliary support arm 20 to rise or rotate to deviate from the locking protrusion, thus unlocking the auxiliary support arm 20, which can then move again along the extension axis or move outward from inside the support frame 14.

[0170] The self-locking mechanism can prevent the auxiliary support arm 20 from descending. However, the self-locking mechanism is not necessary. In some embodiments, the self-locking mechanism is omitted. During the target changing process, after the robotic arm 40 moves the auxiliary support arm 20 to the outside of the support frame 14, the robotic arm 40 moves the auxiliary support arm 20 down to the lowest position. After the auxiliary support arm 20 stops at the lowest position, the robotic arm 40 can disengage from the auxiliary support arm 20 and change state to perform the operation of positioning and grasping the target assembly 11.

[0171] In one embodiment, the neutron generating device 10 further includes a vacuum tube 13, the upper end of the target assembly 11 is connected to the vacuum tube 13, the vacuum tube 13 has a retractable section that can be vertically retracted; a support frame 14 is connected to a vacuum tube support arm 131, which is connected to the vacuum tube 13. The vacuum tube 13 serves as a beam transmission conduit, through which charged particles are transmitted to the target assembly 11. Before replacing the target assembly 11, the vacuum tube support arm 131 drives the vacuum tube 13 upward, causing the retractable section of the vacuum tube 13 to extend and retract vertically, thereby separating the vacuum tube 13 from the upper end of the target assembly 11 to facilitate replacement of the target assembly 11.

[0172] Specifically, the vacuum tube support arm 131 can be a support arm with one or more joints, which allows for horizontal displacement. Simultaneously, the vacuum tube support arm 131 is mounted on the support frame 14 and can also move vertically. The retractable section can be a threaded tube to allow for length extension and retraction. The operation of the vacuum tube support arm 131 can be manual, as the target assembly 11 has not yet been removed from the beam shaper 12, and the radiation is within a controllable range.

[0173] In one embodiment, at least one side of the support frame 14 is configured as a shielding door 141; the auxiliary support arm 20 drives the target assembly 11 through the shielding door 141 to the outside of the support frame 14. When the target assembly 11 is in the installation position, both the target assembly 11 and the auxiliary support arm 20 are located inside the support frame 14, ensuring the safe operation of the neutron generating device 10; when replacing the target assembly 11, the neutron generating device 10 stops operating, at which time the shielding door 141 can be opened, and the auxiliary support arm 20 drives the target assembly 11 through the shielding door 141 to the outside of the support frame 14. Preferably, as shown in the following embodiment... Figure 1 and Figure 2 As shown, when the neutron generating device 10 is generally vertically arranged, the target assembly 11 moves generally vertically to disengage from the receiving cavity 121 when the target assembly 11 is installed or replaced; when the auxiliary support arm 20 moves from inside the support frame 14 to the outside, it drives the target assembly 11 to move generally horizontally so that it can move to the outside through the shielding door 141 on the side of the support frame 14.

[0174] In one embodiment, the target assembly 11 is provided with a positioning part 111. An auxiliary support arm 20 is provided along one side of the target assembly 11 near the surface of the target assembly 11 and engages with the positioning part 111 to ensure that the auxiliary support arm 20 and the target assembly 11 are accurately and reliably positioned. This ensures that when the target assembly 11 is in the installation position, the auxiliary support arm 20 supports and positions the target assembly 11. When the target assembly 11 is replaced, the auxiliary support arm 20 can be reliably connected to the target assembly 11 so that they can move together. The engagement of the auxiliary support arm 20 with the positioning part 111 along one side of the target assembly 11 near the surface of the target assembly 11 ensures that the target assembly 11 can be transferred between the auxiliary support arm 20 and the robotic arm 40. This avoids the need to set up other auxiliary mechanisms to assist in the positioning and engagement of the target assembly 11 and the auxiliary support arm 20, and also avoids the need to set up other auxiliary mechanisms to assist in the positioning and engagement of the target assembly 11 and the robotic arm 40.

[0175] Furthermore, such as Figure 5 and Figure 6As shown, the positioning part 111 includes a positioning protrusion 112; the auxiliary support arm 20 is provided with a positioning groove 21, and the auxiliary support arm 20 can support the target assembly 11 through the positioning part 111, and the target assembly 11 is at least partially restricted in the positioning groove 21. The auxiliary support arm 20 cooperates with the positioning part 111 along one side of the target assembly 11 near the surface of the target assembly 11, which not only ensures the accuracy and reliability of the connection between the auxiliary support arm 20 and the target assembly 11, but also facilitates the target assembly 11 to disengage from the auxiliary support arm 20 through the opening of the positioning groove 21, thereby smoothly transferring the target assembly 11 to the robotic arm 40. Specifically, as Figure 13 and Figure 14 As shown, the end of the auxiliary support arm 20 has two arcuate plates 211 that generally extend along the side wall of the target assembly 11. The two arcuate plates 211 form a positioning groove 21, and the ends of the two arcuate plates 211 are spaced apart to form a notch 212, which serves as an opening for the target assembly 11 to enter or leave the positioning groove 21. This facilitates the auxiliary support arm 20 to reliably grasp the target assembly 11 and to facilitate the transfer of the target assembly 11 from the auxiliary support arm 20 to the robotic arm 40.

[0176] Figures 1-14 In the illustrated embodiment, the auxiliary support arm 20 engages with the positioning part 111 near the surface of the target assembly 11 on one side of the target assembly 11. The auxiliary support arm 20 and the target assembly 11 are detachably engaged. After the auxiliary support arm 20 transfers the target assembly 11 to the outside of the support frame 14, only the target assembly 11 needs to be replaced, while the auxiliary support arm 20 can be reused. This avoids multiple disassemblies and reassemblies of the auxiliary support arm 20, thereby improving the installation accuracy of the auxiliary support arm 20. The auxiliary support arm 20 provides auxiliary support and positioning for the target assembly 11. In other embodiments, the auxiliary support arm 20 can also be connected to the target assembly 11, so that when the target assembly 11 needs to be replaced, the auxiliary support arm 20 is replaced along with it.

[0177] Based on the transmission direction of the charged particle beam impacting the target assembly 11 in the beam transmission pipe, the treatment chamber is divided into a horizontal treatment chamber and a vertical treatment chamber. In the horizontal treatment chamber, the neutron generator 10 is generally horizontally positioned, and both the beam shaper 12 and the target assembly 11 are generally arranged horizontally. In the vertical treatment chamber, the neutron generator 10 is generally vertically positioned, and both the beam shaper 12 and the target assembly 11 are generally arranged vertically. The opening of the receiving cavity 121 also generally faces upwards. When installing or replacing the target assembly 11, the target assembly 11 moves generally vertically to be inserted into or removed from the receiving cavity 121. In the vertical treatment chamber configuration, the neutron generator 10 is positioned approximately near the ceiling to generate neutrons that irradiate the patient on the treatment device from top to bottom.

[0178] In the vertical treatment chamber design, the receiving cavity 121 is located within the support frame 14 and faces the top of the support frame 14. The direction of the charged ion beam is set to be approximately consistent with the vertical direction. Typically, the target assembly 11 is also arranged in the same direction as the charged ion beam. Since the neutron generating device 10 needs to be arranged in a vertical plane, and the installation directions of the target assembly 11 and the beam transmission pipe are different, the installation and removal of the target assembly 11 requires a different scheme than in the horizontal treatment chamber. When changing the target, the target assembly 11 needs to be pulled out of the beam shaping assembly 12 (BSA) in a roughly vertical direction before being replaced. Because it is necessary to avoid radiation from manual operation and activation of the power structure components by neutrons, the arrangement of the power structure components presents significant challenges. Furthermore, the arrangement characteristics of the BSA in the vertical treatment chamber make it difficult to plan the movement and space occupied during the transport of the target assembly 11.

[0179] When the automatic target-changing system provided by this utility model is used in a vertical treatment room, it can be implemented in different ways:

[0180] Method 1: The robotic arm 40 provides all the power for target changing, avoiding the radiation risks associated with manual operation and eliminating the need for other power-driven structures, thus optimizing the site layout. Specifically, the robotic arm 40 and the auxiliary support arm 20 work together to change the target. The robotic arm 40 moves the auxiliary support arm 20, thereby pulling the target assembly 11 out of the beam shaping body 12. Then, the robotic arm 40 continues to drive the auxiliary support arm 20 to pivot to the outside of the support frame 14, preparing for the next step of the robotic arm 40 to position and grasp the target assembly 11 for further transport. Due to the auxiliary support arm 20, an excessively long robotic arm 40 is not required to drive the target assembly 11, ensuring the power drive of the robotic arm 40 during target changing and avoiding the need for other power-driven structures; it also allows for quick adjustment of the position of the treatment device by the robotic arm 40 during treatment.

[0181] Method 2: A support arm drive mechanism 60 is set up to drive the auxiliary support arm 20. The support arm drive mechanism 60 drives the auxiliary support arm 20 to move, so as to separate the target assembly 11 from the BSA. After the target assembly 11 is pulled out of the BSA, the support arm drive mechanism 60 continues to drive the auxiliary support arm 20 to pivot to a position that can cooperate with the robotic arm 40. After the robotic arm 40 positions and grabs the target assembly 11, it continues to transport it to the transfer box 50 for storing the target assembly 11.

[0182] The automatic target changing system provided by this utility model is applicable to both horizontal and vertical treatment rooms, and solves the problem of inconvenience in removing the target assembly 11 from the BSA. In particular, it solves the operational difficulty of replacing the target assembly 11 in the context of a vertical treatment room.

[0183] This utility model embodiment also provides a target replacement method applied to an automatic target replacement system. The automatic target replacement system is used to replace the target assembly 11 of a neutron generating device 10. The neutron generating device 10 includes a beam shaper 12 and a support frame 14. The beam shaper 12 is supported by the support frame 14 and has a receiving cavity 121 for accommodating the target assembly 11. The automatic target replacement system includes an auxiliary support arm 20. The auxiliary support arm 20 is movably mounted on the support frame 14. The target replacement method includes: the auxiliary support arm 20 driving the target assembly 11 to move, so as to pull the target assembly 11 out of the receiving cavity 121 and detach it from the receiving cavity 121.

[0184] When the target assembly 11 needs to be replaced using this target replacement method, the auxiliary support arm 20 drives the target assembly 11 to detach from the receiving cavity 121, thereby separating the target assembly 11 from the beam shaper 12, so that the target assembly 11 can be taken out of the neutron generating device 10 for replacement.

[0185] In one embodiment, the receiving cavity 121 is located within the support frame 14 and faces the top of the support frame 14. The method includes: an auxiliary support arm 20 moving the target assembly 11 from inside the support frame 14 to outside the support frame 14. When the target assembly 11 is in the installation position, both the target assembly 11 and the auxiliary support arm 20 are located within the support frame 14, ensuring the safe operation of the neutron generating device 10; the auxiliary support arm 20 moves towards the top of the support frame 14 to pull out the target assembly 11 and remove it from the receiving cavity 121. The target assembly 11 is moved to the outside of the support frame 14 by the auxiliary support arm 20, so that the target assembly 11 can be further transported to the transfer box 50 for easy replacement. When the neutron generating device 10 is working, the auxiliary support arm 20 acts as a connection between the target assembly 11 and the support frame 14. The support frame 14 supports and positions the target assembly 11 through the auxiliary support arm 20, which helps to maintain the stability and accuracy of the target assembly 11's position.

[0186] In one embodiment, at least one side of the support frame 14 is configured as a shielding door 141; the target changing method includes: the auxiliary support arm 20 moving the target assembly 11 to the outside of the support frame 14 through the shielding door 141.

[0187] When replacing the target assembly 11, the neutron generating device 10 stops operating. At this time, the shielding door 141 can be opened, and the auxiliary support arm 20 can drive the target assembly 11 through the shielding door 141 to the outside of the support frame 14.

[0188] In one embodiment, the auxiliary support arm 20 is detachably coupled with the target assembly 11. The target changing method further includes: after the auxiliary support arm 20 moves the target assembly 11 to the outside of the support frame 14, the robotic arm 40 takes over the target assembly 11 and transfers it to the transfer box 50. The target assembly 11 is transported in a relay manner. The support arm drive mechanism 60 drives the auxiliary support arm 20 to move along the extension axis and from inside the support frame 14 outward, so as to move the target assembly 11 out of the receiving cavity 121 and to the outside of the support frame 14. Then the robotic arm 40 takes over and continues to transfer the target assembly 11 to the transfer box 50. This simplifies the structure and size of the auxiliary support arm 20, and also allows the robotic arm 40 to avoid entering the support frame 14 or only enter a small area inside the support frame 14. The range of motion and size of the robotic arm 40 do not need to be set too large, which facilitates the adaptation of the robotic arm 40 to other equipment and reduces the design difficulty of the robotic arm 40.

[0189] In another embodiment, the auxiliary support arm 20 can move the target assembly 11 outside the support frame 14 and transfer the target assembly 11 to the transfer box 50. The support arm drive mechanism 60 drives the auxiliary support arm 20 to move along the extension axis and move outward from inside the support frame 14, so as to move the target assembly 11 out of the receiving cavity 121 and directly move the target assembly 11 to the transfer box 50. Then the auxiliary support arm 20 separates from the target assembly 11, and the target assembly 11 enters the transfer box 50.

[0190] This utility model embodiment also provides a neutron capture therapy system, including: an accelerator 300, a neutron generating device 10, a treatment device, and an auxiliary support arm 20; the neutron generating device 10 includes a beam shaper 12, a support frame 14, and a target assembly 11, the beam shaper 12 is supported by the support frame 14, and the beam shaper 12 has a receiving cavity 121 for accommodating the target assembly 11; the accelerator 300 generates charged particles and transmits them to the target assembly 11, the target assembly 11 generates a neutron beam, and the neutron beam is shaped by the beam shaper 12 to generate a therapeutic neutron beam for irradiating the patient on the treatment device; the auxiliary support arm 20 is mounted on the support frame 14, the auxiliary support arm 20 is detachably coupled with the target assembly 11, and the auxiliary support arm 20 is movable and capable of moving the target assembly 11 out of the receiving cavity 121.

[0191] When the neutron generating device 10 is operating, the target assembly 11 is installed in the receiving cavity 121 of the beam shaper 12. When the target assembly 11 needs to be replaced, the auxiliary support arm 20 can move the target assembly 11 and disengage it from the receiving cavity 121, thereby separating the target assembly 11 from the beam shaper 12. This facilitates the removal of the target assembly 11 from the neutron generating device 10. Then, the auxiliary support arm 20 separates from the target assembly 11 for replacement. During operation, the auxiliary support arm 20 can connect to the target assembly 11 to provide auxiliary support and positioning, ensuring the stability of the target assembly 11 and contributing to the stable operation of the neutron generating device 10.

[0192] In one embodiment, the receiving cavity 121 is located within the support frame 14 and faces the top of the support frame 14. At least one side of the support frame 14 is configured as a shielding door 141. An auxiliary support arm 20 is movably mounted on the support frame 14 and can drive the target assembly 11 through the shielding door 141 to the outside of the support frame 14. When the target assembly 11 is in the installation position, both the target assembly 11 and the auxiliary support arm 20 are located within the support frame 14, ensuring the safe operation of the neutron generating device 10. When replacing the target assembly 11, the neutron generating device 10 stops operating. At this time, the shielding door 141 can be opened, and the auxiliary support arm 20 can drive the target assembly 11 through the shielding door 141 to the outside of the support frame 14. On the one hand, by driving the target assembly 11 to the outside of the support frame 14 through the auxiliary support arm 20, it is easier to further transport the target assembly 11 to the transfer box 50 for convenient replacement of the target assembly 11. On the other hand, the auxiliary support arm 20 is installed on the support frame 14. When the neutron generating device 10 is working, the auxiliary support arm 20 plays a connecting role between the target assembly 11 and the support frame 14. The support frame 14 supports and positions the target assembly 11 through the auxiliary support arm 20, which helps to keep the position of the target assembly 11 stable and accurate.

[0193] The above descriptions are merely a few embodiments of this utility model. Those skilled in the art can make various modifications or variations to the embodiments of this utility model based on the content disclosed in the application documents without departing from the spirit and scope of this utility model.

Claims

1. An automatic target-changing system for replacing target components of a neutron generating device, the neutron generating device comprising a beam shaper and a support frame, the beam shaper being supported by the support frame, the beam shaper having a receiving cavity for accommodating at least a portion of the target components, characterized in that, The automatic target changing system includes an auxiliary support arm; The auxiliary support arm is movably mounted on the support frame to drive the target assembly out of the receiving cavity.

2. The automatic target changing system according to claim 1, characterized in that, The receiving cavity has an extending axis, and the auxiliary support arm is configured to move along the direction of the extending axis to drive the target assembly out of the receiving cavity.

3. The automatic target changing system according to claim 2, characterized in that, The automatic target changing system includes a support arm drive mechanism, which includes a power source and a transmission mechanism. The power source is connected to the auxiliary support arm through the transmission mechanism to drive the auxiliary support arm to move the target assembly out of the receiving cavity.

4. The automatic target changing system according to claim 1, characterized in that, The automatic target changing system includes a robotic arm and a transfer box; The auxiliary support arm is detachably coupled with the target assembly. After the auxiliary support arm drives the target assembly out of the receiving cavity, the robotic arm can take over the target assembly and transfer the target assembly to the transfer box.

5. The automatic target changing system according to claim 1, characterized in that, The receiving cavity is located within the support frame and is positioned towards the top of the support frame.

6. The automatic target changing system according to claim 1, characterized in that, The auxiliary support arm drives the target assembly to move to the outside of the support frame.

7. The automatic target changing system according to claim 1, characterized in that, At least one side of the support frame is configured as a shielding door.

8. The automatic target changing system according to any one of claims 3-4, characterized in that, The transmission mechanism includes a flexible transmission element, one end of which is connected to the power source, and the other end of which is connected to the auxiliary support arm to drive the auxiliary support arm to move the target assembly away from the receiving cavity.

9. The automatic target changing system according to claim 8, characterized in that, A portion of the support frame is configured as a hollow structure, forming a cavity in which the power source and part of the flexible transmission components are housed.

10. The automatic target changing system according to claim 8, characterized in that, The automatic target changing system also includes a guide rail and a guide block. The guide rail is disposed on the support frame, and the flexible transmission component drives the auxiliary support arm to move along the guide rail.

11. The automatic target changing system according to claim 10, characterized in that, The guide block is provided with a pivot axis, and the auxiliary support arm is configured to rotate around the pivot axis. The auxiliary support arm drives the target assembly to move from inside the support frame to outside the support frame by rotating around the pivot axis.

12. The automatic target changing system according to claim 11, characterized in that, The power source includes an electric linear drive mechanism and a pneumatic rotary mechanism. The electric linear drive mechanism drives the auxiliary support arm to move along the guide rail by driving the flexible transmission component. The auxiliary support arm is mounted on the guide block by the pneumatic rotary mechanism.

13. A neutron capture therapy system, characterized in that, include: Accelerator, neutron generating device, treatment device and auxiliary support arm; The neutron generating device includes a beam shaper, a support frame, and a target assembly. The beam shaper is supported by the support frame and has a receiving cavity for accommodating the target assembly. The accelerator generates charged particles and transmits them to the target assembly, which generates a neutron beam. The neutron beam is shaped by the beam shaper to generate a therapeutic neutron beam to irradiate the patient on the treatment device. The auxiliary support arm is mounted on the support frame. The auxiliary support arm is detachably coupled with the target assembly. The auxiliary support arm is movable and can move the target assembly out of the receiving cavity.

14. The neutron capture therapy system according to claim 13, characterized in that, The receiving cavity is located within the support frame and is positioned towards the top of the support frame.

15. The neutron capture therapy system according to claim 14, characterized in that, At least one side of the support frame is configured as a shielding door; The auxiliary support arm can drive the target assembly through the shielding door to the outside of the support frame.

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