A superficial radiotherapy device and radiotherapy system

Abstract

The present application relates to a kind of superficial radiotherapy device and system.According to a specific embodiment, the superficial radiotherapy device can include: treatment head, including shell and beam device contained in the shell, the beam device is used to generate pencil beam ray or regular field beam;Imaging assembly, including at least two imaging units, arranged on the shell, for collecting optical image of patient skin surface;Mechanical movement component, connected with the shell of the treatment head, for driving the treatment head to move, realize pencil beam scanning treatment.The superficial radiotherapy device can be applied to the radiotherapy of superficial lesion, and through machine teaching path planning or image-guided path planning, efficient and accurate treatment for superficial lesion can be realized.

Description

Technical Field

[0001] This utility model generally relates to the field of medical devices, and in particular, to a superficial radiotherapy device and system. Background Technology

[0002] Superficial lesions refer to various diseases or abnormalities that occur in the superficial layers of the skin or superficial tissues, including superficial tumors and skin scars (such as keloids). These lesions may affect multiple layers of the skin, but their depth is generally shallow.

[0003] In the field of radiotherapy, low-energy X-rays and low-energy electron beams are currently the main treatments for various superficial skin lesions. The advantage of this treatment method is that it can directly target the diseased tissue, reducing damage to surrounding healthy tissue. However, with the development of medical technology and increasing patient demands, existing treatment equipment still faces some challenges and shortcomings in practical applications. For example, superficial lesions are often characterized by varying shapes and scattered locations. Current radiotherapy techniques typically use a single field or a combination of multiple fields to form a single area, including not only the scattered diseased tissue but also normal tissue within the area. Secondly, traditional manual operation modes make it difficult to precisely control the patient's position and irradiation range, easily leading to positioning and dose deviations, affecting treatment efficacy. Utility Model Content

[0004] The purpose of this invention is to provide a radiotherapy device and system applicable to superficial lesions to overcome at least one of the above-mentioned defects in the prior art, thereby improving the accuracy of radiotherapy by locating the lesion area through teaching path planning or by acquiring image information of the treatment area.

[0005] According to one aspect of the present invention, a superficial radiotherapy device is provided, comprising: a treatment head including a housing and a beam device housed within the housing, the beam device being used to generate pencil beams or regular field beams; an imaging assembly including at least two imaging units disposed on the housing for acquiring optical images of the patient's skin surface; and a mechanical motion assembly connected to the housing of the treatment head for driving the treatment head to move.

[0006] In some embodiments, the superficial radiotherapy device further includes a light field indicator configured to generate light field markers and project them onto the patient's skin surface.

[0007] In some embodiments, the superficial radiotherapy device further includes a traction ring fitted onto the light field indicator and configured to move the treatment head along a predetermined path under manual intervention.

[0008] In some embodiments, the beam apparatus further includes an electron beam modulation module for dynamically adjusting the energy output of the electron pen beam based on the depth and morphology information of the patient's lesion tissue.

[0009] In some embodiments, the treatment head further includes a display device disposed on the housing for displaying identified superficial lesion areas and / or beam parameters of the beam device.

[0010] In some embodiments, the imaging unit includes a camera and a camera mount, wherein the optical lens of the camera is oriented toward the central axis of the treatment head.

[0011] In some embodiments, the mechanical motion assembly includes at least one tandem robotic arm.

[0012] In some embodiments, the superficial radiotherapy device further includes: a mechanical body for carrying the mechanical motion components; and a plurality of wheels pivotally mounted on the bottom of the mechanical body.

[0013] In some embodiments, the pencil beam is a low-energy X-ray or a low-energy electron beam.

[0014] According to another aspect of the present invention, a radiotherapy system is provided, comprising the superficial radiotherapy apparatus described above, and a control component for controlling the movement of the mechanical motion component, the imaging component, and the beam output of the treatment head. It also includes a planning system component for receiving images and planning a pencil beam path by analyzing the image information.

[0015] In some implementations, the control component performs real-time analysis of the imaging unit data, and automatically adjusts the robotic arm's posture or pauses the treatment process when it detects that the relative positional deviation between the robotic arm and the target area exceeds a preset allowable range.

[0016] In some embodiments, the image information that the planning system component can receive includes at least: optical images, ultrasound images, fluorescence images, CT images, and MR images.

[0017] In some embodiments, the planning system component can receive not only the optical images generated by the imaging component, but also the output images from other positioning / positioning devices.

[0018] In some embodiments, the radiotherapy system further includes a treatment bed located on one side of the superficial radiotherapy system for accommodating a patient.

[0019] This invention provides a superficial radiotherapy device and system. By using a teaching path approach, the machine can automatically perform radiotherapy, thus providing greater flexibility and applicability. In some embodiments, it can accurately identify and locate superficial lesion areas based on images such as optical, ultrasound, fluorescence, CT, or MR, and establish image-guided path planning, providing a more efficient and accurate solution for the treatment of superficial lesions.

[0020] Certain aspects, advantages, and novel features of this invention have been described above for the purpose of summarizing the objectives of this application. It should be understood that not all of these advantages are necessarily achieved according to any particular embodiment of this invention. Therefore, this invention may be implemented or practiced in a manner that achieves or optimizes one or more advantages taught herein, without necessarily achieving the other advantages taught or shown herein. Attached Figure Description

[0021] The following discussion of at least one example, with reference to the accompanying drawings, is not intended to be drawn to scale. The drawings are included to provide illustration and further understanding of the various aspects and examples, and are incorporated into and constitute a part of this specification, but are not intended to define limitations of this application. In the drawings, each identical or substantially identical component shown in the various figures is represented by the same numerals. For clarity, not every component is labeled in every figure. In the figures:

[0022] Figure 1 This is a schematic diagram of the overall structure of a radiotherapy system according to an embodiment of the present invention;

[0023] Figure 2 for Figure 1 Enlarged view of some of the structures in the image;

[0024] Figure 3 This is a schematic diagram of the structural composition of a radiotherapy system according to an embodiment of the present invention. Detailed Implementation

[0025] To make the technical means, creative features, achieved objectives and effects of this utility model readily understandable, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and this utility model is not limited to the precise form of these exemplary embodiments.

[0026] Current technologies generally use X-rays to treat superficial lesions such as keloids and skin cancer. Taking a commercially available X-ray treatment system as an example, it uses X-rays to directly irradiate the patient's skin surface. By destroying, inhibiting, or transforming fibroblasts, it can cause blood vessel occlusion, thereby controlling excessive ecchymosis tissue proliferation. The treatment process mainly includes the following steps: After placing the patient on the treatment bed or in a suitable position, a suitable lead shield is selected and placed around the lesion area to protect surrounding normal tissue, based on the size of the lesion area. A suitable collimator is then selected based on the size of the lesion area and installed on the treatment device, with its end aligned with the lesion area. Then, the X-ray beam is emitted for treatment according to the set treatment parameters.

[0027] This device is operated manually with low automation, making it difficult to accurately control the patient's position and irradiation range. In addition, the irradiation fields generated are all large areas, which can easily affect normal tissues within the area if there are scattered lesions. Therefore, there is room for improvement in terms of ease of operation and treatment effect.

[0028] Therefore, this utility model provides a device and system for improving the automation level of superficial radiotherapy. By teaching path planning or by acquiring image information of the treatment area, the lesion area can be located, thereby improving the accuracy and operational efficiency of radiotherapy for superficial lesions.

[0029] Figure 1 A schematic diagram of a superficial radiotherapy device and system according to an embodiment of the present invention is shown, which can be applied to radiotherapy of superficial lesions (in non-surgical cases). Figure 1 As shown, the radiotherapy device of this embodiment may include: a treatment head 110, an imaging component 120, and a mechanical motion component 130. To facilitate imaging operation and image analysis for establishing treatment pathways, the radiotherapy system may also include a control component, a planning system component, etc. (which will be described in detail later). The treatment head 110 and the imaging component 120 can be installed integrally. The control component and the planning system component can be electrically connected to the imaging component 120 via cables, optical fibers, or other wires. The control component can be used to control the imaging operation of the imaging component 120, and the planning system component can be used to receive image data acquired by the imaging component 120, as well as output images from other positioning / positioning devices, and perform image analysis to identify and locate superficial lesions, thereby achieving image-based guided path planning.

[0030] The treatment head 110 may include treatment components for implementing superficial radiotherapy. For example, the treatment head 110 may include a beam generating a radiation beam, which may be a low-energy electron beam or X-ray (e.g., kV level). This beam may be a regular field beam with broad therapeutic indications, including not only superficial tumors such as basal cell carcinoma and squamous cell carcinoma, but also benign lesions such as hypertrophic scars and keloids. In one embodiment, the beam generating device may further include an electron beam modulation module, which controls the energy and size of the output beam through the control components of the radiotherapy system. This module dynamically adjusts the energy output of the electron pencil beam based on the depth and morphology of the patient's lesion tissue, for example, by adjusting the radiation source energy and beam spot size to adapt to the treatment needs of lesions of different depths and sizes.

[0031] In one embodiment, the beam device can be used to generate pencil beams, i.e., the beams are emitted from the beam device in the form of a thin beam, and treatment is performed by scanning, enabling precise local irradiation of diseased tissue while avoiding impact on surrounding healthy tissue. In one embodiment, irradiation can be performed using point scanning or intermittent scanning. By using this method, by delivering a prescribed dose to several discrete target locations on the patient's skin surface and stopping the beam emission between the target locations, treatment of multi-point dispersed lesions can be better targeted, greatly reducing or minimizing the impact on normal tissue within the area. Therefore, the radiotherapy device of this invention has greater adaptability.

[0032] The imaging component 120 can be integrally mounted with the treatment head 110. For example, the treatment head 110 may include a housing that houses its beam device, and the imaging component 120 may be disposed on the housing. For example, an accessory cavity is formed inside the housing to accommodate various imaging accessories, and at least a portion of the imaging component 120 can be mounted in the accessory cavity, thereby being relatively fixed to the treatment head 110. During radiotherapy, the imaging component 120 can be used to acquire optical images of the patient's skin surface to identify and determine the lesion area, which is beneficial for planning the treatment path and automating the treatment with the aid of a robotic arm. The rays emitted by the treatment head 110 can precisely irradiate the target lesion area, thereby realizing image-guided radiotherapy and improving the accuracy and efficiency of radiotherapy.

[0033] Imaging assembly 120 includes at least two imaging units ( Figure 1The image shows only one side of the imaging unit. Each imaging unit has the same structural components, such as a camera, camera control equipment, and camera mount. The camera is mounted on the housing via the camera mount. The camera can be tilted so that its optical lens faces the central axis of the treatment head 110, thereby enabling it to acquire images of the target tumor lesion area. In one specific embodiment, two imaging units are symmetrically mounted on both sides of the treatment head 110 with respect to the central line or central plane of the treatment head for binocular stereo imaging, thereby better acquiring lesion image information of the treatment area. This has a significant advantage for cases where the lesion area has a complex or fine structure. It is understood that more pairs of imaging units can also be used for visible light imaging to acquire images (RGB images) of the target area.

[0034] Figure 2 It shows Figure 1 A magnified view of the part enclosed in the circle, see below. Figure 1-2 In some embodiments, the camera's optical lens can extend outside the housing, allowing imaging to be achieved using the lighting within the treatment room. This application is not limited to this; in some embodiments, the camera's optical lens can also be housed inside the housing, in which case a separate light source is required to assist imaging. Regarding the symmetrical arrangement of the light source and camera, please refer to the inventor's patent application CN 202321928107.3 ("An Optical Imaging Device and Imaging System"), the entire contents of which are incorporated herein by reference.

[0035] In one embodiment, the treatment head 110 may further include a display device 112, such as a display screen, which is also disposed on the housing of the treatment head for providing an operating interface and displaying images of superficial lesion areas acquired or identified by the imaging component 120 and / or beam parameters of the beam device, and displaying these data so that doctors or relevant personnel can obtain relevant radiotherapy data online.

[0036] The mechanical motion component 130 is connected to the housing of the treatment head 110 and is used to drive the treatment head 110 to move. For example, during the imaging phase, the mechanical motion component 130 can drive the treatment head 110 to a suitable position, so that the central axis of the camera's optical lens converges and focuses within the area of ​​the patient's skin surface, thereby facilitating the acquisition of optical images of the superficial lesion area for identification and localization of the lesion area; during the treatment phase, the mechanical motion component 130 can also drive the treatment head 110 to move, so that the beam device of the treatment head 110 can move to a specific treatment position according to a predetermined planned path and emit pencil beam rays to perform radiotherapy on the identified lesion area.

[0037] In one embodiment, the mechanical motion component 130 may include one or more tandem robotic arms designed or configured with high precision and a large spatial range of motion, enabling the robotic arm to precisely position and move the treatment head 110 to a specific treatment location in three-dimensional space to perform radiotherapy, according to the needs of the treatment protocol. The robotic arm may be, for example, electrically, pneumatically, or hydraulically driven, and actuated under program control to move the treatment head 110 connected to its end end to adjust the spatial position of the treatment head 110.

[0038] In one specific implementation, such as Figure 1 As shown, the mechanical motion assembly 130 includes a first robotic arm, a second robotic arm, and a third robotic arm connected in series. The first robotic arm is connected to the mechanical body 140 (which may house a motion control assembly, described in detail later) and can rotate within a certain angle range around a fixed axis. The second robotic arm is pivotally coupled to the first robotic arm and can rotate around a pivot axis. The third robotic arm is connected to the second robotic arm via a universal joint, a rotary bearing, or the like. The treatment head 110 can be mounted at the end of the third robotic arm. For example, the end of the third robotic arm and the housing of the treatment head 110 are connected via a flange, threads, or other means, so that the mounting position of the treatment head 110 on the end robotic arm is fixed. It is understood that controlling the various robotic arms to achieve multi-degree-of-freedom movement of the treatment head 110 in three-dimensional space is conventional technology in this field and will not be elaborated further here.

[0039] In one embodiment of this invention, the treatment device may further include a light field indicator 114 configured to generate a light field marker and project it onto the patient's skin surface. (See also...) Figure 2 The light field indicator 114 is detachably installed below the treatment head 110. For example, the light field indicator 114 may have a cylindrical structure and can be coaxially installed below the treatment head 110 by means of fastening such as snap-fit ​​or threaded connection. Furthermore, the installation position of the light field indicator 114 is such that the light field mark such as the laser emitted by it and the X-ray or electron beam emitted by the treatment head 110 will coincide in space. Thus, the position indicated by the laser mark is the position where the beam emitted by the treatment head 110 will irradiate the patient's skin surface.

[0040] In one embodiment, the light field indicator 114 may include a laser generator (low power), etc. For example, the laser may emit laser light of a specific wavelength. During the teaching irradiation procedure (when the treatment head 110 is not firing), the light field indicator 114 is activated, and the laser light emitted by it is projected onto the patient's skin surface to indicate the irradiation range (e.g., superficial lesion area).

[0041] In this embodiment, the treatment device may further include a traction ring 116, which can be fitted onto the light field indicator 114 and configured to move the treatment head 110 along a predetermined path under manual intervention. The ring may be made of rigid plastic. During the teaching irradiation procedure, medical personnel pull the treatment head 110 along the path to be treated using the ring 116, for example, causing the laser marker emitted by the light field indicator 114 to move along the lesion area. During this process, motion sensors (e.g., gyroscopes, accelerometers, etc.) on the treatment device can record the movement and pose data of each robotic arm of the mechanical motion assembly 130 and obtain the motion trajectory data of each robotic arm. These motion sensors may be, for example, disposed on the housing of the treatment head 110 and / or on each robotic arm. Alternatively, a vision sensor may be used to measure and record the posture and motion trajectory of each robotic arm. During subsequent treatment, the mechanical motion component 130 of the treatment device can reproduce the collected motion trajectory data, thereby enabling the pencil beam emitted by the treatment head 110 to accurately scan the lesion area, thus achieving automated treatment.

[0042] Figure 3 This is a schematic diagram of the structural composition of a radiotherapy system according to an embodiment of the present invention. Figure 3 As shown, the radiotherapy system 200 may include a superficial radiotherapy system 210, a control component 230, and a planning system component 220. The main structure and functions of the superficial radiotherapy system have been introduced above. In order to further understand the working principle of this utility model, the functions of the control component and the planning system component are described below.

[0043] The control component 230 is responsible for the control and coordination of the entire radiotherapy system, and is used to control the movement of the mechanical motion component, the imaging component, and the beam output of the treatment head. For example, the control component can be electrically connected to the planning system component, and can interact with the planning system component to control the transmission of patient information received in the planning system component, images of identified superficial lesion areas, and beam parameters (e.g., dose) of the designed beam device to the display device of the treatment head 110 for real-time display.

[0044] Simultaneously, the control component can also be electrically connected to the treatment head 110, imaging component 120, and mechanical motion unit 130 of the treatment device to control their operation and running. Specifically, the control component can control the movement of one or more robotic arms in the mechanical motion unit 130 to ensure that the treatment head 110 can accurately move to the designated treatment position. The control component can also adjust the radiation source energy and pencil beam size of the beam device according to the determined treatment plan to ensure that the irradiation parameters meet the treatment requirements. The control component can also control the acquisition of the imaging component 120 and the on / off function of the light source module. In addition, the control component can monitor the operating status of each module of the system, detect the safety and stability of the equipment in real time, and ensure the safe and effective conduct of the treatment process. For example, it can perform real-time analysis of the imaging unit data, and when it detects that the relative positional deviation between the robotic arm and the target area exceeds the preset allowable range, it automatically adjusts the posture of the robotic arm or suspends the treatment process.

[0045] The planning system component 220 may include an image analysis unit that receives and reads optical images recorded by the imaging component 120, and may also read ultrasound, fluorescence, CT, or MR images generated by other positioning / positioning devices, and identifies lesion tissue and surrounding normal tissue based on image analysis. For example, the image analysis unit receives visible light images acquired by a binocular camera via a cable, or ultrasound, fluorescence, CT, or MR images generated by other positioning / positioning devices, and can process and analyze these images to obtain information such as the location and depth of superficial lesions. In one example, the image analysis unit may be an image processor or a controller with image processing capabilities, which may have a hardware structure or be implemented using a combination of hardware and software. The processor may run on operating systems such as Windows or UNIX. For information on image recognition and analysis methods, please refer to the inventor's patent application CN 202321928107.3 ("An Optical Imaging Device and Imaging System"), the entire contents of which are incorporated herein by reference.

[0046] In one embodiment, the planning system component may further include a radiotherapy planning design unit, which may determine the lesion extent, plan the pencil beam path, and determine appropriate treatment parameters, such as the treatment head angle (or the posture of the robotic arm), radiation dose, and treatment path, based on information obtained by the image data analysis unit, thereby improving the accuracy of subsequent automated radiotherapy.

[0047] In one embodiment, the planning system component may also include other functional modules, such as a patient information management unit, which can record the patient's personal information, medical history, diagnosis results, etc.

[0048] In one embodiment, the control component (module) and the planning system component may be included in a control terminal or workstation with human-computer interaction capabilities. The control terminal or workstation, together with the treatment device described above, constitutes a radiotherapy system applicable to superficial radiotherapy.

[0049] Return to reference Figure 1 In one embodiment, the radiotherapy apparatus may further include a mechanical body 140 for at least carrying a mechanical motion component 130 (e.g., a robotic arm), a treatment head 110, and an imaging component 120 (e.g., a camera). Furthermore, the aforementioned control components may also be configured or integrated within the mechanical body 140 to control the operation of the modules; for example, the control components may be configured to control the movement of the mechanical motion component 130 and the beam output of the beam device of the treatment head 110.

[0050] Multiple wheels 142 are pivotally mounted on the bottom of the mechanical body 140, each of which can be individually driven and steered to move the mechanical body 140. In one example, at least one of these wheels may be electrically driven, which can be controlled by the aforementioned control components to move the mechanical body 140 to a predetermined position. Alternatively, these wheels may be ordinary caster wheels, tottenham wheels, etc., and medical personnel can move the radiotherapy machine to a suitable position or push it to a storage room using the handrails 144 provided on the mechanical body 140.

[0051] In one embodiment, the radiotherapy system may further include a treatment bed located on one side of the radiotherapy apparatus for carrying the patient and movable to position the patient in a suitable position for radiotherapy.

[0052] The following is an exemplary description of the radiotherapy operation process of the radiotherapy device of this utility model. It should be understood that these specific embodiments do not constitute a limitation on the embodiments of this utility model.

[0053] In one embodiment, the radiotherapy device of this invention can operate in a robot teaching path planning mode. This mode primarily involves medical personnel manually setting the treatment path, for example, by manually traction the treatment head to move it along the area to be treated. During this process, the radiotherapy device records the path and then automatically performs the treatment. For example, the radiation irradiation method in this operating mode mainly includes the following steps:

[0054] Step 1: Patient Preparation

[0055] The technician places the patient on the treatment bed or in a suitable position, and then performs necessary preparations such as cleaning the superficial lesion area to be treated. Based on this, the doctor marks the lesion area through observation.

[0056] Step 2: Teaching to generate treatment pathways

[0057] A light field indicator 114 is installed on the treatment head 110. The technician drags the treatment head 110 and turns on the light field indicator 114 to indicate the irradiation position. The treatment head 110 is moved along the area to be treated by manually pulling the pull ring 116. At the same time, the motion state of the mechanical motion components over time is recorded by motion or vision sensors.

[0058] Step 3: Treatment Plan Design

[0059] Physicists calculate radiotherapy parameters, such as radiation dose and beam energy, based on the extent and depth of the lesion.

[0060] Step 4: Treatment Initialization

[0061] The light field indicator 114 is removed, the equipment parameters are input into the control component, the robotic arm of the mechanical motion component 130 is positioned to the starting position, for example, the position parameters of each robotic arm are initialized, and the beam device and other components are confirmed to be ready.

[0062] Step 5: Treatment Execution

[0063] The control component controls the robotic arm to move according to the recorded state, thereby driving the treatment head 110 to move along a preset path. At the same time, the control component also controls the beam output of the beam device, so that the pencil beam can scan the lesion area and treat the patient's superficial lesions.

[0064] Step 6: End of treatment

[0065] After treatment, the control unit shuts off the radiation source and moves the robotic arm back to its initial position. If necessary, the handrail can be pushed to move the radiotherapy device to the storage compartment.

[0066] In another embodiment, the radiotherapy device of this invention can operate in an image-guided path planning mode. This mode primarily utilizes image processing and recognition technology, enabling the device to identify and determine the superficial lesion areas of the patient, plan a reasonable or optimal treatment path, and automatically implement the treatment. For example, the radiation irradiation method in this operating mode mainly includes the following steps:

[0067] Step 1: Patient Preparation

[0068] Medical staff will place the patient on a treatment bed or in a suitable location, and then perform necessary preparations such as cleaning the superficial lesion area to be treated.

[0069] Step 2: Initial Imaging and Diagnosis

[0070] The operator uses the imaging component 120 of the radiation device to perform high-precision imaging of the lesion area on the patient's skin surface based on binocular optical imaging technology. After acquiring the optical images of the skin surface, the imaging results can be analyzed to assess the size and location of the lesion.

[0071] Step 3: Treatment Plan Design

[0072] The physicist enters patient information into the planning system component and reads optical images recorded by the imaging component 120, or images such as ultrasound, fluorescence, CT, and MR generated by other positioning devices, to identify lesions and surrounding normal tissues. Based on the identified lesion extent, the planning system component designs treatment parameters, including the treatment path, radiation dose, and beam energy.

[0073] Step 4: Treatment Initialization

[0074] By inputting device parameters into the control component, the robotic arm of the mechanical motion component 130 is positioned to the starting position. For example, the position parameters of each robotic arm are initialized, and the beam device and other components are confirmed to be ready.

[0075] Step 5: Treatment Execution

[0076] The control component controls the movement of the robotic arm, thereby driving the treatment head 110 along a preset path. Simultaneously, the control component also controls the beam output of the beam device, enabling the pencil beam to scan the lesion area and treat the patient's superficial lesions. During treatment, the radiotherapy system can also monitor the lesion area and the position of the beam output from the treatment head 110 in real time using binocular optical imaging. If any deviation occurs, the treatment parameters are immediately adjusted or treatment is stopped.

[0077] Step 6: End of treatment

[0078] After treatment, the control unit shuts off the radiation source and moves the robotic arm back to its initial position. If necessary, the handrail can be pushed to move the radiotherapy device to the storage compartment.

[0079] The radiotherapy apparatus and system disclosed in this invention provide greater flexibility and applicability by enabling automated radiotherapy through a taught path approach. In some embodiments, superficial lesion areas can be accurately identified and located based on captured optical images, providing a more efficient, precise, and personalized solution for the treatment of skin and superficial tissue lesions. The embodiments of this invention are particularly suitable for the treatment of non-deep tissue lesions such as keloids and skin cancer.

[0080] In this text, words such as “including,” “contains,” and “has” are open-ended terms meaning “including but not limited to,” and are used interchangeably. The words “or” and “and” as used herein refer to the words “and / or” and are used interchangeably unless the context explicitly indicates otherwise. The word “for example” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably.

[0081] The various embodiments of this utility model have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many combinations, modifications, and alterations will be apparent to those skilled in the art without departing from the scope and spirit of the embodiments described herein. Therefore, the scope of protection of this utility model should be determined by the scope defined in the claims.

Claims

1. A superficial radiotherapy device, characterized in that, include: A treatment head includes a housing and a beaming device housed within the housing, the beaming device being used to generate a pencil beam or a regular field beam; An imaging assembly, including at least two imaging units, is disposed on the housing and is used to acquire optical images of the patient's skin surface; as well as A mechanical motion component, connected to the housing of the treatment head, is used to drive the treatment head to move.

2. The superficial radiotherapy device of claim 1, wherein, The superficial radiotherapy device also includes: A light field indicator device configured to generate light field markers and project them onto the patient's skin surface.

3. The superficial radiotherapy treatment device of claim 2, wherein, The superficial radiotherapy device also includes: A traction ring is fitted onto the light field indicator and configured to move the treatment head along a predetermined path under manual intervention.

4. The superficial radiotherapy device according to any one of claims 1 to 3, characterized in that, The beam device further includes an electron beam modulation module for dynamically adjusting the energy output of the pencil beam based on the depth and morphology of the patient's lesion tissue.

5. The superficial radiotherapy device according to any one of claims 1-3, characterized in that, The treatment head further includes a display device disposed on the housing for displaying the identified superficial lesion area and / or the beam parameters of the beam device.

6. The superficial radiotherapy device according to any one of claims 1-3, characterized in that, The imaging unit includes a camera and a camera mount, wherein the optical lens of the camera faces the central axis of the treatment head.

7. The superficial radiotherapy device according to any one of claims 1-3, characterized in that, The mechanical motion assembly includes at least one tandem robotic arm.

8. A superficial radiotherapy system, characterized in that, include: The superficial radiotherapy device according to any one of claims 1-7; A control component for controlling the movement of the mechanical motion component, the imaging component, and the beam output of the treatment head; as well as The planning system component is used to receive images and plan the pencil beam path by analyzing the image information.

9. The superficial radiotherapy system according to claim 8, characterized in that, The control component performs real-time analysis of the imaging unit data. When it detects that the relative positional deviation between the robotic arm and the target area exceeds the preset allowable range, it automatically adjusts the robotic arm posture or pauses the treatment process.

10. The superficial radiotherapy system according to claim 8 or 9, characterized in that, The image information that the planning system components can receive includes at least: optical images, ultrasound images, fluorescence images, CT images, and MR images.

Images