A mechanical system for proton CT beam trajectory and residual energy detection

Abstract

The present disclosure relates to the technical field of proton therapy research, and particularly relates to a mechanical system for detecting proton CT beam trajectory and residual energy, which comprises a front detector assembly and a rear detector assembly. The front detector assembly comprises a first linear module, a second linear module, a front detector support and a front detector. The first linear module is connected with a proton therapy head and has a first moving part capable of moving up and down vertically. The second linear module is connected with the first moving part, and has a second moving part capable of moving left and right horizontally. The front detector support is connected with the second moving part and can rotate relative to the second moving part. The front detector is detachably installed in the front detector support. The rear detector assembly comprises a rear detector, an energy detector and a multi-degree-of-freedom mechanical arm. The mechanical system has a simple overall structure, can realize position adjustment of the front detector, the rear detector and the energy detector, and is beneficial to improving use flexibility and detection efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of proton therapy research technology, and in particular to a mechanical system for detecting the beam trajectory and residual energy of a proton CT. Background Technology

[0002] Proton radiotherapy utilizes the Bragg peak effect during the energy delivery of a proton beam to deliver an appropriate radiation dose to the target area within the patient's body. Proton CT (Computed Tomography) uses a particle beam generated by a proton accelerator as the radiation source, with a front and rear trajectory detection plate and a residual energy detector positioned along the beam direction. The pencil beam scanning system of the proton accelerator projects a proton beam of specific energy towards the target area. The front and rear trajectory detection plates record the positions of the beam before and after its entry into the body, respectively, while the residual energy detector records the energy remaining after the proton beam has traveled along a specific path within the body.

[0003] However, the current front and rear trajectory detection plates are fixed in position and cannot be adjusted according to actual use, resulting in poor flexibility and hindering the improvement of detection efficiency. Utility Model Content

[0004] To address the aforementioned technical problems, this disclosure provides a mechanical system for detecting the beam trajectory and residual energy in proton CT.

[0005] This disclosure provides a mechanical system for detecting the beam trajectory and residual energy of a proton CT, including a front detector assembly and a rear detector assembly spaced apart.

[0006] The front detector assembly is positioned at the radiating end of the proton therapy head, and the front detector assembly includes:

[0007] A first linear module is connected to the proton therapy head, and the first linear module has a first movable part that can move vertically up and down.

[0008] A second linear module is connected to the first moving part, and the second linear module has a second moving part that can move horizontally left and right.

[0009] A front detector bracket is connected to the second movable part, and the front detector bracket is rotatable relative to the second movable part;

[0010] A front detector is detachably installed within the front detector bracket;

[0011] The rear detector assembly includes a rear detector, an energy detector, and a multi-degree-of-freedom robotic arm. The rear detector is located at the front end of the energy detector, and the rear detector and the energy detector are detachably mounted on the multi-degree-of-freedom robotic arm.

[0012] Optionally, the first linear module includes:

[0013] A first base is connected to the proton therapy head. A first slide rail is vertically arranged on the upper edge of the first base, and the first moving part is slidably connected to the first slide rail.

[0014] The first screw is arranged vertically and rotatably connected to the first base, and the first moving part is screwed to the first screw;

[0015] A first driving device is connected to the first screw and is used to drive the first screw to rotate.

[0016] Optionally, the first linear module further includes a first locking device for locking the first screw. The first locking device includes a first locking seat and a first locking handle. The first locking seat is connected to the first base and has a first opening. One end of the first screw passes through the first opening, and the first locking handle is screwed to the open end of the first locking seat to press and fix the first screw in the first locking seat.

[0017] Optionally, the first drive device includes a first handwheel, which is connected to the first screw.

[0018] Optionally, the second linear module includes:

[0019] The second base is connected to the first movable part, and a second slide rail is provided on the upper edge of the second base in a horizontal direction. The second movable part is slidably connected to the second slide rail.

[0020] The second screw is arranged horizontally and rotatably connected to the second base; the second moving part is screwed to the second screw.

[0021] The second drive device is connected to the second screw and is used to drive the second screw to rotate.

[0022] Optionally, the second linear module further includes a second locking device for locking the second screw. The second locking device includes a second locking seat and a second locking handle. The second locking seat is connected to the second base and has a second opening. The second locking handle is screwed to the open end of the second locking seat to press-fit and fix the second screw in the second locking seat.

[0023] Optionally, the second drive device includes a second handwheel, which is connected to the second screw.

[0024] Optionally, the front detector bracket includes:

[0025] The support body is used to house the front detector;

[0026] Rotating frame one is fixedly connected to the support body;

[0027] The second rotating frame is fixedly connected to the second moving part;

[0028] A hinge is connected to the first rotating frame and the second rotating frame, so that the first rotating frame can rotate relative to the second rotating frame.

[0029] Optionally, the hinge includes an upper hinge seat, a hinge shaft, and a lower hinge seat. The upper hinge seat is connected to the first rotating frame, and the lower hinge seat is connected to the second rotating frame. The upper hinge seat and the lower hinge seat are hinged together by the hinge shaft.

[0030] Optionally, the rear detector assembly further includes a fixing bracket for housing the rear detector and the energy detector, and the fixing bracket is fixedly connected to the multi-degree-of-freedom robotic arm.

[0031] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0032] This mechanical system for detecting proton CT beam trajectory and residual energy has a simple overall structure. The front detector can be adjusted and moved to a suitable position via a first and second linear module. The angle of the front detector can be adjusted by rotating its support, thus enabling adjustable position and angle. The rear detector and energy detector are detachably mounted on a multi-degree-of-freedom robotic arm. The robotic arm moves the rear detector and energy detector to the appropriate position, allowing for adjustable positions and improving flexibility and detection efficiency. Furthermore, the front detector is detachably connected to its support, and the rear detector and energy detector are detachably mounted on the robotic arm, facilitating easy assembly and disassembly. Appropriate front, rear, and energy detectors can be selected and replaced as needed, demonstrating strong versatility. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0034] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the mechanical system for detecting proton CT beam trajectory and residual energy according to an embodiment of this disclosure;

[0036] Figure 2 This is a schematic diagram of the structure of the front detector assembly described in an embodiment of this disclosure;

[0037] Figure 3 This is a schematic diagram of the structure of the post-detector assembly described in an embodiment of this disclosure;

[0038] Figure 4 This is a schematic diagram of the principle of the first locking device described in the embodiments of this disclosure.

[0039] in:

[0040] 1. Proton therapy head;

[0041] 2. Front detector assembly; 21. First linear module; 211. First moving part; 212. First base; 2121. First slide rail; 213. First screw; 214. First drive device; 2141. First handwheel; 215. First locking device; 2151. First locking seat; 2152. First locking handle; 22. Second linear module; 221. Second moving part; 222. Second base; 2221. Second 223. Slide rail; 224. Second screw; 225. Second drive device; 2241. Second handwheel; 226. Second locking device; 227. Second locking seat; 228. Second locking handle; 229. Front detector bracket; 230. Bracket body; 231. Rotating frame one; 232. Rotating frame two; 233. Hinge; 234. Upper hinge seat; 2342. Hinge shaft; 2343. Lower hinge seat; 24. Front detector;

[0042] 3. Rear detector assembly; 31. Rear detector; 32. Energy detector; 33. Multi-degree-of-freedom robotic arm; 34. Fixed support. Detailed Implementation

[0043] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0044] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0045] The structure of the mechanical system for proton CT beam trajectory and residual energy detection in this embodiment is as follows: Figure 1 As shown, it mainly includes a proton therapy head 1, a front detector assembly 2, and a rear detector assembly 3. The proton therapy head 1 is an existing device in the field, specifically the treatment head portion of a proton therapy device, mainly used to radiate a proton beam. The front detector assembly 2 is located at the radiating end of the proton therapy head 1, and the front detector assembly 2 and the rear detector assembly 3 are spaced apart. The patient is located between the front detector assembly 2 and the rear detector assembly 3. The proton beam emitted by the proton therapy head 1 flows sequentially to the front detector assembly 2, the human body, and the rear detector assembly 3. Specifically, the front detector assembly 2 includes a first linear module 21, a second linear module 22, a front detector support 23, and a front detector 24. The front detector 24 is an existing device in the field, specifically a commonly used front trajectory detector, capable of recording the trajectory position of the beam before it enters the human body. The first linear module 21 is connected to the proton therapy head 1, specifically installed on the left or right side of the radiating end of the proton therapy head 1, arranged vertically. For example, as shown... Figure 1 As shown, in this embodiment, the first linear module 21 is installed on the right side of the radiating end of the proton therapy head 1. Figure 2 As shown, the first linear module 21 has a first moving part 211 that can move vertically up and down. The second linear module 22 is connected to the first moving part 211. When the first moving part 211 moves, it can drive the second linear module 22 to move up and down as a whole. The second linear module 22 has a second moving part 221 that can move horizontally left and right. The front detector bracket 23 is connected to the second moving part 221. When the second moving part 221 moves left and right, it can drive the front detector bracket 23 to move as a whole. The front detector bracket 23 can rotate relative to the second moving part 221. The front detector 24 is installed in the front detector bracket 23. By adjusting the first linear module 21 and the second linear module 22, the vertical and horizontal positions of the front detector 24 can be adjusted. By rotating the front detector bracket 23, the angle of the front detector 24 can be adjusted, improving the adjustment flexibility of the front detector 24. Figure 3As shown, the post-detector assembly 3 includes a post-detector 31, an energy detector 32, and a multi-degree-of-freedom robotic arm 33. The post-detector 31, energy detector 32, and multi-degree-of-freedom robotic arm 33 are all existing devices in the field. The post-detector 31 is positioned at the front end of the energy detector 32. Specifically, the post-detector 31 is a commonly used post-trajectory detector in the field, capable of recording the trajectory position of the beam after it enters the human body. The energy detector 32 is used to record the remaining energy value of the corresponding proton beam after it has passed through a specific path in the human body; it is a commonly used residual energy detector in the field. In this embodiment, the post-detector 31 and energy detector 32 are mounted on the multi-degree-of-freedom robotic arm 33. The multi-degree-of-freedom robotic arm 33 has multi-freedom adjustment capabilities and is a conventional robotic arm structure in the field. The multi-degree-of-freedom robotic arm 33 can lift the post-detector 31 and energy detector 32 to a suitable position, which improves the flexibility of position adjustment for the post-detector 31 and energy detector 32. The detection method using a front trajectory detector, a rear trajectory detector, and a residual energy detector is common knowledge in the field. The main improvement of this application is to enhance the displacement flexibility of the front trajectory detector, the rear trajectory detector, and the residual energy detector. For the specific detection process, please refer to the prior art.

[0046] The mechanical system for detecting the beam trajectory and residual energy in proton CT has a simple overall structure. The front detector 24 can be adjusted and moved to a suitable position via the first linear module 21 and the second linear module 22. The angle of the front detector 24 can be adjusted by rotating the front detector bracket 23, thus enabling adjustable position and angle. The rear detector 31 and energy detector 32 are detachably mounted on the multi-degree-of-freedom robotic arm 33. The multi-degree-of-freedom robotic arm 33 moves the rear detector 31 and energy detector 32 to a suitable position, achieving adjustable position of the rear detector 31 and energy detector 32, which improves flexibility and detection efficiency. Furthermore, the front detector 24 is detachably connected to the front detector bracket 23, and the rear detector 31 and energy detector 32 are detachably mounted on the multi-degree-of-freedom robotic arm 33, facilitating easy disassembly and assembly. Appropriate front detectors 24, rear detectors 31, and energy detectors 32 can be selected and replaced according to actual needs, demonstrating strong versatility.

[0047] Furthermore, such as Figure 2As shown, the first linear module 21 in this embodiment includes a first base 212, a first screw 213, and a first driving device 214. The first base 212 is connected to the proton therapy head 1. A first slide rail 2121 is vertically arranged on the first base 212, and a first moving part 211 is slidably connected to the first slide rail 2121. The first screw 213 is vertically arranged and rotatably connected to the first base 212, and the first moving part 211 is screwed to the first screw 213. The first driving device 214 is connected to the first screw 213 and is used to drive the first screw 213 to rotate. When the driving device 214 drives the first screw 213 to rotate clockwise or counterclockwise, the rotation of the first screw 213 causes the first moving part 211 on it to move up or down accordingly. The first moving part 211 is slidably connected to the first slide rail 2121, and the first slide rail 2121 can effectively limit the first moving part 211 to move only vertically up and down. In this embodiment, the first linear module 21 preferably adopts a screw drive method, which has high transmission efficiency and high precision. Other linear drive methods can also be used, such as electric actuators, hydraulic cylinders, and other linear reciprocating drive devices, including but not limited to the method shown in this embodiment.

[0048] More specifically, such as Figure 2 and Figure 4 As shown, the first linear module 21 in this embodiment further includes a first locking device 215 for locking the first screw 213. The first locking device 215 includes a first locking seat 2151 and a first locking handle 2152. The first locking seat 2151 is connected to the first base 212 and has a first opening, such as... Figure 4 As shown, the first opening is U-shaped. One end of the first screw 213 passes through the first opening. The first locking handle 2152 is screwed to the open end of the first locking seat 2151. By screwing the first locking handle 2152, the open end of the first locking seat 2151 is pressed tightly. The wall of the first opening is tightly pressed against the first screw 213, thus fixing the first screw 213 inside the first locking seat 2151, preventing the first screw 213 from rotating. When it is necessary to rotate and adjust the first screw 213, it is rotated in the opposite direction or the first locking handle 2152 is removed. The wall of the first opening separates from the first screw 213, allowing the first screw 213 to rotate freely.

[0049] Optionally, the first drive device 214 in this embodiment includes a first handwheel 2141, which is connected to the first screw 213. The rotation of the first screw 213 is adjusted by rotating the first handwheel 2141. Alternatively, the first drive device 214 can also be a conventional drive device such as a motor to achieve automated rotation adjustment of the first screw 213.

[0050] Optionally, such as Figure 2As shown, the second linear module 22 in this embodiment includes a second base 222, a second screw 223, and a second driving device 224. The second base 222 is connected to the first moving part 211, and a second slide rail 2221 is horizontally arranged on the second base 222. The second moving part 221 is slidably connected to the second slide rail 2221. The second screw 223 is horizontally arranged and rotatably connected to the second base 222, and the second moving part 221 is screwed to the second screw 223. The second driving device 224 is connected to the second screw 223 and is used to drive the second screw 223 to rotate. The specific structure and implementation principle of the second linear module 22 in this embodiment are basically similar to those of the first linear module 21. Both use a screw drive to realize the left and right horizontal movement adjustment of the second moving part 221. The specific implementation process can be referred to the first linear module 21, and will not be described again in this embodiment.

[0051] Similarly, such as Figure 2 As shown, the second linear module 22 also includes a second locking device 225 for locking the second screw 223. The second locking device 225 includes a second locking seat 2251 and a second locking handle 2252. The second locking seat 2251 is connected to the second base 222 and has a second opening. The second locking handle 2252 is screwed to the open end of the second locking seat 2251 to press-fit and fix the second screw 223 in the second locking seat 2251. The structure and locking principle of the second locking device 225 in this embodiment are basically the same as those of the first locking device 215. The specific implementation process can be referred to the first locking device 215, and will not be described again in this embodiment.

[0052] Optionally, the second drive device 224 can also be a second handwheel 2241, which is connected to the second screw 223. The rotation of the second screw 223 can be adjusted by rotating the second handwheel 2241. Alternatively, the second drive device 224 can also be a conventional drive device such as a motor to achieve automated rotation adjustment of the second screw 223.

[0053] Furthermore, such as Figure 2As shown, the front detector bracket 23 includes a bracket body 231, a first rotating bracket 232, a second rotating bracket 233, and a hinge 234. The bracket body 231 is hollow and extends through the front and rear to accommodate the front detector 24. The first rotating bracket 232 is fixedly connected to the bracket body 231, and is welded to or screwed to the side wall of the bracket body 231 using threaded fasteners. The second rotating bracket 233 is fixedly connected to the second moving part 221. Optionally, the second rotating bracket 233 is screwed to the second moving part 221 using threaded fasteners, and the movement of the second moving part 221 can drive the second rotating bracket 233 to move as a whole. Hinges 234 are mounted on rotating frame one 232 and rotating frame two 233. Specifically, hinge 234 includes an upper hinge seat 2341, a hinge shaft 2342, and a lower hinge seat 2343. The upper hinge seat 2341 is connected to rotating frame one 232 via threaded fasteners, and the lower hinge seat 2343 is fixedly connected to rotating frame two 233 via threaded fasteners. The upper hinge seat 2341 and the lower hinge seat 2343 are hinged together via the hinge shaft 2342 to achieve adjustable rotation of rotating frame one 232, allowing rotating frame one 232 to rotate relative to rotating frame two 233. Alternatively, hinge 234 in this embodiment can also use hinges with angle-stopping functions commonly used in the field to achieve angle-stopping rotation.

[0054] Optionally, the rear detector assembly 3 in this embodiment further includes a fixing bracket 34. For example... Figure 3 As shown, in this embodiment, the rear detector 31 and the energy detector 32 are assembled together in the fixed bracket 34. The fixed bracket 34 is fixedly connected to the multi-degree-of-freedom robotic arm 33, and the fixed bracket 34 plays a supporting and protective role for the rear detector 31 and the energy detector 32.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0056] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mechanical system for detecting the beam trajectory and residual energy in proton CT, characterized in that, It includes a front detector assembly (2) and a rear detector assembly (3) with interval settings; The pre-detector assembly (2) is positioned at the radiating end of the proton therapy head (1), and the pre-detector assembly (2) includes: A first linear module (21) is connected to the proton therapy head (1), and the first linear module (21) has a first moving part (211) that can move vertically up and down; The second linear module (22) is connected to the first moving part (211), and the second linear module (22) has a second moving part (221) that can move horizontally to the left and right. A front detector bracket (23) is connected to the second moving part (221), and the front detector bracket (23) is rotatable relative to the second moving part (221); The front detector (24) is detachably installed inside the front detector bracket (23); The rear detector assembly (3) includes a rear detector (31), an energy detector (32), and a multi-degree-of-freedom robotic arm (33). The rear detector (31) is placed at the front end of the energy detector (32), and the rear detector (31) and the energy detector (32) are detachably mounted on the multi-degree-of-freedom robotic arm (33).

2. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 1, characterized in that, The first linear module (21) includes: A first base (212) is connected to the proton therapy head (1). A first slide rail (2121) is provided vertically on the first base (212). The first moving part (211) is slidably connected to the first slide rail (2121). The first screw (213) is arranged vertically and is rotatably connected to the first base (212), and the first moving part (211) is screwed to the first screw (213); A first driving device (214) is connected to the first screw (213) and is used to drive the first screw (213) to rotate.

3. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 2, characterized in that, The first linear module (21) further includes a first locking device (215) for locking the first screw (213). The first locking device (215) includes a first locking seat (2151) and a first locking handle (2152). The first locking seat (2151) is connected to the first base (212). The first locking seat (2151) has a first opening. One end of the first screw (213) passes through the first opening. The first locking handle (2152) is screwed to the open end of the first locking seat (2151) to press and fix the first screw (213) in the first locking seat (2151).

4. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 2, characterized in that, The first drive device (214) includes a first handwheel (2141) which is connected to the first screw (213).

5. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 1, characterized in that, The second linear module (22) includes: The second base (222) is connected to the first moving part (211). The second base (222) is provided with a second slide rail (2221) along the horizontal direction. The second moving part (221) is slidably connected to the second slide rail (2221). The second screw (223) is arranged horizontally and is rotatably connected to the second base (222). The second moving part (221) is screwed to the second screw (223). The second drive device (224) is connected to the second screw (223) and is used to drive the second screw (223) to rotate.

6. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 5, characterized in that, The second linear module (22) further includes a second locking device (225) for locking the second screw (223). The second locking device (225) includes a second locking seat (2251) and a second locking handle (2252). The second locking seat (2251) is connected to the second base (222). The second locking seat (2251) has a second opening. The second locking handle (2252) is screwed to the open end of the second locking seat (2251) to press and fix the second screw (223) in the second locking seat (2251).

7. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 5, characterized in that, The second drive device (224) includes a second handwheel (2241) which is connected to the second screw (223).

8. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 1, characterized in that, The front detector bracket (23) includes: The support body (231) is used to house the front detector (24); Rotating frame 1 (232) is fixedly connected to the support body (231); The rotating frame 2 (233) is fixedly connected to the second moving part (221); A hinge (234) is connected to the first rotating frame (232) and the second rotating frame (233) so that the first rotating frame (232) can rotate relative to the second rotating frame (233).

9. The mechanical system for detecting proton CT beam trajectory and residual energy according to claim 8, characterized in that, The hinge (234) includes an upper hinge seat (2341), a hinge shaft (2342), and a lower hinge seat (2343). The upper hinge seat (2341) is connected to the first rotating frame (232), and the lower hinge seat (2343) is connected to the second rotating frame (233). The upper hinge seat (2341) and the lower hinge seat (2343) are hinged together by the hinge shaft (2342).

10. The mechanical system for detecting proton CT beam trajectory and residual energy according to any one of claims 1-9, characterized in that, The rear detector assembly (3) also includes a fixing bracket (34) for housing the rear detector (31) and the energy detector (32), and the fixing bracket (34) is fixedly connected to the multi-degree-of-freedom robotic arm (33).

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