Radiation irradiation system and mounting table control method

Abstract

The present invention provides a radiation irradiation system and a method for controlling a mounting table. The radiation irradiation system includes a radiation generating device, a control device, a simulation positioning chamber, an irradiation chamber, the same first and second mounting tables installed in the simulation positioning chamber and the irradiation chamber, respectively, and the same first and second mounting table positioning devices supporting the first and second mounting tables, the irradiated object has the same setup on the first and second mounting tables, the first mounting table positioning device determines a simulation positioning position of the first mounting table in the simulation positioning chamber, the control device controls the second mounting table positioning device to move the second mounting table to the simulation positioning position in the irradiation chamber, and determines an irradiation position of the second mounting table, and the irradiated object on the second mounting table is irradiated with a beam at the irradiation position. The simulation positioning in the simulation positioning chamber saves time for positioning the irradiated object in the irradiation chamber and improves the utilization rate of the irradiation chamber.

Description

[Technical field]

[0001] One aspect of the present invention relates to a radiation irradiation system, and another aspect of the present invention relates to a mounting table control method for a radiation irradiation system. [Background technology]

[0002] With the development of atomic science, radiation therapy such as cobalt-60, linear accelerator, and electron beam has become one of the main means of cancer treatment. However, conventional photon or electron therapy kills tumor cells due to the limitations of the physical conditions of the radiation itself, while damaging many normal tissues along the beam path. In addition, tumor cells have different degrees of sensitivity to radiation, so conventional radiation therapy is not very effective in treating malignant tumors with high radiation resistance (e.g., glioblastoma multiforme, melanoma).

[0003] To reduce radiation damage to normal tissues surrounding tumors, the concept of targeted therapy in chemotherapy has been applied to radiotherapy, and for tumor cells with high radiation resistance, radiation sources with high relative biological effectiveness (RBE), such as proton therapy, heavy ion therapy, and neutron capture therapy, are currently being actively developed. Among these, neutron capture therapy combines the above two concepts. For example, in boron neutron capture therapy, boron-containing drugs are specifically concentrated in tumor cells, and combined with highly precise neutron beam control, it provides a better cancer treatment option compared to conventional radiation.

[0004] In radiation therapy, the treatment couch positioning device aligns the beam with the tumor cells in the body of the patient on the treatment couch, thereby performing high-precision treatment and minimizing radiation damage to the normal tissues surrounding the tumor cells of the patient. In the process of neutron capture therapy, how to quickly and accurately position the treatment couch and the patient is related to the effect of the therapy and the comfort of the patient, while in the process of neutron capture therapy, when the treatment couch is located near the beam exit, a large amount of radiation still remains near the beam exit after the irradiation is completed, and if the treatment couch is not moved in a timely manner, an excess amount of radiation will be given.

[0005] Therefore, it is necessary to provide a new technical means to solve the above problems. Summary of the Invention

[0006] In order to solve the above problems, a radiation irradiation system according to one aspect of the present invention includes a radiation generation device, a control device, a simulation positioning chamber, an irradiation chamber, and first and second mounting tables that are identical and installed in the simulation positioning chamber and the irradiation chamber, respectively, the radiation generation device generates a beam and has a beam outlet, the beam outlet is located in the irradiation chamber, a simulation beam outlet that is identical to the beam outlet is installed in the simulation positioning chamber, first and second mounting table positioning devices that can support the first and second mounting tables are further installed in the simulation positioning chamber and the irradiation chamber, respectively, and the first and second mounting table positioning devices perform simulation positioning of the first and second mounting tables and of an object to be irradiated on the first and second mounting tables, respectively, and performs irradiation positioning, the first and second mounting table positioning devices have the same installation in the simulation positioning chamber and the irradiation chamber, respectively, and have the same positional relationship with the simulation beam outlet and the beam outlet, the control device is connected to the first and second mounting table positioning devices, respectively, the irradiated object has the same setup on the first and second mounting tables, in the simulation positioning chamber, the first mounting table positioning device determines the simulation positioning position of the first mounting table, in the irradiation chamber, the control device controls the second mounting table positioning device to move the second mounting table to the simulation positioning position, and determines the irradiation position of the second mounting table, and the irradiated object on the second mounting table is irradiated with the beam at the irradiation position. The simulation positioning in the simulation positioning chamber saves the time of positioning the irradiated object in the irradiation chamber and improves the utilization rate of the irradiation chamber, and the irradiation positioning becomes more convenient, quick and accurate by using the same mounting table positioning device in the simulation positioning chamber and the irradiation chamber.

[0007] Preferably, the radiation irradiation system further includes a treatment planning device, which determines a setup of the irradiated object on the first mounting table in the simulation positioning chamber based on treatment plan data created by the treatment planning device, the treatment planning device or the control device calculates treatment plan coordinates of the first mounting table based on the treatment plan data and the setup of the irradiated object, and the control device moves the first mounting table to the treatment plan position determined from the treatment plan coordinates by the first mounting table positioning device, and determines the simulation positioning position of the first mounting table. By automatically calculating the coordinates of the treatment plan position of the mounting table and automatically controlling the mounting table positioning device to move the mounting table to the treatment plan position, the accuracy and speed of positioning are increased.

[0008] In addition, the simulation positioning chamber and the irradiation chamber are respectively provided with laser positioning devices having the same and similar positional relationship, and the object is provided with a mark corresponding to the position where the laser generated by the laser positioning device hits the object, and it can be determined that the object has the same position in the simulation positioning chamber and the irradiation chamber according to the mark. By providing the laser positioning device, the positioning is more convenient and quick.

[0009] Preferably, optical verification devices having the same and similar positional relationship are installed in the simulation positioning chamber and the irradiation chamber, respectively, and the optical verification devices can collect the position of the placement table and images of the irradiated object, transmit the data to the control module, compare it with the treatment planning data, and make real-time adjustments or perform other treatment control according to the results.

[0010] Preferably, the radiation irradiation system further includes a transfer trolley and a transfer trolley positioning device, the first and second mounting tables are the same mounting table, and the transfer trolley can support, position and transport the mounting tables from the simulation positioning chamber to the irradiation chamber, and the transfer trolley is fixed to the same starting position in the simulation positioning chamber and the irradiation chamber, respectively, by the transfer trolley positioning device.

[0011] Furthermore, the radiation irradiation system further includes a mounting table locking mechanism, and at the same starting position, the control device controls the first and second mounting table positioning devices to connect them to the mounting tables, respectively, and lock them to the mounting tables by the mounting table locking mechanism.

[0012] Preferably, the radiation irradiation system is a neutron capture therapy system, the radiation generating device includes a neutron generating device and a beam shaper, the beam shaper is capable of adjusting the neutron beam generated by the neutron generating device to a predetermined beam quality, and the neutron beam generated by the neutron generating device is irradiated to the irradiated object on the mounting table in the irradiation chamber by the beam shaper.

[0013] Furthermore, the neutron generating device includes an accelerator and a target, and the charged particle beam accelerated and generated by the accelerator interacts with the target to generate a neutron beam, the beam shaper includes a reflector, a moderator, a thermal neutron absorber, a radiation shield, and a beam exit, the moderator moderates neutrons generated from the target to an epithermal neutron energy region, the reflector surrounds the moderator and guides stray neutrons to the moderator to improve the intensity of the epithermal neutron beam, the thermal neutron absorber absorbs thermal neutrons to avoid excessive dose to superficial normal tissue during treatment, and the radiation shield blocks neutrons and photons leaking out from parts other than the beam exit.

[0014] In a mounting table control method for a radiation irradiation system according to a second aspect of the present invention, the radiation irradiation system includes a radiation generation device, a treatment planning device, a simulation positioning chamber, an irradiation chamber, and identical first and second mounting tables installed in the simulation positioning chamber and the irradiation chamber, respectively, and first and second mounting table positioning devices capable of supporting the first and second mounting tables are installed in the simulation positioning chamber and the irradiation chamber, respectively, and the first and second mounting table positioning devices have the same installation and the same positional relationship in the simulation positioning chamber and the irradiation chamber, respectively, and the mounting table control method includes: The method includes the steps of setting up and fixing an irradiated object on the first mounting table, calculating a treatment plan position of the first mounting table based on the treatment plan data and the setup of the irradiated object, controlling the first mounting table positioning device to move the first mounting table to the treatment plan position, and determining a simulation positioning position, setting up the irradiated object on the second mounting table in the same manner as the first mounting table, controlling the second mounting table positioning device to move the second mounting table to the simulation positioning position, determining an irradiation position, and irradiating the irradiated object on the second mounting table with a beam generated by the radiation generation device at the irradiation position. The simulation positioning in the simulation positioning room saves the time of positioning the irradiated object in the irradiation room and improves the utilization rate of the irradiation room, and the coordinates of the treatment plan position of the mounting table are automatically calculated, and the movement of the mounting table is automatically controlled using the same mounting table positioning device in the simulation positioning room and the irradiation room, making the irradiation positioning more convenient, rapid and accurate.

[0015] Preferably, the radiation irradiation system further includes a transfer trolley and a transfer trolley positioning device, the first and second mounting tables are the same mounting table, and the control method includes the steps of fixing the transfer trolley in the simulation positioning chamber by the transfer trolley positioning device and arranging and positioning the mounting table on the transfer trolley, thereby positioning the mounting table at an initial position, before setting up the irradiation object on the mounting table, and connecting the first mounting table positioning device to the mounting table in the simulation positioning chamber. the step of moving the mounting table to the initial position after determining the simulation positioning position and supporting it by the transfer trolley; the step of unlocking the first mounting table positioning device and the mounting table and moving the mounting table and the irradiated object on the mounting table to the irradiation chamber; the step of positioning the mounting table to the initial position within the irradiation chamber by the transfer trolley positioning device, connecting the second mounting table positioning device to the mounting table, and locking it to the mounting table.

[0016] According to the radiation irradiation system and its mounting table control method of the present invention, by performing simulation positioning in the simulation positioning chamber, the time required for positioning the irradiated object in the irradiation chamber is saved and the utilization rate of the irradiation chamber is improved, and by using the same mounting table positioning device in the simulation positioning chamber and the irradiation chamber, irradiation positioning becomes more convenient, faster and more accurate.

[0017] A radiation irradiation system according to a third aspect of the present invention includes a radiation generating device and a mounting table, the radiation generating device generates a beam and has a beam outlet, the beam exits from the beam outlet and is irradiated to an irradiated object on the mounting table, the radiation irradiation system further includes a mounting table positioning device and a control device, the control device is connected to the mounting table positioning device, the mounting table is supported by the mounting table positioning device and has an irradiation position and an end position, the irradiated object is irradiated with the beam on the mounting table at the irradiation position, the mounting table moves away from the beam outlet at the end position, and the control device can control the mounting table positioning device to move the mounting table from the irradiation position to the end position after irradiation of the beam is completed. By moving the mounting table to a position away from the beam outlet after irradiation is completed, it is possible to avoid the irradiated object continuing to be irradiated with the remaining radiation after treatment is completed, and to reduce unnecessary radiation dose.

[0018] Preferably, the mounting table positioning device includes a robot arm, the mounting table is connected to and supported by the robot arm, and the control device can control the robot arm after irradiation of the beam is completed to change the height of the mounting table relative to the ground compared to the height of the mounting table relative to the ground when it is in the irradiation position.

[0019] Furthermore, the mounting table positioning device further includes a linear axis, the robot arm is installed between the linear axis and the mounting table, the mounting table is connected to the linear axis by the robot arm, and the mounting table can be moved parallel along the linear axis together with the robot arm, and after the irradiation of the beam is completed, the control device controls the linear axis to move the mounting table away from the irradiation position toward the beam exit along an extension direction parallel to the linear axis, or controls the robot arm to move the mounting table to a position where the extension direction of the mounting table is approximately parallel to the extension direction of the linear axis.

[0020] Preferably, at the end position, the minimum distance from the mounting table to a plane perpendicular to the beam direction on which the center of the beam outlet is located is 2500 mm or more, ensuring that the object is not exposed to a large dose of remaining radiation, and the height from the mounting surface of the mounting table to the ground is less than 600 mm, facilitating the movement of the irradiated object or the mounting table.

[0021] Preferably, the control device includes a user interface, a system control module and a positioning control module, the user interface being connected to the system control module, the system control module being connected to the positioning control module and the radiation generating device, the positioning control module being connected to the mounting table positioning device and capable of controlling movement of the mounting table positioning device, after a predetermined irradiation time is reached, the system control module being capable of controlling the radiation generating device to stop irradiating the beam to the irradiated object and capable of transmitting information to the user interface to indicate a status of the end of treatment, and after the end of treatment, the system control module being capable of sending a command to the positioning control module to control the mounting table positioning device to move the mounting table from the irradiation position to the end position.

[0022] Preferably, the radiation irradiation system is a neutron capture therapy system, the radiation generating device includes a neutron generating device and a beam shaper, the beam shaper is capable of adjusting the neutron beam generated by the neutron generating device to a predetermined beam quality, and the neutron beam generated by the neutron generating device is irradiated to the irradiated object on the mounting table by the beam shaper.

[0023] Furthermore, the neutron generating device includes an accelerator and a target, and the charged particle beam accelerated and generated by the accelerator interacts with the target to generate a neutron beam, the beam shaper includes a reflector, a moderator, a thermal neutron absorber, a radiation shield, and a beam exit, the moderator moderates neutrons generated from the target to an epithermal neutron energy region, the reflector surrounds the moderator and guides stray neutrons to the moderator to improve the intensity of the epithermal neutron beam, the thermal neutron absorber absorbs thermal neutrons to avoid excessive dose to superficial normal tissue during treatment, and the radiation shield blocks neutrons and photons leaking out from parts other than the beam exit.

[0024] In a mounting table control method for a radiation irradiation system according to a fourth aspect of the present invention, the radiation irradiation system includes a radiation generating device and a mounting table, the radiation generating device generates a beam and has a beam outlet, the beam exits the beam and is irradiated to an irradiated object on the mounting table, the radiation irradiation system further includes a mounting table positioning device, the mounting table is supported by the mounting table positioning device and has an initial position, an irradiation position and an end position, the mounting table control method includes a step of connecting and locking the mounting table positioning device to the mounting table on which the irradiated object is placed at the initial position, a step of controlling the mounting table positioning device to move the mounting table to the irradiation position and start irradiating the irradiated object with the beam, and a step of controlling the mounting table positioning device to move the mounting table to the end position after irradiating the irradiated object with the beam is stopped, the mounting table moving away from the beam outlet at the end position. By moving the stage to a position away from the beam exit after irradiation is completed, it is possible to prevent the subject from continuing to be irradiated with remaining radiation after treatment is completed, thereby reducing unnecessary radiation dose.

[0025] Preferably, the mounting table positioning device includes a linear axis and a robot arm, and the step of controlling the mounting table positioning device to move the mounting table to the end position includes a step of controlling the linear axis to move the mounting table away from the beam exit along the extension direction of the linear axis, a step of controlling the robot arm to move the mounting table to a position where the extension direction of the mounting table is approximately parallel to the extension direction of the linear axis, and a step of controlling the robot arm to change the height of the mounting table relative to the ground compared to the height of the mounting table relative to the ground when it is in the irradiation position.

[0026] Preferably, the placement table control method further includes the steps of controlling the radiation generating device to stop irradiating the beam to the irradiated body based on a predetermined irradiation time after irradiation of the beam to the irradiated body has started, issuing a state instruction for ending treatment, and controlling the placement table positioning device to move the placement table from the irradiation position to the end position after ending treatment.

[0027] According to the radiation irradiation system and the mounting table control method of the present invention, by moving the mounting table to a position away from the beam exit after irradiation is completed, it is possible to prevent the irradiated subject from continuing to be irradiated with remaining radiation after treatment is completed, thereby reducing unnecessary radiation dose. [Brief description of the drawings]

[0028] [Figure 1] 1 is a schematic configuration diagram of a neutron capture therapy system according to an embodiment of the present invention. [Diagram 2] 1 is a schematic diagram of treatment couch positioning of a neutron capture therapy system according to an embodiment of the present invention. [Diagram 3] 1 is a schematic configuration diagram of a treatment table positioning device of a neutron capture therapy system according to an embodiment of the present invention. [Figure 4] FIG. 4 is a schematic view of FIG. 3 as seen from another direction. [Diagram 5] 1 is a schematic diagram of a module of a neutron capture therapy system according to an embodiment of the present invention. [Figure 6] 1 is a schematic diagram of a treatment table transfer trolley and a transfer trolley positioning mechanism of a neutron capture therapy system according to an embodiment of the present invention. [Figure 7] 1A to 1C are schematic diagrams illustrating states of a treatment couch positioning device of a neutron capture therapy system according to an embodiment of the present invention when the treatment couch positioning device is in different positions. [Figure 8] FIG. 8 is a plan view in a direction parallel to the ground in FIG. 7. [Figure 9] 9 is a cross-sectional view taken along the OO plane in FIG. 8. [Figure 10] 4 is a flowchart of a treatment table control method of a neutron capture therapy system according to an embodiment of the present invention. [Figure 11] 1 is a flow chart of a method for controlling a treatment couch of a neutron capture therapy system away from a beam exit according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the embodiments of the present invention will be described in more detail with reference to the drawings, so that those skilled in the art can practice the invention by referring to the specification.

[0030] As shown in Fig. 1, the radiation irradiation system in this embodiment is preferably a boron neutron capture therapy system 100, which includes a neutron generator 10, a beam shaper 20, a collimator 30, and a treatment table 40. The neutron generator 10 includes an accelerator 11 and a target T, and the accelerator 11 accelerates charged particles (e.g., protons, deuterium nuclei, etc.) to generate a charged particle beam P such as a proton beam, and the charged particle beam P is irradiated to the target T and interacts with the target T to generate a neutron beam (neutron beam) N, which is preferably a metal target. Depending on the required neutron yield and energy, the energy and current magnitude of the accelerated charged particles that can be provided, the physical and chemical properties of the metal target, and other characteristics, the nuclear reactions always discussed are: 7 Li(p,n) 7 Be and 9 Be(p,n) 9B, both of which are endothermic reactions. The energy thresholds of the two nuclear reactions are 1.881 MeV and 2.055 MeV, respectively, and since the ideal neutron source for boron neutron capture therapy is epithermal neutrons at the keV energy level, theoretically, protons with an energy slightly higher than the threshold can be bombarded with a metallic lithium target to generate neutrons with relatively low energy, which can be used clinically without requiring too much deceleration processing. However, the cross section of the two targets, metallic lithium (Li) and metallic beryllium (Be), that interact with protons of the threshold energy is not high, and in order to generate a sufficiently large neutron flux, protons with relatively high energy are generally selected to cause the nuclear reaction. An ideal target has characteristics such as high neutron yield, the energy distribution of the generated neutrons is close to the epithermal neutron energy region (described in detail below), does not generate too much radiation with strong penetrating power, is safe, inexpensive, easy to operate, and has high temperature resistance, but in reality it is impossible to find a nuclear reaction that meets all the requirements, and therefore a target made of metallic lithium is used in the embodiment of the present invention. As is well known to those skilled in the art, the target T may be made of a metal material other than lithium and beryllium, for example, tantalum (Ta) or tungsten (W), and the target T may be disk-shaped or may have other solid shapes, or may use a liquid material (liquid metal). The accelerator 11 may be a linear accelerator, a cyclotron, a synchrotron, or a synchrocyclotron, and the neutron generating device 10 may be a nuclear reactor without using an accelerator and a target. Regardless of whether the neutron source of boron neutron capture therapy is from a nuclear reactor or an accelerator, the generated neutrons are actually mixed radiation fields, that is, the beam contains neutrons and photons from low to high energy. For boron neutron capture therapy of deep tumors, except for epithermal neutrons, the higher the content of other radiation, the higher the proportion of non-selective dose deposition in normal tissues, so it is necessary to reduce these unnecessary dose-causing radiation as much as possible.Also, it should be avoided to expose normal tissues of the subject to too much radiation, which would likewise cause unnecessary dose deposition.

[0031] The neutron beam N generated by the neutron generator 10 is sequentially irradiated to the subject 200 on the treatment couch 40 through the beam shaper 20 and the collimator 30. The beam shaper 20 can adjust the beam quality of the neutron beam N generated by the neutron generator 10, and the collimator 30 can collect the neutron beam N and provide the neutron beam N with high targetability during the treatment process. The beam can be aligned to tumor cells M in the subject 200 by adjusting the positions of the treatment couch 40 and the subject 200, and these adjustments can be performed manually or automatically by a series of control mechanisms (described in detail below). As can be understood, the present invention does not include a collimator, and the beam can be directly irradiated to the subject 200 on the treatment couch 40 after it leaves the beam shaper 20.

[0032] The beam shaper 20 further includes a reflector 21, a moderator 22, a thermal neutron absorber 23, a radiation shield 24, and a beam outlet 25. Since the energy spectrum of the neutrons generated by the neutron generator 10 is wide, it is necessary to reduce the content of other types of neutrons and photons as much as possible other than epithermal neutrons that meet the needs of treatment to avoid causing damage to the operator or the irradiated body. Therefore, the neutrons emitted from the neutron generator 10 are passed through the moderator 22 to reduce the content of fast neutron energies (>40 keV It is necessary to adjust the energy of the neutrons (energy of fast neutrons) to the epithermal neutron energy range (0.5 eV to 40 keV) and reduce thermal neutrons (<0.5 eV) as much as possible, the moderator 22 is manufactured from a material having a large cross section with fast neutrons and a small cross section with epithermal neutrons, and in a preferred embodiment, the moderator 22 is manufactured from at least one of D2O, AlF3, Fluental (registered trademark), CaF2, Li2CO3, MgF2, and Al2O3, and the reflector 21 surrounds the moderator 22 and passes through the moderator 22 to The reflector 21 is made of at least one of Pb and Ni, and the moderator 22 has a thermal neutron absorber 23 at the rear and is made of a material with a large cross section for interacting with thermal neutrons. In a preferred embodiment, the thermal neutron absorber 23 is made of Li-6, and absorbs thermal neutrons that have passed through the moderator 22 to reduce the content of thermal neutrons in the neutron beam N. In order to avoid unnecessary dose to the superficial normal tissue during treatment, as can be understood, the thermal neutron absorber may be integrated with the moderator, and the material of the moderator includes Li-6, and the radiation shield 24 blocks neutrons and photons leaking from the portion other than the beam outlet 25, and the material of the radiation shield 24 includes at least one of a photon shielding material and a neutron shielding material, and in a preferred embodiment, the material of the radiation shield 24 includes lead (Pb) as a photon shielding material and polyethylene (PE) as a neutron shielding material. A collimator 30 is installed behind the beam outlet 25, and the epithermal neutron beam emitted from the collimator 30 is irradiated to the irradiated body 200, and after passing through the superficial normal tissue, it is decelerated to thermal neutrons and reaches the tumor cell M.As can be appreciated, the beam shaper 20 may be of other structures as long as it obtains the epithermal neutron beam required for treatment, and for ease of explanation, when a collimator 30 is installed, the exit of the collimator 30 may also be considered as the beam exit 25 described below.

[0033] After the subject 200 takes or is injected with a boron (B-10)-containing drug, the boron-containing drug selectively accumulates in tumor cells M, and then, utilizing the property that the boron (B-10)-containing drug has a high capture cross section for thermal neutrons, 10 B(n,α) 7 Li neutron capture and fission reactions 4 He and 7 The two charged particles have an average energy of about 2.33 MeV and are characterized by a high linear energy transfer (LET) and a short range. The linear energy transfer and range of the alpha particles are 150 keV / μm and 8 μm, respectively. 7 The linear energy deposition and range of Li heavy charged particles are 175 keV / μm and 5 μm, and the total range of the two types of particles is approximately equivalent to the size of a single cell. Therefore, the radiation damage to the living body is limited to the cellular level, and the goal of partially killing tumor cells can be achieved on the premise that no significant damage is caused to normal tissues.

[0034] In this embodiment, a radiation shielding device 50 is further installed between the irradiated object 200 and the beam outlet 25 to block radiation of the beam exiting the beam outlet 25 to normal tissue of the irradiated object, and as can be understood, the radiation shielding device 50 may not be installed. The boron neutron capture therapy system 100 is entirely accommodated in a building of a concrete structure, and specifically, the boron neutron capture therapy system 100 further includes an irradiation room 101 and a charged particle beam generation room 102, the irradiated object 200 on the treatment table 40 is treated by neutron beam N irradiation in the irradiation room 101, the charged particle beam generation room 102 at least partially accommodates the accelerator 11, and the beam shaper 20 is at least partially accommodated in a partition wall 103 between the irradiation room 101 and the charged particle beam generation room 102. As can be understood, the partition wall 103 may completely separate the irradiation chamber 101 and the charged particle beam generation chamber 102, or may partially separate the irradiation chamber 101 and the charged particle beam generation chamber 102, and the irradiation chamber 101 and the charged particle beam generation chamber 102 communicate with each other. The number of targets T may be one or more, and the charged particle beam P selectively acts on one or some of the targets T or simultaneously acts on multiple targets T to generate one or more therapeutic neutron beams N. Depending on the number of targets T, the beam shaper 20, the collimator 30, and the treatment couch 40 may be one or more, and multiple treatment couches may be installed in the same irradiation chamber, or each treatment couch may be installed in a separate irradiation chamber. The irradiation room 101 and the charged particle beam generation room 102 are spaces surrounded by concrete walls W (including a partition wall 103), and the concrete structure can block neutrons and other radiation leaked during the operation of the boron neutron capture therapy system 100. The boron neutron capture therapy system 100 may further include a preparation room, a control room, and other spaces (not shown) that support treatment. Each irradiation room may be provided with a preparation room for performing preparation tasks such as injecting boron-containing drugs and simulating a treatment plan before irradiation treatment. The control room controls the accelerator, the beam transport unit, the treatment table positioning device, etc., and controls and manages the entire irradiation process, and a manager can simultaneously monitor multiple irradiation rooms in the control room.The boron neutron capture therapy system 100 may further include a simulation positioning room 104 (described in detail below) for performing simulated positioning of the irradiated subject 200 prior to irradiation treatment, in which a simulation beam outlet 25' identical to the beam outlet 25 is installed in the simulation positioning room 104, saving time for positioning the irradiated subject 200 in the irradiation room 101 and improving the utilization rate of the irradiation room 101, as can be understood, and the simulation positioning room may be used as a preparation room.

[0035] As shown in FIG. 2, the neutron capture therapy system 100 further includes a treatment table positioning device 60 and a control device 70, in which the treatment table 40 and the subject 200 on the treatment table 40 are supported by the treatment table positioning device 60, and the control device 70 is connected to the treatment table positioning device 60 and can control the treatment table positioning device 60, and the control device 70 is also connected to the neutron generating device 10 and can control the neutron generating device 10 to irradiate the neutron beam N to the subject 200 on the treatment table 40. In this embodiment, the irradiation room 101 and the simulation positioning room 104 are respectively equipped with the same treatment table positioning device 60, 60', and have the same positional relationship with the beam outlet 25 and the simulation beam outlet 25', that is, the same motion coordinate system XYZ is defined for the treatment table 40 and the treatment table positioning device 60, 60' in the irradiation room 101 and the simulation positioning room 104, and the reference point at a certain distance from the center of the beam outlet 25 and the simulation beam outlet 25' along the direction of the neutron beam N is set as the coordinate origin, and the treatment table positioning device 60, 60' performs the simulation positioning and irradiation positioning of the treatment table 40 and the irradiated object 200 on the treatment table 40, respectively, and since the same treatment table positioning device is used, the irradiation positioning is more convenient, quick and accurate. For ease of explanation, only the structure of the treatment table positioning device 60 in the irradiation room 101 will be specifically described below.

[0036] As shown in FIG. 3 to FIG. 5, in one embodiment, the treatment couch positioning device 60 includes a positioning mechanism 61, the positioning mechanism 61 includes a linear shaft 611 and a robot arm 612, and the robot arm 612 is installed between the linear shaft 611 and the treatment couch 40, so that the treatment couch 40 is connected to the linear shaft 611 by the robot arm 612, and the treatment couch 40 can be translated along the linear shaft 611 together with the robot arm 612. In this embodiment, the linear shaft 611 is attached to the ceiling 1011 of the irradiation room 101, and the entire robot arm 612 extends toward the floor 1012 of the irradiation room 101, and as can be understood, the linear shaft 611 may be attached to other surfaces, such as a wall or a floor, and the linear shaft 611 is composed of a slide rail 6111 fixed to the ceiling 1011 and a bracket 6112 connected to the robot arm 612, and the bracket 6112 slides along the slide rail 6111, and as can be understood, may have other structures. The linear axis is fixed directly to the ceiling 1011, and no additional linear axis fixing mechanism, such as a steel structure gantry, is installed, reducing the amount of steel used in the irradiation chamber and avoiding secondary radiation caused by the activation of the fixing mechanism by neutrons. The robot arm 612 is a multi-axis robot arm that connects the bracket 6112 and the treatment couch 40, and the treatment couch positioning device 60 further includes a driving mechanism 62 that drives the movement of the linear axis 611 and the robot arm 612, and the control device 70 controls the driving mechanism 62. The extension direction 6113 of the linear axis 611 is parallel to the direction of the neutron beam N that is emitted from the beam outlet 25 and irradiated to the irradiated body on the treatment couch 40. Thus, in the process of positioning the treatment couch, the entire robot arm 612 translates along a direction parallel to the direction of the neutron beam N, and most of the robot arm is located in the space between the slide rail and the outlet of the neutron beam, suppressing the radioactivity generated by the activation of each member of the robot arm by neutrons and the shortening of the service life caused by the activation. The distance H1 in a direction perpendicular to the sliding surface S from the sliding surface S of the slide rail 6111 and the bracket 6112 to the center of the beam exit 25 is less than 2 meters, providing sufficient operating space for the treatment table positioning device 60 to position the treatment table 40 at a desired position relative to the beam exit 40.In this embodiment, the sliding surface S is parallel to the plane in which the ceiling lies, and as can be appreciated, the treatment table positioning device 60 may also have other configurations, for example not including a linear axis 611, the treatment table 40 being connected to and supported by the robotic arm 612, or the robotic arm 612 including more or fewer arms.

[0037] A sensor 80 may be installed on the treatment couch 40 or the treatment couch positioning device 60. As shown in FIG. 5, the sensor 80 is installed on the positioning mechanism 61 and the treatment couch 40. In one embodiment, the sensor 80 is an anti-collision sensor installed on the treatment couch 40 and the robot arm 612. When the edge of the treatment couch or the robot arm contacts other objects or other objects reach the set range of the sensor, the sensor is triggered to send a signal to the control device 70, and the control device 70 controls the driving mechanism 62 to stop driving the movement of the positioning mechanism 61, i.e., to stop the movement of the treatment couch 40. The anti-collision sensor may be a mechanical sensor, a photoelectric sensor, a radar sensor, an ultrasonic sensor, a laser distance meter, etc. It can be understood that the anti-collision sensor can also send a human detection signal, and the operator can manually control the driving mechanism to stop driving based on the detected signal. Instead of controlling the movement of the treatment couch to stop, other safety operations can be performed, such as moving in the opposite direction before the collision.

[0038] The control device 70 includes at least one user interface 71 that allows an operator to interact with and intervene in the control of the treatment table positioning device 60. The control device 70 further includes a system control module 72 and a positioning control module 73, where the user interface 71 is connected to the system control module 72, the system control module 72 is connected to the positioning control module 73, and the positioning control module 73 is connected to the driving mechanism 62 and controls the driving mechanism 62. When the system control module 72 receives a command sent from the user interface 71, it transmits the command to the positioning control module 73, and the positioning control module 73 automatically controls the movement of the positioning mechanism 61, and the position information of the positioning mechanism 61 can be fed back to the system control module 72 by the positioning control module 73 and transmitted to the user interface 71 to provide a status instruction. The operating status or data of the driving mechanism 62 is also fed back to the system control module 72 by the positioning control module 73, and the system control module 72 or the positioning control module 73 controls the driving mechanism 62 based on this information, and the system control module 72 can also transmit this information to the user interface 71 for status indication. The sensor 80 is also connected to the system control module 72, and the system control module 72 sends an instruction to the positioning control module 73 after receiving the signal of the sensor 80 to control the movement of the treatment table positioning device 60, and transmits the signal of the sensor 80 to the user interface 71 for status indication. As can be understood, the system control module 72 and the positioning control module 73 can be integrated together or have other hardware configurations.

[0039] The neutron capture therapy system 100 further includes a treatment planning device 90, which performs dose simulation calculations based on parameters of the therapeutic neutron beam N generated by the neutron generator 10 and medical image data of the irradiated area, creates a treatment plan (for example, by a Monte Carlo simulation program), and can determine the position of the irradiated area relative to the neutron generator 10 during irradiation treatment and the corresponding irradiation time based on the treatment plan. A control device 70 (system control module 71) is connected to the treatment planning device 90 and receives treatment plan data, thereby controlling the movement of the treatment table positioning devices 60, 60' and the neutron beam N generated by the neutron generator 10 based on the treatment plan data.

[0040] Before starting irradiation treatment, first, in the simulation positioning room 104, the treatment table positioning device 60' performs simulation positioning on the irradiated body 200 based on the treatment plan created in advance by the treatment planning device 90. First, connect the treatment table positioning device 60' to the treatment table 40, and as shown in Fig. 6, in this embodiment, the treatment table 40 is placed on the treatment table transfer trolley 401, and the transfer trolley 401 is positioned by the transfer trolley positioning mechanism 402 in the simulation positioning room 104 (irradiation room 101), at least two holes 4021 (not shown) are installed on the ground of the simulation positioning room 104 (irradiation room 101), at least two pins 4022 are installed correspondingly on the transfer trolley 401, and the pins 4022 are inserted into the holes 4021 to perform positioning, and as can be understood, the transfer trolley 401 may also be positioned in other ways. The relative position at which the treatment table 40 is placed on the transfer trolley 401 is also determined. For example, since the position of the treatment table 40 is restricted by a position limiting mechanism 403 (e.g., a boss portion installed on the transfer trolley), when the treatment table 40 is placed on the positioned transfer trolley 401, the position relative to the simulation positioning chamber 104 (irradiation chamber 101) is determined. At this time, the treatment table 40 is positioned at initial position A in the simulation positioning chamber 104 (having the same positional relationship as the irradiation chamber 101), and the control device 70 controls the treatment table positioning device 60' in the simulation positioning chamber 104 to move to a position where it can be connected to the treatment table 40, and controls the locking mechanism 404 to lock the treatment table positioning device 60' and the treatment table 40. The specific structure of the locking mechanism 404 (chuck assembly) is not described in detail in this specification, and reference may be made to the patent application disclosed on May 4, 2021, having publication number CN112741967A, and titled "Neutron Capture Therapy System", the entire contents of which are incorporated herein by reference.

[0041] Next, the irradiated body 200 is placed on the treatment table 40, and the irradiated body 200 is set up and fixed at a position relative to the neutron generating device 10 during irradiation treatment of the irradiated area determined based on a previously prepared treatment plan. The treatment planning device 90 or the control device 70 calculates the coordinate position of the treatment table 40 determined in the treatment plan based on this setup, and the irradiated body and treatment table set up are scanned using CT, optical scanning, etc. to determine the relative positions of the irradiated body and treatment table. As can be understood, the coordinate position of the treatment table 40 determined in the treatment plan can be calculated based on the position of the irradiated area determined in the treatment plan relative to the neutron generating device 10 during irradiation treatment. As can be understood, the coordinate position of the treatment table 40 may also be calculated in other ways.

[0042] The control device 70 automatically controls the treatment table positioning device 60' to move the treatment table 40 from the initial position A to the coordinate position (treatment planning position B) based on the calculated coordinates. After the treatment table 40 is moved to the coordinate position (treatment planning position B), the operator may further adjust the treatment table 40 through the user interface 71 as necessary, that is, determine the simulation positioning position C. If an error occurs during the movement process of the treatment table 40 and the treatment table positioning device 60', the operator must go back and recalculate the movement path of the treatment table positioning device 60' or go back and remake the treatment plan. By automatically calculating the coordinates of the treatment table's treatment planning position and automatically controlling the movement of the treatment table to the treatment planning position by the treatment table positioning device, the positioning accuracy is high and the speed is fast.

[0043] Next, a command is sent via the user interface 71 that the simulation positioning has been completed, and the control device 70 records the coordinate position at this time (simulation positioning position C), controls the treatment table positioning device 60 to return the treatment table 40 to the initial position A (the treatment table 40 is placed on the transfer trolley 401 where it has just been positioned), and the control device 70 controls the locking mechanism 403 to release the lock and release the treatment table 40, controls the treatment table positioning device 60 to move to a position away from the treatment bed 40, releases the transfer trolley positioning mechanism 402, and transfers the treatment table 40 and the irradiated subject 200 to the irradiation chamber 101 via the transfer trolley 401.

[0044] After being transferred to the irradiation chamber 101, irradiation positioning is performed, and the same transfer trolley positioning mechanism 402 as in the simulation positioning chamber 104 is installed in the irradiation chamber 101 with respect to the transfer trolley 401, that is, the transfer trolley 401 can be positioned in the irradiation chamber by the transfer trolley positioning mechanism 402 according to the same fixed position as in the simulation positioning chamber 104, and then the treatment table positioning device 60 in the irradiation chamber 101 is controlled to move to a position (initial position A) where it can be connected to the treatment table 40, and the locking mechanism 403 is controlled to lock the treatment table positioning device 60 and the treatment table 40. The control device 70 controls the treatment table 40 to move to the simulation positioning position C based on the coordinate position determined by the simulation positioning, and if necessary, further adjusts it by the user interface 71, and after adjusting it to a predetermined position, the irradiation position D is determined, and the operator exits the irradiation chamber 101, releases the transfer trolley positioning mechanism 402, and takes out the transfer trolley 401. The simulation positioning in the simulation positioning room 104 reduces the working time of positioning the irradiated object 200 before performing irradiation treatment in the irradiation room 101, and can perform irradiation treatment on another irradiated object while performing simulation positioning, improving the utilization rate of the device. In one embodiment, after the treatment couch positioning device 60, 60' and the treatment couch 40 are locked and connected, if it is necessary to move the treatment couch 40 from the initial position A, the treatment couch positioning device 60, 60' may be controlled to first lift the treatment couch 40, and then release the transfer trolley positioning mechanism 402 to take out the transfer trolley 401, and then control the further movement of the treatment couch positioning device 60, 60' to prevent position interference between the treatment couch positioning device 60, 60' and the transfer trolley 401.

[0045] In one embodiment, the irradiation chamber 101 and the simulation positioning chamber 104 are both equipped with laser positioning devices 601, 601', which are the same and have the same positional relationship, and the operator marks the object 200 at the position where the laser generated by the laser positioning device hits the object 200, and adjusts or verifies the position of the object 200 in the simulation positioning chamber 104 and the irradiation chamber 101 based on the marked mark, thereby ensuring that the object 200 is at the same position in the simulation positioning chamber 104 and the irradiation chamber 101. By installing the laser positioning device, positioning becomes more convenient and quick.

[0046] The laser generated by the laser positioning device 601, 601' can further determine the position that coincides with the central axis X, X' of the beam outlet 25, 25'. As shown in FIG. 2, the position where the laser generated by the laser positioning device 60, 60' hits the irradiated body 200 represents the position where the beam central axis exiting the beam outlet 25, 25' enters the irradiated body 200. By marking the irradiated body 200 based on the entrance point of the beam central axis simulated by the treatment plan into the voxel prosthesis tissue model, the simulated positioning and the determined beam entrance position when performing irradiation treatment can be made more accurate.

[0047] In the irradiation room 101 and the simulation positioning room 104, optical verification devices 602, 602' having the same and the same positional relationship may be further installed, and the optical verification devices 602, 602' collect images of the position of the treatment couch 40 and the irradiated object 200, transmit the data to the system control module 72, compare with information such as a treatment plan, and adjust or perform other treatment control based on the results. The system control module 72 may further receive other data information, such as data of a neutron generating device, information of the irradiated object, and the like, and control other devices such as a neutron generating device.

[0048] After the treatment couch 40 and the irradiated body 200 are accurately adjusted, in this case the treatment couch 40 has an irradiation position D, and the operator sends a command to start irradiation through the user interface 71, and the system control module 72 determines that the condition to start irradiation is met, and then controls the neutron generating device 10 to generate a neutron beam N and perform irradiation treatment on the irradiated body 200 on the treatment couch 40. After reaching a predetermined irradiation time (for example, an irradiation time determined based on treatment plan data), the system control module 72 controls the neutron generating device 10 to stop irradiating the irradiated body 200 on the treatment couch 40 with the neutron beam N, and transmits information to the user interface 71 to give a status instruction of the end of treatment, and the system control module 72 sends a command to the positioning control module 73 after the end of treatment, and controls the treatment couch positioning device 60 to move the treatment couch 40 from the irradiation position D to the end position E, and move the treatment couch 40 away from the beam exit 25. After the irradiation of the neutron beam N is stopped, a large amount of radiation still remains at the beam exit 25, and by moving the treatment couch 40 to a position away from the beam exit 25, it is possible to prevent the irradiated subject 200 from continuing to be irradiated with the remaining radiation after the treatment is completed, and to reduce unnecessary radiation dose. As shown in Figures 7 to 9, these are schematic diagrams of states when the treatment couch 40 and the treatment couch positioning device 60 are in different positions after the treatment is completed.After the treatment is completed, first, the linear axis 611 is controlled to move the treatment couch 40 from the irradiation position D to the first intermediate position F away from the beam exit 25 along the extension direction 6113 parallel to the linear axis 611, thereby realizing the treatment couch 40 to quickly move away from the beam exit 25, and preventing the irradiated body 200 from continuing to be irradiated with the remaining radiation after the treatment is completed to the maximum extent. Next, the robot arm 612 is controlled to move the treatment couch 40 so that the extension direction 41 of the treatment couch 40 is the extension direction 6113 of the linear axis 611. By moving the treatment table 40 to the second intermediate position G which is approximately parallel to the current direction 6113, it is possible to prevent the treatment table 40, etc. from interfering with the position of the transfer bed, etc. at the end position E or from blocking the exit of the shielding door of the irradiation chamber 101, and to facilitate the irradiated object 200 to leave the irradiation chamber 101 later. Finally, the robot arm 612 is controlled to move the treatment table 40 closer to the ground from the second intermediate position G to the end position E, and by moving the treatment table 40 closer to the ground, it is possible to facilitate the irradiated object 200 to leave the irradiation chamber 101. After the irradiated subject 200 has left, the locking mechanism 403 is further controlled to release the lock, and the treatment couch 40 is sent back to the simulation positioning chamber 104, or the locking mechanism 403 is first controlled to release the lock, and the irradiated subject 200 together with the treatment couch 40 is transported out of the irradiation chamber 101, and after the irradiated subject 200 has left the treatment couch 40, the treatment couch 40 can be sent back to the simulation positioning chamber 104, for example, by the transfer trolley 401. At this time, the end position E may be the same as the initial position A, and the transfer trolley 401 is also positioned by the transfer trolley positioning mechanism 402 within the irradiation chamber 101, and the robot arm 612 moves the treatment couch 40 to the initial position A (end position E) where the treatment couch 40 is just placed on the transfer trolley 401. At the end position E, the minimum distance H2 from the treatment table 40 to the plane perpendicular to the neutron beam N direction on which the center of the beam exit 25 is located is 2500 mm or more, ensuring that the subject is not exposed to a large dose of remaining radiation, and at the end position E, the height H3 from the support surface 42 of the treatment table 40 to the ground is less than 600 mm, making it easy to move the irradiated subject 200 or the treatment table 40.

[0049] After the treatment is completed, the system control module 72 may automatically control the treatment couch 40 to move away from the beam exit 25 based on a signal indicating that the irradiation time has been reached or a signal to stop the irradiation of the neutron beam N, and the operator may input a command in the user interface 71 for the treatment couch to move away from the beam exit, for example by clicking a corresponding button in the human-computer interaction control interface 713, based on a status instruction of the end of treatment in the user interface 71, and then the system control module 72 may control the treatment couch 40 to move away from the beam exit 25 based on the command.

[0050] As shown in FIG. 10, in brief, the treatment table control method according to this embodiment includes the following steps S10 to S50.

[0051] In step S10, in the simulation positioning room 104, the treatment table positioning device 60' in the simulation positioning room 104 is connected to the treatment table 40 and locked to the treatment table 40, the irradiated body 200 is set up and fixed to the treatment table 40 based on the treatment planning data, and the treatment planning coordinates of the treatment table 40, i.e., the coordinates of the treatment planning position B, are calculated based on the treatment planning data and the setup of the irradiated body 200.

[0052] In step S20, the treatment table positioning device 60' controls the treatment table 40 to move to the treatment planning position B based on the treatment planning coordinates, and further adjusts to the simulation positioning position C if necessary, and records the coordinates of the simulation positioning position C so that the simulation positioning position C can be the treatment planning position B.

[0053] In step S30, the treatment table positioning device 60' is unlocked from the treatment table 40, the treatment table 40 and the subject 200 on the treatment table 40 are moved to the irradiation room 101, and the treatment table positioning device 60 in the irradiation room 101 is connected to the treatment table 40 and locked to the treatment table 40.

[0054] In step S40, the treatment table positioning device 60 controls the treatment table 40 to move to the simulation positioning position C based on the coordinates of the simulation positioning position C, and further adjusts it to the irradiation position D as necessary, and then starts treatment to irradiate the neutron beam N to the irradiated body 200, and as can be understood, the irradiation position D may be the simulation positioning position C.

[0055] In step S50, when the treatment is completed, the irradiation of the neutron beam N to the irradiated body 200 is stopped, and then the treatment table positioning device 60 is controlled to move the treatment table 40 to the end position E, i.e., the treatment table 40 is controlled to move away from the beam exit 25.

[0056] As can be understood, step S20 may further include a step of going back and recalculating the movement path of the treatment table positioning device 60' or going back and recreating the treatment plan if an error occurs in the process of moving the treatment table 40 to the treatment planning position B.

[0057] As shown in FIG. 11, specifically, in step S50, the method of controlling the treatment table 40 to move away from the beam exit 25 further includes the following steps S51 to S53.

[0058] In step S51, the linear axis 611 is controlled to move the treatment table 40 from the irradiation position D to a first intermediate position F away from the beam exit 25 along an extension direction 6113 parallel to the linear axis 611.

[0059] In step S52, the robot arm 612 is controlled to move the treatment table 40 to a second intermediate position G where the extension direction 41 of the treatment table 40 is approximately parallel to the extension direction 6113 of the linear shaft 611.

[0060] In step S53, the robot arm 612 is controlled to move the treatment table 40 from the second intermediate position G to the end position E closer to the ground.

[0061] The command of the treatment couch leaving the beam exit, inputted in the user interface 71, may be automatically executed in succession in steps S51-S53 by one button, or may be executed step by step in steps S51-S53 by three buttons corresponding to steps S51-S53, or there may be other installation manners. As can be understood, for steps S51 and S53, the robot arm 612 may be controlled to move the treatment couch 40 closer to the ground first, and the linear axis 611 may be controlled to move the treatment couch 40 away from the beam exit 25 along the extending direction 6113 parallel to the linear axis 611, and step S52 may be after step S53, or the linear axis 611 and the robot arm 612 may be controlled simultaneously to move the treatment couch 40 to the end position E. As can be understood, according to specific needs, the height of the placement table relative to the ground when it is at the end position E may be other positions that change compared to the height of the placement table relative to the ground when it is at the irradiation position D.

[0062] All of the above positions A to G are based on a predetermined reference point on the treatment table 40, and as can be understood, no transfer trolley may be installed, and the same treatment table may be installed in each of the simulation positioning chamber and the irradiation chamber, and the irradiated object may be set up in the same way in the simulation positioning chamber and the irradiation chamber (e.g., by a positioning mechanism installed on the treatment table), and the same initial position may be determined (e.g., by a laser positioning device).

[0063] The concrete wall in this embodiment is a boron-containing barite concrete wall with a thickness of 1m or more and a density of 3g / cc, and the boron-containing concrete has better neutron absorption performance, which can reduce the neutron exposure of the metal material in the concrete in addition to improving the radiation shielding effect of the concrete. As can be understood, the concrete wall may have other thicknesses or densities or be replaced with other materials, and the thickness, density or material of different parts of the concrete wall may be different. As can be understood, the present invention can also be applied to other types of neutron irradiation systems, and other radiation irradiation systems, such as proton therapy systems, heavy ion therapy systems, etc., in which case the neutron generating device may be replaced with other radiation generating devices, the material of the concrete may be replaced as necessary, and the treatment table may be a table for placing other irradiated objects.

[0064] The above describes exemplary specific embodiments of the present invention to facilitate understanding of the present invention for those skilled in the art. However, it is obvious that the present invention is not limited to the scope of the specific embodiments. Various changes are obvious to those skilled in the art, and are all within the scope of the appended claims, provided that they are within the spirit and scope of the present invention as defined and determined by the appended claims.

Claims

1. A radiation irradiation system including a radiation generation device, a control device, a simulation positioning chamber, an irradiation chamber, and first and second identical mounting tables installed in the simulation positioning chamber and the irradiation chamber, respectively, wherein the radiation generation device generates a beam and has a beam outlet located in the irradiation chamber, and a simulation beam outlet identical to the beam outlet is installed in the simulation positioning chamber, and first and second mounting table positioning devices capable of supporting the first and second mounting tables are further installed in the simulation positioning chamber and the irradiation chamber, respectively, and the first and second mounting table positioning devices perform simulation positioning and irradiation positioning of the first and second mounting tables and objects to be irradiated on the first and second mounting tables, respectively, and the first and second mounting table positioning devices perform simulation positioning and irradiation positioning of the first and second mounting tables and objects to be irradiated on the first and second mounting tables, respectively, and the first and second mounting tables are a control device connected to the first and second mounting table positioning devices, respectively; the irradiated object has the same setup on the first and second mounting tables; within the simulation positioning chamber, the first mounting table positioning device determines a simulation positioning position of the first mounting table; within the irradiation chamber, the control device controls the second mounting table positioning device to move the second mounting table to the simulation positioning position and determines an irradiation position of the second mounting table; and the irradiated object on the second mounting table is irradiated with the beam at the irradiation position.

2. 2. The radiation irradiation system of claim 1, further comprising a treatment planning device, which determines a setup of the irradiated object on the first mounting table in the simulation positioning chamber based on treatment plan data created by the treatment planning device, the treatment planning device or the control device calculates treatment plan coordinates of the first mounting table based on the treatment plan data and the setup of the irradiated object, and the control device moves the first mounting table to a treatment plan position determined from the treatment plan coordinates by the first mounting table positioning device, and determines the simulation positioning position of the first mounting table.

3. The radiation irradiation system of claim 2, characterized in that laser positioning devices having the same and similar positional relationship are installed in the simulation positioning chamber and the irradiation chamber, respectively, and a mark corresponding to the position where the laser generated by the laser positioning device hits the irradiated object is installed on the irradiated object, and based on the mark, it can be determined that the irradiated object has the same position in the simulation positioning chamber and the irradiation chamber.

4. 2. The radiation irradiation system of claim 1, wherein optical verification devices having the same and similar positional relationship are installed in the simulation positioning chamber and the irradiation chamber, respectively, and the optical verification devices can collect images of the position of the placement table and the irradiated object, transmit the data to the control module, and compare it with the treatment plan data.

5. The radiation irradiation system of claim 1, further comprising a transfer trolley and a transfer trolley positioning device, the first and second placement tables being the same placement table, the transfer trolley being capable of supporting, positioning and transferring the placement tables from the simulation positioning chamber to the irradiation chamber, and the transfer trolley being fixed at the same starting position in the simulation positioning chamber and the irradiation chamber, respectively, by the transfer trolley positioning device.

6. The radiation irradiation system according to claim 5, further comprising a mounting table locking mechanism, and at the same starting position, the control device controls the first and second mounting table positioning devices to connect to the mounting tables, respectively, and locks them to the mounting tables by the mounting table locking mechanism.

7. 2. The radiation irradiation system according to claim 1, wherein the radiation irradiation system is a neutron capture therapy system, the radiation generating device includes a neutron generating device and a beam shaper, the beam shaper is capable of adjusting the neutron beam generated by the neutron generating device to a predetermined beam quality, and the neutron beam generated by the neutron generating device is irradiated to the irradiation target on the mounting table in the irradiation chamber by the beam shaper.

8. 8. The radiation irradiation system according to claim 7, wherein the neutron generating device includes an accelerator and a target, a charged particle beam accelerated by the accelerator and generated interacts with the target to generate a neutron beam, the beam shaper includes a reflector, a moderator, a thermal neutron absorber, a radiation shield, and a beam outlet, the moderator moderates neutrons generated from the target to an epithermal neutron energy region, the reflector surrounds the moderator and guides stray neutrons to the moderator to improve intensity of the epithermal neutron beam, the thermal neutron absorber absorbs thermal neutrons to avoid excessive dose to superficial normal tissue during treatment, and the radiation shield blocks neutrons and photons leaking out from portions other than the beam outlet.

9. A mounting table control method for a radiation irradiation system including a radiation generation device, a treatment planning device, a simulation positioning chamber, an irradiation chamber, and identical first and second mounting tables installed in the simulation positioning chamber and the irradiation chamber, respectively, wherein first and second mounting table positioning devices capable of supporting the first and second mounting tables are installed in the simulation positioning chamber and the irradiation chamber, respectively, and the first and second mounting table positioning devices have the same installation and the same positional relationship in the simulation positioning chamber and the irradiation chamber, respectively, and the mounting table control method comprises: setting up and fixing an irradiated object on the first stage based on treatment plan data created by the treatment planning device, and calculating a treatment plan position of the first stage based on the treatment plan data and the setup of the irradiated object; controlling the first table positioning device to move the first table to the treatment planning position and determining a simulation positioning position; a step of setting up the irradiated object on the second mounting table in the same manner as the first mounting table, controlling the second mounting table positioning device to move the second mounting table to the simulation positioning position, determining an irradiation position, and irradiating the irradiated object on the second mounting table at the irradiation position with a beam generated by the radiation generation device.

10. The radiation irradiation system further includes a transfer trolley and a transfer trolley positioning device, the first and second mounting tables are a same mounting table, and the mounting table control method includes: Before setting up the irradiation target on the mounting table, a step of positioning the table at an initial position by fixing the transfer trolley in the simulation positioning chamber by the transfer trolley positioning device and placing and positioning the table on the transfer trolley; connecting the first stage positioning device to the stage within the simulation positioning chamber and locking the first stage positioning device to the stage; After determining the simulation positioning position, moving the platform to the initial position and supporting it by the transfer trolley; unlocking the first stage positioning device from the stage and moving the stage and the object to be irradiated on the stage to the irradiation chamber; 10. The method of claim 9, further comprising the steps of: positioning the stage at the initial position in the irradiation chamber by the transfer trolley positioning device; and connecting the second stage positioning device to the stage and locking it to the stage.

11. a mounting table positioning device and a control device, the control device being connected to the mounting table positioning device, the mounting table being supported by the mounting table positioning device and having an irradiation position and an end position, the object to be irradiated with the beam at the irradiation position on the mounting table, the mounting table being moved away from the beam outlet at the end position, and the control device being capable of controlling the mounting table positioning device to move the mounting table from the irradiation position to the end position after irradiation of the beam is completed.

12. 2. The radiation irradiation system of claim 1, wherein the mounting table positioning device includes a robot arm, the mounting table is connected to and supported by the robot arm, and the control device can control the robot arm after irradiation of the beam is completed to change the height of the mounting table relative to the ground compared to the height of the mounting table relative to the ground when it is in the irradiation position.

13. 3. The radiation irradiation system of claim 2, wherein the mounting table positioning device further includes a linear axis, the robot arm is installed between the linear axis and the mounting table, the mounting table is connected to the linear axis by the robot arm, and the mounting table can be translated along the linear axis together with the robot arm, and the control device, after the irradiation of the beam is completed, controls the linear axis to move the mounting table away from the irradiation position toward the beam outlet along an extension direction parallel to the linear axis, or controls the robot arm to move the mounting table to a position where the extension direction of the mounting table is approximately parallel to the extension direction of the linear axis.

14. 2. The radiation irradiation system of claim 1, wherein at the end position, a minimum distance from the mounting table to a plane perpendicular to the beam direction and in which the center of the beam outlet is located is 2500 mm or more, and a height from a mounting surface of the mounting table to the ground is less than 600 mm.

15. 2. The radiation irradiation system of claim 1, wherein the control device includes a user interface, a system control module, and a positioning control module, the user interface being connected to the system control module, the system control module being connected to the positioning control module and the radiation generation device, the positioning control module being connected to the stage positioning device and capable of controlling movement of the stage positioning device, the system control module being capable of controlling the radiation generation device to stop irradiating the beam to the irradiation subject after a predetermined irradiation time has been reached, and transmitting information to the user interface to indicate a status of treatment completion, and the system control module being capable of transmitting a command to the positioning control module after treatment completion to control the stage positioning device to move the stage from the irradiation position to the end position.

16. 2. The radiation irradiation system according to claim 1, wherein the radiation irradiation system is a neutron capture therapy system, the radiation generating device includes a neutron generating device and a beam shaper, the beam shaper is capable of adjusting the neutron beam generated by the neutron generating device to a predetermined beam quality, and the neutron beam generated by the neutron generating device is irradiated to the irradiation object on the mounting table by the beam shaper.

17. 7. The radiation irradiation system according to claim 6, wherein the neutron generating device includes an accelerator and a target, a charged particle beam accelerated by the accelerator and generated interacts with the target to generate a neutron beam, the beam shaper includes a reflector, a moderator, a thermal neutron absorber, a radiation shield, and a beam outlet, the moderator moderates neutrons generated from the target to an epithermal neutron energy region, the reflector surrounds the moderator and guides stray neutrons to the moderator to improve intensity of the epithermal neutron beam, the thermal neutron absorber absorbs thermal neutrons to avoid excessive dose to superficial normal tissue during treatment, and the radiation shield blocks neutrons and photons leaking out from portions other than the beam outlet.

18. A mounting table control method for a radiation irradiation system including a radiation generation device and a mounting table, the radiation generation device generating a beam and having a beam outlet, the beam exiting the beam and irradiating an irradiation target placed on the mounting table, the radiation irradiation system further including a mounting table positioning device, the mounting table being supported by the mounting table positioning device and having an initial position, an irradiation position and an end position, the mounting table control method comprising the steps of: connecting and locking the stage positioning device to the stage on which the irradiation object is placed at the initial position; a step of controlling the mounting table positioning device to move the mounting table to the irradiation position and starting irradiation of the beam onto the irradiation target; a step of controlling the mounting table positioning device to move the mounting table to the end position after the irradiation of the beam to the irradiated object is stopped, and the mounting table moves away from the beam exit at the end position.

19. the stage positioning device includes a linear axis and a robot arm, and the step of controlling the stage positioning device to move the stage to the end position includes: controlling the linear axis to move the stage along an extension direction of the linear axis away from the beam exit; controlling the robot arm to move the stage to a position where an extension direction of the stage is substantially parallel to an extension direction of the linear axis; 9. The mounting table control method according to claim 8, further comprising a step of controlling the robot arm to change the height of the mounting table relative to the ground compared to the height of the mounting table relative to the ground when the mounting table is in the irradiation position.

20. The mounting table control method includes:

9. The mounting table control method according to claim 8, further comprising the steps of: controlling the radiation generating device to stop irradiating the beam to the irradiated body based on a predetermined irradiation time after irradiation of the beam to the irradiated body has started, issuing a state instruction for ending treatment, and controlling the mounting table positioning device to move the mounting table from the irradiation position to the end position after ending treatment.

Images