Mounting table positioning system, mounting table positioning method, and radiation therapy system

Abstract

The table (40) positioning system includes a table (40), a table positioning device (60), a table transport device (401), and a connection device (300). The table (40) places the patient (200), the table positioning device (60) moves and positions the table (40), the table transport device (401) supports and moves the table (40), and the connection device (300) locks the table (40) and the table positioning device (60). By installing the connection device (300), the table positioning device (60) can be quickly locked and fixed to the table (40), thereby reducing unnecessary positioning steps during treatment. The method for positioning the mounting base (40) includes the steps of rotating the first connection assembly (500) to a clamping position to lock the first connection assembly (500) and the second connection assembly (700) together, and moving the mounting base positioning device (60) to position the mounting base. The locking operation between the mounting base positioning device (60) and the mounting base (40) is a one-step operation, which is simple and convenient, and greatly reduces the overall positioning time of the mounting base (40).

Description

[Technical Field]

[0001] The present invention relates to a treatment positioning system and method, and more particularly to a stage positioning system, a stage positioning method, and a radiation treatment system. [Background technology]

[0002] With the development of atomic science, radiation therapy using cobalt-60, linear accelerators, electron beams, etc. has become one of the main means of cancer treatment. 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 often has a low therapeutic effect on highly radiation-resistant malignant tumors.

[0003] To reduce radiation damage to normal tissues surrounding tumors, the concept of targeted therapy in chemotherapy has been applied to radiotherapy. Furthermore, for tumor cells with high radiation resistance, radiation sources with high biological effectiveness ratios, 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 specifically collect in tumor cells, and when combined with highly precise neutron beam irradiation, this provides a better cancer treatment option than conventional radiation.

[0004] To achieve accurate neutron beam irradiation, a laser positioning system must be used in the simulation positioning chamber in combination with CT images and other data to accurately locate the patient's tumor and mark the tumor location. In the treatment room, a laser positioning system must be used in combination with marks placed in the simulation positioning chamber to locate the patient's tumor, allowing the neutron beam to be aligned with and irradiated to the tumor. The laser positioning system uses a laser emitter, which is fixedly attached to the walls and ceiling of the simulation positioning chamber and the treatment room. Therefore, a positioning device must drive the mounting table and position the mounting table quickly and accurately. During neutron capture therapy, how to quickly and accurately lock and fix the mounting table and position the positioning device to achieve accurate positioning is the key to whether the neutron beam can accurately perform treatment.

[0005] Therefore, in order to solve the above problems, a mounting table positioning system and a mounting table positioning method are provided. Summary of the Invention

[0006] Based on this, in order to solve the problem in the prior art of how to quickly lock and fix the support table and the positioning device to obtain accurate positioning marks, a support table positioning system according to one aspect of the present invention includes a support table, a support table positioning device, a support table transport device, and a connection device, wherein the support table places a patient on it, the support table positioning device moves and positions the support table, the support table transport device supports and moves the support table, the connection device has a clamping position that locks the support table and the support table positioning device and a release position that disengages the support table and the support table positioning device, and includes a first connection assembly and a second connection assembly that engage with each other, and the first connection assembly and the second connection assembly are installed opposite the support table and the support table positioning device. The positioning time can be reduced by using a mounting table transport device to transport the mounting table and patient to the mounting table positioning device, and using a connection device to quickly clamp and lock the mounting table and mounting table positioning device.First, by installing a connection device in the simulation positioning chamber and combining it with the mounting table positioning device, the mounting table can be quickly positioned and accurate positioning marks can be obtained, thereby reducing the work time required for simulating positioning the patient before performing radiation treatment in the treatment room.Second, by installing a connection device in the treatment room and combining it with the mounting table positioning device, the mounting table and patient can be quickly and accurately positioned based on the positioning marks obtained in the simulation positioning chamber, effectively avoiding unnecessary particle radiation doses to the patient and medical personnel in the treatment room.

[0007] In one embodiment, the first connection assembly includes a mounting base and a locking member mounted on the mounting base, the mounting base having a notch that aligns with and matches the second connection assembly, the locking member being able to rotate a predetermined angle to engage with the second connection assembly that has passed through the notch. The entire first connection assembly is mounted on the mounting base, the locking member is distributed on the mounting base, and after the mounting base is aligned with the second connection assembly, a portion of the second connection assembly passes through the notch on the mounting base to tightly connect the first and second connection assemblies, and the locking member can then be rotated to a clamping position to complete the locking. This single-step locking operation is simple and convenient, greatly reducing the time required to position the entire mounting base.

[0008] In one embodiment, the locking member includes a drive unit movably connected to the mounting base, a lock unit, and a position limiting unit installed on the mounting base. The drive unit drives the lock unit to rotate to a clamped position where it is locked to the second connection assembly or a released position where it is disengaged from the second connection assembly, and the position limiting unit has a position limiting end that limits the position of the drive unit. The drive unit is manually driven to rotate and drives the lock unit to rotate as it rotates. The initial state of the lock unit is away from the notches, so as not to interfere with the alignment and close contact between the first connection assembly and the second connection assembly. During the rotation and locking process of the lock unit, the lock unit gradually approaches the notches on both sides and engages with the portions of the second connection assembly that pass through the notches, at which point the locking member is locked to the second connection assembly, thereby realizing a locking fixation between the mounting base positioning device and the mounting base. The position limiting part serves to move and position the platform, and limits the rotation range of the driving part. When the driving part rotates to the first position limiting end of the position limiting part, the locking part disengages from the second connecting assembly, realizing release and unlocking between the two. At this time, the platform positioning device can disengage from the platform. When the driving part rotates to the second position limiting end of the position limiting part, the locking part and the second connecting assembly are connected and coupled, realizing locking between the two. At this time, the platform positioning device and the platform can be locked and fixed.

[0009] In one embodiment, a stopper is provided on the side of the position limiting end facing the driver, and a corresponding stopper is provided on the driver, so that when the locking part is located in the clamping position, the stopper and the stopper are connected to lock the driver and the locking part. The stopper and the stopper lock the driver, and when the driver rotates to the position where the stopper and the stopper are connected, the driver is locked and stops moving, so that the locking part also stops moving when the driver rotates to the clamping position or the release position. That is, when the driver rotates to the stopper position where the stopper and the stopper are connected, the locking part also rotates to a predetermined position.

[0010] In one embodiment, the second connection assembly includes a locking member that can pass through the notch and a position limiting member that limits the position of the mounting base, and a locking portion is provided on one side of the locking member, and multiple position limiting members are provided. The locking member passes through the notch to tightly contact one side of the second connection assembly with one side of the first connection assembly, thereby realizing the connection between the mounting base and the mounting base positioning device. The locking portion clamps and locks the locking portion. When the driving unit rotates to a position where the stopper and the stopper of the second position limiting end are locked, the locking portion rotates synchronously until its end is engaged with the locking portion. At this time, the stopper and the stopper can prevent the locking portion from shifting. The position limiting of the driving unit and the locking portion by the stopper and the stopper, and the engagement of the locking portion and the locking portion, firmly lock the mounting base and the mounting base positioning device.

[0011] In one embodiment, the platform transport device includes casters and a buffer assembly mounted on the casters. The buffer assembly includes a lower support seat, an upper support seat, and a buffer member disposed between the upper and lower support seats. The upper support seat is movably connected to the lower support seat and rotatable relative to the lower support seat. The platform is placed on the platform transport device before positioning, and the platform transport device moves using the casters mounted on its bottom to move the platform to a predetermined position. If an unexpected event occurs and the platform transport device is subjected to downward pressure, the buffer assembly buffers the impact of external pressure on the support structure and casters of the platform transport device, thereby protecting the platform transport device. A buffer member is housed and attached between the lower and upper support seats. When the platform transport device is subjected to a downward external force, the external force is transmitted to the upper support seat, causing it to rotate, and the pressure is transmitted to the buffer member, forming a buffer to protect the casters from damage.

[0012] In one embodiment, a positioning member is provided on the carrier, and the positioning member is used to position the carrier and the carrier positioning device relative to each other. The positioning member positions the carrier in close contact with the carrier positioning device, achieving initial positioning relative to the carrier, which allows the first and second connection assemblies to be coupled more quickly in subsequent operations and is advantageous for the carrier positioning device to position the carrier.

[0013] In one embodiment, an opening is provided in the stage transport device, and the opening accommodates the clamp assembly. The first connection assembly or the second connection assembly mounted on the stage is positioned in the opening, allowing the first connection assembly to be aligned and matched with the second connection assembly in the opening.

[0014] A second aspect of the present invention provides a method for positioning a mounting table, comprising the steps of: moving a mounting table transport device to a predetermined position where the mounting table is aligned with the mounting table positioning device; the mounting table is placed on the mounting table transport device; a first connection assembly and a second connection assembly are installed opposite each other on the mounting table and the mounting table positioning device; and moving the mounting table transport device to the predetermined position to initially position the mounting table transport device; and moving the mounting table positioning device to align and match the first connection assembly and the second connection assembly, i.e., moving the mounting table positioning device. the step of moving the mounting table positioning device to bring the first connection assembly and the second connection assembly into close contact with each other; the step of rotating the first connection assembly to a clamping position to lock the first connection assembly and the second connection assembly together, thereby fixing the mounting table positioning device to the mounting table by locking the first connection assembly and the second connection assembly together; and the step of moving the mounting table positioning device to position the mounting table at a coordinate position, i.e., the mounting table positioning device moves the mounting table from its initial position to the set coordinate position to position the mounting table.

[0015] In one embodiment, a positioning member and an opening are provided on the carrier, and the step of moving the carrier to a predetermined position to align with the carrier positioning device includes the steps of using the positioning member to tightly contact the carrier to one side of the carrier positioning device and aligning and tightly contacting the first and second connection assemblies with the opening. The positioning member serves to initially position the carrier with respect to the carrier positioning device, and the opening serves to facilitate vertical movement of the carrier positioning device, so that the first connection assembly can pass through the opening and mate with the second connection assembly.

[0016] In one embodiment, the first connection assembly includes a driver, a locking part, and a position limiting part, a stopper is provided on the position limiting part, a stopper corresponding to the stopper is provided on the driver, and the second connection assembly includes a locking part, and the step of rotating the first connection assembly to the clamping position to lock the first connection assembly and the second connection assembly includes a step of rotating the driver until the stopper and the stopper are locked, and rotating the locking part to the locking part to achieve locking. As the driver rotates, the locking part also rotates with the driver, and the engagement between the stopper and the stopper limits the movement of the driver, so that the driver and locking part stop rotating after rotating to a predetermined position, preventing misalignment and improving the stability of the locking member.

[0017] A radiotherapy system according to a third aspect of the present invention includes a radiation generation device and a mounting table positioning system.

[0018] In one embodiment, the radiation therapy system is a neutron capture therapy system and the radiation generator is a neutron generator.

[0019] A mounting table positioning system according to one aspect of the present invention uses a connecting device to quickly lock and fix the mounting table positioning device to the mounting table, reducing unnecessary positioning steps during treatment. The mounting table positioning device then provides quick and accurate positioning of the patient at a coordinate position, reducing the operation time before positioning, thereby effectively avoiding unnecessary particle irradiation doses.

[0020] In the mounting table positioning method according to the second aspect of the present invention, the mounting table positioning device positions the mounting table according to the method steps, and the locking operation between the mounting table positioning device and the mounting table is a one-step operation, which is simple and convenient, and greatly reduces the positioning time of the entire mounting table, thereby making the irradiation positioning of the mounting table more convenient, fast and accurate. [Brief explanation of the drawings]

[0021] [Figure 1]1 is a schematic diagram of a neutron capture therapy system according to one embodiment. [Figure 2] 1 is a schematic diagram illustrating an overall configuration of a mounting table positioning system according to an embodiment. [Figure 3] 1 is a schematic configuration diagram of a connection device in a mounting table positioning system according to an embodiment. [Figure 4] FIG. 2 is a schematic configuration diagram of a first connection assembly in the mounting table positioning system in accordance with one embodiment. [Figure 5] 1 is a schematic diagram illustrating a state in which a connection device in the mounting table positioning system according to one embodiment is at a clamp position. [Figure 6] 10 is a schematic diagram of a state in which a connection device in the mounting table positioning system according to the embodiment is in a release position; FIG. [Figure 7] FIG. 10 is a schematic configuration diagram of a second connection assembly in the mounting table positioning system in accordance with one embodiment. [Figure 8] 10A and 10B are schematic diagrams illustrating matching between a position limiting member and a mounting base in a mounting base positioning system according to an embodiment. [Figure 9] 1 is a schematic configuration diagram of a stage transport device in a stage positioning system according to an embodiment. [Figure 10] FIG. 1 is a schematic diagram of a buffer assembly in a stage positioning system according to one embodiment. [Figure 11] 10 is a schematic diagram illustrating a state in which the stage transport device and the stage positioning device are aligned at a predetermined position in the stage positioning system according to the embodiment. FIG. [Figure 12] FIG. 12 is a partially enlarged view of FIG. [Figure 13] 10A and 10B are schematic diagrams illustrating a state in which a mounting table positioning device positions a mounting table in a mounting table positioning method according to an embodiment. [Figure 14] 1 is a schematic diagram of a stage positioning of a neutron capture therapy system according to one embodiment. [Figure 15] 1 is a schematic configuration diagram of a mounting table positioning device of a neutron capture therapy system according to one embodiment. [Figure 16]15 in another direction. FIG. [Figure 17] 1 is a modular schematic diagram of a neutron capture therapy system according to one embodiment. [Figure 18] 1 is a schematic diagram of a stage transport device and a transport trolley positioning mechanism of a neutron capture therapy system according to one embodiment. [Figure 19] 1A to 1C are schematic diagrams illustrating different positions of a stage positioning device of a neutron capture therapy system according to an embodiment. [Figure 20] FIG. 20 is a top view of FIG. 19 in a direction parallel to the ground. [Figure 21] FIG. 21 is a cross-sectional view taken along the OO plane in FIG. 20. [Figure 22] 1 is a flowchart of a mounting table control method for a neutron capture therapy system according to one embodiment. [Figure 23] 10 is a flowchart of a method for controlling a stage away from a beam exit of a neutron capture therapy system according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] In order to make the above-mentioned objects, features, and advantages of the present invention more clear, specific embodiments of the present invention will be described in detail below with reference to the drawings. In order to fully understand the present invention, many specific details will be set forth in the following description. However, the present invention can be embodied in many ways other than those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention, so the present invention is not limited to the specific examples disclosed below.

[0023] In the description of the present invention, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" are based on the orientations or positional relationships shown in the drawings, and are intended merely to facilitate and simplify the description of the present invention. They do not indicate or suggest that the devices or parts shown must have a specific orientation, be configured, and operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] Additionally, the terms "first" and "second" are for descriptive purposes only and should not be understood to indicate or suggest relative importance or to implicitly indicate the number of technical features depicted. Thus, a feature qualified by "first" or "second" may explicitly or implicitly include at least one of the feature. In describing the present invention, "plurality" means at least two, e.g., two, three, etc., unless otherwise clearly and specifically limited.

[0025] In the present invention, unless otherwise clearly specified or limited, the terms "attached," "coupled," "connected," "fixed," etc. should be understood in a broad sense, and may refer to, for example, a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, an internal communication between two parts, or an interactive relationship between two parts. Those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0026] In the present invention, unless otherwise clearly specified or limited, a first feature being "above" or "below" a second feature may include direct contact between the first and second features, or indirect contact between the first and second features via an intermediate medium. Furthermore, a first feature being "above," "above," or "on the upper surface" of a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the horizontal height of the first feature is higher than that of the second feature. A first feature being "below," "below," or "on the lower surface" of a second feature may include the first feature being directly below or diagonally below the second feature, or may simply mean that the horizontal height of the first feature is lower than that of the second feature.

[0027] It should be noted that when a component is described as being "fixed" or "mounted" to another component, the component may be directly located on the other component, or there may be intervening components. When a component is described as being "connected" to another component, the component may be directly connected to the other component, or there may be intervening components. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions are for illustrative purposes only and do not represent the only embodiment.

[0028] FIG. 1 shows a radiation irradiation system, preferably a boron neutron capture therapy system 100, according to one embodiment of the present invention. As shown in FIG. 1, the boron neutron capture therapy system 100 includes a neutron generator 10, a beam shaper 20, a collimator 30, and a stage 40. The neutron generator 10 includes an accelerator 11 and a target T. The accelerator 11 accelerates charged particles (e.g., protons, deuterons, etc.) to generate a charged particle beam P such as a proton beam. The charged particle beam P is irradiated onto the target T and interacts with the target T to generate a neutron beam (neutron beam) N. The target T is preferably a metal target. An appropriate nuclear reaction is selected depending on the required neutron yield and energy, the energy and current magnitude of the accelerated charged particles that can be provided, the physicochemical properties of the metal target, and other characteristics. The nuclear reactions typically discussed are: 7 Li(p,n) 7 Be and 9Be(p,n) 9B, both of which are endothermic reactions. These two nuclear reactions have energy thresholds of 1.881 MeV and 2.055 MeV, respectively. Since the ideal neutron source for boron neutron capture therapy is epithermal neutrons at the keV energy level, theoretically, bombarding a metallic lithium target with protons slightly above the threshold can generate relatively low-energy neutrons, making clinical application possible without requiring significant moderation. However, because the cross section of interaction between the two targets, metallic lithium (Li) and metallic beryllium (Be), and protons at the threshold energy are not large, nuclear reactions are usually induced with relatively high-energy protons to generate sufficient neutron flux. An ideal target would have a high neutron yield, an energy distribution of the generated neutrons close to the epithermal neutron energy range (described in detail below), not generate excessive amounts of highly penetrating radiation, be safe, inexpensive, easy to operate, and have high-temperature resistance. However, in practice, it is impossible to find a nuclear reaction that meets all of these requirements. Therefore, in the present embodiment, a target made of metallic lithium is used. However, as is well known to those skilled in the art, the target T may be made of metal materials other than lithium and beryllium, such as tantalum (Ta) or tungsten (W). The target T may be disk-shaped, have other solid shapes, or be liquid (liquid metal). The accelerator 11 may be a linear accelerator, cyclotron, synchrotron, or synchrocyclotron, and the neutron generator 10 may be a nuclear reactor without an accelerator or target. Regardless of whether the neutron source for boron neutron capture therapy comes from a nuclear reactor or from the nuclear reaction between accelerator charged particles and a target, the generated neutron field is actually a mixed radiation field, i.e., the beam contains neutrons and photons ranging from low to high energy. For boron neutron capture therapy of deep-seated tumors, the higher the content of other radiation, except for epithermal neutrons, the greater the proportion of non-selective dose deposition in normal tissues. Therefore, it is necessary to minimize these radiations that cause unnecessary doses.Also, it should be avoided to expose normal tissues of the subject to too much radiation, which would also cause unnecessary dose deposition.

[0029] The neutron beam N generated by the neutron generator 10 passes through a beam shaper 20 and a collimator 30, and is then irradiated onto the irradiated object 200 on the mounting table 40. The beam shaper 20 can adjust the beam quality of the neutron beam N generated by the neutron generator 10, and the collimator 30 focuses the neutron beam N, providing the neutron beam N with high targetability during treatment. The positions of the mounting table 40 and the irradiated object 200 may be adjusted to align the beam with tumor cells M inside the irradiated object 200. These adjustments may be performed manually or automatically by a series of control mechanisms (described in detail below). As can be understood, the present invention does not require a collimator, and the beam may be directly irradiated onto the irradiated object 200 on the mounting table 40 after exiting the beam shaper 20.

[0030] 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 injury 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 neutrons (>40 keV) among the neutrons. It is necessary to adjust the energy of the 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 made of a material that has a large cross section of interaction with fast neutrons and a small cross section of interaction with epithermal neutrons. In a preferred embodiment, the moderator 22 is made of at least one of D2O, AlF3, Fluental (registered trademark), CaF2, Li2CO3, MgF2, and Al2O3. The reflector 21 surrounds the moderator 22 and diffuses the neutrons to the surrounding area through the moderator 22. The reflector 21 is made of a material with high neutron reflectivity, and in a preferred embodiment, the reflector 21 is made of at least one of Pb and Ni. The thermal neutron absorber 23 is located at the rear of the moderator 22 and is made of a material with a large cross section that interacts with thermal neutrons. In a preferred embodiment, the thermal neutron absorber 23 is made of Li-6. The thermal neutron absorber 23 absorbs thermal neutrons that have passed through the moderator 22 and reduces the content of thermal neutrons in the neutron beam N. To reduce the radiation dose and avoid giving an excessive dose to superficial normal tissue during treatment, as can be understood, the thermal neutron absorber is integrated with the moderator, and the material of the moderator may include Li-6, and the radiation shielding body 24 blocks neutrons and photons leaking from parts other than the beam exit 25, and the material of the radiation shielding body 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 shielding body 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 exit 25, and the epithermal neutron beam emitted from the collimator 30 is irradiated to the irradiated body 200, passes through superficial normal tissue, and is then slowed down to thermal neutrons before reaching the tumor cells M.As can be understood, the beam shaper 20 may have other structures as long as it is capable of obtaining the epithermal neutron beam required for treatment, and for ease of explanation, when a collimator 30 is installed, the exit of the collimator 30 can also be considered as the beam exit 25 described below.

[0031] After the irradiated 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 types of charged particles have an average energy of approximately 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, respectively. The total range of the two types of particles is equivalent to the size of approximately one cell. Therefore, the radiation damage to the living body is limited to the cellular level, and the goal of locally killing tumor cells can be achieved without causing significant damage to normal tissue.

[0032] In this embodiment, a radiation shielding device 50 is further installed between the irradiated object 200 and the beam outlet 25 to shield normal tissues of the irradiated object from radiation caused by the beam exiting the beam outlet 25, but as can be understood, the radiation shielding device 50 does not have to be installed. The boron neutron capture therapy system 100 is entirely housed in a building of concrete structure, and specifically, the boron neutron capture therapy system 100 further includes an irradiation chamber 101 and a charged particle beam generation chamber 102, the irradiated object 200 on the mounting table 40 is treated by neutron beam N irradiation in the irradiation chamber 101, the charged particle beam generation chamber 102 at least partially houses the accelerator 11, and the beam shaper 20 is at least partially housed in a partition wall 103 between the irradiation chamber 101 and the charged particle beam generation chamber 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, so that the irradiation chamber 101 and the charged particle beam generation chamber 102 are in communication with each other. There may be one or more targets T, 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, there may be one or more beam shapers 20, collimators 30, and mounting tables 40, and multiple mounting tables may be installed in the same irradiation chamber, or a separate irradiation chamber may be installed for each mounting table. The irradiation chamber 101 and the charged particle beam generation chamber 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 chamber may be provided with a preparation room for performing preparation tasks such as injecting boron-containing drugs and simulating treatment plans before irradiation treatment. The control room controls the accelerator, beam transport unit, stage positioning device, etc., and controls and manages the entire irradiation process, and a manager can simultaneously monitor multiple irradiation chambers from within the control room.The boron neutron capture therapy system 100 may further include a simulation positioning chamber 104 (described in detail below) for performing simulated positioning of the irradiated body 200 prior to irradiation treatment, and a simulation beam exit 25' identical to the beam exit 25 is installed in the simulation positioning chamber 104, reducing the time required to position the irradiated body 200 in the irradiation chamber 101 and improving the utilization rate of the irradiation chamber 101, as can be understood, and the simulation positioning chamber may also be used as a preparation room.

[0033] The neutron capture therapy system 100 further includes a stage positioning system, and FIG. 2 is a schematic diagram showing the overall configuration of the stage positioning system according to one embodiment of the present invention. As shown in Figure 2, the mounting table positioning system includes a mounting table 40, a mounting table positioning device 60, a mounting table transport device 401, and a connection device 300, wherein the mounting table 40 carries a patient (irradiated object), the mounting table positioning device 60 moves and positions the mounting table 40, and supports the mounting table 40 when moving and positioning it, the mounting table transport device 401 supports the mounting table when transporting it, the connection device 300 has a clamp position that locks the mounting table 40 and the mounting table positioning device 60 together, and a release position that releases the mounting table 40 and the mounting table positioning device 60, and includes a first connection assembly 500 and a second connection assembly 700 that engage with each other, and the first connection assembly 500 and the second connection assembly 700 are installed opposite the mounting table 40 and the mounting table positioning device 60.

[0034] FIG. 3 is a schematic diagram showing the configuration of a connection device 300 in a stage positioning system according to one embodiment of the present invention. As shown in FIG. 3, the connection device 300 locks and releases the mounting base 40 and the mounting base positioning device 60. The first connection assembly 500 may be installed on either the mounting base 40 or the mounting base positioning device 60. Correspondingly, the second connection assembly 700 may be installed on either the mounting base positioning device 60 or the mounting base 40. When in the clamped position (see FIG. 5), the first connection assembly 500 and the second connection assembly 700 are locked and fixed, thereby fixing the mounting base 40 and the mounting base positioning device 60, which makes it easy to move the mounting base positioning device 60 to position the mounting base 40. When in the released position (see FIG. 6), the first connection assembly 500 and the second connection assembly 700 are separable, which allows the mounting base 40 and the mounting base positioning device 60 to be separated from each other, thereby allowing the mounting base 40 to be detached from the mounting base positioning device 60.

[0035] 4 is a schematic diagram illustrating a first connection assembly in a stage positioning system according to an embodiment of the present invention. As shown in FIG. 4 , the first connection assembly 500 includes a mounting base 501 and a locking member 502 mounted on the mounting base 501. The mounting base 501 has a notch 503 that aligns with and matches the second connection assembly 700. The locking member 502 can be connected to the second connection assembly 700 after rotating a predetermined angle through the notch 503. In this embodiment, the first connection assembly 500 is mounted on the stage positioning device 60. The mounting base 501 is used to install the locking member 502 and mount the first connection assembly 500. A flange connection member 510 is mounted on one side surface of the mounting base 501, and the flange connection member 510 can be used to mount the mounting base 501 to the robot arm 612 of the stage positioning device 60. The mounting base 501 is a plate / block-shaped member with a certain thickness. The locking member 502 is mounted on the mounting base 501. 02 and flange connection member 510 are installed on the same side of mounting base 501, and the number of locking members 502 is not limited. In this embodiment, two locking members 502 are installed on mounting base 501, and two notches 503 are installed corresponding to each locking member 502. The notches 503 are located on both sides of the locking member 502, and a part of the second connection assembly 700 passes through the notches 503, and the locking member 502 is further rotated to perform the locking operation, thereby realizing a fixed lock between the mounting base positioning device 60 and the mounting base 40.

[0036] In some embodiments, the locking member 502 includes a driving portion 504 movably connected to the mounting base 501, a locking portion 505, and a position limiting portion 506 installed on the mounting base 501, the driving portion 504 drives the rotation of the locking portion 505, and the position limiting portion 506 has a position limiting end 507 that limits the displacement of the driving portion 504. The driving portion 504 is in the form of a handle / rod and is a rotation operation portion of the entire locking member 502, the driving portion 504 and the locking portion 505 are fixedly connected by a pin shaft, the pin shaft is rotatably connected to the mounting base 501, when the driving portion 504 is rotated, the locking portion 505 also rotates therewith, the locking portion 505 is in the form of a block / plate, and the locking portion 505 has two operating states: first, it rotates to a position away from the notches 503, i.e., perpendicular to the line connecting the two notches 503 of the same pair; At this time, the locking portion 505 of the second connection assembly is in the release position and does not prevent the movement of the second connection assembly 700, and secondly, rotates to a position close to the notches 503, i.e., parallel to the line connecting the two notches 503 of the same pair, and at this time, the locking portion 505 of the second connection assembly is in the clamping position and can restrict the movement of the second connection assembly 700, thereby tightly adhering the first connection assembly 500 to the second connection assembly 700 and fixedly connecting the mounting base positioning device 60 to the mounting base 40. The position limiting portion 506 is arc-shaped, and the arc opens toward the driving portion 504. Both ends of the position limiting portion 506 are position limiting ends 507. The position limiting ends 507 limit the movement of the driving portion 504. The two position limiting ends 507 define two operating positions of the driving portion 504. First, as shown in FIG. 6, when the driving portion 504 rotates to the first position limiting end 507, the corresponding locking portion 505 is in the released state. Second, as shown in FIG. 5, when the driving portion 504 rotates to the second position limiting end 507, the corresponding locking portion 505 is in the locked state.

[0037] 5 is a schematic diagram illustrating a state in which a connection device in a mount table positioning system according to an embodiment of the present invention is in a clamped position, and FIG. 6 is a schematic diagram illustrating a state in which a connection device in a mount table positioning system according to an embodiment of the present invention is in a released position. As shown in FIGS. 5 and 6, a stopper 508 is provided on the side of position limiting end 507 facing drive unit 504, and a stopper 509 corresponding to stopper 508 is provided on drive unit 504. When locking unit 505 is in the clamped position, stopper 509 is connected to stopper 508, thereby locking locking unit 505 and second connection assembly 700. The stopper 508 and the stopper 509 lock the driver 504 to the position limiting end 507. The stopper 508 may be a protrusion protruding from the inside of the position limiting end 507, and the stopper 509 may be a groove recessed into one end of the driver 504. The stopper 508 and the stopper 509 engage with each other, and the one end of the driver 504 can slide freely inside the position limiting part 506. The driver 504 moves around the pin axis. When the drive unit 504 rotates until the stopper 509 at one end engages with the stopper 508, the rotation of the drive unit 504 is restricted, when the drive unit 504 rotates until the stopper 508 at the first position limiting end engages with the stopper 509 at the first position limiting end, the corresponding locking unit 505 rotates to the release position, and when the drive unit 504 rotates until the stopper 508 at the second position limiting end engages with the stopper 509 at the second position limiting end, the corresponding locking unit 505 rotates to the clamp position.

[0038] 7 is a schematic diagram illustrating a second connection assembly in a mounting table positioning system according to an embodiment of the present invention. As shown in FIG. 7, the second connection assembly 700 includes a locking member 701 that can pass through the notch 503 and a position limiting member 703 that limits the position of the mounting base 501. One side of the locking member 701 is provided with a locking portion 702 that accommodates the locking member 502, and multiple position limiting members 703 are provided. In this embodiment, the second connection assembly 700 is installed on the underside of the mounting base 40, and there are four locking members 701, each corresponding to one of the four notches 503. The locking members 701 are bar / column-shaped with a certain height and thickness. After the locking members 701 pass through the notches 503, the part of the locking members 701 where the locking portions 702 are installed protrudes from the mounting base 501. The locking portions 702 are specifically grooves. When the locking portions 505 rotate to the clamping position, the locking portions 505 are locked into the two opposing locking portions 702, thereby locking the locking portions 505.

[0039] 8 is a schematic diagram illustrating the matching of a position limiting member 703 and a mounting base 501 in a mounting base positioning system according to an embodiment of the present invention. As shown in FIG. 8, the position limiting member 703 is column-shaped and fixed to the side of the second clamping member 700. A plurality of position limiting members 703 may be installed. The area surrounded by the position limiting members 703 accommodates the mounting base 501. The position limiting members 703 are installed to correspond to the outer shape of the mounting base 501. Specifically, the cross section of the mounting base 501 is rectangular, and the plurality of position limiting members 703 also form a rectangle to limit the position of the mounting base 501. When the first connecting assembly 500 is moved below the second connecting assembly 700 by the robot arm, the position limiting member 703 limits the position and helps the notch 503 in the mounting base 501 to be quickly aligned with and inserted into the locking member 701. The side of the position limiting member 703 facing the mounting base 501 is configured as a slope, which slopes in a direction away from the second connection assembly 700. During the assembling process of the connection device 300, the slope is installed when the mounting base 501 first comes into contact with the position limiting member 703, leaving a predetermined adjustment distance, preferably an adjustment distance of 1 mm to 5 mm, between the mounting base 501 and the second connection assembly 700. This allows the position of the notch 503 in the mounting base 501 to be accurately aligned with the position of the locking member 701, thereby assisting in quick alignment of the first connection assembly 500 and the second connection assembly 700.

[0040] FIG. 9 is a schematic diagram illustrating a mount table transport device in a mount table positioning system according to an embodiment of the present invention. As shown in FIG. 9, mount table transport device 401 includes casters 404 for movement and a buffer assembly 800 mounted on casters 404. FIG. 10 is a schematic diagram illustrating a buffer assembly in a mount table positioning system according to an embodiment of the present invention. As shown in FIG. 10, buffer assembly 800 includes a lower support seat 801, an upper support seat 802, and a buffer member 803 disposed between the upper support seat 802 and the lower support seat 801. The upper support seat 802 is movably connected to the lower support seat 801, and the upper support seat 802 is rotatable relative to the lower support seat 801. It should be understood that the upper support seat and the lower support seat do not need to be in contact with each other, and the upper support seat and the lower support seat are fixed to the upper and lower ends of the buffer assembly, respectively. The table transport device 401 is specifically a transport trolley, a treatment table cart, etc., and moves by means of casters 404 to transport the table 40. The buffer assembly 800 buffers the pressure received by the casters 404 and protects the casters 404. The lower support seat 801 is flat and fixed to the casters 404. A bump 804 is installed on the upper side of the lower support seat 801. The vertical section of the upper support seat 802 is inverted L-shaped. The upper support seat 802 and the lower support seat 801 are combined together to form a C-shape. A notch is installed at the middle position of the bottom of the lower support seat 801. The notch corresponds to the position of the bump 804, the bottom of the upper support seat 802 is rotatably connected to the lower support seat 801 by a pin shaft 805, the top of the upper support seat 802 is connected to the support rod 806 of the conveying trolley 401, and the buffer member 803 performs a buffering function, specifically, is a rectangular spring, and guide rods are installed on one side of the upper support seat 802 and one side of the lower support seat 801, and the buffer member 803 is installed around the guide rods, and the two guide rods do not hinder the rotation of the upper support seat 802 toward the lower support seat 801.When the platform positioning device 60 moves the platform 40, if an operating error occurs, for example, the robot arm 612 is operated to push down when it should be lifted, or if other unexpected situations occur, the transport trolley 401 will suddenly be subjected to downward pressure, which will be transmitted to the upper support seat 802 via the support rod 806. After the upper support seat 802 receives the force, it will rotate around the pin axis 805 and transmit the force to the buffer member 803, which will be compressed and deformed, further forming a buffer against the downward force and protecting the caster 404.

[0041] 11 is a schematic diagram illustrating a state in which the stage transport device and the stage positioning device are aligned at predetermined positions in a stage positioning system according to one embodiment. As shown in FIG. 11, a positioning member 4011 is installed on the stage transport device 401, and the positioning member 4011 is used to determine the relative positions of the stage transport device 401 and the stage positioning device 60. Specifically, as shown in the enlarged view of FIG. 22, the positioning member 4011 is L-shaped and is installed on the support rod 806 of the stage transport device 401. The robot arm 612 of the stage positioning device 60 is connected to the mounting base 501 via a flange connection member 510. The positioning member 4011 tightly contacts the side surface of the mounting base 501, thereby obtaining the initial position of the stage transport device 401.

[0042] In some embodiments, an opening 4012 is provided in the mount table transport device 401, and the opening 4012 accommodates the connection device 300. When the mount table 40 is placed on the mount table transport device 401, the second connection assembly 700 is positioned in the opening 4012, and the first connection assembly 500 can pass through the opening 4012 and engage with the second connection assembly 700 at the position of the opening 4012. After the mount table transport device 401 performs initial positioning using the positioning member 4011, the mount table positioning device 60 and the first connection assembly 500 quickly move to the position of the opening 4012, thereby aligning and closely contacting the first connection assembly 500 and the second connection assembly 700.

[0043] It will be apparent to those skilled in the art that the stage positioning method according to one embodiment of the present invention is a specific method for locking the stage positioning device and the stage, and includes the following steps S11 to S15.

[0044] In step S11, the mounting table transport device 401 is moved to a predetermined position where it is aligned with the mounting table positioning device 60, the mounting table 40 is placed on the mounting table transport device 401, and the first connection assembly 500 and the second connection assembly 700 are placed opposite to each other on the mounting table 40 and the mounting table positioning device 60. Specifically, as shown in Figures 11 and 12, a positioning member 4011 and an opening 4012 are installed on the mounting base conveying device 401, the positioning member 4011 is L-shaped, the robot arm 612 is connected to the mounting base 501 via a flange connecting member 510, the mounting base 501 is rectangular, and the L-shaped positioning member 4011 is tightly attached to the perpendicular side of the mounting base 501 connected to the mounting base positioning device 60. At this time, the initial positioning of the mounting base positioning device 60 and the mounting base conveying device 401 is achieved, and the mounting base positioning device 60 is quickly moved to the position of the opening 4012, and the first connection assembly 500 is brought close to the second connection assembly 700 through the opening 4012, thereby realizing the function of the mounting base positioning device 60 driving the first connection assembly 500 to quickly approach the second connection assembly 700.

[0045] In step S12, the mounting table positioning device 60 is moved to align and bring the first connection assembly 500 and the second connection assembly 700 into close contact with each other. Specifically, as shown in FIG. 8, the first connection assembly 500 includes a mounting base 501, on which a notch 503 is installed, and the second connection assembly 700 includes a locking member 701. The mounting base transport device 401 is initially positioned and then stationary. Then, the mounting base positioning device 60 moves to the opening 4012, and multiple position limiting members 703 are installed on the sides of the second connection assembly 700. The robot arm 612 is lifted and moved into the area formed by the mounting base 501 surrounded by the position limiting members 703, and the locking member 701 passes through the notch 503. The robot arm 612 continues to be lifted, gradually bringing the first connection assembly 500 closer to the second connection assembly 700 until they are in close contact with each other.

[0046] In step S13, the first connection assembly 500 is rotated to a clamping position to lock the first connection assembly 500 and the second connection assembly 70 together. Specifically, as shown in FIG. 8, the first connection assembly 500 includes a driving unit 504, a locking unit 505, and a position limiting unit 506. A stopper 508 is disposed in the position limiting unit 506. A stopped member 509 corresponding to the stopper 508 is disposed in the driving unit 504. The second connection assembly 700 includes a locking member 701, and a locking unit 702 is disposed in the locking member 701. When the driving unit 504 is rotated, the locking unit 505 also rotates accordingly. The driving unit 504 rotates until the stopper 508 and the stopped member 509 are locked together. At the same time, the locking unit 505 is rotated to the locking unit 702 to achieve locking.

[0047] In step S14, the mounting table positioning device 60 is moved to perform positioning at a coordinate position relative to the mounting table 40. Specifically, as shown in FIG. 13, the control device 70 controls the robot arm 612 to move the mounting table 40 to the simulation positioning position within the irradiation chamber based on the coordinate position determined by the simulation positioning, and after moving it to a predetermined position, the irradiation position is determined, and then the patient 200 is irradiated.

[0048] In step S15, the first connection assembly 500 is rotated to a release position to separate the first connection assembly 500 from the second connection assembly 700; Specifically, as shown in FIG. 6, after irradiation is completed, the control device 70 controls the mounting table positioning device 60 to move the mounting table 40 to the mounting table transport device 401, rotates the drive unit 504 in the reverse direction, and the lock unit 505 also rotates accordingly, and the drive unit 504 rotates until the stopper 508 at the other end of the position limiting unit 506 and the stopper 509 on the drive unit 504 are engaged, and at the same time, the lock unit 505 rotates to a position away from the engaging unit 702 to achieve disengagement.

[0049] As shown in FIG. 14, the neutron capture therapy system 100 further includes a control device 70, in which the mounting table 40 and the irradiated object 200 on the mounting table 40 are supported by a mounting table positioning device 60, the control device 70 is connected to the mounting table positioning device 60 and can control the mounting table positioning device 60, and the control device 70 is also connected to the neutron generator 10 and can control the neutron generator 10 to irradiate the irradiated object 200 on the mounting table 40 with a neutron beam N. In this embodiment, the irradiation chamber 101 and the simulation positioning chamber 104 are respectively equipped with the same mounting table positioning devices 60, 60', which have the same positional relationship as the beam outlet 25 and the simulation beam outlet 25'. That is, the same XYZ motion coordinate system is defined for the mounting table 40 and the mounting table positioning devices 60, 60' in the irradiation chamber 101 and the simulation positioning chamber 104, with the coordinate origin being a reference point located 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. The mounting table positioning devices 60, 60' perform simulation positioning and irradiation positioning of the mounting table 40 and the irradiated object 200 on the mounting table 40, respectively. Since the same mounting table positioning device is used, irradiation positioning is more convenient, faster, and more accurate. For ease of explanation, only the structure of the mounting table positioning device 60 in the irradiation chamber 101 will be specifically described below.

[0050] 15 to 17 , in one embodiment, the mounting table positioning device 60 includes a positioning mechanism 61, which includes a linear shaft 611 and a robot arm 612. The robot arm 612 is installed between the linear shaft 611 and the mounting table 40. The mounting table 40 is connected to the linear shaft 611 by the robot arm 612, and the mounting table 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 chamber 101, and the entire robot arm 612 extends toward the floor 1012 of the irradiation chamber 101. As can be understood, the linear shaft 611 may be attached to another surface, for example, a wall or a floor. The linear shaft 611 is composed of a slide rail 6111 fixed to the ceiling 1011 and a support seat 6112 connected to the robot arm 612. The support seat 6112 slides along the slide rail 6111. As can be understood, other structures may also be used. The linear axis is fixed directly to the ceiling 1011, and no separate linear axis fixing mechanism, such as a steel gantry, is required, thereby reducing the amount of steel used in the irradiation chamber and preventing the fixing mechanism from being activated by neutrons, thereby preventing secondary radiation from occurring. The robot arm 612 is a multi-axis robot arm that connects the support base 6112 and the mounting table 40, and the mounting table positioning device 60 further includes a drive mechanism 62 that drives the movement of the linear axis 611 and the robot arm 612, and the control device 70 controls the drive mechanism 62. The extension direction 6113 of the linear axis 611 is parallel to the direction of the neutron beam N that emerges from the beam exit 25 and irradiates the object on the mounting table 40. Thus, during the process of positioning the mounting table, the entire robot arm 612 moves 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 neutron beam exit, thereby reducing the radioactivity generated by the activation of each component of the robot arm by neutrons and the resulting shortening of its service life.The distance H1 from the slide surface S of the slide rail 6111 and the support seat 6112 to the center of the beam outlet 25 in the direction perpendicular to the slide surface S is less than 2 meters, providing sufficient operating space for the mount positioning device 60 to position the mount 40 at a desired position relative to the beam outlet 40. In this embodiment, the slide surface S is parallel to the plane on which the ceiling is located. It can be understood that the mount positioning device 60 may have other installation forms, for example, it may not include a linear axis 611, the mount 40 may be connected to and supported by the robot arm 612, or the robot arm 612 may include more or fewer arms.

[0051] A sensor 80 may be installed on the platform 40 or the platform positioning device 60. As shown in FIG. 17 , the sensor 80 is installed on the positioning mechanism 61 and the platform 40. In one embodiment, the sensor 80 is an anti-collision sensor installed on the platform 40 and the robot arm 612. When the edge of the platform or the robot arm comes into contact with another object or the other object reaches a set range of the sensor, the sensor sends a signal to the control device 70. The control device 70 controls the drive mechanism 62 to stop driving the movement of the positioning mechanism 61, i.e., controls the platform 40 to stop moving. The anti-collision sensor may be a mechanical sensor, a photoelectric sensor, a radar sensor, an ultrasonic sensor, a laser range finder, etc. It can be understood that the anti-collision sensor may also send a human body detection signal. Based on the detected signal, the operator may manually control the drive mechanism to stop driving. Instead of controlling the platform to stop moving, other safety operations may be performed, such as reversing the movement before the collision.

[0052] The control device 70 includes at least one user interface 71 that allows an operator to participate in controlling the stage positioning device 60. The control device 70 further includes a system control module 72 and a positioning control module 73. The user interface 71 is connected to the system control module 72, which is connected to the positioning control module 73, which is connected to the drive mechanism 62 and controls the drive mechanism 62. After receiving a command from the user interface 71, the system control module 72 transmits the command to the positioning control module 73. The positioning control module 73 automatically controls the movement of the positioning mechanism 61 and feeds position information of the positioning mechanism 61 back to the system control module 72, which then transmits the information to the user interface 71 to provide a status instruction. The positioning control module 73 also feeds back the operating status or data of the drive mechanism 62 to the system control module 72. The system control module 72 or the positioning control module 73 controls the drive mechanism 62 based on this information. The system control module 72 can also transmit this information to the user interface 71 to provide a status instruction. A sensor 80 is also connected to the system control module 72, which, after receiving a signal from the sensor 80, sends an instruction to the positioning control module 73 to control the movement of the stage positioning device 60, and transmits the signal from 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 may be integrated together or may have other hardware configurations.

[0053] 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 determines 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 table positioning devices 60, 60′ and the neutron beam N generated by the neutron generator 10 based on the treatment plan data.

[0054] Before starting irradiation treatment, first, in the simulation positioning chamber 104, simulation positioning is performed on the irradiated object 200 based on a treatment plan created in advance by the treatment planning system 90. First, the mounting table positioning device 60' is connected to the mounting table 40, and in this embodiment, as shown in Figure 18, the mounting table 40 is placed on the mounting table transport device 401, and the transport trolley 401 is positioned in the simulation positioning chamber 104 (irradiation chamber 101) by the transport trolley positioning mechanism 402. At least two holes 4021 (not shown) are installed in the ground of the simulation positioning chamber 104 (irradiation chamber 101), and at least two pins 4022 are installed correspondingly on the transport trolley 401, and the pins 4022 are inserted into the holes 4021 to perform positioning. As can be understood, the transport trolley 401 may also be positioned in other ways. The relative position of the transport trolley 401 and the mounting table 40 placed on it is also determined. For example, the position of the mounting table 40 is restricted by a position restriction mechanism 403 (e.g., a boss portion installed on the transport trolley), so when the mounting table 40 is placed on the positioned transport trolley 401, its position relative to the simulation positioning chamber 104 (irradiation chamber 101) is determined. At this time, the mounting table 40 is placed at the initial position A in the simulation positioning chamber 104 (having the same positional relationship as in the irradiation chamber 101), and the control device 70 controls the mounting table positioning device 60' in the simulation positioning chamber 104 to move to a position where it can be connected to the mounting table 40, and the connection device 300 locks the mounting table positioning device 60' to the mounting table 40. Specifically, as shown in Figures 11 and 12, the positioning member 4011 installed on the support rod 806 realizes the positioning of the mounting table positioning device 60' and the mounting table 40, and the mounting table positioning device 60' moves to the side of the mounting base 501 and comes into close contact with the positioning member 4011. At this time, the mounting table positioning device 60' can be quickly connected to the mounting table.

[0055] Next, the irradiated object 200 is placed on the mounting table 40, and the irradiated object 200 is set up and fixed based on the position of the irradiated area relative to the neutron generator 10 during irradiation treatment, which is determined in a previously prepared treatment plan.The treatment planning device 90 or the control device 70 calculates the coordinate position of the mounting table 40 determined in the treatment plan based on the setup at this time, and the irradiated object and mounting table that have been set up are scanned using CT, optical scanning, etc. to determine the relative positions of the irradiated object and mounting table.This makes it possible to calculate the coordinates of the mounting table determined in the treatment plan based on the position of the irradiated area relative to the neutron generator 10 during irradiation treatment, which is determined in the treatment plan.As can be understood, the coordinate position of the mounting table 40 may also be calculated using other methods.

[0056] Based on the calculated coordinates, the control device 70 automatically controls the mount table positioning device 60' to move the mount table 40 from the initial position A to the coordinate position (treatment planning position B). After the mount table 40 has been moved to the coordinate position (treatment planning position B), the operator can make further adjustments via the user interface 71, as necessary, to determine the simulation positioning position C. If an error occurs during the movement of the mount table 40 and the mount table positioning device 60', the operator must go back and recalculate the movement path of the mount table positioning device 60' or go back and create a new treatment plan. By automatically calculating the coordinates of the treatment planning position of the mount table and automatically controlling the mount table positioning device to move the mount table to the treatment planning position, high positioning accuracy and high speed are achieved.

[0057] Next, the user interface 71 sends a command that the simulation positioning is complete, and the control device 70 records the coordinate position at this time (simulation positioning position C), controls the mounting table positioning device 60 to return the mounting table 40 to its initial position A (places the mounting table 40 on the transport trolley 401 that has just been positioned), and the control device 70 controls the connection device 300 to unlock and release the mounting table 40, controls the mounting table positioning device 60 to move to a position away from the treatment table 40, releases the transport trolley positioning mechanism 402, and transports the mounting table 40 and the irradiated subject 200 to the irradiation chamber 101 by the transport trolley 401.

[0058] After transporting the transport trolley to the irradiation chamber 101, irradiation positioning is performed. The same transport trolley positioning mechanism 402 as in the simulation positioning chamber 104 is installed in the irradiation chamber 101 for the transport trolley 401. In other words, the transport trolley positioning mechanism 402 can position the transport trolley 401 in the irradiation chamber at the same fixed position as in the simulation positioning chamber 104. The transport trolley positioning device 60 in the irradiation chamber 101 is then controlled to move to a position (initial position A) where it can be connected to the mounting table 40, and the connection device 300 is controlled to lock the mounting table positioning device 60 and the mounting table 40. The control device 70 controls the mounting table 40 to move to simulation positioning position C based on the coordinate position determined by simulation positioning. Further adjustments can be made via the user interface 71 if necessary. After adjustment to the specified position, the irradiation position D is determined, and the operator leaves the irradiation chamber 101, releases the transport trolley positioning mechanism 402, and takes out the transport trolley 401. The simulation positioning in the simulation positioning chamber 104 reduces the work time required to position the irradiated object 200 before performing irradiation treatment in the irradiation chamber 101, and allows irradiation treatment to be performed on another irradiated object while performing simulation positioning, thereby improving the utilization rate of the device. In one embodiment, if it is necessary to move the mount table 40 from the initial position A after the mount table positioning devices 60, 60' and the mount table 40 have been locked and connected, in order to prevent positional interference between the mount table positioning devices 60, 60' and the transport trolley 401, the mount table positioning devices 60, 60' may be controlled to first lift the mount table 40, and then release the transport trolley positioning mechanism 402 to remove the transport trolley 401, before controlling further movement of the mount table positioning devices 60, 60'.

[0059] In some embodiments, the same laser positioning devices 601, 601' having the same positional relationship are installed in both the irradiation chamber 101 and the simulation positioning chamber 104, and an operator marks the object to be irradiated 200 based on the position where the laser generated by the laser positioning device hits the object to be irradiated 200, and adjusts or verifies the position of the object to be irradiated 200 in the simulation positioning chamber 104 and the irradiation chamber 101 based on the made mark, thereby ensuring that the object to be irradiated 200 is at the same position in the simulation positioning chamber 104 and the irradiation chamber 101. Installing the laser positioning devices makes positioning more convenient and quick.

[0060] The laser generated by the laser positioning devices 601, 601' can further determine the position that coincides with the central axis X, X' of the beam outlets 25, 25'. As shown in FIG. 14, the position where the laser generated by the laser positioning devices 601, 60' hits the irradiated body 200 represents the position where the central axis of the beam emitted from the beam outlets 25, 25' enters the irradiated body 200. By marking the irradiated body 200 based on the incident point of the beam central axis on the voxel prosthesis tissue model simulated by the treatment plan, the beam incidence position determined during simulation positioning and irradiation treatment can be more accurate.

[0061] Optical verification devices 602, 602', which are identical and have the same positional relationship, may be further installed in the irradiation room 101 and the simulation positioning room 104, and the optical verification devices 602, 602' collect images of the position of the mounting table 40 and the irradiated object 200, transmit the data to the system control module 72, compare the data with information such as a treatment plan, and make adjustments or perform other treatment control based on the results. The system control module 72 can also receive other data information, such as data from a neutron generator and information about the irradiated object, and control other devices such as a neutron generator.

[0062] After the mounting table 40 and the irradiated object 200 are accurately adjusted, the mounting table 40 now has an irradiation position D, and the operator sends a command to start irradiation via the user interface 71. After determining that the conditions for starting irradiation are met, the system control module 72 controls the neutron generator 10 to generate a neutron beam N and perform irradiation therapy on the irradiated object 200 on the mounting table 40. After a predetermined irradiation time (e.g., an irradiation time determined based on treatment planning data) is reached, the system control module 72 controls the neutron generator 10 to stop irradiating the irradiated object 200 on the mounting table 40 with the neutron beam N, and transmits information to the user interface 71 to issue a status instruction for ending the treatment. After the treatment is ended, the system control module 72 sends a command to the positioning control module 73 to move the mounting table 40 from the irradiation position D to an end position E, and controls the mounting table positioning device 60 to move the mounting table 40 away from the beam exit 25. After the irradiation of the neutron beam N is stopped, a large amount of radiation remains at the beam exit 25. By moving the mounting table 40 to a position away from the beam exit 25, it is possible to prevent the irradiated object 200 from continuing to be irradiated with the remaining radiation after the treatment is completed, and to reduce unnecessary radiation doses. Figures 19 to 21 are schematic diagrams showing states when the mounting table 40 and the mounting table 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 mounting table 40 from the irradiation position D along the extension direction 6113 parallel to the linear axis 611 to a first intermediate position F away from the beam exit 25, thereby realizing the mounting table 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. Next, the mounting table 40 is moved to a second intermediate position F where the extension direction 41 of the mounting table 40 is approximately parallel to the extension direction 6113 of the linear axis 611. By controlling the robot arm 612 to move the mounting table 40 to the intermediate position G, it is possible to prevent the mounting table 40 and the like from interfering with the position of the transport bed and the like at the end position E or from blocking the exit of the shielding door of the irradiation chamber 101, thereby making it easier for the irradiated object 200 to leave the irradiation chamber 101 later.Finally, the robot arm 612 is controlled to move the mounting table 40 from the second intermediate position G to the end position E by bringing it closer to the ground, and by bringing it closer to the ground, it is easier for the irradiated object 200 to leave the irradiation chamber 101. After the irradiated object 200 has left, the connection device 300 may be controlled to further release the lock and the mounting table 40 may be sent back to the simulation positioning chamber 104, or the connection device 300 may be controlled to first release the lock and the irradiated object 200 together with the mounting table 40 may be transported out of the irradiation chamber 101, and after the irradiated object 200 has left the mounting table 40, the mounting table 40 may be sent back to the simulation positioning chamber 104, for example, by a transport trolley 401, in which case the end position E may be the same as the initial position A, and the transport trolley 401 may also be positioned by the transport trolley positioning mechanism 402 within the irradiation chamber 101, and the robot arm 612 moves the mounting table 40 to the initial position A (end position E) where the mounting table 40 is just placed on the transport trolley 401. At the end position E, the minimum distance H2 from the mounting 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, thereby ensuring that the object is not exposed to a large dose of remaining radiation, and at the end position E, the height H3 from the mounting surface 42 of the mounting table 40 to the ground is less than 600 mm, making it easy to move the irradiated object 200 or the mounting table 40.

[0063] After the treatment is completed, the system control module 72 may automatically control the mounting table 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, or the operator may input a command in the user interface 71 to move the mounting table 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 for the end of treatment in the user interface 71, and then the system control module 72 may control the mounting table 40 to move away from the beam exit 25 based on the command.

[0064] As shown in FIG. 22, in brief, the mounting table control method according to this embodiment includes the following steps S10 to S50.

[0065] In step S10, in the simulation positioning chamber 104, the mounting table positioning device 60' in the simulation positioning chamber 104 is connected to the mounting table 40 and locked to the mounting table 40, the irradiated object 200 is set up and fixed on the mounting table 40 based on the treatment plan data, and then the treatment plan coordinates of the mounting table 40, i.e., the coordinates of the treatment plan position B, are calculated based on the treatment plan data and the setup of the irradiated object 200.

[0066] In step S20, based on the treatment planning coordinates, the table positioning device 60' is controlled to move the table 40 to the treatment planning position B, and if necessary, further adjust it to the simulation positioning position C, and record the coordinates of the simulation positioning position C, so that it can be understood that the simulation positioning position C may be the treatment planning position B.

[0067] In step S30, the lock between the mounting table positioning device 60' and the mounting table 40 is released, the mounting table 40 and the object 200 to be irradiated on the mounting table 40 are moved to the irradiation chamber 101, and the mounting table positioning device 60 in the irradiation chamber 101 is connected to the mounting table 40 and locked to the mounting table 40.

[0068] In step S40, based on the coordinates of the simulation positioning position C, the mounting table positioning device 60 is controlled to move the mounting table 40 to the simulation positioning position C, and if necessary, further adjusted to the irradiation position D, and then treatment is started to irradiate the neutron beam N onto the irradiated body 200, and as can be understood, the irradiation position D may be the simulation positioning position C.

[0069] In step S50, after the treatment is completed, i.e., after the irradiation of the neutron beam N to the irradiated body 200 is stopped, the mounting table positioning device 60 is controlled to move the mounting table 40 to the end position E, i.e., the mounting table 40 is controlled so that it moves away from the beam exit 25.

[0070] As can be understood, step S20 may further include a step of going back and recalculating the movement path of the table positioning device 60′ or going back and recreating the treatment plan if an error occurs in the process of moving the table 40 to the treatment planning position B.

[0071] As shown in FIG. 23, specifically, in step S50, the method of controlling the mounting table 40 to move away from the beam exit 25 further includes the following steps S51 to S53.

[0072] In step S51, the linear axis 611 is controlled to move the mounting 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.

[0073] In step S52, the robot arm 612 is controlled to move the mounting table 40 to a second intermediate position G where the extending direction 41 of the mounting table 40 is substantially parallel to the extending direction 6113 of the linear shaft 611.

[0074] In step S53, the robot arm 612 is controlled to move the stage 40 from the second intermediate position G to the end position E, approaching the ground.

[0075] Regarding the command to move the stage away from the beam exit, input through the user interface 71, steps S51 to S53 may be automatically and consecutively executed by pressing one button, or steps S51 to S53 may be executed stepwise by pressing three buttons corresponding to steps S51 to S53, or other configuration methods may be employed. It can be understood that, for steps S51 and S53, the robot arm 612 may be first controlled to move the stage 40 closer to the ground, and then the linear axis 611 may be controlled to move the stage 40 away from the beam exit 25 along an extension direction 6113 parallel to the linear axis 611. Step S52 may be performed after step S53, or the linear axis 611 and the robot arm 612 may be simultaneously controlled to move the stage 40 to the end position E. It can be understood that, according to specific needs, the stage at the end position E may be at another position where its height relative to the ground is different from that of the stage at the irradiation position D.

[0076] All of the above positions A to G are based on a predetermined reference point on the mounting table 40, and as can be understood, instead of installing a transport trolley, the same mounting table can be installed in each of the simulation positioning chamber and the irradiation chamber, and the irradiated object can be set up in the same way in the simulation positioning chamber and the irradiation chamber (for example, by a positioning mechanism installed on the mounting table), and the same initial position can be determined (for example, by a laser positioning device).

[0077] In this embodiment, the concrete wall is a boron-containing barite concrete wall with a thickness of 1 m or more and a density of 3 g / cc. Boron-containing concrete has better neutron absorption properties, which not only improves the radiation shielding effect of the concrete but also reduces the neutron exposure of metal materials in the concrete. It can be understood that other thicknesses or densities may be used, and other materials may be substituted, and the thickness, density, or material of different parts of the concrete wall may be different. It can be understood that the present invention can also be applied to other types of neutron irradiation systems, including other radiation irradiation systems such as proton therapy systems and heavy ion therapy systems. In this case, the neutron generator may be replaced with another radiation generator, the concrete material may be replaced as needed, and the support table may be a support table for other irradiated objects.

[0078] The technical features of the above embodiments can be combined in any manner, and for the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, any combination should be considered to be within the scope of the present specification.

[0079] The above examples illustrate some embodiments of the present invention, and although the descriptions are specific and detailed, they should not be understood as limiting the scope of the claims of the present invention. Those skilled in the art may make further modifications and improvements without departing from the concept of the present invention, and all of these fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined based on the scope of the appended claims. [Explanation of symbols]

[0080] 100 Neutron Capture Therapy System 101 Irradiation room 102 Charged particle beam generation chamber 103 Partition Wall 104 Simulation Positioning Room 1011 Ceiling 1012 beds 10 Neutron Generator 11 Accelerator 20 Beam shaper 21 Reflector 22 Reducer 23 Thermal neutron absorber 24 Radiation shield 25 Beam Exit 30 Collimator 40 Mounting table 50 Radiation shielding device 200 patients 401 Loading table transport device 404 Caster 300 Connection Device 500 First Connection Assembly 501 Mounting stand 502 Locking member 503 Notch 504 Drive unit 505 Lock Section 506 Position restriction section 507 Position limit end 508 Stopper 509 Stopper 510 Flange connection member 700 Secondary Connection Assembly 701 Locking member 702 Locking part 703 Position limiting member 800 Buffer Assembly 801 Lower support seat 802 Upper support seat 803 Cushioning materials 804 Bump 805 pin shaft 806 Support Rod 4011 Positioning member 4012 Aperture 402 Transfer trolley positioning mechanism 4021 holes 4022 pins 60 Placement table positioning device 61 Positioning mechanism 62 Drive mechanism 601 Laser Positioning Device 611 Linear Axis 612 Robot Arm 6111 Slide Rail 6112 Support seat 70 Control device 71 User Interface 72 System Control Module 73 Positioning control module 80 sensors 90 Treatment Planning Device

Claims

1. The apparatus includes a mounting table, a mounting table positioning device, a mounting table transport device, and a connection device, the patient table is configured to place a patient thereon; the mounting table positioning device moves and positions the mounting table, the mounting table transport device supports and moves the mounting table, a mounting table positioning system, characterized in that the connection device has a clamp position that locks the mounting table and the mounting table positioning device together and a release position that disengages the mounting table and the mounting table positioning device, the connection device includes a first connection assembly and a second connection assembly that engage with each other, and the first connection assembly and the second connection assembly are installed opposite the mounting table and the mounting table positioning device.

2. 2. The stage positioning system of claim 1, wherein the first connection assembly includes a mounting base and a locking member installed on the mounting base, the locking member locking the second connection assembly and the mounting base.

3. 3. The mounting table positioning system of claim 2, wherein the locking member includes a drive unit movably connected to the mounting base, a lock unit, and a position limiting unit installed on the mounting base, the drive unit driving the lock unit to rotate, and the position limiting unit having a position limiting end that limits the position of the drive unit.

4. The mounting table positioning system of claim 3, characterized in that a stopper is installed on the side of the position limiting end facing the drive unit, a stopper corresponding to the stopper is installed on the drive unit, and when the locking unit is located at the clamp position, the stopper is connected to the stopper.

5. 3. The stage positioning system of claim 2, wherein the mount is provided with a notch that aligns and matches with the second connection assembly.

6. 6. The support table positioning system of claim 5, wherein the second connection assembly includes a locking member that can pass through the notch and a position limiting member that limits the position of the mounting base, wherein a locking portion is installed on one side of the locking member, and wherein a plurality of the position limiting members are installed.

7. 7. The stage positioning system according to claim 6, wherein the side of the position limiting member facing the mounting base is provided as an inclined surface.

8. 2. The stage positioning system of claim 1, wherein the stage transport device includes casters and a buffer assembly installed on the casters, the buffer assembly including a lower support seat, an upper support seat, and a buffer member arranged between the upper support seat and the lower support seat, the upper support seat being movably connected to the lower support seat, and the upper support seat being rotatable relative to the lower support seat.

9. 2. The stage positioning system according to claim 1, wherein a positioning member is provided on the stage transport device, and the positioning member is used to determine the relative positions of the stage transport device and the stage positioning device.

10. The stage positioning system of claim 9 , wherein the positioning member is L-shaped.

11. 2. The stage positioning system according to claim 1, wherein an opening is provided in the stage transport device, and the opening accommodates the connection device.

12. A mounting table positioning method using the mounting table positioning system according to any one of claims 1 to 11, comprising: a step of moving the stage transport device to align it with a predetermined position of the stage positioning device, wherein a stage is placed on the stage transport device, and the first connection assembly and the second connection assembly are installed facing each other in contact with the stage or in contact with the stage positioning device, respectively; moving the stage positioning device to align and contact the first and second connection assemblies; rotating the first connection assembly to a clamped position to lock the first connection assembly and the second connection assembly together; and moving the mounting table positioning device to position the mounting table at a coordinate position.

13. 13. The mounting table positioning method of claim 12, wherein a positioning member and an opening are provided on the mounting table transport device, and the step of moving the mounting table transport device to a predetermined position to align it with the mounting table positioning device includes a step of pressing the mounting table transport device against one side of the mounting table positioning device using the positioning member, and aligning and pressing the first connection assembly and the second connection assembly against the opening.

14. 13. The method for positioning a mounting table according to claim 12, wherein the first connection assembly includes a drive unit, a lock unit, and a position limiting unit, a stopper is provided on the position limiting unit, a stopped unit corresponding to the stopper is provided on the drive unit, and the second connection assembly includes a locking unit, and the step of rotating the first connection assembly to a clamp position to lock the first connection assembly and the second connection assembly includes a step of rotating the drive unit until the stopper and the stopped unit are locked, and rotating the locking unit to the locking unit to achieve locking.

15. a radiation generating device; A radiation therapy system comprising: a stage positioning system according to any one of claims 1 to 11.

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