Radiation therapy system and automatic setup method thereof

Abstract

The present application relates to a radiation therapy system and a setup method thereof, the radiation therapy system including an image acquisition module, a placement module for placing an irradiated object, a treatment planning module for creating a treatment plan, a radiation generation module for generating radiation, and a setup module for automatically setting up the placement module, the setup module calculating the irradiation position of the placement module based on the treatment plan created by the treatment planning module, thereby realizing automated and accurate control of the setup of the irradiated object, thereby improving work efficiency and avoiding operational errors due to manual intervention.

Description

[Technical Field]

[0001] The present application relates to the technical fields of radiation therapy and computers, and more particularly to a radiation therapy system and an automated setup method thereof. [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. However, conventional photon or electron therapy kills tumor cells due to the limitations of the physical conditions of the radiation itself, while damaging many normal tissues along the beam path. In addition, tumor cells have different degrees of sensitivity to radiation, so conventional radiation therapy is not very effective in treating malignant tumors with high radiation resistance (e.g., glioblastoma multiforme, melanoma).

[0003] To reduce radiation damage to normal tissues surrounding tumors, the concept of targeted therapy used in chemotherapy has been applied to radiotherapy. Furthermore, for tumor cells that are highly resistant to radiation, radiotherapy with high relative biological effectiveness (RBE), such as proton therapy, heavy particle therapy, and neutron capture therapy, is currently being actively developed.

[0004] In tumor radiotherapy, it is necessary to maximize the local tumor dose and minimize damage to surrounding normal tissues and associated complications, thereby improving the tumor cure rate and improving the patient's quality of life. To achieve good therapeutic effects, the position of the patient during treatment is very important.

[0005] Before administering radiation therapy, physicians and medical physicists typically use a treatment planning system to determine a treatment plan. Treatment planning systems rely on patient imaging information, including computed tomography (CT), magnetic resonance imaging (MRI), and positron emission tomography (PET-CT), to delineate the treatment target region (GTV) and regions of interest (ROI) for each critical organ in the patient's body. Then, a Monte Carlo program is used to calculate the radiation therapy dose, ultimately determining the treatment plan, including patient positioning. In addition to the need for accurate planning throughout the entire treatment process, the patient must be accurately set up during radiation therapy administration in strict accordance with the treatment plan determined by the treatment planning system. If the setup error is too large, the center position of the focal target region will shift, resulting in an insufficient dose at the tumor target region or an excessive dose in surrounding normal tissue, preventing the desired therapeutic effect. Currently, radiation therapy planning requires the use of auxiliary setup devices, such as a wall-mounted laser lamp capable of emitting a cross-shaped beam. However, manual intervention is unavoidable, and an automated patient setup system is lacking.

[0006] In order to ensure that the patient's position during radiation therapy is consistent with the position designed in the treatment plan, improve the efficiency of patient setup, and reduce the risk of radiation exposure to field workers, the object of the present invention is to provide an automatic setup system that realizes automatic setup when a patient receives radiation therapy, so as to overcome the deficiencies of the prior art. Summary of the Invention

[0007] Therefore, in order to address the above technical issues, it is necessary to provide a radiotherapy system and an automatic setup method therefor that can improve setup accuracy and setup efficiency and reduce radiation damage to on-site workers.

[0008] A radiation therapy system according to one aspect of the present invention includes an image acquisition module, a placement module, a treatment planning module, a radiation generation module, and a setup module, wherein the image acquisition module acquires medical images of an irradiated body, the placement module places the irradiated body, the treatment planning module creates a treatment plan, the radiation generation module generates radiation, the setup module controls the placement module to set up, and calculates the irradiation position of the placement module based on the treatment plan generated by the treatment planning module.

[0009] Furthermore, the setup module includes a marker, at least two sets of laser beam positioning devices, and a calculation unit that calculates the irradiation position of the placement module, and the marker is made of a material that can be developed into an image.

[0010] Furthermore, the placement module includes a placement table on which the object to be irradiated is placed, and a robot arm that moves and positions the placement table, and the calculation unit calculates a target position of the robot arm and movement parameters of each joint of the robot arm.

[0011] Furthermore, the laser beam positioning device includes an image laser beam positioning device and an operation laser beam positioning device installed in an image acquisition room and an operation room, respectively, and the image laser beam positioning device and the operation laser beam positioning device each consist of at least three laser beam emitters, and the number of the markers is the same as the number of the laser beam emitters.

[0012] Furthermore, the operation room is an irradiation room where radiation irradiation is performed.

[0013] Furthermore, the radiation delivery system further includes a data management module that sends and receives data to at least one of the image acquisition module, the placement module, the treatment planning module, the radiation generation module, and the setup module.

[0014] In another aspect of the present invention, there is provided an automatic setup method for a radiation therapy system, wherein the radiation therapy system has at least an imaging laser beam positioning device and an operation laser beam positioning device, and the automatic setup method includes the steps of: placing a marker at a position where the laser beam emitted from the imaging laser beam positioning device intersects with the irradiated body; acquiring a medical image of the irradiated body using an imaging device; acquiring a marker coordinate system and a planning beam coordinate system based on a treatment planning module; acquiring a first transformation matrix based on the marker coordinate system and the planning beam coordinate system; fixing the irradiated body to a mounting table so that the laser beam emitted from the operation laser beam positioning device is irradiated to the corresponding marker; and defining a second laser beam coordinate system of the operation laser beam positioning device and determining the irradiation position of the mounting table based on the second laser beam coordinate system and the first transformation matrix.

[0015] Furthermore, the step of acquiring the first laser light coordinate system of the image laser light positioning device based on the treatment planning module is specifically a step of introducing the medical image into the treatment planning module, acquiring a marker coordinate system, and determining the first laser light coordinate system based on the marker coordinate system.

[0016] Furthermore, the step of acquiring a planned beam coordinate system based on a treatment planning module is specifically a step of creating a treatment plan based on the medical image using the treatment planning module and determining the planned beam coordinate system based on the treatment plan.

[0017] Furthermore, the step of determining the irradiation position of the mounting table based on the second laser light coordinate system and the first transformation matrix is ​​a step of determining a beam coordinate system and determining the irradiation position of the mounting table based on the second laser light coordinate system, the first transformation matrix, and the beam coordinate system.

[0018] Furthermore, the radiation therapy further includes a robot arm and a flange connecting the robot arm and the mounting table, and the automatic setup method further includes the steps of recording the position of the flange as an initial position when the laser light emitted from the operational laser light positioning device is irradiated onto the corresponding marker, calculating and acquiring a target position of the flange by combining the second laser light coordinate system and the first transformation matrix, calculating and acquiring movement parameters of the robot arm based on the initial position and the target position, and controlling the mounting table by a setup module to move to the irradiation position based on the movement parameters of the robot arm.

[0019] The setup module of the radiation therapy system in one embodiment of the present invention can directly obtain the irradiation position of the table in the operation room based on the treatment plan, thereby realizing automated and accurate control of the setup of the irradiated object, thereby improving work efficiency and avoiding operational errors due to manual intervention. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a schematic diagram of a radiation therapy system according to the present invention. [Figure 2] 1 is a schematic diagram illustrating the layout of a radiation therapy system according to the present invention. [Figure 3] 1 is a schematic diagram of a mounting module and a positioning device of a radiation therapy system according to the present invention. [Figure 4] FIG. 1 is a schematic diagram of a beam shaper of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] In order to clarify the purpose, technical means and advantages of the present application, the present application will be described in detail below with reference to the drawings and examples. Note that the specific examples described herein are only for the purpose of interpreting the present application and are not intended to limit the present application.

[0022] 1 and 2, the radiation treatment system 100 of this embodiment includes an image acquisition module 1 located in an image acquisition room (not shown), a placement module 2 located in an operation room 8 on which an irradiated subject S is placed, a treatment planning module 4 that creates a treatment plan, a radiation generation module 5 that generates radiation suitable for irradiation, and a setup module 6 that controls the setup of the placement module 2. The image acquisition module 1 acquires three-dimensional medical images of the irradiated subject S, the radiation generation module 5 generates radiation suitable for treatment, the treatment planning module 4 performs dose simulation calculations based on the three-dimensional medical images of the irradiated subject S and radiation source data information generated by the radiation generation module 5, and generates a treatment plan including information such as the irradiation position, irradiation direction, irradiation time, and irradiation dose, the placement module places the irradiated subject S, and the setup module 6 controls the placement module 2 to move the irradiated subject S to the irradiation position based on information such as the treatment plan generated by the treatment planning module 4.

[0023] The setup module 6 includes a marker 61, an image laser light positioning device (not shown) installed in the image acquisition room, an operation laser light positioning device 62 installed in the operation room 8, a calculation unit 63 that calculates the irradiation position of the mounting module 2, and a control unit 64 that controls the movement of the mounting module 2 based on the calculation results of the calculation unit 63.

[0024] 3, the mounting module 2 includes a mounting table 21 on which the irradiation subject S is mounted, a robot arm 22 that moves and positions the mounting table 21, and a drive unit that drives the robot arm 22 to move, the drive unit being preferably a motor. The mounting module 2 is installed in an operation room 8, which also has a beam outlet 81. Radiation is emitted from the beam outlet 81 and irradiated onto the irradiation subject S to perform radiation irradiation therapy. The calculation unit may be located in the mounting module or in another module in the radiation irradiation system, and is not limited thereto.

[0025] Specifically, the markers 61 are made of a material, such as metal, that can be developed in an image and is easily distinguishable from the tissue of the irradiated body S, and at least three markers 61 are installed, and the three markers 61 are fixedly installed on the irradiated body S so as not to overlap. In order to easily extract the markers 61 from the image, in the embodiment disclosed in the present invention, there are three markers 61, and the markers 61 are set to a specific shape, such as a triangle, a trapezoid, a parallelogram, or other general shape that is not present in human tissue.

[0026] Both the image laser light positioning device and the operational laser light positioning device 62 are composed of multiple laser light emitters, the number of laser light emitters is the same as the number of markers 61, and the points where the laser light emitted from the three laser light emitters intersect with the irradiated object do not overlap, and the three intersections are aligned with the three markers 61, respectively.

[0027] In another preferred embodiment, the radiation delivery system further includes a data management module that enables information exchange among the multiple system modules by sending and receiving data to at least one of the image acquisition module, the positioning module, the treatment planning module, the radiation generation module, and the setup module. The computing unit may be located in the data management module.

[0028] A method for setting up a radiation treatment system according to one embodiment of the present invention includes the following steps.

[0029] In the step of placing the marker on the irradiation subject, An image laser beam positioning device 62 is installed in the image acquisition room, and three laser beam emitters of the image laser beam positioning device 62 are respectively located on the left, right and upper sides of the origin of the image coordinate system, and laser beams emitted from the three laser beam emitters intersect with the surface of the irradiated body S, and markers 61 are placed at three positions where the laser beams intersect with the surface of the irradiated body S, In the step of acquiring the first laser beam coordinate system, The image acquisition module 1 is used to scan the irradiated body S to acquire an image including at least the lesion and three markers 61 of the irradiated body S, extract the three markers 61 from the image, and based on this, establish a marker coordinate system for the three markers 61, define a first laser light coordinate system CSlaser1 of the image laser light positioning device 62 based on the marker coordinate system of the three markers 61, and acquire the first laser light coordinate system CSlaser1 in the image coordinate system CSimage based on the relative positional relationship between the first laser light coordinate system CSlaser1 and the image coordinate system CSimage, which is expressed by a transformation matrix; In the step of determining the planning beam coordinate system, The three-dimensional medical image of the irradiated body S is input into the treatment planning module 4, and the treatment planning module 4 extracts lesion information from the medical image. In combination with a voxel prosthetic tissue model having tissue types, a Monte Carlo simulation program is used to simulate the radiation trajectory and energy distribution in the internal three-dimensional space when the irradiated body S is irradiated with radiation. Samples are sampled and simulated at different irradiation angles to calculate the dose distribution at different irradiation angles and irradiation times of the three-dimensional voxel prosthetic tissue model. Finally, a treatment plan is generated by selecting a suitable irradiation angle by combining the dose distribution situation, dose index (e.g., prescription dose), and dose limit value (e.g., average dose, maximum dose), and a treatment plan including information such as irradiation position, irradiation angle, irradiation time, and irradiation dose is determined.

[0030] The planning beam coordinate system CSbeam is constructed based on the irradiation position and irradiation angle in the treatment plan, and the relative positional relationship between the planning beam coordinate system CSbeam and the image coordinate system CSimage, expressed as a transformation matrix, can be directly obtained from the image, thereby obtaining the planning beam coordinate system CSbeam in the image coordinate system CSimage. In the step of acquiring a first transformation matrix T1 between the planning beam coordinate system CSbeam and the first laser beam coordinate system, The calculation unit 63 combines the transformation matrix between the planning beam coordinate system CSbeam and the image coordinate system CSimage, and the transformation matrix between the first laser light coordinate system CSlaser1 and the image coordinate system CSimage to calculate and obtain the first transformation matrix T1 between the planning beam coordinate system CSbeam and the first laser light coordinate system CSlaser1.

[0031] In the step of performing initial setup on the object to be irradiated, An initial setup is performed on the object S to be irradiated in the operation room 8 in which the operation laser beam positioning device 62 is installed, and the object S to be irradiated is fixed to the mounting table 21. Then, the spatial position of the mounting table 21 is adjusted so that the laser beams emitted from the three laser beam emitters of the operation laser beam positioning device 62 are irradiated onto the corresponding three markers 61 on the object S to be irradiated, thereby completing the initial setup. In the step of determining the irradiation position of the mounting table, A robot arm coordinate system CSrob is provided in the operation room, and the actual beam coordinate system in the robot arm coordinate system is defined based on the position of the beam exit 81 in the operation room 8. In order to achieve a good treatment effect, during actual irradiation, the spatial position of the mounting table 21 must be adjusted so that the relative positional relationship between the actual beam coordinate system in the robot arm coordinate system and the marker coordinate system is the same as the relative positional relationship between the planned beam coordinate system CSbeam and the marker coordinate system in the treatment plan.

[0032] Specifically, the initial position in the robot arm coordinate system of the flange connecting the robot arm 22 and the mounting table 21 in the initial setup state is recorded, and the mounting table 21 is driven to move by adjusting the position of the flange, and the corresponding flange position when the mounting table 21 is at the irradiation position is defined as the target position. The calculation unit 63 calculates and acquires the target position of the flange by combining the second laser light coordinate system CSlaser2, the actual beam coordinate system, and the first transformation matrix T1, thereby determining the irradiation position of the mounting table.

[0033] (7) In the step of driving the robot arm to move and causing the mounting table to reach the irradiation position, A calculation unit 63 calculates movement parameters of the robot arm based on the initial position and the target position, and a control unit 64 drives the robot arm 22 to move based on the movement parameters of the robot arm, causing the mounting table 21 to reach the irradiation position. Specifically, the calculation of the movement parameters of the robot arm needs to be combined with the design parameters of the robot arm, and this part is a common technique for those skilled in the art, so a description thereof will be omitted here.

[0034] In another preferred embodiment, actual setup control in the operating room may be performed in the flange coordinate system, as long as the positional relationship between the markers whose positions are fixed during actual setup and the beam ultimately matches the positional relationship in the treatment plan to achieve accurate treatment.

[0035] In one embodiment of the present invention, by using the image laser beam positioning device, the operation laser beam positioning device 62 and the marker 61 placed on the irradiated body S as a medium, each module can operate cooperatively, and directly obtain the irradiation position of the table 21 in the operation room 8 based on the treatment plan, thereby realizing the automation and precise control of the setup of the irradiated body S, improving work efficiency and avoiding erroneous operation due to manual intervention.

[0036] Preferably, the radiation therapy system 100 of the present invention is a neutron capture therapy system, in particular a boron neutron capture therapy system.

[0037] The main principle of boron neutron capture therapy is as follows: the irradiated body S is doped with boron ( 10 After the administration or injection of the boron-containing drug, the boron-containing drug selectively accumulates in tumor cells, and then the boron ( 10 B) Utilizing the property that the contained drug has a high capture cross section for thermal neutrons, 10 B(n,α) 7 Li neutron capture and fission reactions 4 He and 7Two types of heavy charged particles of Li are generated, with an average energy of approximately 2.33 MeV, a high linear energy transfer (LET), and a short range. The total range of the two particles is equivalent to the size of a single cell, so 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.

[0038] The device for acquiring the three-dimensional medical image may be an imaging device such as CT, MRI, PET, or ultrasound, and in the present invention, preferably, a CT device image acquisition module 1 is used to acquire medical image data of the irradiated body S using electronic computed tomography (CT). The medical image data of the irradiated body S includes a coordinate matrix in a medical image coordinate system of a medical image voxel model of the irradiation target site (lesion, i.e., tumor cells) and a CT value matrix, and the image acquisition module 1 transmits the medical image data to a data management module.

[0039] 2 and 4, in this embodiment, the radiation is neutrons, and the radiation generating module 5 is a neutron beam irradiation module including a neutron generating section 51, a beam shaper 52, and a collimator 53. The neutron generating section 51 includes an accelerator 511 and a target 512. The accelerator 511 accelerates charged particles (e.g., protons, deuterons, etc.) to generate a charged particle beam such as a proton beam, and the charged particle beam is irradiated onto the target 512 and interacts with the target 512 to generate a neutron beam (neutron beam). The target 512 is preferably a metal target 512. 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 512, and other characteristics. Well-studied nuclear reactions include: 7 Li(p,n) 7 Be and 9 Be(p,n) 9B, both of which are endothermic reactions. In an embodiment of the present invention, a target 512 made of lithium metal is used. However, as is well known to those skilled in the art, the target 512 may be made of a metal material other than lithium or beryllium, such as tantalum (Ta) or tungsten (W). The target 512 may be disk-shaped, have another solid shape, or be in a liquid state (liquid metal). The accelerator 511 may be a linear accelerator, a cyclotron, a synchrotron, or a synchrocyclotron. In another embodiment, the neutron generator 51 may be a nuclear reactor without using the accelerator 511 and the target 512.

[0040] Whether the neutron source for boron neutron capture therapy is a nuclear reactor or a nuclear reaction between accelerated charged particles and the target 512, the generated beam actually contains a mixed radiation field, i.e., 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 that causes non-selective dose deposition in normal tissues. Therefore, it is necessary to reduce these radiations that cause unnecessary dose deposition as much as possible. The beam shaper 52 adjusts the beam quality of the neutron beam generated by the neutron generator 11 to reduce unnecessary dose deposition, and the collimator 53 focuses the neutron beam, ensuring high targetability during treatment.

[0041] The beam shaper 52 includes a reflector 521, a moderator 522, a thermal neutron absorber 523, a radiation shield 524, and a beam outlet 525. The moderator 522 adjusts the energy of fast neutrons (>40 keV) emitted from the neutron generator 11 to the epithermal neutron energy range (0.5 eV to 40 keV) and can reduce the content of thermal neutrons (<0.5 eV) as much as possible. The moderator 522 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 522 is made of at least one of D2O, AlF3, Fluental (registered trademark), CaF2, Li2CO3, MgF2, and Al2O3. The reflector 521 surrounds the moderator 522. The reflector 521 is made of a material with a high neutron reflecting ability, and reflects the neutrons that have passed through the moderator 522 and diffused to the surroundings back into the neutron beam, improving the utilization rate of the neutrons. In a preferred embodiment, the reflector 521 is made of at least one of Pb and Ni. In the neutron beam transport path, a thermal neutron absorber 523 is installed at the rear of the moderator 522, and absorbs the thermal neutrons that have passed through the moderator 522 to reduce the content of thermal neutrons in the neutron beam. The thermal neutron absorber is made of a material with a large cross section that interacts with thermal neutrons. In a preferred embodiment, the thermal neutron absorber 523 is made of Li. -6 In another embodiment, the material of the moderator 522 is Li. -6 Therefore, it is not necessary to install the thermal neutron absorber 523 alone, and the moderator 522 may be used as the thermal neutron absorber 523, and the radiation shielding body 524 shields neutrons and photons leaking from parts other than the beam exit port 525, and the material of the radiation shielding body 524 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 524 includes lead (Pb) as a photon shielding material and polyethylene (PE) as a neutron shielding material.

[0042] A collimator 53 is installed behind the beam exit port 525, and the epithermal neutron beam emitted from the collimator 53 is irradiated onto the subject S, passes through the superficial normal tissue of the subject S, and is then slowed down to thermal neutrons, reaching the tumor cells and achieving the therapeutic objective.

[0043] As can be understood, the beam shaper 52 may have other structures as long as it can obtain an epithermal neutron beam that meets treatment requirements. In the present invention, the collimator 53 may not be provided, and the beam is directly irradiated onto the irradiated object S after exiting the beam exit port 525 of the beam shaper 52. For convenience of explanation, when the collimator 53 is not installed, the beam exit port 525 will be understood as the beam exit port 81, and when the collimator 53 is installed, the exit of the collimator 53 will be interpreted as the beam exit port 81.

[0044] In one embodiment, the operation room 8 is an irradiation room, and after the irradiation subject S is set up at a predetermined position in the irradiation room 8, it is irradiated with a neutron beam to perform irradiation therapy.

[0045] In one embodiment, the operation room 8 is a preparation room, and the boron neutron capture therapy system further includes an irradiation room 9, in which preparation work before irradiation is performed on the irradiated subject S in the preparation room 8, and neutron beam irradiation therapy is performed in the irradiation room 8, and further, a neutron beam outlet 91, a treatment table 92, and an adjustment unit 93 that moves and positions the treatment table 92 are installed in the irradiation room 9. After the mounting table 21 is set up at the irradiation position in the preparation room 8, the setup module 6 calculates and acquires the irradiation position of the treatment table 92 based on the irradiation position information of the mounting table 21, and the control unit 64 controls the adjustment unit 93 to move based on the irradiation position of the treatment table 92, and moves the treatment table 92 to the irradiation position. That is, the automatic setup method further includes a step in which the calculation unit 63 calculates the irradiation position of the treatment table 92 based on the irradiation position information of the mounting table 21 and transmits it to the control unit 64, and the control unit 64 controls the adjustment unit 93 to move based on the irradiation position information of the treatment table 92, thereby moving the treatment table 92 to the irradiation position.

[0046] In one embodiment, the mounting table 21 and the robot arm 22, and the treatment table 92 and the adjustment unit 93 are firmly connected using a detachable connection method, and after the setup of the irradiated subject S is completed on the mounting table 21 in the preparation room 9, the mounting table 21 is removed from the robot arm 22 while ensuring that the relative positional relationship between the irradiated subject S and the mounting table 21 does not change.The mounting table 21 with the irradiated subject S restrained is then transported to the irradiation chamber 9 using equipment such as a cart and attached to the adjustment unit 93 in the irradiation chamber 9, thereby maximally and easily restoring the relative positional relationship between the irradiated subject S and the mounting table 21 to the same state as when the setup in the preparation room 8 was completed within the irradiation chamber 9, thereby saving time for surgery preparation.Furthermore, by using the same parts for the mounting table 21 and the treatment table 92, equipment costs can be saved and the number of times the irradiated subject S is restrained on the mounting table 21 can be reduced, thereby improving work efficiency.

[0047] Furthermore, to improve setup accuracy, the preparation room 8 and the irradiation room 9 are each equipped with the same number of first and second positioning modules. Each of the first and second positioning modules is composed of three lasers, and the three laser beams of the same positioning module intersect at a certain point. Specifically, the first and second positioning modules are attached to three sides of the beam exit 81 and the neutron beam exit 91, respectively. In the embodiment disclosed in the present invention, the three lasers of the first and second positioning modules are respectively installed on the left and right sides and above the beam exit 81 and the neutron beam exit 91. Specifically, they may be installed on the left and right walls and above the beam exit 81 and the neutron beam exit 91, and on the ceiling above the beam exit 81 and the neutron beam exit 91. More specifically, they are installed on the left, right, and above the beam exit 81 and the neutron beam exit 91, respectively, at a distance of 10 cm from the beam exit 81 and the neutron beam exit 91. However, their installation locations are not limited thereto.

[0048] Furthermore, the automatic setup method includes: forming a positioning marker at a position where the three laser beams of the first positioning module intersect with the illuminated object S; The calculation unit 63 calculates the irradiation position of the treatment table 92 based on the irradiation position information of the placement table 21, and transmits the calculated position to the control unit 64. The control unit 64 controls the adjustment unit 93 to move based on the irradiation position information of the treatment table 92, thereby moving the treatment table 92 to the irradiation position. The method further includes a step of determining whether the intersection of the three laser beams of the second positioning module in the irradiation chamber 9 overlaps with the positioning marker, and if so, setting it up in a predetermined position, and if not, adjusting the spatial position of the treatment table 92 until the intersection of the three laser beams of the laser beam positioning module overlaps with the positioning marker.

[0049] An initial setup is performed in the preparation room 8, and based on that, the target position of the treatment table 92 is calculated. By performing an inverse calculation based on the target position of the treatment table 92 to obtain the movement parameters of each joint of the adjustment unit 93, the adjustment unit 93 is directly driven to move to the specified position, thereby saving the work time required to set up the irradiated subject S before irradiation treatment in the irradiation room 9, improving the utilization rate of the equipment, and shortening the time that related personnel are exposed to the radiation environment in the irradiation room 9.

[0050] In other embodiments, the control unit 64 that controls the movement of the robot arm 22 and the adjustment unit 93 based on the movement parameters may not be located within the setup module 6, may be a separate control unit, or may be integrated with other modules of the radiation therapy system.

[0051] Although the steps in the flowcharts according to the above-described embodiments are displayed in order according to the direction of the arrows, it should be understood that these steps are not necessarily performed in the order indicated by the arrows. Unless explicitly stated otherwise in this specification, the execution of these steps is not limited to a strict order, and these steps may be performed in other orders. Furthermore, at least some of the steps in the flowcharts according to the above-described embodiments may include multiple steps or multiple stages, and these steps or stages may not necessarily be performed at the same time but may be performed at different times. These steps or stages may not necessarily be performed sequentially, but may be performed in order or alternately with other steps or at least some of the steps or stages in other steps.

[0052] 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.

[0053] The above examples merely illustrate some embodiments of the present application, and although the descriptions are specific and detailed, they should not be understood as limiting the scope of the claims of the present application. Furthermore, those skilled in the art may make several modifications and improvements without departing from the concept of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application should be determined based on the scope of the appended claims. [Explanation of symbols]

[0054] 100 Radiation Treatment System 1. Image Acquisition Module S Irradiated object 2 Mounting module 21 Mounting table 22 Robot Arm 4 Treatment Planning Module 5 Radiation Generator Module 51 Neutron Generator 511 Accelerator 512 Target 52 Beam Shaper 521 Reflector 522 Reducer 523 Thermal Neutron Absorber 524 Radiation Shield 525 Beam exit port 53 Collimator 6 Setup Module 61 Marker 62 Operational laser beam positioning device 63 Calculation section 64 Control Unit 8 Operation room (irradiation room, preparation room) 81 Beam Exit 9 Irradiation room 91 Neutron beam exit 92 Treatment table 93 Adjustment part

Claims

1. an image acquisition module, a placement module, a treatment planning module, a radiation generation module, and a setup module; the image acquisition module acquires medical images of the subject; the placement module is configured to place the irradiation object thereon; the treatment planning module creates a treatment plan; the radiation generating module generates radiation; A radiation therapy system, characterized in that the setup module controls the placement module to set up and calculates the irradiation position of the placement module based on the treatment plan generated by the treatment planning module.

2. 2. The radiation therapy system of claim 1, wherein the setup module includes a marker, at least two sets of laser beam positioning devices, and a calculation unit that calculates the irradiation position of the placement module, and the marker is manufactured from a material that can be developed into an image.

3. 3. The radiation therapy system according to claim 2, wherein the mounting module includes a mounting table on which the object to be irradiated is placed, and a robot arm that moves and positions the mounting table, and the calculation unit calculates a target position of the robot arm and movement parameters of each joint of the robot arm.

4. The radiation therapy system of claim 3, wherein the laser beam positioning device includes an imaging laser beam positioning device and an operation laser beam positioning device installed in an image acquisition room and an operation room, respectively, the imaging laser beam positioning device and the operation laser beam positioning device each being composed of at least three laser beam emitters, and the number of the markers is the same as the number of the laser beam emitters.

5. 4. The radiotherapy system according to claim 3, wherein the operation room is an irradiation room where radiation is irradiated.

6. 1. A method for automatically setting up a radiation therapy system, comprising: The radiation therapy system includes at least an imaging laser beam positioning device and an operating laser beam positioning device; The automatic setup method includes: A step of placing a marker at a position where the laser light emitted from the image laser light positioning device intersects with the irradiated object; acquiring medical images of the subject using imaging equipment; obtaining a marker coordinate system and a planning beam coordinate system based on a treatment planning module; obtaining a first transformation matrix based on the marker coordinate system and the planning beam coordinate system; a step of fixing the irradiation object on a mounting table so that the laser light emitted from the operation laser light positioning device is irradiated onto the corresponding marker; defining a second laser beam coordinate system for the operation laser beam positioning device, and determining the irradiation position of the mounting table based on the second laser beam coordinate system and the first transformation matrix.

7. The automatic setup method described in claim 6, characterized in that the step of acquiring a first laser beam coordinate system of the image laser beam positioning device based on a treatment planning module is specifically a step of introducing the medical image into the treatment planning module, acquiring a marker coordinate system, and determining the first laser beam coordinate system based on the marker coordinate system.

8. The automatic setup method according to claim 6, wherein the step of acquiring a planning beam coordinate system based on a treatment planning module is specifically a step of creating a treatment plan based on the medical image by the treatment planning module and determining the planning beam coordinate system based on the treatment plan.

9. 7. The automatic setup method according to claim 6, wherein the step of determining the irradiation position of the mounting table based on the second laser beam coordinate system and the first transformation matrix is ​​a step of determining a beam coordinate system, and determining the irradiation position of the mounting table based on the second laser beam coordinate system, the first transformation matrix, and the beam coordinate system.

10. The radiation therapy device further includes a robot arm and a flange connecting the robot arm and the stage; 10. The automatic setup method according to claim 9, further comprising the steps of: recording the position of the flange when the laser light emitted from the operation laser light positioning device is irradiated onto the corresponding marker as an initial position; calculating and acquiring a target position of the flange by combining the second laser light coordinate system and the first transformation matrix; calculating and acquiring movement parameters of a robot arm based on the initial position and the target position; and controlling the mounting table by a setup module to move to the irradiation position based on the movement parameters of the robot arm.

Images