Adjustment device for radiotherapy, adjustment method, and carrying system

Abstract

The present application relates to an adjustment device for radiotherapy, an adjustment method, and a carrying system. The adjustment device for radiotherapy comprises a first adjustment unit and a second adjustment unit; the first adjustment unit is used for adjusting an object to move along a first degree of freedom; the second adjustment unit is linked with the first adjustment unit and used for adjusting the object to move along a second degree of freedom; when the first adjustment unit works, the second adjustment unit can be driven to move along the first degree of freedom. By moving the object along the first degree of freedom by means of the first adjustment unit and moving the object along the second degree of freedom by means of the second adjustment unit, the posture of an irradiated subject is adjusted until the irradiated subject is at a proper therapy position, and the comfort of the body of the irradiated subject during therapy is improved. Compared with conventional manual adjustment means, the first adjustment unit and the second adjustment unit can more accurately adjust the position of the irradiated subject, so that radiation therapy is more accurate, damage to normal cells and tissue of the irradiated subject is reduced, and the therapy effect for the irradiated subject is guaranteed.

Description

Adjustment device, adjustment method and loading system for radiotherapy Technical Field

[0001] The present application relates to the technical field of radiotherapy, and in particular to an adjustment device, an adjustment method, and a loading system for radiotherapy. Background Art

[0002] With the advancement of atomic science, radiation therapy, such as cobalt-60, linear accelerators, and electron beams, has become a primary approach to cancer treatment. However, conventional photon or electron therapy is limited by the physical properties of the reflected radiation. While killing tumor cells, it can also damage a significant amount of normal tissue in the beam's path. Furthermore, due to the varying sensitivity of tumor cells to radiation, conventional radiotherapy is often ineffective in treating malignant tumors that are more radiation-resistant.

[0003] To reduce radiation damage to normal tissues surrounding the tumor, targeted therapies used in chemotherapy are being applied to radiotherapy. Furthermore, for highly radioresistant tumor cells, radiation sources with high relative biological effects, such as proton therapy, heavy ion therapy, and neutron capture therapy, are being actively developed. Neutron capture therapy, for example, combines these two concepts. Boron neutron capture therapy, for example, utilizes boron-containing drugs to specifically accumulate in tumor cells, combined with precise neutron beam irradiation, offering a superior cancer treatment option compared to traditional radiation.

[0004] Radiotherapy equipment is mainly used for radiotherapy of malignant tumors. The purpose of radiotherapy is to give the target area the maximum radiation treatment while avoiding excessive radiation to surrounding normal tissues. In existing radiotherapy equipment, different irradiated objects usually have different body shapes, and a single irradiated object usually adopts a variety of body position treatment methods. Therefore, it is necessary to use a carrying device to support the irradiated object and position the irradiated object to a preset spatial position. However, in the process of positioning the irradiated object to the preset spatial position by the carrying device, how to accurately adjust the posture of the irradiated object, shorten the preparation time for positioning the affected part, simplify the preparation work, and improve the accuracy of irradiation treatment are problems that need to be solved by those skilled in the art. In addition, in the process of positioning the irradiated object to the preset spatial position by the carrying device, how to quickly and accurately adjust the posture of the irradiated object, how to quickly and accurately position the irradiated object to the preset spatial position, and how to prevent the equipment from aging due to particle radiation are also problems that need to be solved by those skilled in the art.

[0005] Summary of the Invention

[0006] Based on this, it is necessary to provide an adjustment device, adjustment method and loading system for radiotherapy in order to solve the problems of how to quickly, smoothly and accurately adjust the posture of the irradiated body, shorten the preparation time for positioning the affected part, simplify the preparation work, improve the accuracy of irradiation treatment, and how to quickly and accurately position the irradiated body to a preset spatial position and how to avoid aging of the equipment due to radiation.

[0007] The first aspect of the present application provides an adjustment device for radiotherapy, which includes a first adjustment unit and a second adjustment unit. The first adjustment unit is used to adjust the movement of an object along a first degree of freedom, and the second adjustment unit is linked with the first adjustment unit to adjust the movement of the object along a second degree of freedom. When the first adjustment unit is working, it can drive the second adjustment unit to move along the first degree of freedom.

[0008] In the aforementioned adjustment device for radiotherapy, the first adjustment unit enables the object to move in a first degree of freedom, while the second adjustment unit enables the object to move in a second degree of freedom, thereby adjusting the posture of the irradiated object to the appropriate treatment position and increasing the comfort of the irradiated object during treatment. Compared to previous manual adjustment methods, the first and second adjustment units of the present application can more accurately adjust the position of the irradiated object, making the radiation treatment more precise, reducing damage to the irradiated object's normal cells and tissues, and ensuring the treatment effect of the irradiated object. In addition, the adjustment device of the present application has a compact structure and is easy to operate, which can simplify the preparation work before radiation treatment and shorten the preparation time for positioning the affected area.

[0009] In one embodiment, the first adjusting unit includes a first adjusting member, a first transmission member and a first supporting member. The first adjusting member is used to connect and drive the first transmission member to move. The first supporting member is used to support the first adjusting member. The first transmission member is connected to the second adjusting unit.

[0010] In one embodiment, the adjustment device further includes a third adjustment unit, which is used to adjust the object to move along the third degree of freedom. The third adjustment unit is linked to the second adjustment unit. When the second adjustment unit is working, it can drive the third adjustment unit to move along the second degree of freedom.

[0011] In one embodiment, the second adjustment unit includes a second adjustment member, a second transmission member, a fixing member and a second support member, the second adjustment member is used to connect and drive the second transmission member to move, the second transmission member is connected to the fixing member, the second support member is used to support the fixing member, and the second transmission member is connected to the third adjustment unit.

[0012] In one embodiment, the third adjustment unit includes a third adjusting member, a swinging member, a third supporting member and a first swinging guide member, the third adjusting member is used to connect and drive the swinging member to move, the third supporting member is used to support the third adjusting member, and the first swinging guide member is arranged on the third supporting member, and the first swinging guide member is used to guide the movement path of the swinging member.

[0013] In one embodiment, the swing member is movable relative to the third adjusting member, and the first swing guide member is configured to be arc-shaped, so that the swing member can be adjusted along the movement direction of the first swing guide member relative to the third adjusting member.

[0014] In one embodiment, a limiting portion is provided on the third adjusting member, and an adjustment position for the limiting portion to move is provided on the swinging member. When the third adjusting member drives the swinging member to move, the swinging member swings relative to the first swinging guide member, and the limiting portion moves in the adjustment position.

[0015] In one embodiment, the third adjusting unit further includes a rotating member, and the object is rotatably connected to the third supporting member via the rotating member. When the swinging member drives the object to move, the object rotates around the axis of the rotating member.

[0016] In one embodiment, the third adjustment unit further includes a second swing guide for guiding the movement of the object, the second swing guide is arranged in an arc shape, and the second swing guide is arranged concentrically with the first swing guide.

[0017] In one embodiment, the fourth adjusting unit is further included for adjusting the movement of the object at least along the fourth degree of freedom. The fourth adjusting unit is linked with the third adjusting unit. When the third adjusting unit is working, it can drive the fourth adjusting unit to move along the third degree of freedom.

[0018] In one embodiment, the fourth adjustment unit includes a fourth adjustment member, a fourth support member, a third transmission member and a lifting member, the fourth support member is used to support the fourth adjustment member, the fourth adjustment member is connected to the third transmission member, the third transmission member is connected to the lifting member, the fourth adjustment member drives the third transmission member to move along the first direction, and the third transmission member drives the lifting member to move along the second direction perpendicular to the first direction.

[0019] In one embodiment, the fourth adjusting unit further includes a lifting guide member for guiding the movement of the lifting member.

[0020] In one embodiment, at least the first adjustment unit and the second adjustment unit are provided with a shell on the outside, and the shell includes at least a first shell and a second shell. When the first adjustment unit and / or the second adjustment unit moves, the first shell and the second shell can follow the movement of the first adjustment unit and / or the second adjustment unit to adjust the shape in the direction of the first degree of freedom and / or the second degree of freedom.

[0021] A second aspect of the present application provides an adjustment method for an adjustment device for radiotherapy, which includes a first adjustment unit and a second adjustment unit. The method includes: when the first adjustment unit is in operation, the second adjustment unit is driven to move.

[0022] In one embodiment, driving the second adjustment unit to move includes: driving the second adjustment unit to move along a first degree of freedom; and the second adjustment unit moves at least along the first degree of freedom.

[0023] In one embodiment, a third adjusting unit is further included, and the method further includes: when the second adjusting unit is in operation, the third adjusting unit is driven to move.

[0024] In one embodiment, driving the third adjustment unit to move includes: driving the third adjustment unit to move along the second degree of freedom; and the third adjustment unit moves at least along the second degree of freedom.

[0025] In one embodiment, a fourth adjusting unit is further included, and the method further includes: when the third adjusting unit is in operation, the fourth adjusting unit is driven to move.

[0026] In one embodiment, driving the fourth adjustment unit to move includes: driving the fourth adjustment unit to move along a third degree of freedom; and the fourth adjustment unit moves at least along the third degree of freedom.

[0027] The third aspect of the present application provides a mounting system for an adjustment device for radiotherapy, which includes a mounting member, a first adjustment unit and a second adjustment unit; the first adjustment unit is used to adjust the irradiated body to move along a first degree of freedom; the second adjustment unit, linked with the first adjustment unit, is used to adjust the irradiated body to move along a second degree of freedom, wherein when the first adjustment unit is working, it can drive the second adjustment unit to move along the first degree of freedom.

[0028] A fourth aspect of the present application provides an adjustment device for radiotherapy, which includes an adjustment component and a drive component, the adjustment component is used to adjust the spatial position of an object, the drive component is used to drive the adjustment component, and the drive component and the adjustment component are detachably connected.

[0029] In the above-mentioned adjustment device for radiotherapy, the drive component automatically drives the adjustment component to adjust the posture of the irradiated body to a suitable treatment position, thereby increasing the comfort of the irradiated body during treatment, making the irradiation treatment more precise, reducing damage to the normal cells and tissues of the irradiated body, and ensuring the treatment effect of the irradiated body. When the posture of the irradiated body needs to be adjusted, the drive component is connected to the adjustment component, and the drive component drives the adjustment component to adjust the irradiated body to a position aligned with the beam exit, so as to simulate the positioning of the irradiated body or perform irradiation treatment; when the posture of the irradiated body is adjusted to a preset position, the drive component is disconnected from the adjustment component, and the drive component is removed when irradiation treatment is performed. This can effectively prevent the drive component from being affected by particle radiation, prevent equipment aging, and thus increase the service life of the drive component.

[0030] In one embodiment, the adjusting device further includes a mounting assembly, which is disposed on the adjusting assembly and the driving assembly to achieve detachable connection and fixation of the adjusting assembly and the driving assembly.

[0031] In one embodiment, the mounting assembly includes a first mounting member and a second mounting member matching the first mounting member, the mounting positions of the first mounting member and the second mounting member correspond to each other, the first mounting member is arranged on the adjustment assembly, and the second mounting member is arranged on the drive assembly; or, the first mounting member is arranged on the drive assembly, and the second mounting member is arranged on the adjustment assembly.

[0032] In one embodiment, the first mounting member includes a first mounting portion, an operating portion and a clamping portion. The first mounting portion is arranged on the adjustment component or the drive component, the operating portion is arranged on the first mounting portion, the clamping portion is connected to the operating portion, and the operating portion is used to drive the clamping portion to clamp with the second mounting member.

[0033] In one embodiment, the second mounting member includes a second mounting portion and a fixing portion, the second mounting portion is arranged on the driving assembly or the adjusting assembly, the fixing portion is arranged on the second mounting portion, and the fixing portion is used to fix the clamping portion.

[0034] In one embodiment, the driving component includes a power source and an output part, the power source provides power to the output part, and the adjustment component is provided with an input part, the shape of the input part matches the shape of the output part, and the output part is detachably connected to the input part to drive the adjustment component for adjustment.

[0035] In one embodiment, the driving assembly includes a first driving member and a second driving member linked to the first driving member. When the first driving member is working, the second driving member moves along the first path. When the second driving member is working, the second driving member moves along the second path.

[0036] In one embodiment, the first driving member includes a first driving part, a transmission part and a moving part, the first driving part is connected to the transmission part, the moving part is movably connected to the transmission part, the first driving part drives the moving part to move, and the moving part is connected to the second driving member.

[0037] In one embodiment, the first driving member further includes a transmission portion, which is used to transmit the power of the first driving member to the transmission portion, and the driving member and the transmission portion are arranged side by side.

[0038] In one embodiment, the second driving member includes a second driving portion and a supporting portion for supporting the second driving portion, and the supporting portion is connected to the moving portion.

[0039] In one embodiment, the second driving member further includes a guide portion, which is disposed on the supporting portion and is used to guide the movement of the second driving member.

[0040] In one embodiment, the driving assembly further includes a third driving member connected to the second driving member. When the second driving member is in operation, the second driving member and the third driving member move simultaneously along the second path.

[0041] A fifth aspect of the present application provides a method for adjusting an adjusting device for radiotherapy, comprising the following method:

[0042] Connect and fix the driving component and the adjusting component from a separated state through the installation component;

[0043] Connect the output of the drive assembly to the input of the adjustment assembly;

[0044] The driving component drives the adjusting component to adjust the object to a preset spatial position;

[0045] Detach the drive assembly from the adjustment assembly by installing the assembly.

[0046] In the adjustment method of the above-mentioned adjustment device for radiotherapy, the detachable connection between the driving component and the adjusting component is realized by the installation component, that is, when the posture of the irradiated object needs to be adjusted, the driving component and the adjusting component are connected by the installation component to adjust the posture of the irradiated object so that the irradiated body position of the irradiated object is aligned with the beam outlet; when the posture of the irradiated object is adjusted to a preset spatial position, the driving component and the adjusting component are separated by the installation component, and then the driving component is removed to avoid it being affected by radiation, thereby improving the service life of the driving component.

[0047] In one embodiment, the output part of the driving component includes a first output part, a second output part and a third output part, and docking the output part of the driving component with the input part of the adjustment component includes: adjusting the first output part to move along a first path, and adjusting the second output part to move along a second path, so that the first output part, the second output part and the third output part are docked with the input part.

[0048] The sixth aspect of the present application provides a loading system for radiotherapy, which includes a loading member, an adjustment component, a drive component and an installation component, wherein the loading member is used to carry the irradiated object; the adjustment component is used to adjust the spatial position of the loading member; the drive component is used to drive the adjustment component to adjust the loading member to a preset spatial position; the installation component is arranged on the adjustment component and the drive component, and is used to detachably connect the adjustment component and the drive component.

[0049] In the aforementioned mounting system for radiotherapy, the adjustment device can more accurately adjust the position of the irradiated object, making the radiation therapy more precise, reducing damage to the normal cells and tissues of the irradiated object, and ensuring the therapeutic effect of the irradiated object. Furthermore, the mounting assembly enables a detachable connection between the drive assembly and the adjustment assembly. After the irradiated object is adjusted to a preset spatial position, the drive assembly can be removed, ensuring that the drive assembly is not affected by particle radiation during the radiation therapy process, effectively increasing the service life of the drive assembly and saving the production cost of the equipment. The operator can use the drive assembly to drive the adjustment assembly according to different irradiation positions, quickly adjusting the mounting member to a preset spatial position. This shortens the preparation time before treatment, aligns the irradiated object with the beam exit, ensures that the irradiated object receives radiation therapy in a comfortable posture, and simultaneously ensures the accuracy of the radiation therapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] FIG1 is an overall schematic diagram of a carrier and an adjusting device in one embodiment of the present invention.

[0051] FIG2 is a schematic structural diagram of an adjustment assembly in one embodiment of the present invention.

[0052] FIG3 is a schematic structural diagram of a first regulating unit in an embodiment of the present invention.

[0053] FIG4 is a schematic structural diagram of a second regulating unit in an embodiment of the present invention.

[0054] FIG5 is a schematic structural diagram of a third regulating unit in an embodiment of the present invention.

[0055] FIG6 is a schematic structural diagram of a first shell and a second shell in one embodiment of the present invention.

[0056] FIG7 is a schematic structural diagram of a fourth regulating unit in an embodiment of the present invention.

[0057] FIG8 is a schematic structural diagram of a first housing and a second housing installed between a mounting member and a third adjusting unit in one embodiment of the present invention.

[0058] FIG9 is a schematic structural diagram of a first driving assembly in one embodiment of the present invention.

[0059] FIG10 is a schematic structural diagram of the first drive assembly in the embodiment of FIG8 with the housing removed.

[0060] FIG. 11 is a schematic structural diagram of a first driving member in an embodiment of the present invention.

[0061] FIG. 12 is a schematic diagram illustrating the connection between the first moving portion and the fourth supporting portion in one embodiment of the present invention.

[0062] FIG13 is a schematic structural diagram of a second driving member in one embodiment of the present invention.

[0063] FIG14 is a schematic structural diagram of a third driving member in one embodiment of the present invention.

[0064] FIG15 is a schematic structural diagram of an installation assembly in one embodiment of the present invention.

[0065] FIG16 is a schematic structural diagram of a third moving member in one embodiment of the present invention.

[0066] Among them, the mounting member 1, the first supporting portion 101, the second supporting portion 102, the adjusting device 2, the adjusting assembly 10, the first adjusting unit 11, the first adjusting member 111, the first operating portion 1111, the first adjusting portion 1112, the first transmission member 112, the first supporting member 113, the first guiding member 114, the first sliding block 1141, the first guide rail 1142, the first mounting seat 115, the second adjusting unit 12, the second adjusting member 121, the second operating portion 1211, the second adjusting portion 1 212, first gear 1213, second transmission member 122, second gear 1221, fixing member 123, second support member 124, second guide member 125, second slider 1251, second guide rail 1252, second mounting seat 126, third mounting seat 127, third adjustment unit 13, third adjustment member 131, third operating portion 1311, third adjustment portion 1312, first transmission portion 1313, limiting portion 1314, swinging member 132, adjustment position 1321, thirdSlider 1322, third support member 133, first swing guide member 134, third guide member 135, second swing guide member 136, fourth slider 1361, fourth guide rail 1362, rotating member 137, connecting member 138, fourth mounting seat 139, first housing 16, first side plate 161, first plate 1611, second plate portion 1612, third plate portion 1613, first flat plate 162, second flat plate 163, third flat plate 164, second housing 17, third side plate 171, fifth side plate 172, fourth flat plate 173, fourth adjustment unit 14, fourth adjustment member 141, fourth operating portion 1411, fourth adjustment portion 1412, fourth support member 142, third transmission member 143, lifting member 144, first lifting portion 1441, second lifting portion 1442, lifting guide member 145, fifth support member 146, fifth mounting seat 147, sixth mounting seat 148, seventh mounting seat 149, eighth mounting seat 150, third housing 151, fourth housing 152, positioning hole 153, moving assembly 20, push-pull member 21, first moving member 22, driving assembly 30, first driving assembly 31, first driving member 311, first driving portion 3111, first transmission portion 3112, first transmission wheel 3112a, second transmission wheel 3112b, transmission belt 3112c, the second transmission part 3113, the first output part 3114, the first moving part 3115, the eighth mounting seat 3116, the second driving member 312, the second driving part 3121, the second output part 3122, the third supporting part 3123, the fourth supporting part 3124, the first guide part 3125, the fifth slider 3125a, the fifth guide rail 3125b, the second guide part 3126, the ninth mounting seat 3127, the third driving member 313, the third driving part 3131, the second transmission part 3132, the third transmission part 3133, the third output part 3134, the second moving part 3135, the tenth mounting seat 3136, the eleventh mounting seat Mounting seat 3137, limiting member 314, sensing switch 3141, first limiting shaft 3142, second limiting shaft 3143, base 315, fifth shell 316, power source 317, positioning member 318, third moving member 319, connecting block 3191, seventh slider 3192, seventh guide rail 3193, pull rod 3194, twelfth mounting seat 3195, limiting block 3196, positioning block 3197, reset member 3198, second moving member 320, mounting assembly 40, first mounting member 41, first mounting portion 411, operating portion 412, clamping portion 413, second mounting member 42, second mounting portion 421, fixing portion 422. DETAILED DESCRIPTION

[0067] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0068] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0070] In this application, unless otherwise specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integrated molding; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0071] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0072] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0073] One embodiment of the present application provides a carrying system for radiotherapy. In this embodiment, the carrying system is preferably applied to radiotherapy equipment, especially boron neutron therapy equipment. The radiotherapy equipment includes a beam generating device, a preparation room, a treatment room, a carrying member 1 and an adjustment device 2. When the radiotherapy equipment is a boron neutron therapy equipment, the beam generating device can be a neutron generating device for generating a beam; the treatment room is used to perform radioactive irradiation treatment on the irradiated body; the preparation room can be used to simulate the positioning of the irradiated body or perform other preparatory work before radiation irradiation. As shown in Figure 1, the carrying member 1 is used to carry the irradiated body; the adjustment device 2 is used to adjust the posture of the irradiated body in the preparation room and the treatment room, and quickly adjust the irradiated body to a preset spatial position.

[0074] The adjusting device 2 includes an adjusting component 10, a moving component 20, a driving component 30 and an installing component 40. The adjusting component 10 is connected to the carrier 1 and is used to adjust the spatial position of the carrier 1 so that the irradiated object is accurately aligned with the beam; the moving component 20 is connected to the adjusting component 10 and is used to move the adjusting component 10 and the carrier 1; the output end of the driving component 30 is connected to the input end of the adjusting component 10 and is used to drive the adjusting component 10 to adjust so that the carrier 1 is quickly and accurately adjusted to the preset spatial position, thereby saving preparation time before irradiation treatment and avoiding long-term particle irradiation dose; the installing component 40 is used to connect or separate the adjusting component 10 and the driving component 30, so that a space is formed between the driving component 30 and the adjusting component 10. The drive assembly 30 and the adjustment assembly 10 are connected in a detachable manner; when the posture of the irradiated object needs to be adjusted, the drive assembly 30 is connected to the adjustment assembly 10 through the installation assembly 40, and the drive assembly 30 drives the adjustment assembly 10 to adjust the irradiated object to a preset spatial position to perform simulated positioning or irradiation treatment on the irradiated object; when the posture of the irradiated object is adjusted to the preset spatial position, the installation assembly 40 can be loosened to separate the drive assembly 30 and the adjustment assembly 10, and the drive assembly 30 can be removed when performing irradiation treatment, which can effectively prevent the internal mechanical and / or electronic components of the drive assembly 30 from being affected by particle radiation, thereby increasing the service life of the drive assembly 30.

[0075] In other embodiments, the mounting assembly 40 may not be provided, as long as a detachable connection can be achieved between the driving assembly 30 and the adjusting assembly 10 so that the driving assembly 30 can be detachably removed to avoid being affected by particle radiation.

[0076] Preferably, the neutron beam N generated by the neutron generator passes through a beam shaper and a collimator sequentially and irradiates the irradiated object on the support 1. The beam shaper can adjust the beam quality of the neutron beam N generated by the neutron generator, and the collimator is generally used to focus the neutron beam N, ensuring high targeting during treatment. It is understood that the present application can also be implemented without a collimator, that is, the beam can be directly irradiated onto the irradiated object on the support 1 after exiting the beam shaper.

[0077] The preparation room is equipped with a simulated beam outlet identical to the beam outlet in the treatment room. Using CT images and other methods combined with a laser positioning system, the tumor location of the irradiated subject is precisely located and marked, saving time in positioning and preparation for the irradiated subject within the treatment room. Furthermore, the preparation room can also be used as a general term for all facilities used before treatment and before positioning is completed. This can include preparation rooms for imaging, positioning, and medication supply. It is understood that in other embodiments, the preparation room can be located outside or within the medical facility. It is understood that the preparation room and the treatment room can be located in the same building as the medical facility or in different buildings.

[0078] Typically, a beam outlet is provided in the treatment room, and the neutron beam passes through the beam outlet to perform beam irradiation therapy on the irradiated body.

[0079] The carrier 1 includes a first support portion 101 and a second support portion 102. The first support portion 101 and the second support portion 102 are installed on the adjustment assembly 10. The first support portion 101 is used to bear the weight of the irradiated body, and the second support portion 102 is used to bear the affected part of the irradiated body. Specifically, the first support portion 101 can be a chair, a treatment board, a treatment bed, etc., and the second support portion 102 can be a headrest, a head support, an armrest, a legrest, etc. In this embodiment, preferably, the first support portion 101 is a chair, the second support portion 102 is a headrest, and the second support portion 102 is arranged in front of the first support portion 101. During actual use, the irradiated body sits on the first support portion 101, and the head of the irradiated body is placed on the second support portion 102.

[0080] The preset spatial position of the carrier 1 is the position of the carrier 1 where the irradiated object is aligned with the laser or beam. The present application adjusts the spatial position of the carrier 1 from multiple degrees of freedom, and the multiple degrees of freedom include: the first degree of freedom (such as the degree of freedom of reciprocating along the X axis parallel to FIG1 ), the second degree of freedom (such as the degree of freedom of reciprocating along the Y axis parallel to FIG1 ), the third degree of freedom (rotation around the Z axis) and the fourth degree of freedom (such as the degree of freedom of reciprocating along the Z axis parallel to FIG1 ). With reference to FIG1 , the direction perpendicular to the loading surface of the carrier 1 is defined as the up-down direction (the direction parallel to the Z axis shown in FIG1 ), the direction parallel to the beam emission is defined as the front-to-back direction (the direction parallel to the Y axis shown in FIG1 ), and the direction orthogonal to the up-down direction and the front-to-back direction is defined as the left-right direction (the direction parallel to the X axis shown in FIG1 ). In the following description, directional terms such as up, down, left, right, front, and back are used to describe the positional relationships between related components to simplify the description of the positional relationship between one component and another. However, these directional descriptions do not limit the technology itself. Specifically, adjustment along the first degree of freedom means left-right movement along the illuminated object, adjustment along the second degree of freedom means front-back movement, adjustment along the third degree of freedom means rotating the illuminated object about a line parallel to the vertical direction, and adjustment along the fourth degree of freedom means vertical movement along the illuminated object.

[0081] 2 , the adjustment assembly 10 includes a first adjustment unit 11, a second adjustment unit 12, a third adjustment unit 13, and a fourth adjustment unit 14. Preferably, the output end of the first adjustment unit 11 is connected to the input end of the second adjustment unit 12, and is used to adjust the carrier 1 to drive the object / irradiated object to move along the first degree of freedom; further, the output end of the second adjustment unit 12 is connected to the input end of the third adjustment unit 13, and is used to adjust the carrier 1 to drive the object / irradiated object to move along the second degree of freedom; further, the output end of the third adjustment unit 13 is connected to the input end of the fourth adjustment unit 14, and is used to adjust the carrier 1 to drive the object / irradiated object to move along the third degree of freedom; further, the output end of the fourth adjustment unit 14 is connected to the carrier, and is used to adjust the carrier 1 to drive the object / irradiated object to move along the fourth degree of freedom. Preferably, the first adjustment unit 11, the second adjustment unit 12, the third adjustment unit 13, and the fourth adjustment unit 14 in this embodiment are arranged in sequence from bottom to top, and the fourth adjustment unit 14 is located on the top layer and is connected to the carrier 1. In terms of the integration of the structure and the convenience of the driving process, this arrangement occupies the smallest space and has the most convenient driving process.

[0082] Preferably, any two adjacent adjustment units can be linked, that is, driving the adjustment unit on the lower layer can drive the adjustment unit and the carrier 1 on the upper layer to move, and the movement of the adjustment unit on the upper layer preferably does not drive the movement of the adjustment unit on the lower layer, so as to facilitate the control and adjustment of each adjustment unit. It is easy to understand that driving the adjustment unit on the lower layer means: driving the input end of the adjustment unit on that layer to move, rather than driving the entire adjustment unit on that layer to move in a certain direction.

[0083] Specifically, the first adjustment unit 11 is linked to the second adjustment unit 12, i.e., driving the first adjustment unit 11 to move, which can drive the second adjustment unit 12, the third adjustment unit 13, the fourth adjustment unit 14, and the carrier 1 to move simultaneously along the first degree of freedom; the second adjustment unit 12 is linked to the third adjustment unit 13, i.e., driving the second adjustment unit 12 to move, which can drive the third adjustment unit 13, the fourth adjustment unit 14, and the carrier 1 to move simultaneously along the second degree of freedom; the third adjustment unit 13 is linked to the fourth adjustment unit 14, i.e., driving the third adjustment unit 13 to move, which can drive the fourth adjustment unit 14 and the carrier 1 to rotate simultaneously along the third degree of freedom; and the fourth adjustment unit 14 is connected to the carrier 1, i.e., driving the fourth adjustment unit 14 to move, which can drive the carrier 1 to move along the fourth degree of freedom. The arrangement and adjustment of the adjustment units enables adjustment of the carrier 1 in four degrees of freedom, allowing the carrier 1 to be adjusted to a preset spatial position for beam irradiation therapy.

[0084] In a preferred embodiment, the adjustment between the adjustment units follows a specific sequence: driving the second adjustment unit 12 does not affect the position of the first adjustment unit 11; similarly, driving the third adjustment unit 13 does not affect the positions of the first and second adjustment units 11, 12; and driving the fourth adjustment unit 13 does not affect the positions of the first, second, and third adjustment units 11, 12, and 13. This allows for precise adjustment of multiple degrees of freedom, one by one, as needed, reducing the impact of individual adjustment of the adjustment units.

[0085] In other embodiments, the first adjustment unit 11, the second adjustment unit 12, the third adjustment unit 13, and the fourth adjustment unit 14 can also be arranged in other orders, that is, the order of arrangement between them is not limited, as long as the linkage effect can be achieved. For example, from bottom to top, they can be arranged in the order of second, first, fourth, and third. In addition, in other embodiments, any two or three groups can be selected from the first adjustment unit 11, the second adjustment unit 12, the third adjustment unit 13, and the fourth adjustment unit 14 to form a combination, and the order of arrangement is not limited, as long as the linkage effect can be achieved. The layered design of the adjustment component 10 can achieve targeted single-layer or multi-layer adjustment by arbitrarily adjusting one or more of the first adjustment unit 11, the second adjustment unit 12, the third adjustment unit 13, and / or the fourth adjustment unit 14, and smoothly and accurately adjust the posture of the irradiated object in a single or multiple degrees of freedom, reducing the time for repeated operations and verification adjustments, thereby shortening the preparation time for positioning the affected part, simplifying the preparation work, and improving the accuracy of irradiation treatment.

[0086] As shown in Figure 3, the first adjustment unit 11 includes a first adjustment member 111, a first transmission member 112, a first support member 113, and a first guide member 114. The first adjustment member 111 is connected to the first transmission member 112 and is used to drive the first transmission member 112 to move; the first transmission member 112 is connected to the second adjustment unit 12, and the movement of the first transmission member 112 drives the second adjustment unit 12 to move; the first support member 113 is used to support the first adjustment member 111, etc.; the first guide member 114 is connected between the first support member 113 and the second adjustment unit 12, and is used to guide the path of the second adjustment unit 12 when moving.

[0087] The first adjustment member 111 includes a first control portion 1111 and a first adjustment portion 1112. The first control portion 1111 is used to control the rotation of the first adjustment portion 1112, and the rotation of the first adjustment portion 1112 is used to move the first transmission member 112. Specifically, the first control portion 1111 is connected to the first adjustment portion 1112, and the first adjustment portion 1112 is mounted on the first support member 113 via the first mounting seat 115. The first adjustment portion 1112 is preferably a threaded rod, that is, the first transmission member 112 is threadedly connected to the first adjustment portion 1112. When the first control portion 1111 is rotated, the first adjustment portion 1112 is controlled to move the first transmission member 112 along the axis of the first adjustment portion 1112 in a controllable manner, thereby causing the second support member 124 (Figure 4) to move in the left and right directions, realizing the movement of the second support member 124 along the first degree of freedom, and then realizing the simultaneous movement of the second adjustment unit 12, the third adjustment unit 13, the fourth adjustment unit 14 and the carrier 1 along the first degree of freedom.

[0088] The first guide member 114 includes a first slider 1141 and a first guide rail 1142, which are movably connected to each other. Preferably, two first guide members 114 are provided. Furthermore, each first guide member 114 can be provided on either side of the first adjustment member 111 to ensure balanced support for the second support member 124. Preferably, the first slider 1141 is fixedly connected to the first support member 113, the first guide rail 1142 is fixedly connected to the second support member 124, and the first slider 1141 is slidably connected to the first guide rail 1142 to provide guidance for the second support member 124.

[0089] Referring to Figure 4, the second adjustment unit 12 includes a second adjustment member 121, a second transmission member 122, a fixing member 123, a second support member 124 and a second guide member 125. As shown in Figure 4, it can be understood that the presentation of Figure 4 does not have any limiting significance on the technology itself, but is only used to describe more specific structures. The second support member 124 and the third support member 133 in Figure 4 are upside-down views, which can more clearly present the specific structure of each component in the second adjustment unit 12. In actual use, the second support member 124 is located at the bottom, while the third support member 133 in the third support unit 13 is located above the second support member 124. The second adjusting member 121 is connected to the second transmission member 122, and is used to drive the second transmission member 122 to rotate; the second transmission member 122 is installed on the third support member 133 of the third adjusting unit 13 through the second mounting seat 126, realizing the connection between the second transmission member 122 and the third adjusting unit 13, and the rotation of the second transmission member 122 is used to drive the third adjusting unit 13 to move; the fixing member 123 is fixedly connected to the second support member 124, and the second transmission member 122 is preferably a threaded rod. The second transmission member 122 is threadedly connected to the fixing member 123, and the fixing member 123 can realize the movement of the second adjusting member 121 and the second transmission member 122 relative to the second support member 124; the second support member 124 is used to support the fixing member 123, etc.; the second guide member 125 is connected between the second support member 124 and the third adjusting unit 13, and is used to guide the moving path of the third adjusting unit 13.

[0090] The second adjustment member 121 includes a second control portion 1211 and a second adjustment portion 1212. The second control portion 1211 is used to control the rotation of the second adjustment portion 1212, which in turn drives the first transmission member 112 to rotate. The second control portion 1211 is connected to the second adjustment portion 1212, which is mounted to the third support member 133 in the third adjustment unit 13 via a third mounting base 127. The second adjustment portion 1212 is preferably a shaft having a certain length. Furthermore, the second adjustment portion 1212 is provided with a first gear 1213, which meshes with a second gear 1221, which is connected to the second transmission member 122. Preferably, the second transmission member 122 is arranged perpendicular to the second adjustment portion 1212. This allows the second control portion 1211 and the first control portion 1111 to be arranged on the same side, advantageously allowing the second drive member 312 to be integrated with the first drive member 311. When the second operating part 1211 is rotated, the second transmission member 122 is driven to rotate through the second adjusting part 1212, the first gear 1213 and the second gear 1221. Since the fixing member 123 and the second support member 124 are both fixed, the second operating part 1211, the second adjusting part 1212 and the second transmission member 122 move together at the same time, thereby driving the third support member 133 to move in the front and rear directions, realizing the movement of the third support member 133 along the second degree of freedom, and then realizing the movement of the third adjustment unit 13, the fourth adjustment unit 14 and the carrier 1 along the second degree of freedom at the same time.

[0091] The second guide member 125 includes a second slider 1251 and a second guide rail 1252, which are movably connected. At least two second guide members 125 are provided, one on each side of the second adjusting member 121, to better ensure the balance of the third support member 133. The second slider 1251 is fixedly connected to the second support member 124, the second guide rail 1252 is fixedly connected to the third support member 133, and the second slider 1251 is slidably connected to the second guide rail 1252, thereby guiding the third support member 133.

[0092] 5 , the third adjusting unit 13 includes a third adjusting member 131 , a swinging member 132 , a third supporting member 133 , a first swinging guide member 134 , a third guide member 135 , a second swinging guide member 136 and a rotating member 137 . The third adjusting member 131 is movably connected to the swinging member 132 for driving the swinging member 132 to move; the swinging member 132 is connected to the fourth adjusting unit 14, so that the rotation of the fourth adjusting unit 14 is realized by the swinging of the swinging member 132; the third support member 133 is used to support the third adjusting member 131, etc.; the first swinging guide member 134 is arranged on the third support member 133 and is movably connected to the swinging member 132 for guiding the swinging path of the swinging member 132; the first transmission part 1313 is connected to the third guide member 135 through the connecting member 138, and the third guide member 135 is used to guide the moving path of the first transmission part 1313; the second swinging guide member 136 is connected between the third support member 133 and the fourth adjusting unit 14 for guiding the moving path of the fourth adjusting unit 14; the rotating member 137 is connected between the third support member 133 and the fourth adjusting unit 14, and the rotating member 137 is preferably an annular or circular structure. When the swinging member 132 swings, the rotating member 137 drives the fourth adjustment unit 14 to rotate approximately around the central axis of the rotating member 137. As will be readily understood, when the rotating member 137 has another shape, the rotating member 137 drives the fourth adjustment unit 14 to rotate approximately around another axis. The swinging member 132 is movably connected to the third adjustment member 131 and the first guide member 114, and the swinging member 132 is achieved through the third adjustment member 131 and the first guide member 114.

[0093] The third adjustment member 131 includes a third operating portion 1311, a third adjusting portion 1312, a first transmission portion 1313, and a limiting portion 1314. The third operating portion 1311 is used to control the rotation of the third adjustment portion 1312. The rotation of the third adjusting portion 1312 is used to move the first transmission portion 1313, and the movement of the first transmission portion 1313 is used to drive the swinging member 132 to move. The limiting portion 1314 is used to achieve a movable connection between the swinging member 132 and the first transmission portion 1313. Preferably, the third operating portion 1311 and the third adjustment portion 1312 are connected by gear meshing. The third adjustment portion 1312 is mounted to the third support member 133 via the fourth mounting seat 139. The third adjustment portion 1312 is preferably a threaded rod, and the third adjustment portion 1312 is threadedly connected to the first transmission portion 1313. When the third operating portion 1311 is rotated, the third adjusting portion 1312 drives the first transmission portion 1313 to move along the axis of the third adjusting portion 1312, thereby driving the connecting member 138 to move along the axis of the third adjusting portion. The swinging member 132 is connected to the fourth support member 142 in the fourth adjusting unit 14. The sliding of the limiting portion 1314 in the adjusting position 1321 and the guidance of the first swinging guide member 134 on the swinging member 132 enable the swinging member 132 to swing within the first swinging guide member 134, thereby driving the fourth support member 142 to rotate, achieving rotation of the fourth support member 142 along the third degree of freedom, and thus achieving simultaneous rotation of the fourth adjusting unit 14 and the carrier member 1 along the third degree of freedom.

[0094] As will be readily understood, the limiting portion 1314 may be a protrusion, bump, or the like. The limiting portion 1314 is disposed on the connecting member 138, to which the first transmission portion 1313 is connected. The connecting member 138 is movably connected to the swinging member 132 via the limiting portion 1314. The swinging member 132 is provided with an adjustment position 1321 for movement of the limiting portion 1314. For example, the adjustment position 1321 may be a slot or hole of a certain length. In this embodiment, the adjustment position 1321 is preferably a waist-shaped hole that matches the limiting portion 1314, thereby allowing the limiting portion 1314 to flexibly move within the waist-shaped hole.

[0095] Furthermore, the swinging member 132 is movable relative to the third adjusting member 131, and the first swinging guide 134 can be configured in an arc shape. Specifically, the first swinging guide 134 is an arc-shaped slot, and a third slider 1322 is provided at the bottom of the swinging member 132. The swinging member 132 moves within the arc-shaped slot via the third slider 1322. Preferably, the swinging member 132 can be positioned on the opposite side of the arc-shaped opening of the slot. When the first transmission portion 1313 drives the swinging member 132 to move, the first swinging guide 134 guides the swinging member 132 along an arc path. Combined with the first transmission portion 1313 driving the swinging member to move, the swinging member 132 swings along the arc path.

[0096] Furthermore, the third guide member 135 is a linear guide rail. Two or more third guide members 135 can be provided and fixed to the third support member 133. Thus, the two third guide members 135 are located on either side of the axis of the third adjustment portion 1312. The two ends of the first transmission portion 1313 are movably connected to the two third guide members 135 via connectors 138, respectively, to provide stable and balanced guidance for the first transmission portion 1313.

[0097] Furthermore, the second swing guide 136 includes a fourth slider 1361 and a fourth guide rail 1362, which are movably connected. The fourth guide rail 1362 is preferably arc-shaped, with the arc of the fourth guide rail 1362 being concentric with the arc of the first swing guide 134. For example, its center can be the intersection of the axis of the rotating member 137 and the plane of the third support member 133. This further improves adjustment stability and synchronization. The fourth guide rail 1362 is disposed on the third support member 133. The fourth slider 1361 is fixedly connected to the fourth support member 142, and the fourth slider 1361 is slidably connected to the fourth guide rail 1362, thereby further guiding the fourth support member 142.

[0098] Furthermore, the rotating member 137 may be a bearing. The rotating member 137 is fixedly connected to the third support member 133 and rotatably connected to the fourth support member 142 in the fourth adjustment unit 14 , so that the fourth adjustment unit 14 can rotate relative to the third support member 133 via the rotating member 137 .

[0099] As shown in Figure 6 , the first, second, and third adjustment units 11, 12, and 13 are provided with an outer shell. This outer shell can adjust its shape to follow the movement of the second and third adjustment units 12, 13, and protects the internal components of the first, second, and third adjustment units 11, 12, and 13. Preferably, the outer shell further includes a first housing 16 and a second housing 17. The first housing 16 is disposed outside the second housing 17. Specifically, the first housing 16 is the outer shell, and the second housing 17 is the inner shell. The first housing 16 is connected to the second support member 124 and can move with the second support member 124. The second housing 17 is connected to the third support member 133 and can move with the third support member 133. For example, when the first operating part 1111 is rotated, the second support member 124 can move in the left and right directions, and at the same time, the first shell 16 and the second shell 17 move in the left and right directions following the second support member 124; when the second operating part 1211 is rotated, the third support member 133 can move in the front and back directions, and at the same time, the second shell 17 moves in the front and back directions following the third support member 133.

[0100] Preferably, the first shell 16 includes a first side panel 161, a second side panel (not shown in the figure), a first flat panel 162, a second flat panel 163 and a third flat panel 164. The structures of the first side panel 161 and the second side panel are basically the same. The first side panel 161 and the second side panel are arranged opposite to each other and are respectively connected to the two sides of the second support member 124. The first side panel 161 includes a first plate portion 1611, a second plate portion 1612 and a third plate portion 1613. The first plate portion 1611, the second plate portion 1612 and the third plate portion 1613 can be integrally formed in the same plane, or they can be located in different planes. In the embodiment disclosed in the present application, among the first plate portion 1611, the second plate portion 1612 and the third plate portion 1613, two adjacent plate portions are connected to each other and are bent, and the bending degree is 90°. It is understood that the configuration and shape of the first plate portion 1611, the second plate portion 1612, and the third plate portion 1613 are not limited, as long as they can wrap around the side edges of the second housing 17 and the second support member 124. The first flat plate 162, the second flat plate 163, and the third flat plate 164 are disposed on top of the third adjustment unit 13 and are connected to the first side plate 161 and the second side plate. Together, the first flat plate 162, the second flat plate 163, and the third flat plate 164 can protect the internal structure of the third adjustment unit 13 and also support the fourth adjustment unit 14.

[0101] As can be easily understood, the first shell 16 is movably disposed outside the second shell 17, and the two shells can adjustably enclose the main structures of the first adjustment unit 11, the second adjustment unit 12, and the third adjustment unit 13. With the arbitrary adjustment of the first adjustment unit 11, the second adjustment unit 12, and the third adjustment unit 13, the first shell 16 and the second shell 17 can be adaptively adjusted to provide full coverage in the first, second, and third dimensions, including left-right, front-back, and rotational directions, thereby improving the sealing and safety of the entire adjustment assembly. The first shell 16 and the second shell 17 can be made of radiation shielding materials, especially materials that shield against neutrons, photons, and gamma rays. The split shells can effectively protect the structures and components of the drive assembly, minimizing radiation damage to the internal structure.

[0102] Preferably, the second housing 17 includes a third side panel 171, a fourth side panel (not shown), a fifth side panel 172, and a fourth flat panel 173. The third and fourth side panels 171 and 172 have substantially identical structures and are disposed opposite each other, connected to either side of the third support member 133. At least portions of the third and fourth side panels 171 and 172 are located inwardly of the first and second side panels 161 and 162. The fifth side panel 172 is connected to the third and fourth side panels on either side, forming a C-shape that encloses certain components of the first, second, and third adjustment units 11, 12, and 13. The fourth flat panel 173 is connected to the third, fourth, and fifth side panels 171, 172 and is located below the first flat panel 162. When the third support member 133 moves in the front-to-back direction, the fourth flat panel 173 can adaptively cover the components within, protecting them from external influences.

[0103] 7 , the fourth adjustment unit 14 includes a fourth adjustment member 141 , a fourth support member 142 , a third transmission member 143 , a lifting member 144 , a lifting guide member 145 , a fifth support member 146 , a third housing 151 and a fourth housing 152 . The fourth adjusting member 141 is connected to the third transmission member 143, and is used to drive the third transmission member 143 to move along the first direction; the third transmission member 143 is connected to the lifting member 144, and the movement of the third transmission member 143 is used to drive the lifting member 144 to move along a second direction perpendicular to the first direction, such as the up and down direction, so that the carrier 1 set on the fifth support member 146 moves along the fourth degree of freedom; the fourth support member 142 is used to support the fourth adjusting member 141, etc.; the lifting guide member 145 is slidably connected to the lifting member 144, and is used to guide the lifting member 144; the fifth support member 146 is connected to the lifting guide member 145 and the carrier 1, and is used to install the carrier 1 and install the lifting guide member 145; the third shell 151 and the fourth shell 152 are arranged on the periphery of the lifting member 144, and are used to protect the fourth adjusting unit 14. It is easy to understand that in other embodiments, the lifting guide member 145 can also be set on the fourth support member 142, that is, it is not connected to the fifth support member 146, and the lifting member 144 can also be guided for adjustment through the sliding connection with the lifting member 144.

[0104] Furthermore, the fourth adjustment member 141 includes a fourth control portion 1411 and a fourth adjustment portion 1412. The fourth control portion 1411 is used to control the movement of the fourth adjustment portion 1412, such as rotation. Rotation of the fourth adjustment portion 1412 is used to move the third transmission member 143. The first control portion 1111 and the fourth adjustment portion 1412 are connected via a speed reducer. The fourth adjustment portion 1412 is mounted to the fourth support member 142 via a fifth mounting seat 147. The fourth adjustment portion 1412 is preferably a screw, and the third transmission member 143 and the fourth adjustment portion 1412 are connected by a threaded connection.

[0105] Furthermore, the lifting member 144 includes a first lifting portion 1441 and a second lifting portion 1442. The middle portions of the first lifting portion 1441 and the second lifting portion 1442 are hinged; the first end of the first lifting portion 1441 is hinged to the sixth mounting seat 148, which is fixedly connected to the fifth support member 146, and the second end of the first lifting portion 1441 is hinged to the third transmission member 143. Furthermore, the first end of the second lifting portion 1442 is hinged to the seventh mounting seat 149, which is slidably connected to the lifting guide member 145, and the second end of the second lifting portion 1442 is hinged to the eighth mounting seat 150, which is fixedly connected to the fourth support member 142. When the fourth operating part 1411 is rotated, the third transmission part 143 is driven to move in the first direction through the fourth adjusting part 1412, such as the axis of the fourth adjusting part 1412 moves, thereby driving the first lifting part 1441 and the second lifting part 1442 to rotate synchronously relative to each other, thereby realizing the fifth support part 146 to move in the second direction perpendicular to the first direction, and in this embodiment, to move in the up and down directions, thereby realizing the movement of the carrier 1 along the fourth degree of freedom.

[0106] 8 , the third housing 151 is connected to the fourth support member 142, and the fourth housing 152 is connected to the fifth support member 146. Preferably, in one embodiment, the third housing 151 and the fourth housing 152 are configured as split, telescopically adjustable structures, wherein the fourth housing 152 is disposed on the periphery of the lifting member 144, and the third housing 151 is disposed on the periphery of the fourth housing 152. The fourth housing 152 is movable relative to the third housing 151 to accommodate the lifting movement of the lifting member 144.

[0107] In addition to being provided as separate parts, the third shell 151 and the fourth shell 152 may also be provided as an integrated part. In other embodiments, the fourth shell 152 may not be provided, and only the third shell 151 may be provided. For example, one end of the third shell 151 is connected to the fourth support member 142, and the other end of the third shell 151 is connected to the fifth support member 146. In this embodiment, the third shell 151 is retractable and deformable. For example, the first shell 51 may be a flexible or corrugated structure, and the flexible or corrugated structure of the first shell 151 may be able to follow the movement of the lifting member 144 to adjust its shape, thereby protecting the movement of the lifting member 144. It is understandable that the form and shape of the first shell 151 and the second shell 152 are not limited, as long as they can follow the movement of the lifting member 144 to adjust their shape and can play a role in protecting the lifting member 144.

[0108] Furthermore, the moving assembly 20 includes a push-pull member 21 and a first moving member 22. The push-pull member 21 is provided on one side of the adjustment assembly 10 and is used to push or pull the adjustment assembly 10 and the carrier 1. The push-pull member 21 can be a handle, an armrest, a push-pull rod, etc. The first moving member 22 is provided around the bottom of the adjustment assembly 10 and is used to move the adjustment assembly 10 and the carrier 1, for example, to move the adjustment assembly 10 and the carrier 1 as a whole to a preparation room, a treatment room, etc. The first moving member 22 can be a pulley, a caster, a roller, a universal wheel, a sprocket, etc.

[0109] Furthermore, at least one of the first operating portion 1111, the second operating portion 1211, the third operating portion 1311, and the fourth operating portion 1411 of the first adjusting unit 11, the second adjusting unit 12, the third adjusting unit 13, and the fourth adjusting unit 14 can be manually operated, or the first operating portion 1111, the second operating portion 1211, the third operating portion 1311, and the fourth operating portion 1411 can be driven by the driving assembly 30. It is easy to understand that, compared with manual operation, the driving assembly 30 can more quickly and accurately adjust the carrier 1 to a preset spatial position.

[0110] Furthermore, the drive assembly 30 includes a first drive assembly 31 and / or a second drive assembly (not shown). For example, the first drive assembly 31 is used to drive the first control unit 1111, the second control unit 1211, and the third control unit 1311 to rotate; the second drive assembly is used to drive the fourth control unit 1411 to rotate.

[0111] As shown in Figures 9, 10 and 14, the first driving assembly 31 includes a first driving member 311, a second driving member 312, a third driving member 313, a limiting member 314, a base 315, a fifth shell 316, a power source 317 and a second moving member 320. The output portion of the first driving member 311 is connected to the first operating portion 1111 for driving the first operating portion 1111 to rotate; the output portion of the second driving member 312 is connected to the second operating portion 1211 for driving the second operating portion 1211 to rotate; the output portion of the third driving member 313 is connected to the third operating portion 1311 for driving the third operating portion 1311 to rotate; the limiting members 314 are respectively provided on the first driving member 311, the second driving member 312 and the third driving member 313 for controlling the movement of the first adjusting unit 11, the second adjusting unit 12 and the third adjusting unit 13. The first drive assembly 311 is provided with a first housing 316, which is used to house the first drive member 311, the second drive member 312, and the third drive member 313. The fifth housing 316 is used to enclose the power source 317, the first drive member 311, the second drive member 312, and the third drive member 313. It is easy to understand that the power source 317 may include an AC / DC power supply, a pneumatic structure, etc. The power source 317 is used to provide power to the first drive member 311, the second drive member 312, and the third drive member 313. The second moving member 320 is connected to the base 315 and is used to move the first drive assembly 31 as a whole. Preferably, in this embodiment, the first drive member 311, the second drive member 312, and the third drive member 313 are integrated into a whole through the base 315 and the fifth housing 316, and are externally mounted on the outside of the adjustment assembly 10. The first drive assembly 31 can be detachably removed to prevent it from being affected by particle radiation during irradiation therapy, causing activation and loss of internal components. The second driving assembly includes a fourth driving member (not shown), the output portion of which is connected to the fourth operating portion 1411 for driving the fourth operating portion 1411 to rotate.

[0112] The fifth shell 316 can be configured in an integrally formed form, or it can be designed in a split form according to the structure of the drive assembly, such as being divided into three shells 316a, 316b and 316c. Specifically, the shell 316a and the shell 316b are used to protect the first drive member 311, the second drive member 312 and the third drive member 313, and the shell 316c is used to protect the power source 317. The split structure can be separated and closed during the alignment and adjustment process of the drive assembly and the adjustment device. The fifth shell 316 can be made of radiation shielding material, especially a material that can shield against neutrons, photons and gamma rays. The split shell can effectively protect the structure and components in the drive assembly and minimize radiation damage to the internal structure.

[0113] In other embodiments, the fourth driving member may also be integrated into the first driving assembly 31 .

[0114] Furthermore, the first driving member 311 and the second driving member 312 are interconnected. That is, when the first driving member 311 is activated, it can cause the second driving member 312 to move along the first path. Conversely, when the second driving member 312 is activated, the second driving member 312 itself can move along the second path. The second driving member 312 and the third driving member 313 are interconnected. That is, when the second driving member 312 is activated, the third driving member 313 can follow the second driving member 312 in moving along the second path. The interconnected process of the three driving members is described below.

[0115] In a preferred embodiment, the second driving member 312 does not affect the position of the first driving member 311 when in operation; similarly, the third driving member 313 does not affect the positions of the first driving member 311 and the second driving member 312 when in operation. In this way, the driving assembly 30 can accurately drive the adjustment assembly 10 one by one as needed to achieve movement of the carrier 1 in multiple degrees of freedom.

[0116] 11 and 12 , the first driving member 311 includes a first driving portion 3111, a first transmission portion 3112, a second transmission portion 3113, a first output portion 3114, and a first moving portion 3115. The first driving portion 3111 is configured to provide driving force; the first transmission portion 3112 is connected between the first driving portion 3111 and the second transmission portion 3113 and is configured to transmit the power of the first driving portion 3111 to the second transmission portion 3113; the second transmission portion 3113 is configured to rotate in conjunction with the first driving portion 3111; the first output portion 3114 is connected to an end of the second transmission portion 3113 and is configured to output the power of the first driving portion 3111 to drive the first operating portion 1111 to rotate; and the first moving portion 3115 is in transmission connection with the second transmission portion 3113 and is connected to the second driving member 312 to drive the second driving member 312 and the third driving member 313 to move.

[0117] Furthermore, the first drive unit 3111 is mounted on the eighth mounting base 3116, and a shaft is provided at the end of the first drive unit 3111. The first transmission unit 3112 includes a first transmission wheel 3112a, a second running wheel 3112b, and a transmission belt 3112c. The first transmission wheel 3112a is mounted on the shaft of the first drive unit 3111, and the second running wheel 3112b is mounted on one end of the second transmission unit 3113. The transmission belt 3112c engages with the first transmission wheel 3112a and the second running wheel 3112b to transmit the driving force of the first drive unit 3111 to the second transmission unit 3113.

[0118] Furthermore, the second transmission portion 3113 can be arranged side by side with the first driving portion 3111, which can save space and make the structure compact. One end of the second transmission portion 3113 is also mounted on the eighth mounting seat 3116. The second transmission portion 3113 can be a screw. The first moving portion 3115 is threadedly connected to the second transmission portion 3113. Under the action of the first driving portion 3111 and the first transmission portion 3112, the second transmission portion 3113 rotates, causing the first moving portion 3115 to move along the axis of the second transmission portion 3113. The first moving portion 3115 is connected to the fourth support portion 3124. The movement of the first moving portion 3115 is used to drive the second driving member 312 and the third driving member 313 to move (described in detail below).

[0119] Furthermore, the first output portion 3114 is connected to the end of the second transmission portion 3113. A sleeve for transmitting power is provided at the end of the first control portion 1111 near the first output portion 3114. The first output portion 3114 is connected to the first control portion 1111 via the sleeve. Under the action of the first driving portion 3111, the first output portion 3114 causes the first control portion 1111 to rotate, thereby achieving movement of the second adjustment unit 12, the third adjustment unit 13, the fourth adjustment unit 14, and the carrier 1 along the first degree of freedom.

[0120] In the embodiment disclosed herein, the lead of the second transmission portion 3113 is preferably the same as the lead of the first adjustment portion 1112. Specifically, with reference to FIG14 , the second transmission portion 3113 and the first adjustment portion 1112 preferably utilize the same threaded rod. The second transmission portion 3113 and the first movable portion 3115, in conjunction with the stopper 314, can limit the movement path of the first transmission portion 112. The movement stroke of the first movable portion 3115 on the second transmission portion 3113 is the same as the movement stroke of the first transmission portion 112 on the first adjustment portion 1112. When the first movable portion 3115 moves to the end of the second transmission portion 3113, it indicates that the first transmission portion 112 has reached its upper limit of movement, i.e., the second adjustment unit 12 has reached its upper limit of adjustment in the first degree of freedom. At this point, the first movable portion 3115 contacts the stopper 314. Under the action of the stopper 314, the first driving portion 3111 idles or stops rotating, causing the second adjustment unit 12 to stop moving, thereby ensuring safe operation of the entire device within the adjustable range.

[0121] 12 , 13 and 14 , the second driving member 312 includes a second driving portion 3121 , a second output portion 3122 , a third supporting portion 3123 , a fourth supporting portion 3124 , a first guide portion 3125 and a second guide portion. The second driving part 3121 is used to provide driving force; the second output part 3122 is connected to the output end of the second driving part 3121, and is used to output the power of the second driving part 3121 to drive the second operating part 1211 to rotate; the third support part 3123 is connected to the second driving part 3121, and is used to install the second driving part 3121; the fourth support part 3124 is connected to the first moving part 3115, and is used to move following the first moving part 3115; the first guide part 3125 is arranged on the fourth support part 3124, and is connected between the fourth support part 3124 and the base 315, and the first guide part 3125 is used to guide the second driving part 3121 to move along the first path defined by the first guide part 3125; the second guide part is arranged on the third support part 3123, and is connected between the third support part 3123 and the fourth support part 3124, and the second guide part is used to guide the second driving part 3121 to move along the second path defined by the second guide part.

[0122] Furthermore, a sleeve is provided at the end of the second control portion 1211 near the second output portion 3122, and the second output portion 3122 is connected to the second control portion 1211 via the sleeve. Under the action of the second driving portion 3121, the second output portion 3122 drives the second control portion 1211 to rotate, thereby achieving movement of the third adjustment unit 13, the fourth adjustment unit 14, and the carrier 1 along the second degree of freedom.

[0123] Furthermore, the first guide portion 3125 includes a fifth slider 3125a and a fifth guide rail 3125b, which may also be provided in pairs on the base 315. The second guide portion includes a sixth guide rail 3126. Preferably, the third support portion 3123, the second guide portion, the fourth support portion 3124, and the first guide portion 3125 are provided on the base 315 in this order from top to bottom. The second driving portion 3121 is mounted to the third supporting portion 3123 via a ninth mounting seat 3127. The bottom of the third supporting portion 3123 is connected to a sixth slider (not shown), which is slidably connected to a sixth guide rail 3126, which is connected to the fourth supporting portion 3124. The bottom of the fourth supporting portion 3124 is connected to a fifth slider 3125a, which is slidably connected to a fifth guide rail 3125b, which is fixedly connected to the base 315. The bottom of the fourth supporting portion 3124 is connected to the first moving portion 3115, configured to move with the first moving portion 3115. Preferably, the line along which the fifth guide rail 3125b lies is perpendicular to the line along which the sixth guide rail 3126 lies. With reference to the settings of the multiple degrees of freedom in the aforementioned adjustment component 10, in the embodiment disclosed in the present application, the straight line where the fifth guide rail 3125b is located is parallel to the first degree of freedom, and the second drive unit 3121 moves through the fifth guide rail 3125b, that is, the second drive unit 3121 moves along the first path; the straight line where the sixth guide rail 3126 is located is parallel to the second degree of freedom, and the second drive unit 3121 moves through the sixth guide rail 3126, that is, the second drive unit 3121 moves along the second path. When the first driving portion 3111 drives the first operating portion 1111 to rotate, the first transmission member 112 moves along the axis of the first adjustment portion 1112, driving the second adjustment unit 12 to move along the first degree of freedom. Simultaneously, the first moving portion 3115 also moves along the axis of the second transmission portion 3113. That is, the first moving portion 3115 synchronously moves with the second adjustment unit 12. The first moving portion 3115 is connected to the fourth support portion 3124. As a result, the fourth support portion 3124 also moves with the second adjustment unit 12, enabling the second driving portion 3121 to move along the first path. This prevents the second output portion 3122 from disengaging from the second operating portion 1211. In other words, the second output portion 3122 will not disengage from the sleeve of the second operating portion 1211, thereby preventing it from driving the second operating portion 1211. Specifically, the first guide portion 3125 is used to guide the fourth support portion 3124 to move along the first path.When the second driving portion 3121 drives the second operating portion 1211 to rotate, the second operating portion 1211, the second adjustment portion 1212, the second transmission member 122, and the third support member 133 move together along the second degree of freedom. Simultaneously, the second driving portion 3121 also moves along the second path, preventing the second output portion 3122 from disengaging from the second operating portion 1211. In other words, the second output portion 3122 does not disengage from the sleeve of the second operating portion 1211, thereby preventing the second operating portion 1211 from being driven. Specifically, the second guide portion is used to guide the second driving portion 3121 and drive the second output portion 3122 to move along the second path.

[0124] As shown in Figure 14, the third driving member 313 includes a third driving portion 3131, a second transmission portion 3132, a third transmission portion 3133, a third output portion 3134, and a second moving portion 3135. The third driving portion 3131 is used to provide driving force; the second transmission portion 3132 is connected between the third driving portion 3131 and the third transmission portion 3133 and is used to transmit the power of the third driving portion 3131 to the third transmission portion 3133. The second transmission portion 3132 in the third driving member 313 is substantially identical in structure and function to the first transmission portion 3112 in the first driving member 311 and will not be described in detail here. The third output portion 3134 is connected to the end of the third transmission portion 3133 and is used to output the power of the third driving portion 3131 to drive the third operating portion 1311 to rotate; the third transmission portion 3133 and the second moving portion 3135 are used in conjunction with the limiter 314 to limit the motion path of the first transmission portion 1313 (described in detail below).

[0125] Furthermore, the third driving portion 3131 is mounted on the third supporting portion 3123 via the tenth mounting seat 3136, and the third transmission portion 3133 is mounted on the third supporting portion 3123 via the eleventh mounting seat 3137. The third output portion 3134 is located at the end of the third transmission portion 3133 and is connected to the third operating portion 1311 via a sleeve.

[0126] Furthermore, when the first drive unit 3111 drives the first control unit 1111 to rotate, the second adjustment unit 12 and the third adjustment unit 13 move along the first degree of freedom, while the second drive unit 3121 and the third drive unit 3131 move along the first path via the first guide portion 3125. When the second drive unit 3121 drives the second control unit 1211 to rotate, portions of the second adjustment unit 12 and the third adjustment unit 13 move along the second degree of freedom, while the second drive unit 3121 and the third drive unit 3131 move along the second path via the second guide portion 3126. When the third drive unit 3131 drives the third control unit 1311 to rotate, the fourth adjustment unit 14 moves along the third degree of freedom. In other words, preferably, at least the first output unit and the first control unit do not disengage, and further, the second output unit and the second control unit do not disengage, and the third output unit and the third control unit do not disengage. Thus, during the adjustment process, the drive assembly 30 can reliably and continuously adjust the adjustment assembly 10 without the need for frequent manual alignment of different output shafts, thus saving operation time.

[0127] Preferably, in the embodiment disclosed in the present application, the lead of the third transmission part 3133 is preferably the same as the lead of the third adjustment part 1312. Specifically, the third transmission part 3133 and the third adjustment part 1312 preferably use the same threaded rod, the second movable part 3135 is threadedly connected to the third transmission part 3133, and the movement stroke of the second movable part 3135 on the third transmission part 3133 is the same as the movement stroke of the first transmission part 1313 on the third adjustment part 1312. When the second movable part 3135 moves to the end of the third transmission part 3133, it means that the first transmission part 1313 has reached the upper limit of movement in the second degree of freedom, that is, the third adjustment unit 13 has reached the upper limit of adjustment. At this time, the second movable part 3135 will contact the limit member 314. Under the action of the limit member 314, the third driving part 3131 will idle or stop rotating, causing the third adjustment unit 13 to stop moving, thereby ensuring the safe operation of the entire device within the adjustable range.

[0128] Furthermore, the limit member 314 includes a sensing switch 3141 and a limiting shaft. Preferably, the sensing switch 3141 serves as a soft limit, and the limiting shaft serves as a hard limit, which are arranged on the first drive member 311, the second drive member 312 and the third drive member 313, and the movement strokes of the first adjustment unit 11, the second adjustment unit 12 and the third adjustment unit 13 are doubly limited, so that they cannot continue to adjust when they reach the upper limit of adjustment, thereby ensuring the safe operation of the device. It is understandable that only the sensing switch 3141 or the limiting shaft can be set, or both can be set. In the embodiments disclosed in the present application, the setting scheme of the limit member 314 is described in conjunction with the third drive member 313. The manner and principle of setting the limit member 314 of the first drive member 311 and the second drive member 312 are basically the same as those of setting the limit member 314 on the third drive member 313, and are not described in detail here.

[0129] Furthermore, a sensor switch 3141 is mounted on the third support portion 3123. Two sensor switches 3141 can be provided, one on each side of the two eleventh mounting seats 3137, corresponding to the two ends of the third transmission portion 3133. When the second movable portion 3135 moves along the third transmission portion 3133 to one end of the third transmission portion 3133, the second movable portion 3135 contacts the sensor switch 3141, indicating that the third adjustment unit 13 has reached its upper limit. At this point, the third driving portion 3131 can be deactivated by powering off, thereby stopping the first transmission portion 1313 from moving.

[0130] Furthermore, the limiting shaft includes a first limiting shaft 3142 and a second limiting shaft 3143. The first limiting shaft 3142 is mounted on the eleventh mounting seat 3137, and the second limiting shaft 3143 is mounted on the second movable portion 3135. When the second movable portion 3135 moves along the third transmission portion 3133 to one end of the third transmission portion 3133, the second movable portion 3135 abuts against the first limiting shaft 3142 or the second limiting shaft 3143 abuts against the eleventh mounting seat 3137, indicating that the third adjustment unit 13 has reached its upper limit. At this time, the third driving portion 3131 idles, causing the first transmission portion 1313 to stop moving.

[0131] Furthermore, the second movable member 320 is arranged around the bottom of the base 315 to facilitate the movement of the entire first driving assembly 31. The second movable member 320 can be a pulley, caster, roller, universal wheel, etc.

[0132] Furthermore, the second driving assembly includes a fourth driving member. The fourth driving member is provided separately, and a fourth output portion of the fourth driving member is connected to the fourth operating portion 1411 via a sleeve.

[0133] As shown in reference figure 15, the mounting assembly 40 includes a first mounting member 41 and a second mounting member 42. The first mounting member 41 and the second mounting member 42 are preferably detachably connected to achieve a separable connection and fixation between the adjustment assembly 10 and the first drive assembly 31. The first mounting member 41 matches the second mounting member 42 and the installation positions correspond to each other. The first mounting member 41 can be installed on the adjustment assembly 10, and the second mounting member 42 can be installed on the first drive assembly 31; or, the first mounting member 41 can also be installed on the first drive assembly 31, and the second mounting member 42 can also be installed on the adjustment assembly 10. In the embodiment disclosed in the present application, two first mounting members 41 are provided, and the two first mounting members 41 are respectively installed on both sides of the first drive assembly 31, and two second mounting members 42 are provided, and the two second mounting members 42 are respectively installed on both sides of the adjustment assembly 10.

[0134] The second drive assembly can also be installed using the installation assembly 40 of the present application. It is understandable that other installation devices can also be used for installation.

[0135] In the embodiment disclosed in the present application, the first mounting member 41 includes a first mounting portion 411, an operating portion 412, and a clamping portion 413. The first mounting portion 411 is preferably mounted on the side of the base 315 of the first drive assembly 31, the operating portion 412 is disposed on the first mounting portion 411, and the clamping portion 413 is connected to the operating portion 412. The operating portion 412 is used to drive the clamping portion 413 to clamp with the fixing portion 422 of the second mounting member 42.

[0136] The second mounting member 42 includes a second mounting portion 421 and a fixing portion 422. The second mounting portion 421 is preferably mounted on the bottom side of the adjustment assembly 10, and the fixing portion 422 is provided on the second mounting portion 421. The fixing portion 422 is used to fix the clamping portion 413. The clamping portion 413 has two positions: a clamping position and a release position. When the clamping portion 413 is in the clamping position, the adjustment assembly 10 and the first drive assembly 31 are locked; when the clamping portion 413 is in the release position, the adjustment assembly 10 and the first drive assembly 31 are disengaged. The operating portion 412 is capable of operably driving the clamping portion 413 to move between the clamping position and the release position. Preferably, the clamping portion 413 has an annular structure and the fixing portion 422 is in the shape of a hook; when the spatial position of the carrier 1 needs to be adjusted, the first drive component 31 is moved close to the installation position of the adjustment component 10, and the operating portion 412 is used to drive the clamping portion 413 close to the fixing portion 422, so that the hollow annular structure of the clamping portion 413 passes through the hook-shaped fixing portion 422, and then the operating portion 412 is moved away from the clamping portion 413 and locked. The fixing portion 422 can stop the clamping portion 413 from disengaging from it, and is used to maintain the clamping portion 413 in the clamping position. At this time, the clamping portion 413 is in the clamping position, so that the first drive component 31 is fixed relative to the adjustment component 10, thereby realizing the connection and fixation of the first drive component 31 and the adjustment component 10. When the carrier 1 is adjusted to a preset spatial position, the driving operating part 412 approaches the fixing part 422, and the clamping part 413 is separated from the fixing part 422. At this time, the clamping part 413 is in a released position, so that the first driving component 31 can be moved relative to the adjusting component 10, thereby realizing the separation of the first driving component 31 from the adjusting component 10.

[0137] An embodiment of the present application provides a method for adjusting an adjusting device, the method comprising:

[0138] S100 , the first drive assembly 31 and / or the second drive assembly (not shown) are connected and fixed to the adjustment assembly 10 from a separated state through the mounting assembly 40 .

[0139] In actual operation, S100 includes the following methods:

[0140] S101, move the mounting member 1 to the preparation room.

[0141] S102 , positioning the first driving assembly 31 to an installation position.

[0142] As shown in Figures 8 and 16 , a positioning member 318 is further provided on the base 315 of the first drive assembly 31, and a positioning hole 153 is correspondingly provided on the bottom of the adjustment assembly 10. The positioning hole 153 matches the positioning member 318 and is used to pre-position the first drive assembly 311 to the installation position, facilitating subsequent positioning by the installation assembly 40. A second movable member 320 is provided between the first drive member 311 and the base 315, and a third movable member 319 enables the first drive member 311 to move relative to the base 315 to achieve manual position adjustment.

[0143] The third moving member 319 includes a connecting block 3191, a seventh slider 3192, a seventh guide rail 3193, a pull rod 3194, a twelfth mounting seat 3195, a limiting block 3196, a positioning block 3197, and a reset member 3198. The connecting block 3191 is connected to the eighth mounting seat 3116. The bottom of the connecting block 3191 is connected to the seventh slider 3192. The seventh slider 3192 is slidably connected to the seventh guide rail 3193. The seventh guide rail 3193 is connected to the base 315, allowing the first driving member 311 to be operatively moved relative to the base 315. The axis of the seventh guide rail 3193 is preferably parallel to the first degree of freedom, allowing the first driving member 311 to drive the first output portion 3114 to move along the first path. The connecting block 3191 is connected to one end of the pull rod 3194, which passes through the twelfth mounting seat 3195. The twelfth mounting seat 3195 is fixed to the base 315. The limiting block 3196 is rotatably connected to the pull rod 3194. The positioning block 3197 is spaced apart from the twelfth mounting seat 3195. The reset member 3198 is sleeved on the pull rod 3194 and located between the connecting block 3191 and the twelfth mounting seat 3195. It is easy to understand that the reset member 3198 can be a spring, a torsion spring, a biasing structure, etc. The pull rod 3194 is used to pull the connecting block 3191 to move the first driving member 311 along the first path, and then rotate the limit block 3196 to make it collide with the positioning block 3197. At this time, the first driving member 311 is farther away from the adjustment component 10 than the positioning member 318. When the positioning member 318 matches the positioning hole 153, it can avoid the first output part 3114 of the first driving member 311 from colliding with the adjustment component 10 in the case of misalignment, causing unnecessary damage to components.

[0144] S103, drive the clamping part 413 to approach the fixing part 422 through the operating part 412, so that the annular structure of the clamping part 413 passes through the fixing part 422, and then move the operating part 412 away from the clamping part 413, and the fixing part 422 stops the clamping part 413 from disengaging from it. At this time, the first driving component 31 is fixed relative to the adjusting component 10.

[0145] S104 , if there is a second driving assembly, fix the second driving assembly to the adjustment assembly 10 .

[0146] S200 , adaptively docking the output portion of the driving assembly 30 with the input portion of the regulating assembly 10 .

[0147] In actual operation, S200 includes the following methods:

[0148] The output unit includes a first output unit 3114 , a second output unit 3122 , a third output unit 3134 and / or a fourth output unit, and the input unit includes a first manipulation unit 1111 , a second manipulation unit 1211 , a third manipulation unit 1311 and / or a fourth manipulation unit 1411 .

[0149] S201 , rotating the limit block 3196 to separate the limit block 3196 and the positioning block 3197 from each other, and the reset member 3198 resets the connecting block 3191 . At this time, the first output portion 3114 can be adjusted to connect with the first operating portion 1111 .

[0150] S202. Move the second driving member 312 and the third driving member 313 along the second path so that the second output part 3122 and the third output part 3134 are roughly aligned with the second control part 1211 and the third control part 1311; further, move the second driving member 312 and the third driving member 313 along the first path so that the second output part 3122 and the third output part 3134 are docked with the second control part 1211 and the third control part 1311.

[0151] S203 , if there is a fourth output unit, connect the fourth output unit to the fourth control unit 1411 .

[0152] S300 , placing the irradiated object on the mounting member 1 , controlling the driving assembly 30 to drive the adjusting assembly 10 to adjust the mounting member 1 to a preset spatial position.

[0153] In actual operation, S300 includes the following methods:

[0154] S301. Perform simulated positioning: control at least one of the first driving member 311, the second driving member 312, the third driving member 313, and the fourth driving member through wired or wireless control, so that at least one of the first control part 1111, the second control part 1211, the third control part 1311, and the fourth control part 1411 rotates, so that the irradiated object reaches a preset position.

[0155] It is understandable that, in the above method, the control order of the first driving member 311 , the second driving member 312 , the third driving member 313 and the fourth driving member is not limited.

[0156] S400: Disconnect the drive assembly 30 from the adjustment assembly 10 through the installation assembly 40. Specifically, the operating portion 412 is driven close to the fixing portion 422, and the clamping portion 413 is separated from the fixing portion 422. At this time, the first drive assembly 31 and / or the second drive assembly can be disconnected from the adjustment assembly 10.

[0157] The adjustment assembly 10 and the drive assembly 30 are moved to the treatment room, and the above methods S100, S200, S300, and S400 are repeated to adjust the adjustment assembly 10 to the corresponding position. The drive assembly 30 is then moved out of the treatment room, and finally, the irradiated object is irradiated with the beam. It is understood that the adjustment device can be operated only in the preparation room or only in the treatment room, and the operation location is not limited.

[0158] It should be understood that, although the labels of the various methods involved in the above-mentioned embodiments are shown in sequence, these labels are not necessarily executed in sequence. Unless clearly stated herein, the execution of these method labels does not have strict order restrictions, and the labels of these methods can be executed in other sequences. Moreover, at least a portion of the labels involved in the above-mentioned embodiments can include the labels or multiple stages of a plurality of methods, and the labels or stages of these methods are not necessarily executed at the same time, but can be executed at different times, and the execution order of the labels or stages of these methods is not necessarily carried out in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other labels or other labels.

[0159] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described one by one. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0160] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit 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 patent application shall be determined by the appended claims.

Claims

1. A regulating device for radiotherapy, characterized in that: include: A first adjustment unit, used for adjusting the movement of the object along a first degree of freedom; and The second adjusting unit is linked with the first adjusting unit and is used to adjust the object to move along a second degree of freedom, wherein when the first adjusting unit is in operation, it can drive the second adjusting unit to move along the first degree of freedom.

2. The adjustment device for radiotherapy according to claim 1, characterized in that: The first adjusting unit includes a first adjusting member, a first transmission member and a first supporting member. The first adjusting member is used to connect and drive the first transmission member to move. The first supporting member is used to support the first adjusting member. The first transmission member is connected to the second adjusting unit.

3. The adjustment device for radiotherapy according to claim 1, characterized in that: It also includes a third adjusting unit, which is used to adjust the object to move along a third degree of freedom. The third adjusting unit is linked with the second adjusting unit. When the second adjusting unit is working, it can drive the third adjusting unit to move along the second degree of freedom.

4. The adjustment device for radiotherapy according to claim 3, characterized in that: The second adjusting unit includes a second adjusting member, a second transmission member, a fixing member and a second supporting member, the second adjusting member is used to connect and drive the second transmission member to move, the second transmission member is connected to the fixing member, the second supporting member is used to support the fixing member, and the second transmission member is connected to the third adjusting unit.

5. The adjustment device for radiotherapy according to claim 3, characterized in that: The third adjusting unit includes a third adjusting member, a swinging member, a third supporting member and a first swinging guiding member. The third adjusting member is used to connect and drive the swinging member to move. The third supporting member is used to support the third adjusting member. The first swinging guiding member is arranged on the third supporting member. The first swinging guiding member is used to guide the movement path of the swinging member.

6. The adjustment device for radiotherapy according to claim 5, characterized in that: The swing member is movable relative to the third adjusting member, and the first swing guide member is arranged in an arc shape, so that the swing member can be adjusted along the movement direction of the first swing guide member relative to the third adjusting member.

7. The adjustment device for radiotherapy according to claim 6, characterized in that: The third adjusting member is provided with a limiting portion, and the swinging member is provided with an adjusting position for the limiting portion to move. When the third adjusting member drives the swinging member to move, the swinging member swings relative to the first swinging guide member, and the limiting portion moves in the adjusting position.

8. The adjustment device for radiotherapy according to claim 7, characterized in that: The third adjusting unit further comprises a rotating member, through which the object is rotatably connected to the third supporting member, and when the swing member drives the object to move, the object rotates around the axis of the rotating member.

9. The adjustment device for radiotherapy according to claim 8, characterized in that: The third adjusting unit further comprises a second swing guide for guiding the movement of the object, wherein the second swing guide is arranged in an arc shape and is arranged concentrically with the first swing guide.

10. The adjustment device for radiotherapy according to claim 3, characterized in that: It also includes a fourth adjusting unit for adjusting the object to move at least along a fourth degree of freedom. The fourth adjusting unit is linked with the third adjusting unit. When the third adjusting unit is working, it can drive the fourth adjusting unit to move along the third degree of freedom.

11. The adjustment device for radiotherapy according to claim 10, characterized in that: The fourth adjusting unit includes a fourth adjusting member, a fourth supporting member, a third transmission member and a lifting member, the fourth supporting member is used to support the fourth adjusting member, the fourth adjusting member is connected to the third transmission member, the third transmission member is connected to the lifting member, the fourth adjusting member drives the third transmission member to move in a first direction, and the third transmission member drives the lifting member to move in a second direction perpendicular to the first direction.

12. The adjustment device for radiotherapy according to claim 11, characterized in that: The fourth adjusting unit further includes a lifting guide member for guiding the movement of the lifting member.

13. The adjustment device for radiotherapy according to claim 1, characterized in that: At least the first adjusting unit and the second adjusting unit are provided with a shell on the outside, and the shell includes at least a first shell and a second shell. When the first adjusting unit and / or the second adjusting unit moves, the first shell and the second shell can follow the movement of the first adjusting unit and / or the second adjusting unit to adjust the shape in the direction of the first degree of freedom and / or the second degree of freedom.

14. A method for adjusting an adjusting device for radiotherapy, characterized in that: The method comprises a first adjusting unit, a second adjusting unit and a third adjusting unit, and the method comprises: The first adjusting unit is driven to move along a first degree of freedom, and the first adjusting unit drives the second adjusting unit to move along the first degree of freedom at the same time; and / or The second adjusting unit is driven to move along a second degree of freedom, and the second adjusting unit drives the third adjusting unit to move along the second degree of freedom at the same time.

15. A loading system for an adjustment device for radiotherapy, characterized in that: include: A neutron generating device for generating a neutron beam, wherein the neutron beam is used for irradiation therapy of an irradiated body; A carrier, used for carrying the irradiated object; An adjusting component, used for adjusting the spatial position of the carrier and connected to the carrier, wherein the adjusting component comprises at least a first adjusting unit and a second adjusting unit; The first adjusting unit is used to adjust the movement of the carrier along the first degree of freedom. The second adjusting unit is used to adjust the carrier to move along the second degree of freedom, wherein: The first adjusting unit moves along the first degree of freedom, driving the second adjusting unit to move along the first degree of freedom at the same time.

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