Phantom device for inspecting dose of irradiator

Abstract

An embodiment of the present invention provides a phantom device for inspecting a dose of an irradiator, the phantom device comprising: a tank for receiving water therein; a position adjusting part connected to the tank and receiving power from the outside to be able to adjust the position of the tank; and a control part for controlling an operation of the position adjusting part, wherein the position adjusting part is provided with: a height adjusting part capable of adjusting the position of the tank in one direction perpendicular to the ground; and a horizontal adjusting part capable of adjusting an angle formed between the tank and a plane perpendicular to the one direction.

Description

Phantom device for dose testing of radiation detectors

[0001] The present invention relates to a phantom device for dose inspection of a radiation detector.

[0002] In general, radiation therapy for the treatment of diseases such as cancer is widely known as one of the three major cancer treatment methods along with surgery and chemotherapy due to its advantages such as the relatively short treatment time of about an hour, rarely requiring hospitalization for patients, and the fact that the treatment process does not cause much pain to patients.

[0003] In this type of radiation therapy, it is very important to ensure safety by precisely controlling the patient's body organs and cancer cells to ensure that they are exposed to a quantitative amount of radiation, identical to the treatment plan.

[0004] Therefore, before using a radiation treatment device, quality control is essential to measure and confirm in advance whether there are any abnormalities in the normal radiation dose control and output status, as well as the precision of operation.

[0005] Specifically, because the radiation dose in the diagnostic radiology field is high, it is very important to focus the radiation on the affected area.

[0006] Previously, there was a problem in that a person had to manually focus the irradiator and the water phantom using wheels provided under the lift carriage, even though the phantom device weighed hundreds of kilograms when filled with water.

[0007] The background technology described above is technical information that the inventor possessed for the purpose of deriving the present invention or acquired in the process of deriving the present invention, and cannot necessarily be considered as publicly known technology disclosed to the general public prior to the application for the present invention.

[0008] The technical problem to be achieved by the present invention is to provide a phantom device for dose inspection of a radiation irradiator capable of precisely adjusting the position of a water phantom (tank) by having a position adjustment unit receive a control signal from a control unit and adjust the position of the water phantom.

[0009] The problems addressed by the present invention are not limited to those mentioned above. Other problems and advantages of the present invention not mentioned above can be understood through the following description and will be more clearly understood through the embodiments of the present invention. Furthermore, it will be appreciated that the problems and advantages addressed by the present invention can be realized by the means and combinations thereof set forth in the claims.

[0010] One aspect of the present invention provides a phantom device for dose inspection of a radiation irradiator, comprising a tank containing water therein, a position adjustment unit connected to the tank and capable of adjusting the position of the tank by receiving power from the outside, and a control unit controlling the operation of the position adjustment unit, wherein the position adjustment unit has a height adjustment unit capable of adjusting the position of the tank in one direction perpendicular to the ground, and a horizontal adjustment unit capable of adjusting the angle formed by the tank with a plane perpendicular to the one direction.

[0011] A phantom device for dose inspection of a radiation irradiator according to one embodiment of the present invention includes a horizontal adjustment unit for adjusting the level of a tank driven by receiving a control signal from a control unit and a height adjustment unit for adjusting the height of the tank, thereby having the effect of easily adjusting the position and posture of the tank in relation to the radiation irradiator.

[0012] However, the effects that can be obtained through the present invention are not limited to the effects described above, and other technical effects that are not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0013] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described below, serve to further understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to matters described in such drawings.

[0014] FIG. 1 is a schematic drawing of a phantom device for dose inspection of a radiation detector according to one embodiment of the present invention.

[0015] Figure 2 is a drawing showing the usage state of a horizontal adjustment unit according to one embodiment of the present invention.

[0016] FIG. 3 is a drawing showing the state of use of a height adjustment unit according to one embodiment of the present invention.

[0017] Figure 4 is a drawing showing the state of use of a horizontal moving part according to one embodiment of the present invention.

[0018] Figure 5 is a drawing showing the state of use of a transport unit according to one embodiment of the present invention.

[0019] One aspect of the present invention provides a phantom device for dose inspection of a radiation irradiator, comprising a tank containing water therein, a position adjustment unit connected to the tank and capable of adjusting the position of the tank by receiving power from the outside, and a control unit controlling the operation of the position adjustment unit, wherein the position adjustment unit has a height adjustment unit capable of adjusting the position of the tank in one direction perpendicular to the ground, and a horizontal adjustment unit capable of adjusting the angle formed by the tank with a plane perpendicular to the one direction.

[0020] In addition, it further includes a first sensor unit that detects the position of the radiation irradiator, and the control unit can control the operation of the position adjustment unit using the position information of the radiation irradiator obtained from the first sensor unit.

[0021] In addition, it may further include a transport unit that receives power from the outside and moves the position adjustment unit along a preset path.

[0022] Additionally, it may further include a second sensor unit capable of measuring the position and attitude of the tank.

[0023] Additionally, the position adjustment unit may further include a horizontal movement unit capable of adjusting the position of the tank in one direction and on a vertical plane.

[0024] In addition, the control unit receives position information of the radiation irradiator from the first sensor unit and position information of the tank from the second sensor unit, and controls the operation of the transport unit when the distance between the radiation irradiator and the tank on a plane perpendicular to one direction is greater than or equal to a preset distance, and can control the operation of the horizontal movement unit when the distance between the radiation irradiator and the tank on a plane perpendicular to one direction is less than or equal to a preset distance.

[0025] Additionally, the control unit can obtain information about the radiation irradiation direction of the radiation irradiator, and control the operation of the horizontal adjustment unit so that the radiation irradiation direction and the tank form a preset angle.

[0026] In addition, the control unit receives position information of the radiation irradiator from the first sensor unit and position information of the tank from the second sensor unit, and can control the operation of the height adjustment unit so that the distance between the radiation irradiator and the tank in one direction becomes less than a preset distance.

[0027] Additionally, the control unit can limit the operation of the transport unit when the positioning unit is operating.

[0028] Additionally, the horizontal adjustment unit can be placed between the tank and the height adjustment unit.

[0029] Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

[0030] The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0031] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals, and redundant descriptions thereof will be omitted.

[0032] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0033] In the examples below, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not preclude the possibility that one or more other features or components may be added.

[0034] In some embodiments, where implementations are otherwise feasible, specific process sequences may be performed in a different order than described. For example, two processes described in succession may be performed substantially simultaneously, or in a reverse order from the described order.

[0035] For convenience of explanation, the sizes of components in the drawings may be exaggerated or reduced. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily indicated for convenience of explanation, and thus the following embodiments are not necessarily limited to those shown.

[0036] FIG. 1 is a schematic drawing of a phantom device for dose inspection of a radiation probe according to one embodiment of the present invention, FIG. 2 is a drawing showing a state of use of a horizontal adjustment unit according to one embodiment of the present invention, and FIG. 3 is a drawing showing a state of use of a height adjustment unit according to one embodiment of the present invention.

[0037] FIG. 4 is a drawing showing the state of use of a horizontal moving part according to one embodiment of the present invention, and FIG. 5 is a drawing showing the state of use of a transport part according to one embodiment of the present invention.

[0038] A phantom device (1) for dose inspection of a radiation irradiator according to one embodiment of the present invention is a device for testing the performance of a radiation treatment system.

[0039] Specifically, the radiation treatment system can measure beam data such as dose distribution and profile required for radiation dose calculation by irradiating water contained in a tank (100), thereby making it easy to check and maintain the quality of the radiation treatment system (hereinafter referred to as 'radiation irradiator (IR)').

[0040] Additionally, the radiation treatment plan can be verified by irradiating the water contained in the tank (100) prior to radiation treatment for the patient.

[0041] A tank (100) containing water as described above is generally called a water phantom, and in order to increase the accuracy of measuring the dose and profile of radiation and verifying the radiation irradiation plan, the radiation irradiator (IR) and the water phantom must be accurately aligned with each other.

[0042] However, since water phantoms are generally large in size and heavy due to the water contained inside, there was a problem in the past in that a lot of power and time were consumed in the task of accurately aligning the water phantom to the irradiator (IR).

[0043] A phantom device (1) for dose inspection of a radiation irradiator according to one embodiment of the present invention relates to a device that easily adjusts the position (P2) and posture of a tank (100) containing water in relation to a radiation irradiator (IR).

[0044] Specifically, the position (P2) of the tank (100) must be precisely adjusted in relation to the radiation irradiator (IR) depending on the position (P1) of the radiation irradiator (IR), the direction of radiation irradiation, the type of radiation, the type of radiation treatment, etc. In the phantom device (1) for dose inspection of the radiation irradiator according to one embodiment of the present invention, the position adjustment unit (200), the transfer unit (300), etc. receive a control signal from the control unit (600) to automatically place the tank (100) in an appropriate posture and position, thereby making it easy to align the tank (100).

[0045] Therefore, in this specification, a detailed explanation is provided regarding this.

[0046] Referring to FIG. 1, a phantom device (1) for dose inspection of a radiation probe according to one embodiment of the present invention may include a tank (100), a position adjustment unit (200), a transport unit (300), a first sensor unit (400), a second sensor unit (500), and a control unit (600).

[0047] The tank (100) is a device that measures the radiation dose at a preset location by filling it with water when measuring radiation.

[0048] The tank (100) can be formed in various shapes capable of containing water, and preferably, the tank (100) can be formed in a rectangular parallelepiped shape.

[0049] The tank (100) can be made of a transparent material such as acrylic or glass, which allows the worker to check the dose inspection process of the radiation detector (IR) in real time.

[0050] The tank (100) can be connected to one side (upper side as shown in FIG. 1) of the position adjustment unit (200), and specifically, the tank (100) can be connected to the above-mentioned one side of the horizontal adjustment unit (210).

[0051] In one embodiment, a second sensor unit (500) capable of measuring the position and attitude (P2) of the tank (100) may be connected to one side of the tank (100).

[0052] In this specification, 'position (P1) of the radiation irradiator' and 'position (P2) of the tank' may be interpreted as position and posture (P1) of the radiation irradiator, position and posture (P2) of the tank, or position information and posture information (P1) of the radiation irradiator, position information and posture information (P2) of the tank, respectively.

[0053] Accordingly, the control unit (600) obtains the position and attitude (P2) information of the tank (100) from the second sensor unit (500), and can measure the angle formed between the tank (100) and the ground, the distance between the tank (100) and the radiation irradiator (IR) in one direction (Z-axis direction based on FIG. 1) (hereinafter referred to as “vertical distance (L1)”), and the distance between the tank (100) and the radiation irradiator (IR) in another direction perpendicular to the one direction (hereinafter referred to as “horizontal distance (L2)”).

[0054] In this specification, the vertical separation distance (L1) between the tank (100) and the radiation irradiator (IR) can be interpreted as the vertical separation distance (L1) between the radiation irradiator (IR) and the center of the tank (100), but this is for convenience of explanation, and can also be interpreted as the vertical separation distance (L1) between any point of the tank (100) and the radiation irradiator (IR).

[0055] In this specification, the horizontal separation distance (L2) between the tank (100) and the radiation irradiator (IR) can be interpreted as the horizontal separation distance (L2) between the radiation irradiator (IR) and the center of the tank (100), but this is for convenience of explanation, and can also be interpreted as the horizontal separation distance (L2) between any point of the tank (100) and the radiation irradiator (IR).

[0056] That is, in this specification, the center (P2) of the tank (100) is not limited to the literal meaning of the center of position, center of gravity, etc. of the tank (100), and may be interpreted differently as a preset point of the tank (100) depending on the shape of the first sensor unit (400), the second sensor unit (500), the tank (100), the type of radiation, the purpose of the radiation dose inspection, etc.

[0057] Referring to FIGS. 2 to 4, a position adjustment unit (200) according to one embodiment of the present invention is capable of adjusting the position (P2) of a tank (100) by receiving power from the outside, and may include a horizontal adjustment unit (210), a height adjustment unit (220), and a horizontal movement unit (230).

[0058] The position adjustment unit (200) can be connected to one side (lower side as shown in FIG. 1) of the tank (100), and specifically, the position adjustment unit (200) can be placed between the tank (100) and the transfer unit (300).

[0059] The position adjustment unit (200) can be driven by receiving an electrical signal from the control unit (600). Specifically, the position adjustment unit (200) can be driven by receiving an electrical signal from the control unit (600) through a user's operation.

[0060] In addition, the position adjustment unit (200) can be driven according to the operation algorithm stored in the control unit (600), and a detailed description of this is provided in the description of the control unit (600).

[0061] Referring to FIG. 2, a horizontal adjustment unit (210) according to one embodiment of the present invention can adjust the angle formed between a plane parallel to the ground and the tank (100), and can be connected to the lower side of the tank (100).

[0062] In one embodiment, the horizontal adjustment unit (210) may be formed of a plurality of actuators arranged in parallel with each other, and the plurality of actuators may be driven independently of each other to adjust the angle between a plane parallel to the ground and the tank (100).

[0063] However, it is not limited thereto, and the horizontal adjustment unit (210) may be composed of various devices that can receive power from the outside, such as a hydraulic horizontal adjustment system, an electronic horizontal adjustment unit, a gyroscope module, a rack and pinion gear pair, and adjust the inclination of the tank (100).

[0064] Referring to FIG. 3, a height adjustment unit (220) according to one embodiment of the present invention is capable of adjusting the position (P2) of the tank (100) in one direction perpendicular to the ground, and may be placed between the horizontal movement unit (230) and the horizontal adjustment unit (210).

[0065] Specifically, the control unit (600) can obtain the position (P2) information of the tank (100) from the second sensor unit (500) and calculate the vertical separation distance (L1) between the tank (100) and the radiation irradiator (IR), and the height adjustment unit (220) can receive a control signal from the control unit (600) and adjust the vertical separation distance (L1) between the tank (100) and the radiation irradiator (IR).

[0066] In one embodiment, the height adjustment unit (220) may be formed of an electric actuator, but is not limited thereto, and the height adjustment unit (220) may be formed of various devices that are connected to the tank (100) to adjust the height of the tank (100), such as a hydraulic lift, a screw actuator, a piezo electric actuator, a linear motion guide, a hysteresis actuator, and a magnetostrictive actuator.

[0067] In one embodiment, the longitudinal central axis of the height adjustment unit (220) may be coaxial with the longitudinal central axis of the tank (100). Accordingly, even if the height adjustment unit (220) is driven in one direction (Z-axis direction based on FIG. 3), the center of gravity of the tank (100) is positioned on the movement axis of the height adjustment unit (220), thereby providing an effect in which the height of the tank (100) can be stably changed.

[0068] As an optional embodiment, the motor of the height adjustment unit (220) and the motor of the horizontal adjustment unit (210) may be interlocked to prevent them from being driven simultaneously.

[0069] As a result, while the horizontal adjustment unit (210) adjusts the level of the tank (100), the vibration generated by the height adjustment unit (220) due to the change in the height of the tank (100) is limited, thereby enabling the horizontal adjustment unit (210) to precisely adjust the level of the tank (100).

[0070] Referring to FIG. 4, a horizontal moving part (230) according to one embodiment of the present invention can adjust the position (P2) of the tank (100) on a plane parallel to the ground.

[0071] In this specification, the 'ground' may be interpreted as the ground on which the phantom device (1) for dose inspection of the radiation probe is installed, but preferably, the 'ground' may be interpreted as a plane perpendicular to the longitudinal central axis of the tank (100).

[0072] The horizontal movement unit (230) moves the tank (100) in one direction (X-axis based on FIG. 4) and another direction perpendicular to the one direction (Y-axis based on FIG. 4), thereby enabling the horizontal movement unit (230) to move in two dimensions in relation to the radiation detector (IR).

[0073] The horizontal movement unit (230) may be formed of at least one of an actuator, a rack and pinion, and a reduction gear pair, one side of which is connected to the height adjustment unit (220), and the horizontal movement unit (230) may receive a control signal from the control unit (600) to adjust the position of the tank (100) in one direction or the other direction.

[0074] As an optional embodiment, the motor of the horizontal movement unit (230) and the motor of the horizontal adjustment unit (210) may be interlocked to prevent them from being driven simultaneously.

[0075] As a result, the generation of vibration caused by the change in the height of the tank (100) by the horizontal movement unit (230) while the horizontal adjustment unit (210) adjusts the level of the tank (100) is limited, so that the horizontal adjustment unit (210) can precisely adjust the level of the tank (100).

[0076] The horizontal adjustment unit (210) can be operated in a limited manner when the horizontal separation distance (L2) between the radiation detector (IR) and the tank (100) is less than a preset distance.

[0077] Specifically, the control unit (600) can receive information on the position (P1) of the radiation irradiator (IR) from the first sensor unit (400) and information on the position (P2) of the tank (100) from the second sensor unit (500) to calculate the horizontal separation distance (L2) between the radiation irradiator (IR) and the tank (100), and can operate the transfer unit (300) in a limited manner when the horizontal separation distance (L2) is greater than or equal to a preset distance, and can operate the horizontal movement unit (230) in a limited manner when the horizontal separation distance (L2) is less than or equal to the preset distance.

[0078] Accordingly, when the radiation irradiator (IR) and the tank (100) are placed relatively far apart, the transfer unit (300) can quickly move the tank (100) toward the radiation irradiator (IR), and when the radiation irradiator (IR) and the tank (100) are placed relatively close to each other, the horizontal movement unit (230) precisely adjusts the position (P2) of the tank (100) while the transfer unit (300) is fixed, thereby having the effect of efficiently aligning the tank (100) in relation to the radiation irradiator (IR).

[0079] Referring to FIG. 5, a transport unit (300) according to one embodiment of the present invention receives power from the outside and moves a position adjustment unit (200) along a preset path, thereby being grounded with the ground to move a phantom device (1) for dose inspection of a radiation irradiator.

[0080] The transport unit (300) may be composed of various devices capable of moving the phantom device (1) for dose examination of a radiation irradiator by rotation, linear motion, etc., such as a driving wheel or caterpillar. The transport unit (300) is applied to a conventional transport device in various structures, and therefore, a detailed description of the configuration and operating principle of the transport unit (300) is omitted.

[0081] In an optional embodiment, the transport unit (300) may include a fixing device. Accordingly, when the phantom device (1) for dose inspection of the radiation irradiator is placed adjacent to the radiation irradiator (IR) by driving the transport unit (300), the fixing device fixes the phantom device (1) for dose inspection of the radiation irradiator in position, and then the control unit (600) drives the position adjustment unit (200) to precisely adjust the position (P2) of the tank (100).

[0082] In one embodiment, the motor of the transfer unit (300) and the motor of the position adjustment unit (200) may be interlocked to prevent them from being driven simultaneously.

[0083] Accordingly, when the tank (100) is placed adjacent to the radiation detector (IR), the change in the position (P2) of the tank (100) by the transfer unit (300) is limited while the position adjustment unit (200) adjusts the position and posture (P2) of the tank (100), so that the position adjustment unit (200) can precisely adjust the position and posture (P2) of the tank (100).

[0084] Referring to FIGS. 1 to 5, the first sensor unit (400) according to one embodiment of the present invention detects the position of the radiation irradiator (IR), and the control unit (600) can control the operation of the position adjustment unit (200) using the position (P1) information of the radiation irradiator (IR) obtained from the first sensor unit (400).

[0085] In one embodiment, the first sensor unit (400) may be formed of at least one of a photographing device, radar, lidar, and ultrasonic sensor capable of acquiring an image of the surrounding environment of an IR radiation source and a phantom device (1) for dose inspection of the IR radiation source.

[0086] The control unit (600) can receive an image of the surrounding environment of the radiation irradiator (IR) and the phantom device (1) for dose inspection of the radiation irradiator from the first sensor unit (400), and the control unit (600) can calculate the horizontal separation distance (L2) and the vertical separation distance (L1) between the radiation irradiator (IR) and the tank (100) using the received image.

[0087] Additionally, the control unit (600) can control the operation of the transfer unit (300) using the image received above.

[0088] Accordingly, the control unit (600) can calculate the horizontal separation distance (L2) and the vertical separation distance (L1) between the radiation irradiator (IR) and the tank (100), and control the operation of the position adjustment unit (200) so that the tank (100) is placed in a target position and posture in relation to the radiation irradiator (IR).

[0089] In addition, the control unit (600) can control the operation of the transport unit (300) so that the transport unit (300) moves to the radiation irradiator (IR) while avoiding obstacles by using an image of the surrounding environment of the phantom device.

[0090] Referring to FIGS. 1 to 5, a second sensor unit (500) according to one embodiment of the present invention is capable of measuring the position and posture (P2) of the tank (100) and can be placed on one side of the tank (100).

[0091] In one embodiment, the second sensor unit (500) may be formed as a horizontal sensor.

[0092] For example, the second sensor unit (500) may be composed of at least one of a laser level, a digital level, a gyroscope, a vacuum leveling system, an automatic leveling system, an optical level, and an ultrasonic level.

[0093] Accordingly, the second sensor unit (500) can precisely measure the attitude of the tank (100) in relation to the radiation detector (IR), specifically, the angle formed by the tank (100) with a plane parallel to the ground, so that the control unit (600) can control the operation of the horizontal adjustment unit (210) using the attitude information of the tank (100) obtained from the second sensor unit (500), thereby enabling the tank (100) to remain horizontal.

[0094] In one embodiment, the second sensor unit (500) can obtain operation information of the tank (100), such as the position (P2), movement direction, and movement speed of the tank (100).

[0095] For example, the second sensor unit (500) may be composed of at least one of GPS, IMU, radar, lidar, and UWB, and the control unit (600) may precisely measure the position and attitude (P2) and motion information of the tank (100) from the second sensor unit (500).

[0096] Accordingly, the control unit (600) can obtain information on the position and posture (P1) of the radiation irradiator (IR) and information on the surrounding environment from the first sensor unit (400), and obtain information on the position and posture (P2) of the tank (100) from the second sensor unit (500), and through this, the control unit (600) can drive the transport unit (300) to place the phantom device (1) for dose inspection of the radiation irradiator adjacent to the radiation irradiator (IR) through an optimal path, and in addition, the control unit (600) can drive the position adjustment unit (200) to place the tank (100) at an appropriate position in relation to the radiation irradiator (IR).

[0097] A control unit (600) according to one embodiment of the present invention can control the operation of a position adjustment unit (200) and a transfer unit (300).

[0098] In one embodiment, the control unit (600) may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

[0099] The control unit (600) calculates the geometric relationship between the radiation detector (IR) and the tank (100) using information obtained from the first sensor unit (400) and / or the second sensor unit (500), and can control the operation of at least one of the horizontal adjustment unit (210), the height adjustment unit (220), the horizontal movement unit (230), and the transfer unit (300).

[0100] For example, the position adjustment unit (200) and the transfer unit (300) may be formed by an autonomous driving robot, and the control unit (600) may include a processor that controls the operation of the autonomous driving robot.

[0101] In one embodiment, the control unit (600) can control the operation of the transport unit (300) so that the transport unit (300) autonomously moves toward the radiation irradiator (IR) by using the vertical separation distance (L1) obtained from the first sensor unit (400) and / or the second sensor unit (500).

[0102] In addition, the control unit (600) can control the operation of the position adjustment unit (200) so that the position adjustment unit (200) automatically adjusts the position and / or angle of the tank (100) with respect to the radiation irradiator (IR) by using the horizontal separation distance (L2) and the attitude information of the tank (100) obtained from the first sensor unit (400) and / or the second sensor unit (500).

[0103] For example, the autonomous driving operation of the transfer unit (300) and the automatic adjustment operation of the position adjustment unit (200) can be performed continuously or simultaneously.

[0104] The control unit (600) can control the operation of the position adjustment unit (200) and / or the transport unit (300) in either the first control mode or the second control mode. For example, the user can select either the first control mode or the second control mode.

[0105] When the user selects the first control mode, the control unit (600) can control the operation of the position adjustment unit (200) and / or the transport unit (300) according to the user's command.

[0106] For example, the control unit (600) can control the operation of the position adjustment unit (200) and / or the transport unit (300) according to a user's command signal input by a controller or the like, thereby allowing the user to manually operate the operation of the position adjustment unit (200) and / or the transport unit (300).

[0107] When the user selects the first control mode, the control unit (600) can control the operation of the transport unit (300) so that the transport unit (300) autonomously drives toward the radiation irradiator (IR) using information obtained from the first sensor unit (400) and / or the second sensor unit (500), and can control the operation of the position adjustment unit (200) so that the tank (100) takes an appropriate height / position in relation to the radiation irradiator (IR).

[0108] As a result, the phantom device for dose inspection of the radiation detector (IR) in the second control mode has the effect of being driven as an autonomous driving robot.

[0109] In one embodiment, the control unit (600) can create a virtual space having three-dimensional grid coordinates. The three-dimensional grid coordinate system may be a coordinate system having x-axis, y-axis, and z-axis that are orthogonal to each other, but is not limited thereto, and includes various coordinate systems within the technical concept of being able to represent coordinates in three-dimensional space.

[0110] The control unit (600) can receive the position and posture (P1) information of the radiation detector (IR) from the first sensor unit (400) and map it to the virtual space.

[0111] In addition, the control unit (600) can obtain an image of the surrounding environment of the phantom device (1) for dose inspection of the radiation probe from the first sensor unit (400) and map the location information of objects located in the surrounding environment to the virtual space.

[0112] The control unit (600) can receive position and posture (P2) information of the tank (100) from the second sensor unit (500) and map it to the virtual space.

[0113] The control unit (600) can calculate the vertical separation distance (L1) between the radiation irradiator (IR) and the tank (100), the horizontal separation distance (L2) between the radiation irradiator (IR) and the tank (100), and the movement path of the transport unit (300) by using the location (P1) information of the radiation irradiator (IR) mapped to the virtual space, the location and posture (P2) information of the tank (100), and the location information of objects located in the surrounding environment.

[0114] When the horizontal separation distance (L2) between the calculated radiation detector (IR) and the tank (100) is greater than a preset distance, the control unit (600) can operate the transport unit (300) to move the transport unit (300) toward the radiation detector (IR) along the calculated movement path.

[0115] As the transport unit (300) moves toward the radiation irradiator (IR), if the horizontal separation distance (L2) between the radiation irradiator (IR) and the tank (100) becomes less than a preset distance, the control unit (600) can fix the position of the transport unit (300).

[0116] Specifically, when the horizontal separation distance (L2) between the radiation detector (IR) and the tank (100) becomes less than a preset distance, the control unit (600) can stop the operation of the transport unit (300) and operate the position adjustment unit (200).

[0117] The control unit (600) can adjust the horizontal separation distance (L2) between the radiation irradiator (IR) and the tank (100) by operating the horizontal movement unit (230) until the horizontal separation distance (L2) between the radiation irradiator (IR) and the tank (100) reaches the target distance.

[0118] In one embodiment, when the calculated vertical separation distance (L1) between the radiation irradiator (IR) and the tank (100) is different from the target distance, the control unit (600) can operate the height adjustment unit (220) to adjust the vertical separation distance (L1) between the radiation irradiator (IR) and the tank (100).

[0119] In one embodiment, the control unit (600) can receive the position information of the tank (100) from the second sensor unit (500) and determine whether the tank (100) is level, and the control unit (600) can operate the horizontal adjustment unit (210) to adjust the tank (100) to be level in relation to the radiation irradiator (IR).

[0120] In one embodiment, the control unit (600) can obtain information about the direction of radiation irradiation of the radiation probe (IR), and the control unit (600) can control the operation of the horizontal adjustment unit (210) to adjust the attitude of the tank (100) so that the direction of radiation irradiation and the tank (100) form a preset angle.

[0121] The control unit (600) can limit the operation of the transfer unit (300) when the position adjustment unit (200) is in operation.

[0122] Specifically, the control unit (600) can determine whether the position adjustment unit (200) is operating, and if the position adjustment unit (200) is operating, the operation of the transfer unit (300) can be restricted so that the position adjustment unit (200) can precisely adjust the position and posture (P2) of the tank (100).

[0123] In conclusion, the control unit (600) receives information from the first sensor unit (400) and the second sensor unit (500) and drives the transfer unit (300) so that the phantom device (1) for dose inspection of the radiation irradiator can be positioned adjacent to the radiation irradiator (IR) along an optimal movement path, and after the phantom device (1) for dose inspection of the radiation irradiator is positioned adjacent to the radiation irradiator (IR), the control unit (600) can be driven so that the tank (100) can be aligned to an appropriate position and posture (P2) in relation to the radiation irradiator (IR).

[0124] The spirit of the present invention should not be limited to the embodiments described above, and all scopes equivalent to or equivalent to the scope of the following claims, as well as the scope of the present invention, are considered to fall within the scope of the present invention.

[0125] According to one embodiment of the present invention, a phantom device for radiation dose testing is provided. Furthermore, embodiments of the present invention can be applied to medical devices used in industry.

Claims

1. A tank that holds water inside; A position adjustment unit connected to the above tank and capable of adjusting the position of the tank by receiving power from the outside; and It includes a control unit that controls the operation of the above position adjustment unit; The above position adjustment part, A height adjustment unit capable of adjusting the position of the tank in a direction perpendicular to the ground; and A phantom device for dose examination of a radiation probe, comprising a horizontal adjustment unit capable of adjusting the angle formed by a plane perpendicular to the above-mentioned direction and the tank.

2. In paragraph 1, It further includes a first sensor unit for detecting the position of the radiation detector; A phantom device for dose examination of a radiation probe, wherein the control unit controls the operation of the position adjustment unit using the position information of the radiation probe obtained from the first sensor unit.

3. In paragraph 2, A phantom device for dose examination of a radiation probe, further comprising a moving unit that receives power from an external source and moves the position adjustment unit along a preset path.

4. In paragraph 3, A phantom device for dose inspection of a radiation probe, further comprising a second sensor unit capable of measuring the position and attitude of the tank.

5. In paragraph 4, A phantom device for dose examination of a radiation probe, wherein the position adjustment unit further includes a horizontal moving unit capable of adjusting the position of the tank on a plane perpendicular to the one direction.

6. In paragraph 5, The above control unit, The location information of the radiation detector is received from the first sensor unit, and the location information of the tank is received from the second sensor unit. When the distance between the radiation probe and the tank on a plane perpendicular to the above direction is greater than a preset distance, the operation of the transport unit is controlled. A phantom device for dose examination of a radiation probe, which controls the operation of the horizontal moving part when the distance between the radiation probe and the tank on a plane perpendicular to the above-mentioned one-way direction is less than or equal to the preset distance.

7. In paragraph 1, The above control unit, Information about the direction of radiation exposure of the above radiation exposure device can be obtained. A phantom device for dose examination of a radiation irradiator, which controls the operation of the horizontal adjustment unit so that the radiation irradiation direction and the tank form a preset angle.

8. In paragraph 4, The above control unit, The location information of the radiation detector is received from the first sensor unit, and the location information of the tank is received from the second sensor unit. A phantom device for dose examination of a radiation probe, which controls the operation of the height adjustment unit so that the distance between the radiation probe and the tank in the above one direction becomes less than a preset distance.

9. In paragraph 3, The above control unit, A phantom device for dose examination of a radiation probe, which restricts the operation of the transfer unit when the position adjustment unit is in operation.

10. In paragraph 1, The above horizontal adjustment unit is a phantom device for dose examination of a radiation probe, which is placed between the tank and the height adjustment unit.

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