Patient supporting device and radioactive ray irradiation system

Abstract

Provided in the present invention are a patient supporting device and a radioactive ray irradiation system. The patient supporting device comprises: a carrying member, used for carrying a subject to be irradiated; and a position adjusting mechanism, which is used for moving the carrying member, the position adjusting mechanism being provided with a fixed portion and a movable portion, the plane on which the fixed portion is mounted being located below the carrying member, one end of the movable portion being connected to the fixed portion, and the other end of the movable portion being connected to the carrying member. The movable portion can move or rotate with respect to the fixed portion, so as to correspondingly adjust the horizontal position, vertical position or angle of the carrying member. The present invention solves the technical problem that existing mechanical arms cannot control carrying members to achieve accurate positioning or irradiation due to the constrained movement space thereof caused by limitations of treatment rooms and the structures of the mechanical arms.

Description

Patient support device and radiation irradiation system TECHNICAL FIELD

[0001] The present application relates to the field of radiation irradiation technology, in particular to a patient support device and a radiation irradiation system. BACKGROUND

[0002] With the development of atomic science, radiation therapy such as cobalt-60, linear accelerator, electron beam, etc. has become one of the main means of cancer treatment. However, traditional photon or electron therapy is limited by the physical conditions of the radiation itself, which not only kills tumor cells but also causes damage to a large number of normal tissues along the beam path; in addition, due to the different sensitivity of tumor cells to radiation, the treatment effect of traditional radiotherapy for malignant tumors with high radiation resistance (such as glioblastoma multiforme and melanoma) is often poor.

[0003] In order to reduce the radiation damage to normal tissues around the tumor, the concept of targeted therapy in chemotherapy is applied to radiotherapy; and for tumor cells with high radiation resistance, radiation sources with high relative biological effectiveness (RBE) are actively developed, such as proton therapy, heavy particle therapy, and neutron capture therapy. Among them, neutron capture therapy combines the above two concepts, such as boron neutron capture therapy, which provides a better choice for cancer treatment than traditional radiation by specific accumulation of boron-containing drugs in tumor cells and precise neutron beam control. SUMMARY

[0004] The existing mechanical arm for radiotherapy is limited by the position of the treatment space and the rotation direction of the mechanical arm itself during neutron capture therapy, and cannot perform large-range translation or rotation adjustment, so that the patient-carrying part on the mechanical arm cannot reach the appropriate irradiation position, and thus precise positioning and efficient irradiation of the patient cannot be achieved.

[0005] The purpose of the present application is to provide a patient support device and a radiation irradiation system, which can position the patient at different irradiation sites in a treatment space with vertical or horizontal treatment beams, and the mechanical arm can perform large-range horizontal and / or vertical translation and / or rotation motion in the horizontal and / or vertical space range according to the irradiation site of the patient, avoid the occurrence of motion interference caused by the top, top side wall or middle-upper end side wall of the treatment space and the mechanical arm itself, realize efficient and accurate positioning of the irradiation site, ensure a reasonable source-skin distance, and achieve the required irradiation intensity.

[0006] The object of the present application can be achieved by the following solution:

[0007] The present application provides a patient support device, comprising:

[0008] A placing member for carrying an irradiated body;

[0009] A position adjusting mechanism for moving the placing member;

[0010] The position adjusting mechanism has a fixed part and a moving part;

[0011] The mounting plane where the fixed part is located is below the placing member; one end of the moving part is connected with the fixed part, and the other end is connected with the placing member; the moving part can move or rotate relative to the fixed part to correspondingly adjust the horizontal position, vertical position or angle of the placing member.

[0012] In a preferred embodiment of the present application,

[0013] The fixed part comprises a base, which is arranged below the placing member;

[0014] The moving part comprises a mechanical arm, one end of which is connected with the base, and the other end is connected with the placing member, so as to adjust the horizontal position, vertical position or angle of the placing member through the mechanical arm.

[0015] In a preferred embodiment of the present application, the mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the rear end of the first arm is connected with the base, the front end of the first arm is connected with the rear end of the second arm, the rear end of the second arm is connected with the front end of the third arm, the rear end of the third arm is connected with the front end of the fourth arm, and the placing member is rotatably arranged at the front end of the fourth arm.

[0016] The first arm and the base have a first connecting shaft, the second arm and the first arm have a second connecting shaft, and the first connecting shaft coincides with the second connecting shaft; the third arm and the second arm have a third connecting shaft, and the third connecting shaft and the second connecting shaft both extend vertically and are parallel to each other; the fourth arm and the third arm have a fourth connecting shaft, and the fourth connecting shaft extends horizontally.

[0017] In a preferred embodiment of the present application, the second arm, the third arm and / or the fourth arm are telescopic structures.

[0018] In a preferred embodiment of the present application, the mechanical arm further comprises a fifth arm, a rear end of the fifth arm being rotatably connected to a front end of the fourth arm, and the carrier being rotatably connected to a front end of the fifth arm; the fourth arm has a fourth arm center axis, the fifth arm has a fifth arm center axis, the fourth arm center axis coincides with the fifth arm center axis, and the fifth arm is rotatable about the fifth arm center axis.

[0019] In a preferred embodiment of the present application, the mechanical arm further comprises a sixth arm, the sixth arm being rotatably connected to a front end of the fifth arm, and the carrier being arranged on the sixth arm; the sixth arm has a sixth arm center axis, the sixth arm center axis is perpendicular to the fifth arm center axis, and the sixth arm is rotatable about the sixth arm center axis.

[0020] In a preferred embodiment of the present application, the sixth arm is provided with a first connecting part, the carrier is provided with a second connecting part, and the first connecting part is snap-connected with the second connecting part.

[0021] In a preferred embodiment of the present application, the sixth arm is provided with a connecting flange, and the first connecting part is connected with the connecting flange through a bolt.

[0022] In a preferred embodiment of the present application, the carrier is a treatment bed or a treatment chair.

[0023] The present application provides a radiation irradiation system, comprising:

[0024] a carrier for carrying an irradiated object;

[0025] a position adjusting mechanism for moving the carrier;

[0026] the position adjusting mechanism has a fixed part and a moving part;

[0027] the fixed part is arranged at a bottom of a treatment space;

[0028] one end of the moving part is connected with the fixed part, and the other end is connected with the carrier, and the moving part is movable or rotatable relative to the fixed part to correspondingly adjust a horizontal position, a vertical position or an angle of the carrier.

[0029] In a preferred embodiment of the present application, the fixed part is fixedly arranged at a bottom surface or a bottom sidewall of the treatment space.

[0030] In a preferred embodiment of the present application, a top of the treatment space is provided with a beam outlet.

[0031] In a preferred embodiment of the present application, the treatment space is a treatment room or a simulation room, the top or sidewall of the treatment room is provided with a beam outlet, and the top or sidewall of the simulation room is provided with a simulated beam outlet.

[0032] In a preferred embodiment of the present application, the position adjusting mechanism comprises:

[0033] The fixed part comprises a base, which is arranged at the bottom of the treatment space.

[0034] The movable part comprises a mechanical arm, one end of which is connected to the base, and the other end of which is connected to the placement piece, so as to adjust the horizontal position, vertical position or angle of the placement piece through the mechanical arm.

[0035] In a preferred embodiment of the present application, the mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the rear end of the first arm is connected to the base, the front end of the first arm is connected to the rear end of the second arm, the rear end of the second arm is connected to the front end of the third arm, the rear end of the third arm is connected to the front end of the fourth arm, and the placement piece is rotatably arranged at the front end of the fourth arm.

[0036] The first arm and the base have a first connecting shaft, and the second arm and the first arm have a second connecting shaft, the first connecting shaft and the second connecting shaft coincide.

[0037] The third arm and the second arm have a third connecting shaft, and the third connecting shaft and the second connecting shaft both extend vertically and are parallel.

[0038] The fourth arm and the third arm have a fourth connecting shaft, and the fourth connecting shaft extends horizontally.

[0039] In a preferred embodiment of the present application, the second arm, the third arm and / or the fourth arm are telescopic structures.

[0040] In a preferred embodiment of the present application, the mechanical arm further comprises a fifth arm, the rear end of the fifth arm is rotatably connected to the front end of the fourth arm, and the placement piece is rotatably connected to the front end of the fifth arm; the fourth arm has a fourth arm center axis, the fifth arm has a fifth arm center axis, the fourth arm center axis and the fifth arm center axis coincide, and the fifth arm can rotate around the fifth arm center axis.

[0041] In a preferred embodiment of the present application, the mechanical arm further comprises a sixth arm rotatably connected to the front end of the fifth arm, and the carrier is arranged on the sixth arm; the sixth arm has a sixth arm central axis perpendicular to the fifth arm central axis, and the sixth arm is rotatable about the sixth arm central axis.

[0042] In a preferred embodiment of the present application, the sixth arm is provided with a first connecting part, and the carrier is provided with a second connecting part; the first connecting part is snap-connected with the second connecting part.

[0043] In a preferred embodiment of the present application, the sixth arm is provided with a connecting flange, and the first connecting part is connected with the connecting flange by bolts.

[0044] In a preferred embodiment of the present application, the carrier is a treatment bed or a treatment chair.

[0045] The present application provides a radiation irradiation system, comprising:

[0046] a treatment room for irradiating an irradiated body or a simulation room for simulating the position of an irradiated body, the top or side wall of the treatment room is provided with a beam outlet, and the top or side wall of the simulation room is provided with a simulation beam outlet;

[0047] a radiation generating device for generating an irradiation beam;

[0048] a beam transport room for transporting the beam to the treatment room;

[0049] a patient support device, the bottom of the treatment room or the simulation room is provided with the patient support device, and the patient support device comprises a carrier for carrying an irradiated body and a position adjusting mechanism for adjusting the horizontal position, vertical position or angle of the carrier;

[0050] At least part of the radiation generating device is located in the beam transport room, and the beam generated by the radiation generating device is vertically or horizontally irradiated onto the carrier through the beam transport room and the beam outlet of the treatment room in sequence.

[0051] According to the above, the patient support device and the radiation irradiation system provided by the present application have the following advantages:

[0052] The position adjusting mechanism has a fixed part and a moving part, one end of the moving part is connected with the fixed part, and the other end of the moving part is connected with the supporting part for carrying the irradiated body. In order to avoid the interference of the top, top side wall or middle upper end side wall of the treatment space to the movement of the moving part, the installation plane where the fixed part is arranged is arranged below the supporting part, so that the horizontal movement, vertical movement and self-rotation of the moving part relative to the fixed part can be controlled according to the position of the part to be irradiated of the patient in the treatment space, so as to correspondingly adjust the horizontal position, vertical position or angle of the supporting part. The moving part has a large movement range, and the movement interference caused by the top, top side wall or middle upper end side wall of the treatment space can be avoided, the efficient and accurate positioning of the part to be irradiated is realized, the reasonable source-skin distance is ensured, and the required irradiation intensity is reached. BRIEF DESCRIPTION OF DRAWINGS

[0053] The following drawings are only intended to illustrate and explain the present application, and do not limit the scope of the present application. Among them:

[0054] Fig. 1 is a schematic view of the upper space layout of the patient support device in the radiation system provided by the present application.

[0055] Fig. 2 is a structural schematic view of the space where the patient support device is located and the upper space thereof in the radiation system provided by the present application.

[0056] Fig. 3 is a structural schematic view of the patient support device provided by the present application.

[0057] Fig. 4 is a structural schematic view of the position adjusting mechanism of the patient support device provided by the present application, with the supporting part hidden.

[0058] Fig. 5 is a structural schematic view of the first connecting part and the second connecting part in the patient support device provided by the present application.

[0059] Fig. 6 is a structural schematic view of the position adjusting mechanism in the patient support device provided by the present application, with the first connecting part hidden.

[0060] Fig. 7 is a structural schematic view of the patient support device provided by the present application.

[0061] The figure reference in the present application is: 1, position adjusting mechanism; 101, fixed part; 102, moving part; 103, base; 104, mechanical arm; 1041, first arm; 1042, second arm; 1043, third arm; 1044, fourth arm; 10441, fourth arm center shaft; 1045, fifth arm; 10451, fifth arm center shaft; 1046, sixth arm; 10461, sixth arm center shaft; 1047, first connecting part; 10471, connecting hole; 10472, clamping hole; 1048, connecting flange; 2, placing part; 201, second connecting part; 2011, clamping block; 10 (10A / 10B / 10C), treatment space; 20, charged particle beam generating chamber; 30, accelerator; 40, beam transmission part; 41, first transmission part; 42, first beam direction switcher; 43, second beam direction switcher; 44, second transmission part; 45A, third transmission part; 45B, fourth transmission part; 45C, fifth transmission part; 50 (50A / 50B / 50C), neutron beam generating part; 60, beam transmission chamber. DETAILED DESCRIPTION

[0062] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0063] It should be noted that in the description of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0064] In addition, it needs to be explained that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "arranged", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be directly connected, can be indirectly connected through an intermediate medium, or can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] Neutron capture therapy as an effective means of treating cancer has gradually increased in recent years, among which boron neutron capture therapy is the most common, and the neutrons for boron neutron capture therapy can be supplied by nuclear reactors or accelerators. The embodiments of the present application take accelerator boron neutron capture therapy as an example, and the basic components of accelerator boron neutron capture therapy generally include an accelerator for accelerating charged particles (such as protons, deuterons, etc.), a neutron capture therapy system, wherein the neutron capture therapy system includes a target material, a heat removal system and a beam shaping body, wherein the accelerated charged particles interact with the target material to generate neutrons, and the appropriate nuclear reaction is selected according to the required neutron yield and energy, the available accelerated charged particle energy and current size, and the physical and chemical properties of the target material. The commonly discussed nuclear reactions are 7 Li(p,n) 7 Be and 9 Be(p,n) 9 B, both of which are endothermic reactions. The energy threshold of the two nuclear reactions is 1.881 MeV and 2.055 MeV, respectively. Since the ideal neutron source for boron neutron capture therapy is superthermal neutron of keV energy level, theoretically, if protons with energy slightly higher than the threshold energy are used to bombard lithium metal target, relatively low energy neutrons can be generated, which do not need too much slowing down treatment and can be used in clinic. However, the cross section of lithium metal (Li) and beryllium metal (Be) target with threshold energy protons is not high, in order to generate a large enough neutron flux, protons with higher energy are usually selected to initiate nuclear reactions.

[0066] As shown in FIG. 1 and FIG. 2, the radiation irradiation system of the present application is part of a boron neutron capture therapy system, and the boron neutron capture therapy system is configured in two layers of space (upper layer space L2 and lower layer space L1), and further comprises treatment spaces 10 (10A, 10B, 10C) in which patients are treated by neutron beam irradiation, and a charged particle beam generation chamber 20 in which an accelerator 30 and at least part of a beam transmission part 40 are arranged. The neutron beam generation part 50 can be one or more to generate one or more therapeutic neutron beams, and the beam transmission part 40 can selectively transmit charged particle beams to one or several neutron beam generation parts 50 or simultaneously transmit charged particle beams to multiple neutron beam generation parts 50, each of which corresponds to a treatment space 10. In the embodiment shown in FIG. 6 and FIG. 7, there are three neutron beam generation parts 50 and three treatment spaces 10, respectively, which are neutron beam generation parts 50A, 50B, 50C and treatment spaces 10A, 10B, 10C.

[0067] The main part of the beam transport section 40 is located in the beam transport chamber 60, and the beam transport section 40 comprises: a first transport section 41 connected with the accelerator 30; first and second beam direction switches 42 and 43 for switching the travel direction of the charged particle beam; a second transport section 44 connected with the first and second beam direction switches 42 and 43; third, fourth and fifth transport sections 45A, 45B and 45C for respectively transporting the charged particle beam from the first beam direction switch 42 or the second beam direction switch 43 to the neutron beam generation sections 50A, 50B and 50C, and the generated neutron beams are respectively irradiated to the patients in the treatment spaces 10A, 10B and 10C. The third transport section 45A is connected with the first beam direction switch 42 and the neutron beam generation section 50A, the fourth transport section 45B is connected with the second beam direction switch 43 and the neutron beam generation section 50B, and the fifth transport section 45C is connected with the second beam direction switch 43 and the neutron beam generation section 50C. That is, the first transport section 41 is branched into the second transport section 44 and the third transport section 45A in the first beam direction switch 42, and the second transport section 44 is branched into the fourth transport section 45B and the fifth transport section 45C in the second beam direction switch 43. The first and second transport sections 41 and 44 are transported along the X-axis direction, the third transport section 45A is transported along the Z-axis direction, and the fourth and fifth transport sections 45B and 45C are transported in the XY plane and in a "Y" shape with the transport directions of the first and second transport sections 41 and 44. The neutron beam generation sections 50A, 50B and 50C and the corresponding treatment spaces 10A, 10B and 10C are respectively arranged along the transport directions of the third, fourth and fifth transport sections 45A, 45B and 45C, and the directions of the generated neutron beams are respectively the same as the transport directions of the third, fourth and fifth transport sections 45A, 45B and 45C, so that the directions of the neutron beams generated by the neutron beam generation sections 50B and 50C are in the same plane, and the direction of the neutron beam generated by the neutron beam generation section 50A is perpendicular to the plane. By using such an arrangement, the space can be effectively utilized, and multiple patients can be treated without excessively prolonging the beam transport line and with less loss.

[0068] In an optional embodiment of the present application, the treatment space 10A is a vertical treatment chamber in which the beam is vertically incident from top to bottom, and the patient support device can be arranged in the treatment space 10A.

[0069] In an optional embodiment of the present application, the treatment spaces 10B and 10C are horizontal treatment chambers in which the beam shaping bodies are arranged in the side walls and the beam is horizontally incident, and the patient support device can also be arranged in the treatment spaces 10B and 10C.

[0070] As shown in FIGS. 3-4, the present application provides a patient support device, which comprises a carrier 2 for carrying an irradiated body and a position adjusting mechanism 1 for moving the carrier 2, the position adjusting mechanism 1 having a fixed part 101 and a moving part 102; the installation plane where the fixed part 101 is located is below the carrier 2; one end of the moving part 102 is connected with the fixed part 101, and the other end of the moving part 102 is connected with the carrier 2; the moving part 102 can move or rotate relative to the fixed part 101 to correspondingly adjust the horizontal position, vertical position or angle of the carrier 2.

[0071] In an optional embodiment of the present application, the movement of the moving part 102 relative to the fixed part 101 includes horizontal movement and vertical movement; and the rotation of the moving part 102 relative to the fixed part 101 includes self-rotation of the moving part 102 with itself as the rotation axis.

[0072] In an optional embodiment of the present application, the irradiated body can be, but is not limited to, a patient who needs to be treated by radiation. In actual use, according to the preset position of the irradiated body, the horizontal movement, vertical movement and self-rotation of the moving part 102 in cooperation with the fixed part 101 can be performed to adjust the horizontal position, vertical position or angle of the carrier 2. Of course, the moving part 102 can also drive the fixed part 101 to perform one or two of the horizontal movement, vertical movement or self-rotation to ensure that the carrier 2 can be accurately moved to the preset position or coordinate, so as to achieve the purpose of efficient and accurate simulation positioning and irradiation of the irradiated part.

[0073] In an optional embodiment of the present application, the installation plane where the fixed part 101 of the position adjusting mechanism 1 is located is arranged below the carrier 2, and one or more of the horizontal movement, vertical movement or self-rotation of the moving part 102 relative to the fixed part 101 can be controlled according to the preset position of the irradiated part of the patient in the treatment space, so as to correspondingly adjust the horizontal position, vertical position and / or angle of the carrier 2. Through the arrangement of the position of the fixed part 101, the moving part 102 can have a larger range of movement while avoiding the occurrence of movement interference of the position adjusting mechanism 1 caused by the top, top side wall or middle-upper end side wall of the treatment space, so as to realize efficient and accurate positioning of the irradiated part and ensure a reasonable source-skin distance to achieve a required irradiation intensity.

[0074] In an optional embodiment of the present application, as shown in FIG. 3, the support member 2 can be a treatment bed, when the irradiation position adopts a lying posture, the patient can lie on the treatment bed, not only ensuring the patient has better comfort, but also enabling the rays to accurately irradiate the irradiation position of the patient. In another optional embodiment of the present application, as shown in FIG. 7, the support member 2 can also be a treatment chair, when the irradiation position adopts a sitting posture, the patient can sit on the treatment chair, also ensuring the patient has better comfort, and enabling the rays to accurately irradiate the irradiation position of the patient. Of course, the support member 2 can also be other devices for carrying the patient, which can realize the carrying and transfer of the patient in different positions, and is not limited here.

[0075] In an optional embodiment of the present application, as shown in FIG. 3, FIG. 4, FIG. 6 and FIG. 7, the fixed part 101 includes a base 103, the moving part 102 includes a mechanical arm 104 having multiple degrees of freedom, the base 103 is arranged at a fixed position below the support member 2 (such as the floor of the treatment space), and the position adjusting mechanism 1 is fixed through the base 103; one end of the mechanical arm 104 is connected with the base 103, and the other end of the mechanical arm 104 is connected with the support member 2, so that the horizontal position, vertical position or angle of the support member 2 can be adjusted through the mechanical arm 104.

[0076] In an optional embodiment of the present application, as shown in FIG. 3, FIG. 4, FIG. 6 and FIG. 7, the mechanical arm 104 includes a first arm 1041, a second arm 1042, a third arm 1043 and a fourth arm 1044, the rear end of the first arm 1041 is connected with the base 103, the front end of the first arm 1041 is connected with the rear end of the second arm 1042, the rear end of the second arm 1042 is connected with the front end of the third arm 1043, the rear end of the third arm 1043 is connected with the front end of the fourth arm 1044, and the support member 2 is rotatably arranged at the front end of the fourth arm 1044. Among them, the first arm 1041 and the base 103 have a first connecting shaft, the second arm 1042 and the first arm 1041 have a second connecting shaft, and the first connecting shaft and the second connecting shaft coincide; the third arm 1043 and the second arm 1042 have a third connecting shaft, the third connecting shaft and the second connecting shaft both extend vertically and are parallel; the fourth arm 1044 and the third arm 1043 have a fourth connecting shaft, and the fourth connecting shaft extends horizontally.

[0077] Specifically, the connection between the rear end of the first arm 1041 and the base 103, the connection between the front end of the first arm 1041 and the rear end of the second arm 1042, the connection between the rear end of the second arm 1042 and the front end of the third arm 1043, and the connection between the rear end of the third arm 1043 and the front end of the fourth arm 1044 are all pivotally connected, that is, the rear end of the first arm 1041 and the base 103, the front end of the first arm 1041 and the rear end of the second arm 1042, the rear end of the second arm 1042 and the front end of the third arm 1043, and the rear end of the third arm 1043 and the front end of the fourth arm 1044 are connected by a pivot shaft respectively, so that the first arm 1041 has a rotational degree of freedom relative to the base 103, the first arm 1041 has a rotational degree of freedom relative to the second arm 1042, the second arm 1042 has a rotational degree of freedom relative to the third arm 1043, and the third arm 1043 has a rotational degree of freedom relative to the fourth arm 1044, thereby forming a rotational joint of the mechanical arm 104 at each pivot position, achieving the purpose of the mechanical arm 104 having multiple degrees of freedom, and avoiding the occurrence of motion interference of the mechanical arm 104 caused by the top, top side wall or middle-upper end side wall of the treatment space, realizing efficient and accurate positioning of the irradiation site, ensuring a reasonable source-skin distance to achieve the required irradiation intensity.

[0078] During operation, the first arm 1041 can rotate relative to the base 103 to drive the entire mechanical arm 104 to rotate in the horizontal plane, and the second arm 1042 and the third arm 1043 can also rotate in the horizontal plane to drive the carrier 2 to have a large translational range in the horizontal space. The fourth arm 1044 can rotate in the vertical plane to drive the carrier 2 to have a large range of pitch rotation in the vertical space.

[0079] Further, the fourth arm 1044 is a telescopic structure, which can increase the activity range of the mechanical arm 104, and if the mechanical arm 104 interferes with the wall of the treatment space, the mechanical arm 104 can be appropriately shortened to improve the flexibility of the mechanical arm 104 control and ensure accurate irradiation treatment of the rays. Of course, in addition to the fourth arm 1044, the second arm 1042 and / or the third arm 1043 can also be telescopic structures to improve the telescopic adjustment capability of the mechanical arm 104.

[0080] In the embodiment, as shown in FIG. 3, FIG. 4, FIG. 6 and FIG. 7, the mechanical arm 104 further comprises a fifth arm 1045, the rear end of the fifth arm 1045 is rotatably connected to the front end of the fourth arm 1044, and the placing member 2 is rotatably connected to the front end of the fifth arm 1045; the fourth arm 1044 has a fourth arm center axis 10441, the fifth arm 1045 has a fifth arm center axis 10451, the fourth arm center axis 10441 coincides with the fifth arm center axis 10451, and the fifth arm 1045 can rotate around the fifth arm center axis 10451. Through the rotation of the fifth arm 1045, the rotation angle of the placing member 2 in the direction of the fifth arm center axis 10451 can be adjusted (for reference to FIG. 6, the front-rear direction is defined as the direction toward the paper, and the placing member 2 rotates front-rear), so that the angle of the patient on the placing member 2 in the vertical direction can be adjusted, which not only meets the comfort requirement of the patient, but also meets the fine adjustment of the irradiation part of the patient, so as to ensure that the rays can accurately irradiate the irradiation part of the patient.

[0081] Further, as shown in FIG. 3, FIG. 4, FIG. 6 and FIG. 7, the mechanical arm 104 further comprises a sixth arm 1046, the sixth arm 1046 is rotatably connected to the front end of the fifth arm 1045, and the placing member 2 is arranged at the end of the sixth arm 1046; the sixth arm 1046 has a sixth arm center axis 10461, the sixth arm center axis 10461 is perpendicular to the fifth arm center axis 10451, and the sixth arm 1046 can rotate around the sixth arm center axis 10461. Through the rotation of the sixth arm 1046, the rotation angle of the placing member 2 in the direction of the sixth arm center axis 10461 can be adjusted (for reference to FIG. 6, the front-rear direction is defined as the direction toward the paper, and the placing member 2 rotates left-right), so as to adjust the placing member 2 to an appropriate angle for quick disassembly, replacement, and the patient can be conveniently moved from the ground or the transfer trolley to the placing member 2 at a more comfortable angle or position.

[0082] Specifically, as shown in FIG. 4 and FIG. 5, the end of the sixth arm 1046 is provided with a first connecting part 1047, the placing member 2 is provided with a second connecting part 201, and the first connecting part 1047 is clamped and connected with the second connecting part 201, so as to facilitate the disassembly, replacement of the placing member 2 and the mechanical arm 104.

[0083] Further, as shown in FIG. 4 and FIG. 6, the end of the sixth arm 1046 is provided with a connecting flange 1048, the first connecting part 1047 is provided with a circle of spaced-apart connecting holes 10471, a plurality of bolts are arranged between the connecting flange 1048 and the first connecting part 1047, and the plurality of bolts are inserted into the corresponding connecting holes 10471, so as to connect the sixth arm 1046 and the first connecting part 1047 through the plurality of bolts.

[0084] Further, as shown in FIG. 4 and FIG. 5, the first connecting part 1047 and the second connecting part 201 are respectively in plate-shaped structures, a plurality of clamping holes 10472 are arranged on the first connecting part 1047, and a plurality of clamping blocks 2011 corresponding to the plurality of clamping holes 10472 are arranged on the second connecting part 201, the first connecting part 1047 and the second connecting part 201 can be detachably connected through the cooperation and clamping of the plurality of clamping holes 10472 and the clamping blocks 2011, so as to realize the detachable connection between the sixth arm 1046 and the placing piece 2.

[0085] In an optional embodiment of the present application, the rotation of the first arm 1041, the rotation of the second arm 1042, the rotation of the third arm 1043, the rotation of the fourth arm 1044, the rotation of the fifth arm 1045 and the rotation of the sixth arm 1046 can be respectively controlled by a plurality of motors, the output shafts of the plurality of motors are connected with the corresponding output shafts, so that the rotation angles of the first arm 1041 to the sixth arm 1046 can be respectively controlled by controlling the working states of the different motors.

[0086] When the position adjusting mechanism 1 is controlled to adjust the position of the placing piece 2, coordinate control can be adopted, that is, the position of the placing piece 2 in the treatment space is presented in the form of spatial coordinates, the mechanical arm 104 of the position adjusting mechanism 1 is positioned in the spatial coordinate system, and a coordinate position (the position or angle of the part to be irradiated of the patient) is preset in the spatial coordinate system, so as to control the mechanical arm 104 to accurately move the placing piece 2 to the preset coordinate position and accurately adjust the angle of the patient on the placing piece 2, so as to ensure that the part to be irradiated of the patient can be accurately positioned or accurately irradiated by the rays, and the purpose of efficient and accurate positioning and irradiation treatment is achieved.

[0087] The patient support device provided by the application can move the moving part 102 horizontally, vertically or rotate the moving part 102 according to the position of the irradiated body, so as to adjust the horizontal position, vertical position or angle of the loading part 2, ensure that the loading part 2 can be accurately moved to the preset position, and achieve the purpose of efficient and accurate positioning and irradiation of the irradiated part. On the other hand, the patient support device is arranged below the loading part 2 through the mounting plane where the fixing part 101 of the position adjusting mechanism 1 is located, and can control the moving part 102 to move horizontally, vertically or rotate relative to the fixing part 101 in one or more of the multiple movement modes, so as to adjust the horizontal position, vertical position and / or angle of the loading part 2. The moving part 102 of the application has a large range of motion, and can also avoid the occurrence of movement interference of the position adjusting mechanism 1 caused by the top, top side wall or middle-upper end side wall of the treatment space, realize efficient and accurate positioning and irradiation of the irradiated part, and ensure a reasonable source-skin distance to achieve a required irradiation intensity.

[0088] As shown in FIGS. 3-7, the application provides a radiation irradiation system, which comprises a loading part 2 for carrying an irradiated body and a position adjusting mechanism 1 for moving the loading part 2, and the position adjusting mechanism 1 has a fixing part 101 and a moving part 102. The fixing part 101 is arranged at the bottom of the treatment space, one end of the moving part 102 is connected with the fixing part 101, and the other end of the moving part 102 is connected with the loading part 2. The moving part 102 can move or rotate relative to the fixing part 101 to adjust the horizontal position, vertical position or angle of the loading part 2. The fixing part 101 is fixedly arranged at the bottom of the treatment space, and can also be arranged at the bottom side wall of the treatment space. The fixing part 101 of the position adjusting mechanism 1 is arranged at the bottom or near the bottom of the treatment space, so that the position adjusting mechanism 1 has a large range of motion, and the movement interference of the position adjusting mechanism 1 caused by the top, top side wall or middle-upper end side wall of the treatment space can be avoided, efficient and accurate positioning of the irradiated part is realized, a reasonable source-skin distance is ensured, and a required irradiation intensity is achieved.

[0089] The bottom side wall of the treatment space is the side wall surface on which the fixing part 101 is fixedly arranged on the bottom or near the bottom of the treatment space. In this arrangement mode, in order to ensure that the mechanical arm 104 has sufficient length to carry the irradiated body to the simulated beam exit or the beam exit, the length of each arm segment of the mechanical arm 104 is appropriately lengthened. Therefore, while the length of each arm segment is lengthened, in order to ensure the stability of the mechanical arm 104, the rigidity, strength and other parameters of the mechanical arm 104 are appropriately increased to meet the requirement that the mechanical arm 104 can stably and reliably move the patient support 2 and the patient under normal working conditions.

[0090] For the case that the fixing part 101 is fixedly arranged on the bottom of the treatment space, the height of the base 103 and / or the length of the first arm 1041 needs to be appropriately lengthened so that the first arm 1041 can extend to the ground surface of the treatment space. Therefore, in order to ensure the stability of the mechanical arm 104, the rigidity, strength and other parameters of the base 103 and / or the first arm 1041 are appropriately increased to meet the requirement that the mechanical arm 104 can move the patient support 2 and the patient under normal working conditions. In an optional embodiment of the present application, the first arm 1041 can be arranged in a telescopic structure relative to the base 103. When not in use, the first arm 1041 can be at least partially retracted into the base 103 located on the bottom of the ground, thereby reducing the volume of the mechanical arm 104 in the treatment space and reducing the occupation of the treatment space. When in use, the first arm 1041 can be extended from the base 103 to above the ground surface.

[0091] In an optional embodiment of the present application, the movement of the moving part 102 relative to the fixing part 101 includes horizontal movement and vertical movement, and the rotation of the moving part 102 relative to the fixing part 101 includes self-rotation of the moving part 102 with itself as the rotation axis.

[0092] In an optional embodiment of the present application, the top of the treatment space is provided with a beam exit. The treatment space can be a vertical treatment room, and the top of the vertical treatment room is provided with a beam exit, so that the beam emitted by the treatment room is a vertical beam irradiated from top to bottom, and the patient support device is located below the beam exit. In addition, the treatment room can also be a vertical simulation room, which is used to simulate the vertical treatment room to realize precise positioning simulation according to the treatment plan before patient irradiation. The top of the vertical simulation room is provided with a simulated beam exit, and the patient support device is located below the simulated beam exit.

[0093] In an optional embodiment of the present application, the treatment space can also be a horizontal treatment room, a side wall of the horizontal treatment room is provided with a beam outlet, at this time, the emitted beam is a horizontal beam emitted from the beam outlet, and the patient support device is located at the bottom of the horizontal treatment room. Similarly, the treatment space can also be a horizontal simulation room, which is used to simulate the horizontal treatment room to achieve accurate positioning simulation according to the treatment plan before patient irradiation. A side wall of the horizontal simulation room is provided with a simulated beam outlet, and the patient support device is located at the bottom of the horizontal simulation room.

[0094] As shown in FIG. 3, the placing member 2 can be a treatment bed. When the irradiated part adopts a lying posture, it is more convenient to irradiate. The patient can lie on the treatment bed, which not only ensures that the patient has better comfort, but also enables the rays to accurately irradiate the irradiated part of the patient. In another optional embodiment of the present application, as shown in FIG. 7, the placing member 2 can also be a treatment chair. When the irradiated part adopts a sitting posture, it is more convenient to irradiate. The patient can sit on the treatment chair, which also ensures that the patient has better comfort, and also enables the rays to accurately irradiate the irradiated part of the patient. Of course, the placing member 2 can also be other equipment for carrying the patient, which can realize the carrying and transfer of the patient in different positions, and is not limited here.

[0095] In an optional embodiment of the present application, as shown in FIGS. 3, 4, 6 and 7, the fixed part 101 includes a base 103, and the moving part 102 includes a mechanical arm 104 having multiple degrees of freedom. The base 103 can be the fixed part 101 of the position adjusting mechanism 1, and the base 103 is arranged at the bottom of the treatment room to fix the position adjusting mechanism 1. One end of the mechanical arm 104 is connected with the base 103, and the other end of the mechanical arm 104 is connected with the placing member 2, so that the horizontal position, vertical position or angle of the placing member 2 can be adjusted through the mechanical arm 104.

[0096] In an optional embodiment of the present application, as shown in FIGS. 3, 4, 6, and 7, the mechanical arm 104 comprises a first arm 1041, a second arm 1042, a third arm 1043, and a fourth arm 1044, the rear end of the first arm 1041 is pivotally connected with the base 103, the front end of the first arm 1041 is pivotally connected with the rear end of the second arm 1042, the rear end of the second arm 1042 is pivotally connected with the front end of the third arm 1043, the rear end of the third arm 1043 is pivotally connected with the front end of the fourth arm 1044, and the loading member 2 is rotatably arranged at the front end of the fourth arm 1044. Among them, the first arm 1041 and the base 103 have a first connecting shaft, the second arm 1042 and the first arm 1041 have a second connecting shaft, the first connecting shaft and the second connecting shaft coincide; the third arm 1043 and the second arm 1042 have a third connecting shaft, the third connecting shaft and the second connecting shaft both extend along the vertical direction and are parallel to each other; the fourth arm 1044 and the third arm 1043 have a fourth connecting shaft, the fourth connecting shaft extends along the horizontal direction.

[0097] Specifically, the connection mode adopted between the rear end of the first arm 1041 and the base 103, between the front end of the first arm 1041 and the rear end of the second arm 1042, between the rear end of the second arm 1042 and the front end of the third arm 1043, and between the rear end of the third arm 1043 and the front end of the fourth arm 1044 is all pivotally connected, that is, a pivot shaft is respectively arranged between the rear end of the first arm 1041 and the base 103, between the front end of the first arm 1041 and the rear end of the second arm 1042, between the rear end of the second arm 1042 and the front end of the third arm 1043, and between the rear end of the third arm 1043 and the front end of the fourth arm 1044, so that the first arm 1041 has a rotational degree of freedom relative to the base 103, the first arm 1041 has a rotational degree of freedom relative to the second arm 1042, the second arm 1042 has a rotational degree of freedom relative to the third arm 1043, and the third arm 1043 has a rotational degree of freedom relative to the fourth arm 1044, so as to form a rotational joint of the mechanical arm 104 at each pivot position, so as to achieve the purpose that the mechanical arm 104 has multiple degrees of freedom, so as to enable the mechanical arm 104 to have a larger range of motion, avoid the occurrence of motion interference of the mechanical arm 104 caused by the top, the top side wall, or the middle-upper end side wall of the treatment space, realize efficient and accurate positioning of the irradiation site, ensure a reasonable source-skin distance, and achieve a required irradiation intensity.

[0098] In the working process, the rotation of the first arm 1041 relative to the base 103 can drive the whole mechanical arm 104 to rotate in the horizontal plane, in addition, the second arm 1042 and the third arm 1043 can both rotate in the horizontal plane, thereby driving the loading member 2 to have a larger translational range in the horizontal space. The fourth arm 1044 can rotate in the vertical plane, thereby driving the loading member 2 to have a larger range of pitching rotation in the vertical space.

[0099] Further, the fourth arm 1044 is a telescopic structure, so that the activity range of the mechanical arm 104 can be increased, and in addition, if the mechanical arm 104 interferes with the wall of the treatment room, the mechanical arm 104 can be appropriately shortened, the flexibility of the control of the mechanical arm 104 is improved, and the accurate irradiation of the rays is ensured. Of course, in addition to the fourth arm 1044, the second arm 1042 and / or the third arm 1043 can also be telescopic structures, so as to improve the telescopic adjustment ability of the mechanical arm 104.

[0100] In the embodiment, as shown in FIGS. 3, 4, 6 and 7, the mechanical arm 104 further comprises a fifth arm 1045, the rear end of the fifth arm 1045 is rotatably connected to the front end of the fourth arm 1044, and the carrier 2 is rotatably connected to the front end of the fifth arm 1045; the fourth arm 1044 has a fourth arm center axis 10441, the fifth arm 1045 has a fifth arm center axis 10451, the fourth arm center axis 10441 coincides with the fifth arm center axis 10451, and the fifth arm 1045 can rotate around the fifth arm center axis 10451. Through the rotation of the fifth arm 1045, the rotation angle of the carrier 2 in the direction of the fifth arm center axis 10451 can be adjusted (for reference to FIG. 6, the front-rear direction is defined as the direction toward the paper, and the carrier 2 is rotated front-rear), so that the angle of the patient on the carrier 2 in the vertical direction can be adjusted, not only the comfort requirement of the patient can be met, but also the fine adjustment of the irradiation part of the patient can be met, and the rays can be accurately irradiated to the irradiation part of the patient.

[0101] Further, as shown in FIGS. 3, 4, 6 and 7, the mechanical arm 104 further comprises a sixth arm 1046, the sixth arm 1046 is rotatably connected to the front end of the fifth arm 1045, and the carrier 2 is arranged at the end of the sixth arm 1046; the sixth arm 1046 has a sixth arm center axis 10461, the sixth arm center axis 10461 is perpendicular to the fifth arm center axis 10451, and the sixth arm 1046 can rotate around the sixth arm center axis 10461. Through the rotation of the sixth arm 1046, the rotation angle of the carrier 2 in the direction of the sixth arm center axis 10461 is adjusted (for reference to FIG. 6, the front-rear direction is defined as the direction toward the paper, and the carrier 2 is rotated left-right), so that the carrier 2 is quickly disassembled, replaced and adjusted to a suitable angle, and the patient can be conveniently moved from the ground or the transfer trolley to the carrier 2 in a more comfortable angle or position.

[0102] Specifically, as shown in FIGS. 4 and 5, the end of the sixth arm 1046 is provided with a first connecting part 1047, the carrier 2 is provided with a second connecting part 201, and the first connecting part 1047 is clamped and connected with the second connecting part 201, so as to facilitate the disassembly, replacement and adjustment of the carrier 2 and the mechanical arm 104.

[0103] Further, as shown in FIG. 4 and FIG. 6, the end of the sixth arm 1046 is provided with a connecting flange 1048, the first connecting part 1047 is provided with a circle of spaced connecting holes 10471, and a plurality of bolts are arranged between the connecting flange 1048 and the first connecting part 1047 and inserted into the corresponding connecting holes 10471, so as to connect the sixth arm 1046 and the first connecting part 1047 through the plurality of bolts.

[0104] Further, as shown in FIG. 5, the first connecting part 1047 and the second connecting part 201 are both plate-shaped structures, the first connecting part 1047 is provided with a plurality of clamping holes 10472, and the second connecting part 201 is provided with a plurality of clamping blocks 2011 at positions corresponding to the plurality of clamping holes 10472, and the first connecting part 1047 and the second connecting part 201 are detachably connected through the cooperation of the plurality of clamping holes 10472 and the clamping blocks 2011, so as to realize the detachable connection of the sixth arm 1046 and the placing member 2.

[0105] In an optional embodiment of the present application, the base 103 of the position adjusting mechanism 1 is fixedly arranged at the bottom of a treatment room in which the beam irradiates from top to bottom, and in the operation process of the position adjusting mechanism 1, the rotation of the first arm 1041 drives the whole mechanical arm 104 to rotate in the horizontal plane, the second arm 1042 and the third arm 1043 can rotate in the horizontal plane, so as to drive the placing member 2 to translate in the horizontal space, the fourth arm 1044 can rotate in the vertical plane, so as to drive the placing member 2 to pitch in the vertical space, and the rotation of the fifth arm 1045 and the sixth arm 1046 can respectively adjust the rotation angle of the placing member 2 in the vertical direction, wherein the fifth arm 1045 is used for adjusting the pitch rotation of the placing member 2 in the front-back direction, and the sixth arm 1046 is used for adjusting the pitch rotation of the placing member 2 in the left-right direction, so as to adjust the angle of the patient on the placing member 2 in the vertical direction, which not only can meet the comfort requirement of the patient, but also can fine-tune the irradiation part of the patient, ensure that the rays can accurately irradiate the irradiation part of the patient, and also can be used for adjusting the placing member 2 to a suitable angle for rapid disassembly, replacement, and convenient movement of the patient from the ground or a transfer trolley to the placing member 2 in a more comfortable angle or position.

[0106] When the replacement, disassembly and patient loading and unloading of the loading piece 2 are performed, the position change of the loading piece 2 in the horizontal direction can be realized through the second arm 1042 and / or the third arm 1043, when the horizontal position of the loading piece 2 is adjusted to the position, the position change of the loading piece 2 in the vertical direction can be realized through the pitching rotation of the fourth arm 1044, and then the orientation of the first connecting part 1047 is adjusted through the rotation of the fifth arm 1045 and / or the sixth arm 1046, so that the quick switching connection with the loading piece 2 (treatment bed or treatment chair) is adjusted to the appropriate position, and then the patient is moved from the ground or the transfer trolley to the loading piece 2 in a more comfortable angle or position. After the selection and installation of the loading piece 2 are completed, and when the patient is placed on the loading piece 2, the position of the loading piece 2 can be adjusted through the rotation of the second arm 1042 and / or the third arm 1043 in the plane, and / or the pitching rotation of the fourth arm 1044, and / or the rotation of the fifth arm 1045 and the sixth arm 1046, so that the patient is moved to the preset position or coordinate, thereby realizing the efficient and accurate positioning and irradiation of the patient.

[0107] The radiation irradiation system provided by the embodiment of the present application has the following advantages. On the one hand, when the patient is positioned and irradiated at different irradiation positions in the treatment room in which the treatment beam is vertically or horizontally arranged, the patient support device can be adjusted in a large range in the horizontal and vertical space, and the movement interference between the conventional mechanical arm and the wall of the treatment room is avoided, the efficient and accurate positioning of the patient is realized, the reasonable source-skin distance is ensured, and the required irradiation intensity is ensured. On the other hand, the radiation irradiation system has the same characteristics and advantages as the patient support device, and details are not described herein.

[0108] Further, the present application provides a radiation irradiation system, which comprises:

[0109] a treatment room for irradiation of an irradiated body or a simulation room for simulation positioning of an irradiated body, the top or sidewall of the treatment room is provided with a beam outlet, and the top or sidewall of the simulation room is provided with a simulation beam outlet;

[0110] a radiation generating device for generating a beam for irradiation;

[0111] a beam transmission room 60 for transmitting the beam to the treatment room;

[0112] a patient support device, the bottom of the treatment room or the simulation room is provided with the patient support device, and the patient support device comprises a loading piece 2 for carrying the irradiated body and a position adjusting mechanism 1 for adjusting the horizontal position, vertical position or angle of the loading piece 2;

[0113] The radiation generating device is located at least partially in the beam transport chamber 60, and the beam generated by the radiation generating device successively passes through the beam transport chamber 60 and the beam outlet of the treatment chamber to vertically or horizontally irradiate the carrier 2.

[0114] In the present application, the treatment chamber can be a vertical treatment chamber in which the beam vertically enters from top to bottom, and the simulation chamber is a vertical simulation chamber which is provided in combination with the vertical treatment chamber and is used for simulating the patient positioning before treatment.

[0115] In addition, in the present application, the treatment chamber can also be a horizontal treatment chamber in which the beam horizontally enters, and the simulation chamber is a horizontal simulation chamber which is provided in combination with the horizontal treatment chamber and is used for simulating the patient positioning before treatment.

[0116] The above description is merely illustrative of the present application and is not intended to limit the scope of the present application. Any equivalent changes and modifications made by any person skilled in the art without departing from the spirit and principle of the present application shall fall within the scope of the present application.

Claims

A patient support apparatus characterized by The patient support device of claim 1, wherein: The fixed part comprises a base, which is arranged below the load placing part; The moving part comprises a mechanical arm, one end of which is connected with the base and the other end of which is connected with the load placing part, so as to adjust the horizontal position, vertical position or angle of the load placing part through the mechanical arm. The mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the rear end of the first arm is connected with the base, the front end of the first arm is connected with the rear end of the second arm, the rear end of the second arm is connected with the front end of the third arm, the rear end of the third arm is connected with the front end of the fourth arm, and the load placing part is rotatably arranged at the front end of the fourth arm. The first arm and the base have a first connecting shaft, the second arm and the first arm have a second connecting shaft, the first connecting shaft coincides with the second connecting shaft; the third arm and the second arm have a third connecting shaft, the third connecting shaft and the second connecting shaft both extend along the vertical direction and are parallel to each other; the fourth arm and the third arm have a fourth connecting shaft, and the fourth connecting shaft extends along the horizontal direction. The second arm, the third arm and / or the fourth arm are telescopic structures. The mechanical arm further comprises a fifth arm, the rear end of the fifth arm is rotatably connected with the front end of the fourth arm, and the load placing part is rotatably connected with the front end of the fifth arm. The fourth arm has a fourth arm center shaft, the fifth arm has a fifth arm center shaft, the fourth arm center shaft coincides with the fifth arm center shaft, and the fifth arm can rotate around the fifth arm center shaft. The patient support apparatus of claim 2, wherein The mechanical arm further comprises a sixth arm, the sixth arm is rotatably connected with the front end of the fifth arm, and the load placing part is arranged on the sixth arm; the sixth arm has a sixth arm center shaft, the sixth arm center shaft is perpendicular to the fifth arm center shaft, and the sixth arm can rotate around the sixth arm center shaft. A first connecting part is arranged on the sixth arm, a second connecting part is arranged on the load placing part, the first connecting part is clamped and connected with the second connecting part, and a connecting flange is arranged on the sixth arm, and the first connecting part is connected with the connecting flange through bolts. The patient support apparatus of claim 3, wherein The load placing part is a treatment bed or a treatment chair. The patient support apparatus of claim 4, wherein The patient support device of claim 1, wherein: The fixed part comprises a base, which is arranged below the load placing part; The patient support apparatus of claim 5, wherein The moving part comprises a mechanical arm, one end of which is connected with the base and the other end of which is connected with the load placing part, so as to adjust the horizontal position, vertical position or angle of the load placing part through the mechanical arm. The patient support apparatus of claim 6, wherein The mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the rear end of the first arm is connected with the base, the front end of the first arm is connected with the rear end of the second arm, the rear end of the second arm is connected with the front end of the third arm, the rear end of the third arm is connected with the front end of the fourth arm, and the load placing part is rotatably arranged at the front end of the fourth arm. The patient support apparatus of claim 7, wherein The first arm and the base have a first connecting shaft, the second arm and the first arm have a second connecting shaft, the first connecting shaft coincides with the second connecting shaft; the third arm and the second arm have a third connecting shaft, the third connecting shaft and the second connecting shaft both extend along the vertical direction and are parallel to each other; the fourth arm and the third arm have a fourth connecting shaft, and the fourth connecting shaft extends along the horizontal direction. A radiation irradiation system characterized by comprising: The second arm, the third arm and / or the fourth arm are telescopic structures. The mechanical arm further comprises a fifth arm, the rear end of the fifth arm is rotatably connected with the front end of the fourth arm, and the load placing part is rotatably connected with the front end of the fifth arm. The fourth arm has a fourth arm center shaft, the fifth arm has a fifth arm center shaft, the fourth arm center shaft coincides with the fifth arm center shaft, and the fifth arm can rotate around the fifth arm center shaft. The mechanical arm further comprises a sixth arm, the sixth arm is rotatably connected with the front end of the fifth arm, and the load placing part is arranged on the sixth arm; the sixth arm has a sixth arm center shaft, the sixth arm center shaft is perpendicular to the fifth arm center shaft, and the sixth arm can rotate around the sixth arm center shaft. A first connecting part is arranged on the sixth arm, a second connecting part is arranged on the load placing part, the first connecting part is clamped and connected with the second connecting part, and a connecting flange is arranged on the sixth arm, and the first connecting part is connected with the connecting flange through bolts. The load placing part is a treatment bed or a treatment chair. The patient support device of claim 1, wherein: The fixed part comprises a base, which is arranged below the load placing part; The moving part comprises a mechanical arm, one end of which is connected with the base and the other end of which is connected with the load placing part, so as to adjust the horizontal position, vertical position or angle of the load placing part through the mechanical arm. The mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm, the rear end of the first arm is connected with the base, the front end of the first arm is connected with the rear end of the second arm, the rear end of the second arm is connected with the front end of the third arm, the rear end of the third arm is connected with the front end of the fourth arm, and the load placing part is rotatably arranged at the front end of the fourth arm. The first arm and the base have a first connecting shaft, the second arm and the first arm have a second connecting shaft, the first connecting shaft coincides with the second connecting shaft; the third arm and the second arm have a third connecting shaft, the third connecting shaft and the second connecting shaft both extend along the vertical direction and are parallel to each other; the fourth arm and the third arm have a fourth connecting shaft, and the fourth connecting shaft extends along the horizontal direction. The second arm, the third arm and / or the fourth arm are telescopic structures. The mechanical arm further comprises a fifth arm, the rear end of the fifth arm is rotatably connected with the front end of the fourth arm, and the load placing part is rotatably connected with the front end of the fifth arm. The fourth arm has a fourth arm center shaft, the fifth arm has a fifth arm center shaft, the fourth arm center shaft coincides with the fifth arm center shaft, and the fifth arm can rotate around the fifth arm center shaft. The mechanical arm further comprises a sixth arm, the sixth arm is rotatably connected with the front end of the fifth arm, and the load placing part is arranged on the sixth arm; the sixth arm has a sixth arm center shaft, the sixth arm center shaft is perpendicular to the fifth arm center shaft, and the sixth arm can rotate around the sixth arm center shaft. A first connecting part is arranged on the sixth arm, a second connecting part is arranged on the load placing part, the first connecting part is clamped and connected with the second connecting part, and a connecting flange is arranged on the sixth arm, and the first connecting part is connected with the connecting flange through bolts. The load placing part is a treatment bed or a treatment chair. One end of the moving part is connected with the fixed part, and the other end is connected with the placing member. The moving part can move or rotate relative to the fixed part to correspondingly adjust the horizontal position, vertical position or angle of the placing member. The radiation exposure system as defined in claim 9, characterized in that The fixed part is fixedly arranged on the bottom of the ground or the ground surface or the bottom side wall of the treatment space. The radiation exposure system as defined in claim 9, characterized in that The top or side wall of the treatment space is provided with a beam exit. The radiation exposure system as defined in claim 9, characterized in that The treatment space is a treatment room or a simulation room. The top or side wall of the treatment room is provided with a beam exit, and the top or side wall of the simulation room is provided with a simulation beam exit. The radiation exposure system as defined in claim 9, characterized in that The position adjusting mechanism comprises: The fixed part comprises a base arranged on the bottom of the treatment space. The moving part comprises a mechanical arm. One end of the mechanical arm is connected with the base, and the other end is connected with the placing member to adjust the horizontal position, vertical position or angle of the placing member through the mechanical arm. The radiation exposure system of claim 13, wherein The mechanical arm comprises a first arm, a second arm, a third arm and a fourth arm. The rear end of the first arm is connected with the base. The front end of the first arm is connected with the rear end of the second arm. The rear end of the second arm is connected with the front end of the third arm. The rear end of the third arm is connected with the front end of the fourth arm. The placing member is rotatably arranged on the front end of the fourth arm. The first connecting shaft is arranged between the first arm and the base. The second connecting shaft is arranged between the second arm and the first arm. The first connecting shaft coincides with the second connecting shaft. The third connecting shaft is arranged between the third arm and the second arm. The third connecting shaft and the second connecting shaft both extend along the vertical direction and are parallel to each other. The fourth connecting shaft is arranged between the fourth arm and the third arm. The fourth connecting shaft extends along the horizontal direction. A radiation irradiation system characterized by comprising: It comprises: A treatment room for irradiating an irradiated body or a simulation room for simulating the positioning of an irradiated body. The top or side wall of the treatment room is provided with a beam exit. The top or side wall of the simulation room is provided with a simulation beam exit. A radiation generating device for generating a beam for irradiation. A beam transport room for transporting the beam to the treatment room. A patient support device. The bottom of the treatment room or simulation room is provided with the patient support device. The patient support device comprises a placing member for carrying an irradiated body and a position adjusting mechanism for adjusting the horizontal position, vertical position or angle of the placing member. At least part of the radiation generating device is located in the beam transport room. The beam generated by the radiation generating device is vertically or horizontally irradiated on the placing member through the beam transport room and the beam exit of the treatment room in sequence.

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