Rotating gantry and radiotherapy device

Abstract

A rotating gantry and a radiotherapy device. The rotating gantry comprises two arms and a connecting arm connected to the two arms, wherein the two arms are configured to drive the connecting arm to rotate, and the connecting arm is configured to carry and fix a particle accelerator; an inner side wall of the connecting arm forms an accommodating space, a side wall of the connecting arm is provided with a first opening in communication with the accommodating space, one or more axial ends of the connecting arm are provided with a second opening in communication with the accommodating space, and the first opening and the second opening are configured to allow an operator to enter the accommodating space; and a pull-out member is provided in the accommodating space, the particle accelerator comprises a magnetic pole plug, and the pull-out member is connected to the magnetic pole plug and can drive at least part of the magnetic pole plug to move axially along the connecting arm to a region between the first opening and the second opening in the connecting arm.

Description

A rotating gantry and radiotherapy equipment

[0001] This application claims priority to Chinese Patent Application No. 202410778300.6, filed on June 17, 2024, entitled Radiotherapy System, Radiotherapy Equipment and Rotating Gantry, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of medical device technology, such as a rotating gantry and a radiotherapy device. Background Technology

[0003] Radiation therapy equipment uses particle accelerators to deliver high-energy particle beams directly into the patient's body to treat cancer and other diseases. Compared to traditional treatments, proton therapy devices in radiation therapy equipment can provide more precise radiation therapy and reduce damage to surrounding healthy tissues. Conventional radiation therapy equipment commonly uses either fixed-beam or rotating-beam methods. However, particle accelerators are mostly fixed structures, employing long transport lines to deliver the particle beam, resulting in large, expensive, and costly equipment and maintenance systems.

[0004] Furthermore, this application provides a rotating gantry and a radiotherapy device, which can simplify the structure of the radiotherapy device and facilitate its maintenance and upkeep. Summary of the Invention

[0005] One or more embodiments of this application provide a rotating frame, including: two arms and a connecting arm connected to the two arms, the two arms being used to drive the connecting arm to rotate, and the connecting arm being used to support a fixed particle accelerator; the inner sidewall of the connecting arm forms a receiving space, a first opening communicating with the receiving space is provided on the sidewall of the connecting arm, and a second opening communicating with the receiving space is provided on one or more ends of the connecting arm along the axial direction, the first opening and the second opening being used to allow an operator to enter the receiving space; a pull-out member is provided in the receiving space, the particle accelerator includes a magnetic pole plug, the pull-out member is connected to the magnetic pole plug, and is capable of driving at least a portion of the magnetic pole plug to move along the axial direction of the connecting arm to the region between the first opening and the second opening in the connecting arm.

[0006] In one embodiment, the first opening is located axially on the connecting arm between the mounting position of the magnetic pole plug and the disassembly position of the magnetic pole plug axially on the connecting arm, wherein the mounting position is the position of the magnetic pole plug when the particle accelerator is operating normally, and the disassembly position is the farthest position of the magnetic pole plug after it has moved axially along the connecting arm.

[0007] In one embodiment, the distance between the installation position of the magnetic pole plug on the axial direction of the connecting arm and the removal position of the magnetic pole plug on the axial direction of the connecting arm is not less than 0.5m.

[0008] In one embodiment, the inner sidewall of the connecting arm is provided with a guide rail along the axial direction of the connecting arm, the pull-out member includes a support ring, a sliding member and a connecting member, the fifth connecting end of the sliding member is slidably connected to the guide rail, the sixth connecting end of the sliding member opposite to the fifth connecting end is fixedly connected to the support ring, and the connecting member connects the support ring and the magnetic pole plug.

[0009] In one embodiment, the rotating frame includes a work platform with a first work position and a second work position. The rotating frame can rotate to switch between a first maintenance state and a second maintenance state. When the rotating frame is in the first maintenance state, an operator at the first work position on the work platform can enter the accommodating space through the first opening. When the rotating frame is in the second maintenance state, an operator at the second work position on the work platform can enter the accommodating space through the second opening.

[0010] In one embodiment, the two arms include a first arm and a second arm. The first arm has a first bearing seat and a first drive device at its second end away from the connecting arm. The second arm has a second bearing seat and a second drive device at its fourth end away from the connecting arm. The first drive device and the second drive device jointly drive the rotating frame to rotate around the first bearing seat and the second bearing seat.

[0011] One embodiment of this application provides a radiotherapy device, including: a rotating gantry and a particle accelerator as described in any of the foregoing embodiments of this application, wherein the particle accelerator is disposed on the rotating gantry and can rotate with the rotating gantry.

[0012] In one embodiment, the angle between the cold head of the particle accelerator and the outward extension direction of the superconducting magnet in the particle accelerator and the extension direction of the beam protrusion of the particle accelerator is 88° to 92°, wherein the cold head is used to cool the superconducting magnet in the particle accelerator, and the beam protrusion is a channel for emitting a beam to the treatment object.

[0013] In one embodiment, the angle between the cold head of the particle accelerator protruding outward relative to the superconducting magnet in the particle accelerator and the direction of the beam protrusion of the particle accelerator is 90°.

[0014] In one embodiment, the radiotherapy device further includes a sensor and a regulator. The sensor is used to detect whether the position of the superconducting magnet of the particle accelerator has shifted. The regulator determines, based on the feedback information from the sensor, whether to adjust the position of the superconducting magnet of the particle accelerator so that the superconducting magnet of the particle accelerator is in a preset position. Attached Figure Description

[0015] This application will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0016] Figure 1 shows a schematic diagram of the radiotherapy device according to an embodiment of this application;

[0017] Figure 2 shows another schematic diagram of the radiotherapy device shown in the embodiment of this application;

[0018] Figure 3 shows another schematic diagram of the radiotherapy device shown in the embodiment of this application;

[0019] Figure 4 shows another schematic diagram of an operator entering the accommodating space as illustrated in an embodiment of this application;

[0020] Figure 5 shows a cross-sectional schematic diagram of the radiotherapy device according to an embodiment of this application;

[0021] Figure 6A shows a schematic diagram of the magnetic pole plug before it moves, as shown in the embodiment of this application;

[0022] Figure 6B shows a schematic diagram of the magnetic pole plug shown in Figure 6A after it has been moved;

[0023] Figure 7A shows another schematic diagram of the magnetic pole plug before it moves, as illustrated in the embodiment of this application.

[0024] Figure 7B shows a schematic diagram of the magnetic pole plug shown in Figure 7A after it has been moved;

[0025] Figure 8A is another schematic diagram showing the magnetic pole plug before movement according to an embodiment of this application;

[0026] Figure 8B shows a schematic diagram of the magnetic pole plug shown in Figure 8A after it has been moved;

[0027] Figure 9 shows a schematic diagram of the limiting member shown in the embodiment of this application;

[0028] Figure 10 shows another schematic diagram of the limiting member shown in the embodiment of this application;

[0029] Figure 11 shows a schematic diagram of the superconducting magnet and regulator according to an embodiment of this application;

[0030] Figure 12 shows a schematic diagram of the radiotherapy system according to an embodiment of this application;

[0031] Figure 13 shows another schematic diagram of the radiotherapy system shown in the embodiment of this application. Detailed Implementation

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0033] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0034] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0035] In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, a and b and c, where a, b, and c can be single or multiple. It is worth noting that "at least one" can also be interpreted as "one or more".

[0036] It should also be noted that, in the embodiments of this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any implementation or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other implementations or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0037] Flowcharts are used in this application to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0038] The radiotherapy device 1 can be used to emit high-energy beams (such as X-rays, electrons or protons) to the affected area of ​​the patient to achieve the therapeutic purpose.

[0039] The radiotherapy device 1 may include a rotating gantry 10 and a particle accelerator 20 mounted on the rotating gantry 10. The rotating gantry 10 supports the particle accelerator 20 and drives the radio frequency component 23 within the particle accelerator 20 to rotate, enabling multi-angle beam irradiation and ensuring precise and uniform dose distribution to the affected area. The particle accelerator 20 generates and accelerates a high-energy beam, providing the necessary radiation energy for radiotherapy. The particle accelerator 20 may be an electron accelerator, a proton accelerator, or the like.

[0040] The relevant settings or structures of the rotating frame 10 will be described below in this application.

[0041] As shown in Figures 1 to 3, the rotating frame 10 may include two arms 11 and a connecting arm 12. The two arms 11 are respectively located at the ninth and tenth ends of the connecting arm 12. The connecting arm 12 is used to support and fix the particle accelerator 20. The two arms 11 are used to drive the connecting arm 12 to rotate, thereby driving the particle accelerator 20 mounted on the connecting arm 12 to rotate. The inner sidewall of the connecting arm 12 forms a receiving space 121. A first opening 122 communicating with the receiving space 121 is provided on the sidewall of the connecting arm 12. A second opening 123 communicating with the receiving space 121 is provided on one or more ends of the connecting arm 12 along the axial direction (e.g., the first axial end and / or the second axial end). The aforementioned first opening 122 and second opening 123 are used to allow operators to enter the receiving space 121.

[0042] In some embodiments of this application, by mounting the particle accelerator 20 on the rotating gantry 10, the particle beam generated by the particle accelerator 20 does not need to be transported through a transport line, and the particle accelerator 20 can rotate together with the rotating gantry 10 to allow the particle beam to be used for treatment from different angles. Again, transport through a transport line is unnecessary, thereby reducing the size of the radiotherapy device 1 and lowering its manufacturing cost. Simultaneously, by providing a first opening 122 and a second opening 123 on the connecting arm 12, operators can enter the receiving space 121 through the first opening 122 and the second opening 123, facilitating the installation of the particle accelerator 20 onto the rotating gantry 10 or the removal and relocation of at least part of the internal structure of the particle accelerator 20 from the rotating gantry 10. This also facilitates subsequent maintenance of the particle accelerator 20, reducing the maintenance difficulty and cost of the radiotherapy device 1.

[0043] In one embodiment, as shown in FIG1, the axis of rotation A of the connecting arm 12 when it rotates under the drive of the two arms 11 can pass through the isocenter point of the particle beam of the particle accelerator 20 (not shown in FIG1). Based on this, the particle beam generated by the particle accelerator 20 can directly reach the isocenter of the treatment room, so that when the irradiation angle of the beam changes due to the rotation of the connecting arm 12, the position of the particle beam relative to the connecting arm 12 does not change, thus ensuring accurate irradiation at multiple angles.

[0044] As shown in Figures 1 to 3, the rotating frame 10 is generally U-shaped, with two arms 11 arranged parallel to each other and perpendicular to the connecting arm 12. The two arms 11 and the connecting arm 12 can be made of materials with high structural strength (e.g., high-strength steel, alloys, etc.) to ensure that the two arms 11 and the connecting arm 12 have sufficient structural strength and can withstand the weight of the particle accelerator 20, preventing deformation of the two arms 11 and the connecting arm 12 during use.

[0045] In one embodiment, the connecting arm 12 is a hollow structure to form a receiving space 121, which can communicate with at least a portion of the particle accelerator 20, allowing operators to enter the receiving space 121 to maintain the particle accelerator 20. For example, as shown in Figures 1 and 2, the connecting arm 12 is a hollow cylindrical structure. Alternatively, the connecting arm 12 can also be a hollow cuboid, cube, or other frame structure.

[0046] In one embodiment, the connecting arm 12 includes a receiving space 121. For example, the receiving space 121 is connected to a structure of the particle accelerator 20 on only one side along the axial direction of the connecting arm 12 to form a receiving space 121. As another example, the receiving space 121 is connected to structures of the particle accelerator 20 on both sides along the axial direction of the connecting arm 12 to form a receiving space 121.

[0047] In one embodiment, the connecting arm 12 includes multiple receiving spaces 121. For example, the connecting arm 12 has a segmented structure, and each segment of the connecting arm 12 can constitute a receiving space 121. Referring to Figures 1 to 3, the connecting arm 12 has a two-segment structure. For ease of explanation, the two-segment connecting arm 12 includes a first connecting arm 12-1 and a second connecting arm 12-2, which can have the same or similar structures. One end of the first connecting arm 12-1 is connected to one of the two mechanical arms 11, and one end of the second connecting arm 12-2 is connected to the other of the two mechanical arms 11. The particle accelerator 20 is disposed between the first connecting arm 12-1 and the second connecting arm 12-2, and is connected to both the first connecting arm 12-1 and the second connecting arm 12-2. For ease of explanation, the mechanical arm 11 connected to the first connecting arm 12-1 can be referred to as the first mechanical arm 11-1, and the mechanical arm 11 connected to the second connecting arm 12-2 can be referred to as the second mechanical arm 11-2. The first arm 11-1 has a first end 11-1a and a second end 11-1b, the second arm 11-2 has a third end 11-2a and a fourth end 11-2b, the first connecting arm 12-1 has a fifth end 12-1a and a sixth end 12-1b, the second connecting arm 12-2 has a seventh end 12-2a and an eighth end 12-2b, the fifth end 12-1a of the first connecting arm 12-1 is connected to the first end 11-1a of the first arm 11-1, and the second connecting arm 11-2... The seventh end 12-2a of the first connecting arm 12-2 is connected to the third end 11-2a of the second arm 11-2. The sixth end 12-1b of the first connecting arm 12-1 and the eighth end 12-2b of the second connecting arm 12-2 are respectively connected to the two ends of the particle accelerator 20 along the axial direction of the connecting arm 12. That is, the sixth end 12-1b of the first connecting arm 12-1 is connected to the third connecting end of the particle accelerator 20, and the eighth end 12-2b of the second connecting arm 12-2 is connected to the fourth connecting end of the particle accelerator 20 opposite to the third connecting end. The first connecting arm 12-1 may have a first receiving space 121-1, and the structure of the particle accelerator 20 along the axial direction of the connecting arm 12 near the first connecting arm 12-1 can communicate with the first receiving space 121-1. The second connecting arm 12-2 may have a second receiving space 121-2, and the structure of the particle accelerator 20 along the axial direction of the connecting arm 12 near the second connecting arm 12-2 can communicate with the second receiving space 121-2.

[0048] Some embodiments of this application provide multiple receiving spaces 121 on the connecting arm 12, which facilitates the maintenance of the structure at different positions of the particle accelerator 20 by the operator, thereby improving operational convenience.

[0049] In one embodiment, the connecting arm 12 is provided with an opening (such as the first opening 122 and the second opening 123 described above in this application) for allowing an operator to enter the receiving space 121. In addition, the opening can also reduce the weight of the connecting arm 12.

[0050] In one embodiment, the sidewall of the connecting arm 12 is provided with one or more first openings 122 communicating with the receiving space 121. For example, the sidewall of the connecting arm 12 may have only one first opening 122 communicating with the receiving space 121. As another example, as shown in Figures 1 to 3, the sidewall of the connecting arm 12 may have two first openings 122 communicating with the receiving space 121. One first opening 122 is located on the first connecting arm 12-1 to facilitate operator access to the first receiving space 121-1, and the other first opening 122 is located on the second connecting arm 12-2 to facilitate operator access to the second receiving space 121-2. The particle accelerator 20 is positioned between the two first openings 122, thereby facilitating maintenance of the particle accelerator 20 at different locations by the operator.

[0051] In one embodiment, the ratio between the maximum dimension of the first opening 122 along the axial direction of the connecting arm 12 and the axial dimension of the connecting arm 12 is 1 / 11 to 3 / 11. For example, the ratio between the maximum dimension of the first opening 122 along the axial direction of the connecting arm 12 and the axial dimension of the connecting arm 12 is 3 / 22. In another embodiment, the ratio between the maximum dimension of the first opening 122 along the height direction of the rotating frame 10 and the dimension of the connecting arm 12 along the height direction of the rotating frame 10 is 1 / 3 to 1. For example, the ratio between the maximum dimension of the first opening 122 along the height direction of the rotating frame 10 and the dimension of the connecting arm 12 along the height direction of the rotating frame 10 is 2:3. By limiting the size of the first opening 122, the aforementioned embodiments of this application can improve the stability of the connecting arm 12 and prevent deformation of the connecting arm 12. In addition, it can also prevent the first opening 122 from being too large, which would reduce the shielding effect on the particle accelerator 20 and threaten the safety of patients and operators. The first opening 122 can be an annular racetrack shape as shown in Figures 1 to 3, or it can be other shapes, such as circular, square, etc.

[0052] In one embodiment, one or more ends of the connecting arm 12 are provided with a second opening 123 communicating with the receiving space 121. Corresponding positions of the two arms 11 may be provided with through holes 111 communicating with the second opening 123, allowing the operator to enter the receiving space 121 through the through holes 111 and the second opening 123. As shown in FIG4, the operator can enter the receiving space 121 from the second opening 123 (not shown in FIG4) at one end of the connecting arm 12. For example, a second opening 123 communicating with the receiving space 121 is provided at one end of the connecting arm 12 (e.g., the first axial end or the second axial end), and a through hole 111 is provided at the corresponding position of the arm 11, communicating with the second opening 123. For example, as shown in Figures 1 to 3, both ends of the connecting arm 12, namely the first axial end and the second axial end of the connecting arm 12, are provided with second openings 123 that communicate with the receiving space 121. One of the second openings 123 is located on the first connecting arm 12-1, and a through hole 111 is provided at the corresponding position of the first arm 11-1. The aforementioned through hole 111 communicates with the second opening 123 on the first connecting arm 12-1. The other second opening 123 is located on the second connecting arm 12-2, and a through hole 111 is also provided at the corresponding position of the second arm 11-2. The aforementioned through hole 111 communicates with the second opening 123 on the second connecting arm 12-2. This facilitates the operator to enter the receiving space 121 from different positions to maintain different positions of the particle accelerator 20.

[0053] In one embodiment, when the rotating gantry 10 is in a preset initial state (e.g., the angle of the gantry 11 is parallel to the height direction), the ratio between the maximum dimension of the second opening 123 along the height direction and the maximum dimension of the connecting arm 12 along the height direction is 2 / 5 to 4 / 5. For example, when the rotating gantry 10 is in the initial state, the ratio between the maximum dimension of the second opening 123 along the height direction and the maximum dimension of the connecting arm 12 along the height direction is 3:5. In one embodiment, when the rotating gantry 10 is in the initial state, the ratio between the maximum dimension of the second opening 123 along the width direction and the maximum dimension of the connecting arm 12 along the width direction is 2 / 5 to 4 / 5. For example, when the rotating gantry 10 is in the initial state, the ratio between the maximum dimension of the second opening 123 along the width direction and the maximum dimension of the connecting arm 12 along the width direction is also 3:5. The foregoing embodiments of this application, by limiting the size of the second opening 123, can avoid the second opening 123 being set too large, reducing the shielding effect on the particle accelerator 20, and threatening the safety of patients and operators.

[0054] Based on the above configuration, operators can enter the receiving space 121 through the first opening 122 or the second opening 123 on the connecting arm 12. Within the receiving space 121, operators can assemble, disassemble, or maintain the equipment to be installed. The receiving space 121 essentially provides an operating platform for operators, eliminating the need for additional auxiliary equipment. Furthermore, the first opening 122, the receiving space 121, and the second opening 123 in the connecting arm 12 can cooperate to form an airflow channel. Airflow can enter the receiving space 121 from one of the first opening 122 or the second opening 123 and exit from the other of the first opening 122 or the second opening 123. As the airflow flows within the receiving space 121, it passes through the particle accelerator 20, thereby accelerating the heat dissipation efficiency of the particle accelerator 20, ensuring the stability of the particle accelerator 20 during operation, reducing energy loss, increasing the lifespan of the particle accelerator 20, and improving beam quality.

[0055] In one embodiment, as shown in FIG5, a pull-out member 13 is provided in the receiving space 121. The pull-out member 13 is connected to the magnetic pole plug 24 in the particle accelerator 20 and can drive the magnetic pole plug 24 to move axially along the connecting arm 12. The magnetic pole plug 24 is located on both sides of the particle accelerator 20 along the connecting arm 12. For more information about the magnetic pole plug 24, please refer to the relevant description below. The receiving space 121 may have only one pull-out member 13, which can be connected to one magnetic pole plug 24 and can drive that magnetic pole plug 24 to move axially along the connecting arm 12. The receiving space 121 may also have two pull-out members 13, which are respectively connected to the magnetic pole plugs 24 on both sides and can drive the corresponding magnetic pole plugs 24 to move axially along the connecting arm 12. After the magnetic pole plug 24 is separated from the particle accelerator 20, the operator can assemble, disassemble or maintain the superconducting magnet 21 located inside the particle accelerator 20 or other structures located in the particle accelerator (e.g., the Dee-shaped box of the radio frequency cavity, the beam channel, etc.).

[0056] It is worth noting that the magnetic pole plug 24 is relatively large. After the operator drives the pull-out piece 13 to move the magnetic pole plug 24 axially along the connecting arm 12, the pull-out piece 13 and the magnetic pole plug 24 will divide the accommodating space 121. The operator located on the side of the magnetic pole plug 24 away from the particle accelerator 20 will find it difficult to directly pass through the pull-out piece 13 and the magnetic pole plug 24 to reach other components of the particle accelerator 20. Increasing the radial dimension of the connecting arm 12 can increase the size of the gap between the magnetic pole plug 24 and the inner wall of the connecting arm 12, thereby allowing the operator to move through the aforementioned gap to reach other structures of the particle accelerator 20. However, it will also increase the overall size and weight of the rotating gantry 10, significantly increasing the mechanical load and manufacturing cost of the rotating gantry 10, reducing the rotation speed and positioning accuracy of the rotating gantry 10, and increasing the space and load-bearing requirements of the treatment room, affecting the stability and clinical efficiency of the radiotherapy equipment 1. Furthermore, although increasing the dimension of the first opening 122 along the axial direction of the connecting arm 12 can prevent the magnetic pole plug 24 from completely blocking the first opening 122, allowing the operator to enter the receiving space 121 through the gap between the first opening 122 and the magnetic pole plug 24, increasing the dimension of the first opening 122 along the axial direction of the connecting arm 12 will reduce the overall stability of the connecting arm 12, weaken the mechanical strength of the connecting arm 12, and increase the risk of deformation of the connecting arm 12. At the same time, an excessively large first opening 122 may also reduce the shielding effect on the particle accelerator 20, which may lead to an increase in leakage radiation.

[0057] Furthermore, in some embodiments of this application, the pull-out member 13 can move at least a portion of the magnetic pole plug 24 axially along the connecting arm 12 to the area between the first opening 122 and the second opening 123. This prevents the moved magnetic pole plug 24 from obstructing the first opening 122, facilitating access for operators to the receiving space 121 for maintenance of other structures of the particle accelerator 20. It is understood that if the moved magnetic pole plug 24 is located in the area between the first opening 122 and the particle accelerator 20, operators cannot pass through the pull-out member 13 and the magnetic pole plug 24 to reach other components of the particle accelerator 20. If the moved magnetic pole plug 24 is completely aligned axially with the first opening 122 along the connecting arm 12, obstructing the first opening 122, operators will be unable to enter the receiving space 121 from the first opening 122.

[0058] For example, the pull-out member 13 can move part of the structure of the magnetic pole plug 24 along the axial direction of the connecting arm 12 to the area between the first opening 122 and the second opening 123. Although part of the structure of the magnetic pole plug 24 may still block the first opening 122, the operator can enter the receiving space 121 from the unblocked part of the first opening 122.

[0059] In one embodiment, the first opening 122 is positioned axially on the connecting arm 12 between the mounting position and the disassembly position of the magnetic pole plug 24 on the connecting arm 12. The mounting position is the location of the magnetic pole plug 24 during normal operation of the particle accelerator 20, and the disassembly position is the furthest point the magnetic pole plug 24 has moved along the connecting arm 12. The fact that the first opening 122 is positioned axially on the connecting arm 12 between the mounting and disassembly positions of the magnetic pole plug 24 indicates that the positions of the first opening 122 and the magnetic pole plug 24 do not coincide with the mounting and disassembly positions on the connecting arm 12. For example, when the installation position of the magnetic pole plug 24 is located on the left side of the first opening 122 along the axial direction of the connecting arm 12, and the removal position of the magnetic pole plug 24 is located on the right side of the first opening 122 along the axial direction of the connecting arm 12, the position of the first opening 122 along the axial direction of the connecting arm 12 is between the positions of the installation position and the removal position of the magnetic pole plug 24 along the axial direction of the connecting arm 12. This means that the leftmost structure in the first opening 122 is located to the right of the rightmost structure in the installed position of the magnetic pole plug 24, and the rightmost structure in the first opening 122 is located to the left of the leftmost structure in the removed position of the magnetic pole plug 24. Through the aforementioned arrangement, it can be ensured that the radiation of the particle accelerator 20 will not leak through the first opening 122 when the particle accelerator 20 is operating normally, thus ensuring safety during use. Meanwhile, the aforementioned arrangement also ensures that all structures of the moved magnetic pole plug 24 can move axially along the connecting arm 12 to the area between the first opening 122 and the second opening 123, thereby avoiding the magnetic pole plug 24 from blocking the first opening 122 and facilitating the operator to enter the accommodating space 121.

[0060] In one embodiment, the distance between the installation position of the magnetic pole plug 24 along the axial direction of the connecting arm 12 and the disassembly position of the magnetic pole plug 24 along the axial direction of the connecting arm 12 is not less than 0.5m, thereby avoiding the first opening 122 being too small along the axial direction of the connecting arm 12, which would be inconvenient for operators to enter and exit. Here, the distance between the installation position of the magnetic pole plug 24 along the axial direction of the connecting arm 12 and the disassembly position of the magnetic pole plug 24 along the axial direction of the connecting arm 12 refers to the minimum distance between the two. Continuing the previous example, when the installation position of the magnetic pole plug 24 is located on the left side of the first opening 122 along the axial direction of the connecting arm 12, and the disassembly position of the magnetic pole plug 24 is located on the right side of the first opening 122 along the axial direction of the connecting arm 12, the distance between the installation position of the magnetic pole plug 24 along the axial direction of the connecting arm 12 and the disassembly position of the magnetic pole plug 24 along the axial direction of the connecting arm 12 is not less than 0.5m, meaning that the distance between the rightmost structure of the magnetic pole plug 24 in the installation position and the leftmost structure of the magnetic pole plug 24 in the disassembly position is not less than 0.5m.

[0061] Based on the aforementioned configuration of the rotating frame 10, when maintenance of the particle accelerator 20 is required, the operator can first enter the housing space 121 through the first opening 122 or the second opening 123, disconnect the magnetic pole plug 24 from the particle accelerator 20, and use the pull-out member 13 to move at least a portion of the magnetic pole plug 24 axially along the connecting arm 12 to the area between the first opening 122 and the second opening 123. Then, the operator leaves the housing space 121 through the second opening 123 and re-enters the housing space 121 through the first opening 122 to assemble, disassemble, or maintain other components of the particle accelerator 20. With the cooperation of the first opening 122 and the second opening 123, the operator can leave the connecting arm 12 through the second opening 123 after moving the magnetic pole plug 24, and then re-enter the particle accelerator 20 in the receiving space 121 through the first opening 122 before bypassing the pull-out piece 13 and the magnetic pole plug 24 in the receiving space 121. This avoids the need to set the radial dimension of the connecting arm 12 too large or the first opening 122 too large, thus ensuring the stability and safety of the rotating frame 10 in use.

[0062] In one embodiment, the rotating frame 10 may further include a work platform through which an operator can enter the receiving space 121 via a first opening 122 or a second opening 123. For example, the work platform includes a first working position and a second working position, which are at different heights. The rotating frame 10 can rotate between a first maintenance state and a second maintenance state. When the rotating frame 10 is in the first maintenance state, the distance between the first opening 122 and the first working position is close, allowing the operator at the first working position on the work platform to enter the receiving space 121 through the first opening 122. When the rotating frame 10 is in the second maintenance state, the distance between the second opening 123 and the second working position is close, allowing the operator at the second working position on the work platform to enter the receiving space 121 through the second opening 123. Based on the aforementioned configuration, it is convenient for operators to enter the receiving space 121 from different openings. For example, the work platform includes a third work position and a fourth work position. The work platform can switch between the aforementioned third work position and the fourth work position (e.g., by rotation). The first opening 122 is close to the third work position, allowing the operator at the third work position on the work platform to enter the receiving space 121 through the first opening 122. The second opening 123 is close to the fourth work position, allowing the operator at the fourth work position on the work platform to enter the receiving space 121 through the second opening 123. When the operator needs to move from one opening position to another, they can directly switch positions through the work platform, facilitating the operator's transition between the two opening positions for maintenance of the particle accelerator 20. The aforementioned work platform can be located in the maintenance layer M of the radiotherapy system S. More details about the radiotherapy system S and the maintenance layer M can be found in the relevant description below.

[0063] In one embodiment, the pull-out member 13 can be configured in various ways to drive the magnetic pole plug 24 to move axially along the connecting arm 12. Various configurations of the pull-out member 13 will be described below.

[0064] In one embodiment, as shown in Figures 4, 5, 6A, and 6B, a guide rail 124 is provided on the inner sidewall of the connecting arm 12 along the axial direction of the connecting arm 12. The pull-out member 13 includes a support ring 131, a sliding member 132, and a connecting member 133. One end of the sliding member 132, namely the fifth connecting end, is slidably connected to the guide rail 124, and the other end of the sliding member 132, namely the sixth connecting end opposite to the fifth connecting end, is fixedly connected to the support ring 131. The connecting member 133 connects the support ring 131 and the magnetic pole plug 24. Based on the aforementioned configuration, when the operator drives the support ring 131 to move along the guide rail 124, it will drive the magnetic pole plug 24 connected to the support ring 131 to move together along the axial direction of the connecting arm 12. In this embodiment, the support ring 131 can also be made of a ferromagnetic material. The aforementioned embodiment can shield the radiation of the particle accelerator 20 through the support ring 131, ensuring the safety of the radiotherapy equipment 1 during use. In one embodiment, the slider 132 may also be provided with an expansion block (not shown in the figure). The expansion block can adjust the relative position of the slider 132 and the guide rail 124. Before the pull-out member 13 drives the magnetic pole plug 24 to move axially along the connecting arm 12, the position restriction of the expansion block on the slider 132 can be released so as to drive the magnetic pole plug 24 to move.

[0065] In this embodiment, there are multiple guide rails 124 in the connecting arm 12, which are evenly distributed in the accommodating space 121 of the connecting arm 12. Multiple guide rails 135 can ensure that the particle accelerator 20 is more stable during movement and prevent the particle accelerator 20 from deflecting or tipping over during movement.

[0066] In another embodiment, as shown in Figures 7A and 7B, the pull-out member 13 may further include a first threaded rod 134. One end of the first threaded rod 134 (e.g., the seventh connecting end) is connected to the magnetic pole plug 24. One or more ends of the two arms 11 (e.g., the first end 11-1a, the second end 11-1b, the third end 11-2a, and the fourth end 11-2b) are provided with a first threaded hole (not shown in the figure). The first threaded rod 134 passes through the first threaded hole and is threadedly connected to the first threaded hole. The first threaded rod 134 is parallel to the axial direction of the connecting arm 12. The operator can drive the first threaded rod 134 to rotate around the axial direction of the connecting arm 12 (e.g., by driving the first threaded rod to rotate by a drive motor) so that the first threaded rod moves along the axial direction of the connecting arm 12, thereby driving the magnetic pole plug 24 connected to the first threaded rod 134 to move along the axial direction of the connecting arm 12. Based on the aforementioned embodiment, the operator does not need to enter the connecting arm 12 when moving the magnetic pole plug 24, thus improving the safety of the operator's operation.

[0067] In another embodiment, as shown in Figures 8A and 8B, the pull-out member 13 may further include a second threaded rod 135, a first connecting gear 136, a control rod 137, a second connecting gear 138, and a support member 139. One end of the second threaded rod 135 (e.g., the ninth connecting end) is connected to the magnetic pole plug 24. The support member 139 is fixed within the receiving space 121 and has a second threaded hole (not shown). The other end of the second threaded rod 135 (e.g., the tenth connecting end opposite the ninth connecting end) extends into the second threaded hole. The second threaded rod 135 is parallel to the axial direction of the connecting arm 12. The first connecting gear 136 is sleeved on the second threaded rod 135. The second threaded rod 135 and the first connecting gear 138 are connected. A connecting gear 136 is threadedly connected, and a second connecting gear 138 is sleeved on the control rod 137. The control rod 137 and the second connecting gear 138 are fixedly connected. The first connecting gear 136 meshes with the second connecting gear 138. One end of the control rod 137, i.e., the output end, extends out of the connecting arm 12 in a direction perpendicular to the side wall of the connecting arm 12. The operator drives the control rod 137 to rotate, thereby driving the second connecting gear 138 to rotate. The second connecting gear 138 can drive the first connecting gear 136, which meshes with it, to rotate. The rotation of the first connecting gear 136 can drive the second threaded rod to move axially along the connecting arm 12, thereby driving the magnetic pole plug 24 connected to the connecting arm 12 to move axially along the connecting arm 12. Based on the aforementioned embodiment, when moving the magnetic pole plug 24, the operator does not need to enter the connecting arm 12 again, improving the operator's safety.

[0068] Other structures of the rotating frame 10 will be described below in this application.

[0069] In one embodiment, the rotating frame 10 may further include a bearing housing and a drive device. The drive device can drive the two arms 11 to rotate around the bearing housing, thereby driving the connecting arm 12 to rotate. Specifically, as shown in Figures 1 to 3, a first bearing housing 11-11 and a first drive device (not shown) are provided at the end of the first arm 11-1 away from the connecting arm 12, that is, a first bearing housing 11-11 and a first drive device are provided at the second end 11-1b of the first arm 11-1. The first bearing housing 11-11 is connected to the first arm 11-1 and the first drive device respectively. The first drive device can drive the first bearing housing 11-11 to rotate, and the first bearing housing 11-11 drives the first arm 11-1 to rotate. The second arm 11-2 is provided with a second bearing seat 11-21 and a second drive device (not shown in the figure) at the end away from the connecting arm 12. That is, the second bearing seat 11-21 and the second drive device are provided at the fourth end 11-2b near the second arm 11-2. The second bearing seat 11-21 is connected to the second arm 11-2 and the second drive device respectively. The second drive device can drive the second bearing seat 11-21 to rotate, and the second bearing seat 11-21 drives the second arm 11-2 to rotate.

[0070] In other words, the first drive device and the second drive device jointly drive the rotating frame 10 to rotate around the first bearing seat 11-11 and the second bearing seat 11-21. The first drive device and the second drive device can be motors or other drive components. For example, the first drive device and the second drive device can be synchronous motors to ensure that the first arm 11-1 and the second arm 11-2 can rotate synchronously.

[0071] In one embodiment, the rotation axis of the first bearing housing 11-11 and the rotation axis of the second bearing housing 11-21 are on the same straight line, that is, the first arm 11-1 and the second arm 11-2 rotate coaxially, which ensures that the rotation of the rotating frame 10 is more stable. The isocenter of the treatment chamber can also be on this straight line, that is, the rotation axis of the first bearing housing 11-11, the rotation axis of the second bearing housing 11-21, and the isocenter of the treatment chamber are on the same straight line. In this way, as the particle accelerator 20 rotates with the rotating frame 10, the distance from the particle accelerator 20 to the isocenter of the treatment chamber remains unchanged, ensuring that the particle beam generated by the particle accelerator 20 can be used for treatment from different angles.

[0072] In one embodiment, the rotating frame 10 further includes a main gear connected to a bearing housing, a backlash-free gear connected to the main gear, and an encoder. The bearing housing drives the main gear to rotate, which in turn drives the backlash-free gear to rotate. The encoder can acquire information such as the angle and direction of the backlash-free gear's rotation to determine the angle of the main gear's rotation, and thus the angle of the machine arm's rotation, thereby determining the position of the machine arm. Specifically, referring to Figures 1 and 2, the first machine arm 11-1 can be equipped with a first main gear 11-12 connected to the first bearing housing 11-11, a first backlash-free gear (not shown), and a first encoder (not shown) connected to the first main gear 11-12. The first encoder acquires the angle of rotation of the first main gear 11-12 through the first backlash-free gear. The first drive device drives the first main gear 11-12 to rotate through the first bearing housing 11-11, thereby driving the first machine arm 11-1 to rotate. The first main gear 11-12 drives the first backlash-free gear to rotate. The first encoder acquires information such as the rotation angle and direction of the first backlash-free gear, thereby obtaining the rotation angle of the first main gear 11-12 and determining the rotation angle of the first machine arm 11-1, thus determining the position of the first machine arm 11-1. The first backlash-free gear can be in close contact with the first main gear 11-12 to ensure the synchronization of their rotation, thereby ensuring the accuracy of the first encoder's detection and the accuracy of the position information of the first machine arm 11-1. The second machine arm 11-2 is equipped with a second main gear 11-22 connected to the second bearing seat 11-21, a second backlash-free gear (not shown in the figure) connected to the second main gear 11-22, and a second encoder (not shown in the figure). The second encoder acquires the rotation angle of the second main gear 11-22 through the second backlash-free gear. The second drive device drives the second main gear 11-22 to rotate through the second bearing seat 11-21, thereby driving the second machine arm 11-2 to rotate. The second main gear 11-22 drives the second backlash-free gear to rotate. The second encoder acquires information such as the rotation angle and direction of the second backlash-free gear, thereby determining the rotation angle of the second main gear 11-22, and subsequently determining the rotation angle of the second arm 11-2, i.e., obtaining the position of the second arm 11-2. The second backlash-free gear can be in close contact with the second main gear 11-22 to ensure the synchronization of their rotation, thus ensuring the accuracy of the second encoder's detection and, consequently, the accuracy of the position information of the second arm 11-2.

[0073] By comparing the detection results of the first encoder and the second encoder, it can be determined whether the two robotic arms 11, namely the first robotic arm 11-1 and the second robotic arm 11-2, rotate synchronously. If the detection results of the first encoder and the second encoder are the same or within the error range, it indicates that the first robotic arm 11-1 and the second robotic arm 11-2 rotate synchronously. If the detection results of the first encoder and the second encoder are different or exceed the error range, it indicates that the first robotic arm 11-1 and the second robotic arm 11-2 do not rotate synchronously. The first encoder can feed back the position information of the first robotic arm 11-1 to the first drive device, and the second encoder can also feed back the position information of the second robotic arm 11-2 to the second drive device. The first drive device adjusts its own speed and direction according to the position information of the first robotic arm 11-1, and the second drive device adjusts its own speed and direction according to the position information of the second robotic arm 11-2 to ensure that the first robotic arm 11-1 and the second robotic arm 11-2 can maintain synchronous rotation.

[0074] In one embodiment, counterweights may be provided at the ends of the two arms 11 of the rotating frame 10 furthest from the connecting arm 12. Specifically, as shown in Figure 3, a first counterweight 11-13 may be provided at the end of the first arm 11-1 furthest from the connecting arm 12, that is, the second end 11-1b of the first arm 11-1 is provided with the first counterweight 11-13. Similarly, a second counterweight 11-23 may be provided at the end of the second arm 11-2 furthest from the connecting arm 12, that is, the fourth end 11-2b of the second arm 11-2 is provided with the second counterweight 11-23. The first counterweight 11-13 and the second counterweight 11-23 may be the same or different. The first counterweight 11-13 and the second counterweight 11-23 can balance the gravity of the particle accelerator 20, preventing the rotating frame 10 from tilting or overturning during rotation and ensuring the accuracy of the particle accelerator 20's rotation. Meanwhile, the first counterweight 11-13 can balance the torque on both sides of the first bearing housing 11-11, reducing the high-load operation of the first drive device caused by torque imbalance. The second counterweight 11-23 can also balance the torque on both sides of the second bearing housing 11-21, reducing the high-load operation of the second drive device caused by torque imbalance.

[0075] The following sections of this application will describe the relevant setup or structure of the particle accelerator 20.

[0076] The particle accelerator 20 includes a superconducting magnet 21, a cold head 22, a radio frequency (RF) component 23, a magnetic pole plug 24, and an accelerator housing 25. The superconducting magnet 21 generates a magnetic field to control the particle beam; the magnetic pole plug 24 modifies the magnetic field generated by the superconducting magnet 21; the cold head 22 cools the superconducting magnet 21; the RF component 23 focuses the particle beam onto the patient's affected area; and the accelerator housing 25 houses and mounts the various components of the particle accelerator 20. As shown in Figures 1, 2, and 5, the connecting arm 12 can be connected to the accelerator housing 25 of the particle accelerator 20. The magnetic pole plug 24 and the superconducting magnet 21 are disposed within the accelerator housing 25, with the superconducting magnet 21 disposed within the magnetic pole plug 24. The RF component 23 and the cold head 22 are disposed outside the accelerator housing 25.

[0077] In one embodiment, the angle between the outward protrusion direction of the cold head 22 of the particle accelerator 20 relative to the superconducting magnet 21 in the particle accelerator 20 and the extension direction of the beam protrusion of the particle accelerator 20 is 88° to 92°, wherein the beam protrusion is the channel in the radio frequency assembly 23 for transmitting the beam to the treatment subject. It is worth noting that the rotation range of the rotating gantry 10 when treating the patient is [-5°, 185°], where 0° is the preset initial state of the rotating gantry. In the initial state, the rotation direction towards the patient is positive, and the rotation angle away from the patient is negative. By limiting the position of the cold head 22 relative to the beam protrusion, it can be ensured that the level of the cooling medium (e.g., liquid helium) in the superconducting magnet 21 remains normal during the rotation of the particle accelerator 20 with the connecting arm 12, preventing backflow into the cold head 22 and ensuring that the superconducting magnet 21 operates normally to provide the expected magnetic field. In one embodiment, the angle between the outward convex direction of the cold head 22 of the particle accelerator 20 relative to the superconducting magnet 21 in the particle accelerator 20 and the extension direction of the beam protrusion of the particle accelerator 20 is 90°.

[0078] In one embodiment, the first opening 122, the cold head 22, and the radio frequency component 23 are located on the same side of the longitudinal center section of the relative connecting arm 12, so as to facilitate the maintenance of the various components of the particle accelerator 20 by the operator.

[0079] In one embodiment, the particle accelerator 20 is detachably connected to the connecting arm 12, thereby facilitating maintenance, upkeep, and replacement of the particle accelerator 20. For example, the accelerator housing 25 in the particle accelerator 20 can be threadedly connected to the connecting arm 12.

[0080] In one embodiment, the connecting arm 12 may include at least one detachable component detachably connected to the particle accelerator 20. When the at least one detachable component is disconnected from the particle accelerator 20, a first opening 122 is formed at a corresponding position on the connecting arm 12. For example, the detachable component may be simultaneously snap-fitted to both the particle accelerator 20 and the connecting arm 12. When the detachable component contacts both the particle accelerator 20 and the connecting arm 12, it can be removed from the rotating frame 10, and the first opening 122 is formed at the corresponding position on the connecting arm 12 after detachment. Based on the aforementioned configuration, it is convenient for operators to adjust the detachable component as needed. During normal use of the particle accelerator 20, the detachable component on the connecting arm 12 can prevent radiation leakage from the particle accelerator 20. When maintenance of the particle accelerator 20 is required, the operator can remove the detachable component to form the first opening 122 to enter the receiving space 121. In one embodiment, multiple detachable parts are provided at different positions along the periphery of the connecting arm 12. The operator can remove the detachable parts at the corresponding positions according to the specific locations in the particle accelerator 20 that need maintenance, so as to facilitate the operator's maintenance operations on the particle accelerator 20.

[0081] In one embodiment, the connecting arm 12 includes multiple detachable components, which are detachably connected to the particle accelerator 20. When all the detachable components 12 are disconnected from the particle accelerator 20, the connection between the connecting arm 12 and the particle accelerator 20 is severed, facilitating maintenance, upkeep, and replacement of the particle accelerator 20. For example, the sixth end 12-1b of the first connecting arm 12-1 is provided with four detachable components, and the first connecting arm 12-1 is detachably connected to the particle accelerator 20 through these four detachable components. Similarly, the eighth end 12-2b of the second connecting arm 12-2 is also provided with four detachable components, and the second connecting arm 12-2 is detachably connected to the particle accelerator 20 through these four detachable components. When all eight detachable components are disconnected from the particle accelerator 20, the connection between the particle accelerator 20 and both the first and second connecting arms 12-1 and 12-2 is severed, allowing the operator to remove the particle accelerator 20 from the rotating frame 1.

[0082] The radiotherapy device 1 also includes other structures.

[0083] In one embodiment, the radiotherapy device 1 may further include limiting members 30 disposed on the rotation path of the rotating gantry 10 to limit the rotation range of the rotating gantry 10. The number of limiting members 30 may be one or more. For example, the number of limiting members 30 may be four. Two limiting members 30 are disposed on one side of the first arm 11-1, and the two limiting members 30 may be disposed on the rotation paths on both sides of the first bearing seat 11-11 in the first arm 11-1 to limit the rotation range of the first arm 11-1. Two limiting members 30 are disposed on one side of the second arm 11-2, and the two limiting members 30 may be disposed on the rotation paths on both sides of the second bearing seat 11-21 in the second arm 11-2 to limit the rotation range of the second arm 11-2.

[0084] Referring to Figures 9 and 10, the limiting member 30 may include a first mounting plate 31, a second mounting plate 32, and a plurality of damping members 33 disposed between the first mounting plate 31 and the second mounting plate 32. The two ends of the damping member 33 can be connected to the first mounting plate 31 and the second mounting plate 32 respectively; that is, the first connecting end is connected to the first mounting plate 31, and the second connecting end of the damping member 33 opposite to the first connecting end is connected to the second mounting plate 32. Alternatively, the damping member 33 may be connected only to the first mounting plate 31 or the second mounting plate 32. The first mounting plate 31 is used for fixed connection to a mounting surface, which may be a wall or support column of the treatment room, etc. The second mounting plate 32 is used to abut against the rotating frame 10, and the damping member 33 is used to provide damping. The damping member 33 may be made of steel wire. Furthermore, the steel wire can be made into a spring and disposed between the first mounting plate 31 and the second mounting plate 32, or the steel wire can be made into an arc shape and disposed between the first mounting plate 31 and the second mounting plate 32, depending on actual needs.

[0085] When the second mounting plate 32 collides with the rotating frame 10, the steel wire itself has a certain elasticity and can provide a certain amount of damping. Adjacent steel wires come into contact with each other and generate friction, which also provides damping. The damping generated by the damping element 33 can provide a buffering force for the rotating frame 10, reducing the impact force on the rotating frame 10, thereby playing a role in shock absorption and protection for the particle accelerator 20. Compared with traditional rubber or hydraulic damping, the steel wire used in the damping element 33 shown in some embodiments of this application has advantages such as insensitivity to radiation, strong anti-aging properties, high fire resistance, and low cost.

[0086] In one embodiment, the number and diameter of the damping elements 33 can be set according to the weight of the particle accelerator 20. That is, by controlling the number and diameter of the damping elements 33, the damping provided by the limiting element 30 can be adjusted to ensure that the limiting element 30 can provide sufficient buffering force for the rotating frame 10 and improve the buffering effect of the limiting element 30.

[0087] In one embodiment, the length of the damping member 33 can be set in multiple specifications, that is, the damping member 33 is divided into multiple layers. When the second mounting plate 32 collides with the rotating frame 10, the longest damping member 33 deforms to generate damping, and then the shorter damping member 33 also deforms to generate damping. That is, the damping of the limiting member 30 gradually increases, which further reduces the impact force on the rotating frame 10, thereby playing a role in shock absorption and protection for the particle accelerator 20, and also reduces or avoids the problem of the rotating frame 10 rebounding. At the same time, it avoids secondary collisions between the rotating frame 10 and the limiting member 30, thereby avoiding secondary impacts on the particle accelerator 20.

[0088] Referring to Figure 9, the first mounting plate 31 and the second mounting plate 32 can be arranged in parallel, meaning the distance between the first mounting plate 31 and the second mounting plate 32 is equal or approximately equal. Referring to Figure 10, the first mounting plate 31 and the second mounting plate 32 can also be arranged non-parallel, meaning the distance between the first mounting plate 31 and the second mounting plate 32 is different, and the second mounting plate 32 is inclined relative to the first mounting plate 31. Whether the first mounting plate 31 and the second mounting plate 32 are arranged in parallel or non-parallel configurations, it is to ensure that the impact surface of the rotating frame 10 and the second mounting plate 32 are parallel or approximately parallel to each other, thereby increasing the contact area between the second mounting surface and the rotating frame 10. This better disperses the impact force of the rotating frame 10 and reduces the impact force on the particle accelerator 20. The positional relationship between the first mounting plate 31 and the second mounting plate 32 can be adjusted according to the impact angle between the rotating frame 10 and the second mounting plate 32 to increase the contact area between the second mounting surface and the rotating frame 10.

[0089] Because the superconducting magnet 21 in the particle accelerator 20 is relatively heavy, its position is prone to shift during rotation, resulting in magnetic field deviation. In some embodiments of this application, as shown in FIG11, the radiotherapy device 1 may further include a sensor (not shown) and an adjuster 40. The sensor is used to detect whether the position of the superconducting magnet 21 in the particle accelerator 20 has shifted, and the adjuster 40 can adjust the position of the superconducting magnet 21 in the particle accelerator 20 according to the feedback information from the sensor, so that the superconducting magnet 21 in the particle accelerator 20 is in a preset position.

[0090] In one embodiment, the sensor may include directly detecting the position of the superconducting magnet 21 in the particle accelerator 20. Correspondingly, the feedback information of the sensor may include the position of the superconducting magnet 21 in the particle accelerator 20. The regulator 40 may compare the position of the superconducting magnet 21 in the particle accelerator 20 with the initial position of the superconducting magnet 21 to determine whether the position of the superconducting magnet 21 has shifted, and then determine whether it is necessary to adjust the position of the superconducting magnet 21 in the particle accelerator 20 so that the superconducting magnet 21 in the particle accelerator 20 is in a preset position.

[0091] In one embodiment, the sensor may further include a Hall sensor, which can acquire the magnetic field strength of each first preset position of the radiotherapy device 1 in a preset state (e.g., initial state). Correspondingly, the feedback information of the sensor may include the magnetic field strength of each first preset position. The regulator 40 can compare the magnetic field strength of each first preset position with the preset magnetic field strength to determine whether the position of the superconducting magnet 21 has shifted, and then determine whether it is necessary to adjust the position of the superconducting magnet 21 of the particle accelerator 20 so that the superconducting magnet 21 of the particle accelerator 20 is in the preset position.

[0092] In one embodiment, the sensor may further include a pressure sensor arranged circumferentially along the superconducting magnet 21. The feedback information may include pressure information at multiple second preset positions corresponding to the superconducting magnet 21 obtained by each pressure sensor. The regulator may compare the pressure information at each second preset position with preset pressure information to determine whether the position of the superconducting magnet 21 has shifted, and then determine whether the position of the superconducting magnet 21 of the particle accelerator 20 needs to be adjusted so that the superconducting magnet 21 of the particle accelerator 20 is in a preset position.

[0093] The regulator 40 can apply a force (e.g., a pulling force) to the superconducting magnet 21 of the particle accelerator 20 to keep the superconducting magnet 21 of the particle accelerator 20 in a preset position. There can be multiple regulators 40. For example, as shown in Figure 11, there are four regulators 40 evenly distributed, which can adjust the superconducting magnet 21 of the particle accelerator 20 from four directions to ensure that the superconducting magnet 21 of the particle accelerator 20 is in the preset position.

[0094] Some embodiments of this application also provide a radiotherapy system S. Referring to Figures 12 and 13, the radiotherapy system S includes the aforementioned radiotherapy device 1 and a treatment room. A treatment bed 50 can be installed in the treatment room 2 to support the patient. The radiotherapy system S can be configured as a three-layer structure, including a maintenance layer M, a treatment layer T, and an equipment layer D from top to bottom. The treatment room 2 can be located in the treatment layer T. The radiotherapy device 1 can be equipped with a treatment head 60 located in the treatment room 2. The radiotherapy system S can include two side walls 70 and a front wall 80 and a rear wall 90 connected to the side walls 70. A second opening 123 faces the side wall 70. The first opening 122 can be configured to face the front wall 80 when the particle accelerator 20 moves to the maintenance layer M and to face the rear wall 90 when the particle accelerator 20 moves to the equipment layer D. This allows for selection of the maintenance layer M or the equipment layer D for monitoring or maintenance of the radiotherapy device 1, better adapting to various locations after the radiotherapy device 1 is installed. The maintenance layer M can be used for the inspection and maintenance of the rotating gantry 10, particle accelerator 20, etc.; the treatment layer T can be used for patients to enter for treatment; the equipment layer D can be used to house the radio frequency cabinet, superconducting magnet control cabinet, treatment head control cabinet, etc. The front wall 80 can also be called the front wall, and the rear wall 90 can also be called the rear wall.

[0095] As a preferred embodiment, the number of radiotherapy devices 1 and the number of treatment rooms 2 are the same and both are multiple, with one radiotherapy device 1 installed in each treatment room 2. Each treatment room 2 is relatively independent and does not occupy treatment time with each other. When one radiotherapy device 1 is being maintained, it will not affect the other radiotherapy devices 1, thus increasing the overall maintainability of the radiotherapy system S.

[0096] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0097] Meanwhile, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Furthermore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this application do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0098] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this application are not intended to limit the order of the processes and methods of this application. Although some currently considered useful embodiments of the invention have been discussed in the foregoing disclosure by way of various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments; rather, the claims are intended to cover all modifications and equivalent combinations that conform to the substance and scope of the embodiments of this application. For example, while the system components described above can be implemented by hardware devices, they can also be implemented solely by software solutions, such as installing the described system on a relevant server or mobile device.

[0099] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0100] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in one embodiment, the numerical parameters used in the specification and claims are approximate values, which may be changed according to the characteristics required by individual embodiments. In one embodiment, the numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0101] For each patent, patent application, patent application publication, and other material such as articles, books, specifications, publications, and documents referenced in this application, the entire contents of that patent application are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this application, as well as documents that limit the broadest scope of the claims of this application (currently or subsequently appended to this application). It should be noted that if there is any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials of this application and the content of this application, the descriptions, definitions, and / or terminology used in this application shall prevail.

[0102] Finally, it should be understood that the embodiments described in this application are merely illustrative of the principles of the embodiments of this application. Other modifications may also fall within the scope of this application. Therefore, alternative configurations of the embodiments of this application are considered as examples and not limitations, and are regarded as consistent with the teachings of this application. Accordingly, the embodiments of this application are not limited to the embodiments explicitly described and illustrated in this application.

Claims

1. A rotating frame, comprising: Two robotic arms and a connecting arm connected to the two robotic arms, the two robotic arms being used to drive the connecting arm to rotate, and the connecting arm being used to support a fixed particle accelerator; The inner sidewall of the connecting arm forms a receiving space. A first opening communicating with the receiving space is provided on the sidewall of the connecting arm. A second opening communicating with the receiving space is provided on one or more ends of the connecting arm along the axial direction. The first opening and the second opening are used to allow the operator to enter the receiving space. The accommodating space is provided with a pull-out member, and the particle accelerator includes a magnetic pole plug. The pull-out member is connected to the magnetic pole plug and can drive at least a portion of the magnetic pole plug to move axially along the connecting arm to the region between the first opening and the second opening in the connecting arm.

2. The rotating frame as described in claim 1, wherein, The first opening is located axially on the connecting arm between the position where the magnetic pole plug is installed axially on the connecting arm and the position where the magnetic pole plug is removed axially on the connecting arm. The installation position is the location of the magnetic pole plug when the particle accelerator is working normally, and the disassembly position is the farthest position of the magnetic pole plug after it has been moved along the axial direction of the connecting arm.

3. The rotating frame as described in claim 2, wherein, The distance between the installation position of the magnetic pole plug on the axial direction of the connecting arm and the removal position of the magnetic pole plug on the axial direction of the connecting arm is not less than 0.5m.

4. The rotating frame as described in claim 1, wherein, The inner sidewall of the connecting arm is provided with a guide rail along the axial direction of the connecting arm. The pull-out member includes a support ring, a sliding member, and a connecting member. The fifth connecting end of the sliding member is slidably connected to the guide rail. The sixth connecting end of the sliding member, which is opposite to the fifth connecting end, is fixedly connected to the support ring. The connecting member connects the support ring and the magnetic pole plug.

5. The rotating frame as described in claim 1, wherein, The rotating frame includes a working platform, which has a first working position and a second working position. The rotating frame can switch between the first maintenance state and the second maintenance state by rotating. When the rotating frame is in the first maintenance state, the operator at the first working position on the working platform can enter the accommodating space through the first opening. When the rotating frame is in the second maintenance state, the operator located at the second working position on the working platform can enter the accommodating space through the second opening.

6. The rotating frame as claimed in claim 1, wherein, The two arms include a first arm and a second arm. The first arm has a first bearing seat and a first drive device at its second end away from the connecting arm. The second arm has a second bearing seat and a second drive device at its fourth end away from the connecting arm. The first drive device and the second drive device together drive the rotating frame to rotate around the first bearing seat and the second bearing seat.

7. A radiotherapy device, wherein, include: The rotating frame and particle accelerator as described in any one of claims 1-7, wherein the particle accelerator is disposed on the rotating frame and can rotate with the rotating frame.

8. The rotating frame as claimed in claim 7, wherein, The angle between the cold head of the particle accelerator and the outward extension direction of the superconducting magnet in the particle accelerator and the extension direction of the beam protrusion of the particle accelerator is 88° to 92°. The cold head is used to cool the superconducting magnet in the particle accelerator, and the beam protrusion is a channel for emitting a beam to the treatment object.

9. The rotating frame as claimed in claim 8, wherein, The angle between the cold head of the particle accelerator and the direction of the superconducting magnet protruding outward in the particle accelerator and the direction of the beam protrusion of the particle accelerator is 90°.

10. The radiotherapy device as described in claim 9, wherein, The radiotherapy device further includes a sensor and a regulator. The sensor is used to detect whether the position of the superconducting magnet of the particle accelerator has shifted. The regulator determines whether to adjust the position of the superconducting magnet of the particle accelerator based on the feedback information from the sensor, so that the superconducting magnet of the particle accelerator is in a preset position.

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