CN114768117A - Radiotherapy equipment - Google Patents
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- CN114768117A CN114768117A CN202210337026.XA CN202210337026A CN114768117A CN 114768117 A CN114768117 A CN 114768117A CN 202210337026 A CN202210337026 A CN 202210337026A CN 114768117 A CN114768117 A CN 114768117A
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 297
- 238000001514 detection method Methods 0.000 claims abstract description 93
- 230000001678 irradiating effect Effects 0.000 claims abstract description 5
- 230000001133 acceleration Effects 0.000 claims description 72
- 230000033001 locomotion Effects 0.000 claims description 30
- 230000005855 radiation Effects 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 description 23
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
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- 238000001914 filtration Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000004881 tumor cell Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- A—HUMAN NECESSITIES
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
- A61N5/1069—Target adjustment, e.g. moving the patient support
- A61N5/107—Target adjustment, e.g. moving the patient support in real time, i.e. during treatment
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Abstract
The embodiment of the invention provides radiotherapy equipment, and relates to the technical field of medical equipment. Radiotherapy equipment includes: the device comprises a ray generating mechanism, a rotating mechanism and an angular speed detecting mechanism; the ray generating mechanism and the angular speed detecting mechanism are both fixedly arranged on the rotating mechanism; the rotating mechanism rotates around a preset axis to drive the ray generating mechanism to rotate; the ray generating mechanism is used for generating rays and irradiating an object to be treated from a plurality of angles through rotation; the angular velocity detection mechanism is used for detecting the angular velocity of the rotating mechanism so as to calculate the current angle of the ray generation mechanism according to the angular velocity. The angular speed of the rotating mechanism is directly detected through the angular speed detection mechanism, so that the current angle of the ray generation mechanism is calculated.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to radiotherapy equipment.
Background
Radiotherapy equipment, radiotherapy equipment for short, is medical equipment used for treating tumors of patients. The high-energy rays generated by the ray source irradiate the tumor area of a patient, thereby achieving the purpose of killing tumor cells.
Radiotherapy apparatus generally comprises a rotatable gantry, a radiation source disposed on the gantry, and a treatment couch for carrying a patient. When the patient is treated by the radiotherapy equipment, the patient is firstly positioned by the treatment couch and is transported into the treatment space of the radiotherapy equipment. After the positioning is finished, the radiotherapy equipment controls the radioactive source to generate ray beams according to a treatment plan corresponding to the patient, and simultaneously controls the rack to rotate. Thereby achieving the purpose that the ray bundle irradiates the tumor area from a plurality of angles and avoiding the damage of the healthy tissue of the patient.
In the related art, in order to accurately determine the rotational position of the gantry, a grating is usually disposed on a rotatable gantry of the radiotherapy apparatus, and the position of the gantry is acquired by using a transmission chain. But the mode structures of the transmission chain and the grating are complex, so that the cost of the radiotherapy equipment is increased; and because the measurement accuracy is low, the angle measurement of the frame is inaccurate, and the patient is damaged.
Disclosure of Invention
The invention aims to provide a radiotherapy device, which directly detects the angular velocity of a rotating mechanism through an angular velocity detection mechanism so as to calculate the current angle of a ray generation mechanism.
Embodiments of the invention may be implemented as follows:
an embodiment of the present invention provides a radiotherapy apparatus, including: the device comprises a ray generating mechanism, a rotating mechanism and an angular speed detecting mechanism;
the ray generating mechanism and the angular speed detecting mechanism are both fixedly arranged on the rotating mechanism;
the rotating mechanism rotates around a preset axis to drive the ray generating mechanism to rotate;
the ray generating mechanism is used for generating rays and irradiating an object to be treated from multiple angles through rotation;
the angular velocity detection mechanism is used for detecting the angular velocity of the rotating mechanism so as to calculate the current angle of the ray generation mechanism according to the angular velocity.
In an alternative embodiment of the present invention, the radiotherapy apparatus further comprises a control mechanism and a driving mechanism;
the angular speed detection mechanism is connected with the control mechanism and is used for sending the detected angular speed of the rotating mechanism to the control mechanism;
the control mechanism is connected with the driving mechanism and used for calculating the current angle according to the angular speed, generating a first driving signal according to the current angle and transmitting the first driving signal to the driving mechanism;
the driving mechanism is connected with the rotating mechanism and used for controlling the rotating mechanism according to the first driving signal.
In an alternative embodiment of the present invention, the control mechanism is further configured to generate a second driving signal when the current angle is equal to the current angle; so as to control the rotating mechanism to stop moving through the second driving signal.
In an optional embodiment of the present invention, the control mechanism is further configured to obtain an initial angle of the ray generation mechanism and a movement time from the initial angle to the current angle, calculate a rotation angle of the ray generation mechanism from the initial angle to the current angle according to the angular velocity and the movement time, and obtain the current angle according to the initial angle and the rotation angle.
In an optional embodiment of the present invention, the radiotherapy apparatus further comprises a first acceleration detection mechanism, and the first acceleration detection mechanism is mounted on the rotation mechanism;
the acceleration detection mechanism is used for detecting the acceleration of the rotating mechanism and transmitting the acceleration to the control mechanism, so that the control mechanism calculates the vibration data of the rotating mechanism according to the acceleration detection mechanism.
In an optional embodiment of the present invention, the control mechanism is further configured to acquire the acceleration detected by the first acceleration detection mechanism at intervals of a set time, to perform filtering processing on the multiple accelerations to obtain the vibration data, and if the vibration data is not within the qualified interval, send a first alarm signal.
In an alternative embodiment of the present invention, the control mechanism is further configured to send a second alarm signal when the current angle is greater than the current angle.
In an optional embodiment of the invention, the angular velocity detection mechanism comprises a gyroscope and/or a grating scale.
In an alternative embodiment of the present invention, the angular velocity detection mechanism and the first acceleration detection mechanism are integrally designed.
In an optional embodiment of the present invention, the radiotherapy apparatus further comprises a second acceleration detection mechanism and a treatment couch;
the treatment couch is used for carrying an object to be treated so that the ray generated by the ray generating mechanism irradiates the object to be treated from a plurality of angles;
the second acceleration detection mechanism is arranged on the treatment couch and connected with the control mechanism, and is used for detecting the linear acceleration of the treatment couch and sending the linear acceleration to the control mechanism; so that the control mechanism calculates the current position of the treatment couch according to the linear acceleration detection mechanism.
The embodiment of the invention has the following beneficial effects: the radiotherapy equipment comprises a ray generating mechanism, a rotating mechanism and an angular speed detecting mechanism; the ray generating mechanism and the angular speed detecting mechanism are both fixedly arranged on the rotating mechanism; the rotating mechanism rotates around a preset axis to drive the ray generating mechanism to rotate; the ray generating mechanism is used for generating rays and irradiating an object to be treated from a plurality of angles through rotation; the speed detection mechanism is used for detecting the angular speed of the rotating mechanism so as to calculate the current angle of the ray generation mechanism according to the angular speed.
In the embodiment of the invention, the angular velocity detection mechanism is arranged on the rotating mechanism, the angular velocity detection mechanism can directly detect the angular velocity of the rotating mechanism, and the current angle of the ray generation mechanism after the ray generation mechanism rotates from the initial position to the current position can be calculated through the angular velocity. The angular speed of the rotating mechanism is directly detected through the angular speed detection mechanism, so that the current angle of the ray generation mechanism is calculated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a gantry of a radiotherapy apparatus according to an embodiment of the present invention, which is a cantilever gantry.
Fig. 2 is a schematic structural diagram of a C-arm gantry of a radiotherapy apparatus provided in an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a radiotherapy apparatus provided in an embodiment of the present invention, in which the gantry is a drum gantry. Fig. 4 is a schematic structural diagram of a radiotherapy apparatus according to a first embodiment of the present invention.
Fig. 5 is a block diagram of a radiotherapy apparatus according to a first embodiment of the present invention.
Icon: 100-a radiotherapy device; 110-a ray generation mechanism; 120-a rotation mechanism; 130-angular velocity detection means; 140-a control mechanism; 150-a first acceleration detection mechanism; 160-a second acceleration detection mechanism; 170-treatment bed.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the product of the present invention is used to usually place, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The radiotherapy apparatus 100 is a medical apparatus for treating tumor, and irradiates tumor cells by using alpha, beta, gamma rays or X rays, electron rays, proton beams, other particle beams and other rays generated by the apparatus itself to achieve the purpose of killing the tumor cells. The radiotherapy apparatus 100 is different according to the type of radiation, and includes a gamma knife, an accelerator, a proton knife, and the like. The radiation source of the radiotherapy apparatus 100 may be used to generate alpha, beta, gamma rays or X-rays, electron beams, proton beams and other particle beams. The frame of the radiotherapy device 100 is used for driving the radiotherapy device 100 to rotate. The gantry of the radiotherapy apparatus 100 may be a cantilever gantry (see fig. 1), a C-arm gantry (see fig. 2), and a roller gantry (see fig. 3). The embodiment of the application can be applied to any type of stand and any type of ray source.
Referring to fig. 4 and 5, the present embodiment provides a radiotherapy apparatus 100, the radiotherapy apparatus 100 provided in the present embodiment can drive the ray generation mechanism 110 to rotate through the rotation of the rotation mechanism 120, and directly detect the angular velocity of the rotation mechanism 120 through the angular velocity detection mechanism 130, so as to calculate the current angle of the ray generation mechanism 110, the operation of the method is simple, and the method can be implemented only by using the angular velocity detection mechanism 130, so that the cost of the radiotherapy apparatus 100 is reduced.
The radiotherapy equipment 100 provided by the embodiment comprises a treatment couch 170, a radiation generating mechanism 110 and a rotating mechanism 120, wherein the radiation generating mechanism 110 is installed on the rotating mechanism 120, a patient can lie on the treatment couch 170, the treatment couch 170 drives the patient to move to a path where the radiation generating mechanism 110 generates a beam, and the radiation generating mechanism 110 can rotate relative to a position to be treated of the patient under the drive of the rotating mechanism 120, so that the beam irradiates the position to be treated from different positions of the patient, excessive radiation dose on healthy tissues at the same position of the patient is avoided, safety of the patient in a treatment process is ensured, and accurate positioning is realized.
The radiation generating mechanism 110 is mainly a treatment head, and is used for generating a beam to irradiate a position to be treated of a patient, so as to achieve a treatment purpose.
In this embodiment, the rotating mechanism 120 is mainly configured to drive the ray generating mechanism 110 to rotate, and adjust the angle of the ray generating mechanism 110, in order to achieve accurate control, the rotating angle of the rotating mechanism 120 generally needs to be detected, and the current angle of the ray generating mechanism 110 is calculated through the rotating angle of the rotating mechanism 120. The angular velocity of the rotating mechanism 120 is directly detected by the angular velocity detection mechanism 130, so that the current angle of the ray generation mechanism 110 is calculated, the operation of the method is simple, the method can be realized only by using the angular velocity detection mechanism 130, the cost of the radiotherapy equipment 100 is reduced, meanwhile, the measurement precision can be improved by adopting the angular velocity detection mechanism 130 to detect the current angle, and the injury to a user caused by inaccurate angle detection is reduced.
In the present embodiment, the radiotherapy apparatus 100 includes: a ray generation mechanism 110, a rotation mechanism 120, and an angular velocity detection mechanism 130; the ray generation mechanism 110 and the angular velocity detection mechanism 130 are both fixedly arranged on the rotating mechanism 120; the rotating mechanism 120 rotates around a preset axis to drive the ray generating mechanism 110 to rotate; the radiation generating mechanism 110 is used for generating radiation and irradiating an object to be treated from a plurality of angles by rotation; the angular velocity detection mechanism 130 is configured to detect an angular velocity of the rotation mechanism 120 to calculate a current angle of the radiation generation mechanism 110 according to the angular velocity.
In the present embodiment, the angular velocity detection mechanism 130 is mounted on the rotation mechanism 120, and the angular velocity detection mechanism 130 can directly detect the angular velocity of the rotation mechanism 120, and calculate the current angle after the ray generation mechanism 110 rotates from the initial position to the current position by the angular velocity. The angular velocity of the rotating mechanism 120 is directly detected by the angular velocity detection mechanism 130, so that the current angle of the ray generation mechanism 110 is calculated, the operation of the method is simple, the method can be realized only by using the angular velocity detection mechanism 130, the cost of the radiotherapy equipment 100 is reduced, meanwhile, the measurement precision can be improved by adopting the angular velocity detection mechanism 130 to detect the current angle, and the injury to a user caused by inaccurate angle detection is reduced.
The ray generation mechanism 110 and the angular velocity detection mechanism 130 may be disposed at the same position of the rotation mechanism 120, or may be disposed at different positions; it is only necessary to satisfy that the relative positional relationship between the radiation generating mechanism 110 and the angular velocity detecting mechanism 130 is not changed in the rotation process, and the setting position thereof is not specifically limited in the embodiment of the present application. For example, the radiation generating mechanism 110 and the angular velocity detecting mechanism 130 may be disposed at the same position. The initial position refers to the position of the rotation mechanism 120 before the rotation mechanism 110 is rotated, the current position refers to the position of the rotation mechanism 120 at the current time, and the current angle is the value of the angle to the current position of the rotation mechanism 120.
In this embodiment, the radiotherapy apparatus 100 further comprises a control mechanism 140 and a drive mechanism; the angular velocity detection mechanism 130 is connected to the control mechanism 140, and is configured to send the detected angular velocity of the rotating mechanism 120 to the control mechanism 140; the control mechanism 140 is connected to the driving mechanism, and is configured to calculate a current angle according to the angular velocity, generate a first driving signal according to the current angle, and transmit the first driving signal to the driving mechanism; the driving mechanism is connected to the rotating mechanism 120 for controlling the rotating mechanism 120 according to the first driving signal.
In the present embodiment, after the angular velocity of the rotating mechanism 120 is detected, the current angle at the current position may be calculated from the initial angle at the initial position and the angular velocity. In this embodiment, the angular velocity detection means 130 is configured to detect the angular velocity once every unit time, and the control means 140 is configured to integrate the angular velocity for unit time to obtain a unit angle, and to accumulate all the unit angles in the movement time to obtain the rotation angle. The interval time can be set according to actual requirements, and the smaller the interval time is, the higher the position precision is, but the data volume and the calculated amount are too large; the interval time may also be zero. The interval time is not specifically limited in the embodiment of the application, and is set according to actual use requirements.
In order to improve the calculation accuracy of the rotation angle, the rotation angle is calculated in an integral mode, so that the rotation angle error caused by the angular speed detection error can be reduced.
Of course, in addition to this, the average angular velocity during the exercise time may be obtained, and the rotation angle may be obtained by calculating the product of the average angular velocity and the exercise time.
Under the condition that the current angle is not equal to the target angle, it indicates that the rotating mechanism 120 has not moved to the target angle, and the position of the rotating mechanism 120 needs to be further adjusted, so that a first driving signal is generated, and the driving mechanism drives the rotating mechanism 120 to rotate, so as to drive the rotating mechanism 120 to continue rotating.
The target angle represents an angle when the rotating mechanism 120 rotates to the target position, and when the rotating mechanism 120 rotates to the target position, it represents that the rotating mechanism 120 has moved to a position that needs to be stopped, that is, to reach the position to be treated of the patient.
It is easy to understand that the first driving signal refers to a signal for controlling the rotation of the rotating mechanism 120, and the first driving signal may include an angular velocity for controlling the rotation of the rotating mechanism 120 and may also include a rotation direction of the rotating mechanism 120.
In this embodiment, the control mechanism 140 is further configured to generate a second driving signal when the current angle is equal to the target angle; to control the rotation mechanism 120 to stop moving by the second driving signal.
In this embodiment, if the current angle is equal to the target angle, it is stated that the rotating mechanism 120 drives the radiation generating mechanism 110 to move to the position to be stopped, i.e. the position to be treated of the patient, at this time, the control mechanism 140 generates the second driving signal, so as to control the rotating mechanism 120 to stop moving.
It is easily understood that the second driving signal is a signal for controlling the rotation mechanism 120 to stop rotating.
In this embodiment, the control mechanism 140 is further configured to obtain an initial angle of the ray generation mechanism 110 and a movement time from the initial angle to a current angle, calculate a rotation angle from the initial angle to the current angle of the ray generation mechanism 110 according to the angular velocity and the movement time, and obtain the current angle according to the initial angle and the rotation angle.
In the present embodiment, after the angular velocity of the rotating mechanism 120 is detected, the current angle at the current position may be calculated from the initial angle at the initial position, the movement time from the initial position to the current position, and the angular velocity. For example, the rotation angle may be obtained by integrating the angular velocity; the rotation angle can also be obtained by calculating the average speed and multiplying the average speed by the movement time. And finally, summing the rotation angle and the initial angle to obtain the current angle. The movement time refers to a rotation time from an initial position to a current position, and the initial angle refers to an angle value of the radiation generating mechanism 110 at the initial position.
In this embodiment, the angular velocity detection means 130 is configured to detect the angular velocity once every unit time, and the control means 140 is configured to integrate the angular velocity for unit time to obtain a unit angle, and to accumulate all the unit angles in the movement time to obtain the rotation angle. The interval time can be set according to actual requirements, and the smaller the interval time is, the higher the position precision is, but the data volume and the calculated amount are too large; the interval time may also be zero. The interval time is not specifically limited in the embodiment of the application, and is set according to actual use requirements.
In order to improve the calculation accuracy of the rotation angle, the rotation angle is calculated in an integral mode, so that the rotation angle error caused by the angular speed detection error can be reduced.
In addition, the average angular velocity during the movement time may be obtained, and the product of the average angular velocity and the movement time may be calculated to obtain the rotation angle.
In this embodiment, the radiotherapy apparatus 100 further comprises a first acceleration detection mechanism 150, the first acceleration detection mechanism 150 being mounted on the rotation mechanism 120; the acceleration detection mechanism is configured to detect an acceleration of the rotating mechanism 120 and transmit the acceleration to the control mechanism 140, so that the control mechanism 140 calculates vibration data of the rotating mechanism 120 according to the acceleration detection mechanism.
The first acceleration detection mechanism 150 is mainly used for detecting linear velocity, and during the rotation of the rotating mechanism 120, a swing in an unexpected motion direction may be generated, and the first acceleration detection mechanism 150 is mainly used for detecting motion data in a non-rotation direction, for example, for detecting an abrupt axial translation or vibration of the rotating mechanism 120.
In the present embodiment, the first acceleration detection mechanism 150 is configured to acquire the acceleration of the rotating mechanism 120 at set intervals, thereby acquiring the vibration data.
In order to detect the vibration data of the plurality of rotating mechanisms 120, the acceleration of the rotating mechanisms 120 is acquired once at every set time interval, and the acceleration of the plurality of rotating mechanisms 120 is filtered to form the vibration data. In this embodiment, if there may be an error in the accelerations of the plurality of rotating mechanisms 120, the accelerations of the plurality of rotating mechanisms 120 are filtered by using a median filtering method to obtain vibration data.
The setting time is generally small, the setting time is not specifically limited in the embodiment of the application, and the setting value can be set according to actual requirements. For example, it may be set to 0.2 s.
In this embodiment, the control unit 140 is further configured to obtain the acceleration detected by the first acceleration detection unit 150 at a set time interval, to perform filtering processing on the multiple accelerations to obtain vibration data, and to send a first alarm signal if the vibration data is not in the qualified interval.
In this embodiment, the qualified interval is a stable movement range of the rotating mechanism 120 during the rotation process, and the vibration data is in the qualified interval, which indicates that the radiation generating mechanism 110 on the rotating mechanism 120 can work normally, thereby ensuring the treatment effect. If the vibration data are not in the qualified interval, it is indicated that the rotating mechanism 120 may have a large axial translation, and the radiotherapy apparatus 100 may have a fault, a first alarm signal is sent to remind the user to check in time.
In this embodiment, the control mechanism 140 is further configured to send a second alarm signal when the current angle is greater than the target angle.
In this embodiment, if the current angle is greater than the target angle, it indicates that the rotating mechanism 120 has crossed the position that needs to be stopped, and if the rotating mechanism 120 rotates excessively, a second alarm signal is sent to remind the rotating mechanism 120 of rotating excessively, which is convenient for the user or the control mechanism 140 to stop the radiotherapy apparatus 100 in time.
In the present embodiment, the angular velocity detection mechanism 130 includes a gyroscope and/or a grating scale. In other words, the angular velocity detection mechanism 130 may include any one of a gyroscope and a grating scale, and may also include a gyroscope and a grating scale. The angle detection accuracy can be further improved through the redundancy design.
A gyroscope is an angular motion detection device using the moment of momentum sensitive housing of a high speed solid of revolution about one or two axes orthogonal to the axis of rotation relative to the inertial space. Angular motion detection devices made using other principles are also known as gyroscopes, which serve the same function.
The gyroscope can sense the rotation angular velocity of one axis or multiple axes, and can accurately sense complex movement action in free space, so the gyroscope becomes a necessary motion sensor for tracking the movement direction and rotation action of an object. When the attitude of the turning mechanism 120 is rotated by the angle by which the turning mechanism 120 is rotated, that is, the angular velocity detection mechanism 130 itself, the overall attitude of the angular velocity detection mechanism 130 is also changed from the flat position to the upright position.
In the present embodiment, the angular velocity detection mechanism 130 and the first acceleration detection mechanism 150 are integrally designed.
The angular velocity detection mechanism 130 may be a three-axis gyroscope; the first acceleration detection mechanism 150 may be a three-axis accelerometer. The integration design of the first acceleration detection mechanism 150 and the angular velocity detection mechanism 130 enables the same structure to complete the detection of angular velocity and linear acceleration, which is fast and convenient.
In this embodiment, the radiotherapy apparatus 100 further comprises a second acceleration detection mechanism 160 and a treatment couch 170;
the treatment couch 170 is used for carrying the object to be treated so that the radiation generated by the radiation generating mechanism 110 irradiates the object to be treated from a plurality of angles;
the second acceleration detection mechanism 160 is arranged on the treatment couch 170, connected with the control mechanism 140, and used for detecting the linear acceleration of the treatment couch 170 and sending the linear acceleration to the control mechanism 140; so that the control means 140 calculates the current position of the couch 170 based on the linear acceleration detection means.
The second acceleration detection mechanism 160 is installed on the treatment couch 170, and the movement displacement of the treatment couch 170 can be detected by the second acceleration detection mechanism 160, so that the target displacement of the current position of the treatment couch 170 can be calculated.
Similarly, the starting position refers to the position of the couch 170 before being moved, the current position refers to the current position of the couch 170, and the target displacement refers to the displacement value of the couch 170 at the current position.
In this embodiment, the control mechanism 140 is electrically connected to the second acceleration detection mechanism 160, and is configured to receive the linear acceleration, obtain the initial displacement of the treatment couch 170 at the start position and the treatment couch moving time when the treatment couch 170 moves from the start position to the current position, calculate the linear displacement of the treatment couch 170 moving from the start position to the current position according to the linear acceleration and the treatment couch moving time, and calculate the sum of the initial displacement and the linear displacement to obtain the target displacement.
The couch movement time is a movement time of the couch 170 from the start position to the current position, and the initial displacement is a displacement of the couch 170 at the start position.
In this embodiment, when the treatment couch 170 starts to move, the movement time of the treatment couch 170 is counted to obtain the movement time of the treatment couch, the linear displacement of the treatment couch 170 in the movement time of the treatment couch can be obtained through the linear acceleration and the movement time of the treatment couch, and then the sum of the initial displacement and the linear displacement is calculated to obtain the target displacement.
In the present embodiment, the second acceleration detection mechanism 160 is configured to detect linear acceleration once every preset time interval; the control mechanism 140 is used for integrating the linear acceleration for a preset time to obtain a unit displacement, and accumulating all the unit displacements within the motion time of the treatment couch to obtain a linear displacement.
In the present embodiment, in order to improve the calculation accuracy of the linear displacement, the error of the linear displacement caused by the linear acceleration detection error can be reduced by calculating the linear displacement in an integral manner.
It will be readily appreciated that instead of by means of integration, an average linear acceleration may be obtained, the linear displacement being calculated from the average linear acceleration and the couch movement time.
The operation principle of the radiotherapy apparatus 100 provided in this embodiment is as follows: in the present embodiment, the angular velocity detection mechanism 130 is mounted on the rotation mechanism 120 to acquire the angular velocity at which the radiation generation mechanism 110 rotates, and calculates the current angle at which the radiation generation mechanism 110 rotates to the current position by the control mechanism 140. Similarly, the linear acceleration of the treatment couch 170 is acquired by the second acceleration detection unit 160, and the target displacement of the treatment couch 170 at the current position is calculated by the linear acceleration detection unit.
In summary, in the radiotherapy apparatus 100 provided in this embodiment, the angular velocity detection mechanism 130 directly detects the angular velocity of the rotation mechanism 120, so as to calculate the current angle of the radiation generating mechanism 110, the operation of this method is simple, and only the angular velocity detection mechanism 130 is used, which reduces the cost of the radiotherapy apparatus 100, and meanwhile, the angular velocity detection mechanism 130 is used to detect the current angle, which can improve the measurement precision, and reduce the injury to the user due to inaccurate angle detection.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Radiotherapy apparatus, characterized in that it comprises: the device comprises a ray generating mechanism, a rotating mechanism and an angular speed detecting mechanism;
the ray generating mechanism and the angular speed detecting mechanism are both fixedly arranged on the rotating mechanism;
the rotating mechanism rotates around a preset axis to drive the ray generating mechanism to rotate;
the ray generating mechanism is used for generating rays and irradiating an object to be treated from multiple angles through rotation;
the angular velocity detection mechanism is used for detecting the angular velocity of the rotating mechanism so as to calculate the current angle of the ray generation mechanism according to the angular velocity.
2. Radiotherapy apparatus according to claim 1, further comprising a control mechanism and a drive mechanism;
the angular speed detection mechanism is connected with the control mechanism and is used for sending the detected angular speed of the rotating mechanism to the control mechanism;
the control mechanism is connected with the driving mechanism and used for calculating the current angle according to the angular speed, generating a first driving signal according to the current angle and transmitting the first driving signal to the driving mechanism;
the driving mechanism is connected with the rotating mechanism and used for controlling the rotating mechanism according to the first driving signal.
3. The radiotherapy apparatus of claim 2, wherein the control mechanism is further configured to generate a second drive signal when the current angle is equal to a target angle; so as to control the rotating mechanism to stop moving through the second driving signal.
4. The radiotherapy apparatus of claim 2, wherein the control mechanism is further configured to obtain an initial angle of the radiation generating mechanism and a movement time from the initial angle to the current angle, calculate a rotation angle from the initial angle to the current angle of the radiation generating mechanism according to the angular velocity and the movement time, and obtain the current angle according to the initial angle and the rotation angle.
5. The radiotherapy apparatus of claim 2, further comprising a first acceleration detection mechanism mounted on the rotation mechanism;
the acceleration detection mechanism is used for detecting the acceleration of the rotating mechanism and transmitting the acceleration to the control mechanism, so that the control mechanism calculates the vibration data of the rotating mechanism according to the acceleration detection mechanism.
6. The radiotherapy apparatus according to claim 5, wherein the control unit is further configured to acquire the acceleration detected by the first acceleration detection unit at intervals of a predetermined time, filter the plurality of accelerations to obtain the vibration data, and send a first alarm signal if the vibration data is not within the qualified interval.
7. Radiotherapy apparatus according to claim 5, in which the control mechanism is further arranged to send a second warning signal when the current angle is greater than a target angle.
8. Radiotherapy apparatus according to claim 5, characterized in that the angular velocity detection mechanism comprises a gyroscope and/or a grating scale.
9. Radiotherapy apparatus according to claim 5, characterized in that the angular velocity detection means and the first acceleration detection means are designed integrally.
10. The radiotherapy apparatus of claim 2, further comprising a second acceleration detection mechanism and a treatment couch;
the treatment couch is used for carrying an object to be treated so that the object to be treated is irradiated by the rays generated by the ray generating mechanism from a plurality of angles;
the second acceleration detection mechanism is arranged on the treatment couch, is connected with the control mechanism, and is used for detecting the linear acceleration of the treatment couch and sending the linear acceleration to the control mechanism; so that the control mechanism calculates the current position of the treatment couch according to the second acceleration detection mechanism.
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| JPH11313900A (en) * | 1997-08-04 | 1999-11-16 | Sumitomo Heavy Ind Ltd | Bed system for radiotherapy |
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| CN106573151A (en) * | 2014-08-27 | 2017-04-19 | 斯堪迪多斯公司 | A position detector |
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| JPH06154348A (en) * | 1992-11-20 | 1994-06-03 | Hitachi Ltd | Movement detector of radiation treatment system |
| JPH11313900A (en) * | 1997-08-04 | 1999-11-16 | Sumitomo Heavy Ind Ltd | Bed system for radiotherapy |
| JP2012183283A (en) * | 2011-03-04 | 2012-09-27 | Toshio Fujibuchi | Rotating action verification system, rotating action verification method, program, and recording medium |
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