CN109908492B - A medical heavy ion accelerator control system - Google Patents
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Abstract
A medical heavy ion accelerator control system is used for controlling a medical heavy ion accelerator to provide radioactive ion beam current with energy and current intensity required by treatment for a treatment system, the control system is a multi-stage distributed computer control system, the control system comprises a central monitoring layer, a subsystem control layer, a field control layer and an equipment layer, centralized management and decentralized control of equipment around the accelerator are achieved, and the control system adopts large-scale commercial configuration software to carry out system integration and development; the hardware adopts standardized industrial equipment and modules, which is beneficial to maintenance and increases the reliability; meanwhile, the control system comprises an independent central interlocking subsystem to ensure the safety of the accelerator equipment; in addition, the control system adopts a three-level hybrid network, and reasonably selects a transmission medium according to the data volume and the data characteristics, so that the effective utilization of resources is realized.
Description
Technical Field
The invention belongs to the technical field of tumor radiotherapy, and particularly relates to a medical heavy ion accelerator control system.
Background
Proton and heavy ion techniques are internationally recognized as the most advanced, most sophisticated, and most complex radiotherapy techniques, and for a long time only a few developed countries in germany, japan, and the united states have internationally acquired proton heavy ion radiotherapy techniques. The medical heavy ion treatment device is the largest medical apparatus at present, and has the disadvantages of large scale, various equipment types, complex system and large investment amount. The medical heavy ion treatment device consists of an accelerator system, a treatment planning system and other auxiliary systems used in cooperation with the treatment device, the control and monitoring of the whole device and equipment are correspondingly realized through four sub-control systems, and the four sub-control systems are distributed as follows: accelerator control systems, treatment plan control systems, and other ancillary device control systems.
The medical heavy ion accelerator control system is a brain and neural network of the medical heavy ion accelerator system, ensures that accelerator devices are coordinated with each other at high synchronization, and realizes safe, reliable and efficient supply of radioactive beam current with energy and current intensity required by treatment to a treatment system. The medical heavy ion accelerator is different from an experimental accelerator device, the requirements on the reliability and the functionality of an accelerator control system are higher than those of other fields, the design of the accelerator control system needs to be standardized and standardized, mature and reliable equipment and technology are required to be adopted, the system design is as simple as possible, high-quality software and hardware are selected, high-quality design, installation and debugging are required, and finally, strict high-quality software and hardware system integration and total adjustment are required.
Disclosure of Invention
Technical problem to be solved
The invention provides a medical heavy ion accelerator control system, which adopts large-scale industrial commercial configuration software development, adopts standard industrial control equipment and modules, and conforms to the open distributed computer control system of relevant national laws and regulations and standards, thereby realizing safe, reliable and efficient provision of radioactive beam current with energy and current intensity required by treatment for a treatment system.
(II) technical scheme
The invention provides a medical heavy ion accelerator control system, which is used for controlling a medical heavy ion accelerator to provide radioactive ion beam current with energy and flow intensity required by treatment to a treatment system, wherein the control system is a multi-stage distributed computer control system, and comprises a central monitoring layer, a subsystem control layer, a field control layer and an equipment layer, wherein: the central monitoring layer is used for monitoring and controlling the devices in the subsystem control layer, the field control layer and the device layer, dynamically displaying the running state of the devices and modifying the running parameters of the devices on line, and at least comprises a central monitoring server and at least one client; the subsystem control layer comprises a plurality of subsystem servers, the subsystem servers are connected with at least one central monitoring server and the field control layer so as to realize real-time operation and management of the field control layer and the equipment layer, and at least one subsystem server and the treatment system carry out information interaction through a standard industrial communication protocol and an interface; the field control layer comprises at least one field control substation, each field control substation is connected with a corresponding subsystem server and used for generating a control signal according to a command issued remotely by the subsystem control layer or the central monitoring layer, directly realizing the control of the control equipment, uploading the running state and data of the controlled equipment to the subsystem control layer and the central monitoring layer, and automatically generating the control signal according to the preset parameters and the acquired data under the condition that the central monitoring layer and the subsystem control layer are not interfered so as to realize the control of the controlled equipment; the equipment layer comprises a plurality of control equipment, the control equipment is directly connected with the field control substation through a field bus and performs information interaction, receives a control instruction or a control signal of the field control substation, and executes corresponding action according to the control instruction or the control signal; the subsystem control layer, the field control layer and the equipment layer all adopt industrial control equipment or modules meeting international industrial standards.
Optionally, the control system adopts a three-level hybrid communication network, wherein the first level is a network connection between the central monitoring layer and the subsystem control layer and between the control system and the treatment system, the second level is a network connection between the subsystem control layer and the site control layer and between the subsystem control layer and the site control layer, and the third level is a communication connection between the site control layer and the equipment layer.
Optionally, software of the control system adopts a Client/Server architecture and adopts industrial commercial configuration software for system integration and development.
Optionally, the control system at least comprises a treatment mode and a debugging mode, wherein in the debugging mode, the accelerator equipment is remotely controlled by an operator, and meanwhile, the accelerator parameters are adjusted; in the treatment mode, all remote control functions of the accelerator are locked, and can be unlocked only when the treatment system switches the working mode to the commissioning mode.
Optionally, the plurality of subsystem servers include at least one central chain server, the central chain server is configured to monitor an operation state or a parameter of a device in the control system in real time, and when the accelerator is in the treatment mode, if the operation state or the parameter is not within a preset working range, the central chain server sends a beam prohibition signal to the treatment system, and simultaneously stops synchronous triggering of the accelerator device and stops sending the ion beam to the treatment system.
Optionally, if the operating state or the parameter is within the preset working range, a beam current permission signal is sent to the treatment system, and the ion beam is allowed to be sent to the treatment system.
Optionally, the field control substation comprises: the system comprises a process control substation, an intelligent digital controller and a data acquisition substation, wherein a PLC, an intelligent controller and a PXIe data acquisition industrial personal computer are respectively used as field controllers.
Optionally, each subsystem server of the plurality of subsystem servers includes a protocol conversion module, and the protocol conversion module is configured to: converting the communication content sent to the central monitoring layer into a preset format according to a preset rule; and converting the communication content sent to the field control layer into a format recognizable by the field control layer.
Optionally, the preset rule is a standard industrial OPC or OPC UA protocol, and the preset format is an OPC or OPC UA variable, so that the central monitoring SERVER or other subsystem SERVERs can access the OPC SERVER of the subsystem SERVER by using OPCCLIENT.
Optionally, the information that the accelerator control system interacts with the therapy control system comprises: beam application information, accelerator working mode selection, beam on/off control signals and beam permission signals.
(III) advantageous effects
The medical heavy ion accelerator control system provided by the invention at least achieves the following beneficial effects:
(1) the four-layer distributed computer control system architecture based on the high-speed Ethernet is adopted to realize centralized management and decentralized control on equipment around the accelerator;
(2) by adopting a three-layer C/S architecture based on large-scale industrial commercial configuration software, the advantages of hardware environments at two ends are fully utilized, and tasks are reasonably distributed to a Clint end and a Server end to realize, so that the communication overhead of a system is reduced;
(3) the high-speed Ethernet, the optical fiber technology and the field bus are adopted, and the transmission medium is reasonably selected according to the data volume and the data characteristics, so that the effective utilization of resources is realized;
(4) the hardware and the software adopt standardized and modularized design, industrial control products meeting national standard industrial standards are adopted as much as possible, and standardized modules are utilized for system integration, so that the maintenance is facilitated, and the reliability is improved;
(5) the data access adopts an OPC (OLE for Process control) communication protocol which accords with the national standard industrial standard, realizes the seamless integration of industrial control equipment and a system, and ensures that control software can efficiently and stably carry out data access and operation on hardware equipment;
(6) the accelerator control system is strictly distinguished from the treatment control system and the treatment plan control system in design, and the distribution area and function implementation are relatively independent from the treatment control system and the treatment plan control system.
Drawings
Fig. 1 schematically illustrates a system diagram of a medical heavy ion therapy device in an embodiment of the present disclosure;
fig. 2 schematically illustrates an architecture diagram of a medical heavy ion accelerator control system in an embodiment of the disclosure;
fig. 3 schematically shows a detailed architecture diagram of a medical heavy ion accelerator control system in an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
As shown in fig. 1, the control system of the medical heavy ion accelerator is a brain and neural network of the medical heavy ion accelerator system, and ensures that all devices of the accelerator work in a highly synchronous and coordinated manner, so as to safely, reliably and efficiently provide the therapeutic system with the radioactive beam current with the energy and the current intensity required by the therapy.
The invention provides a medical heavy ion accelerator control system, which is used for controlling a medical heavy ion accelerator to provide radioactive ion beam current with energy and flow intensity required by treatment to a treatment system, the control system is a multi-stage distributed computer control system, referring to fig. 2, the control system comprises a central monitoring layer, a subsystem control layer, a field control layer and an equipment layer, wherein: the central monitoring layer is used for monitoring and controlling the devices in the subsystem control layer, the field control layer and the device layer, dynamically displaying the running state in the devices and modifying the running parameters in the devices on line, and at least comprises a central monitoring server and at least one client; the subsystem control layer comprises a plurality of subsystem servers, the subsystem servers are connected with at least one central monitoring server and the field control layer so as to realize real-time operation and management of the field control layer and the equipment layer, and at least one subsystem server and the treatment system carry out information interaction through a standard industrial communication protocol and an interface; the field control layer comprises at least one field control substation, each field control substation is connected with a corresponding subsystem server and used for generating a control signal according to a command issued remotely by the subsystem control layer or the central monitoring layer, directly realizing the control of the control equipment, uploading the running state and data of the controlled equipment to the subsystem control layer and the central monitoring layer, and automatically generating the control signal according to the preset parameters and the acquired data under the condition that the central monitoring layer and the subsystem control layer are not interfered so as to realize the control of the controlled equipment; the equipment layer comprises a plurality of control equipment, the control equipment is directly connected with the field control substation through a field bus and performs information interaction, receives a control instruction or a control signal of the field control substation, and executes corresponding action according to the control instruction or the control signal; the subsystem control layer, the field control layer and the equipment layer all adopt standard industrial control equipment or modules which accord with international industrial standards.
Specifically, the central monitoring layer is used for monitoring and controlling the devices in the subsystem control layer, the field control layer and the device layer, dynamically displaying the running state of the devices and modifying the running parameters of the devices on line, and at least comprises a central monitoring server and at least one client;
the central monitoring layer at least comprises a central monitoring server and at least one client, and is generally arranged in an accelerator central control room or a data center, equipment in the central monitoring layer is a set of man-machine interaction system, a graphical operation interface and accelerator debugging software are provided for special operation or operation and maintenance personnel, online monitoring and control are carried out on the equipment in all subsystems of the accelerator, the system can dynamically display the running state of each subsystem and online modify the running parameters of the equipment, and the system has the functions of personnel management, data storage, data analysis, report output and the like. In the embodiment of the invention, the central control layer comprises a server and three clients, the server undertakes tasks such as process communication, user filing, centralized management of data and the like, the clients can access contents on the server through a process driver, and a human-computer operation interface on the client supports multi-screen or split-screen display. The central monitoring layer is connected with a plurality of subsystems, each subsystem operates independently to realize own function, provides interactive data for the central monitoring layer and supports the realization of the interconnection function of the central monitoring system. The central monitoring layer also comprises auxiliary equipment such as a printout device and a central database.
Referring to fig. 2, a subsystem may be divided into three layers, a subsystem control layer, a field control layer, and a device layer.
And the subsystem control layer comprises a plurality of subsystem servers, the subsystem servers are connected with at least one central monitoring server and the field control layer so as to realize real-time operation and management of the field control layer and the equipment layer, at least one subsystem server and the treatment system carry out information interaction through a standard industrial communication protocol and an interface, wherein the information interaction information comprises: beam application information, accelerator operating mode selection, beam on/off control signals, beam enable signals, and the like.
Each subsystem comprises at least one subsystem server, and the subsystem server is connected with at least one central monitoring server and is connected with equipment in the field control layer. The subsystem control layer is the core of the accelerator control system, and the specific real-time operation and management of the devices in each subsystem are undertaken by each subsystem server (front-end industrial control computer or server) to perform parallel and distributed processing on the corresponding subsystem devices connected downwards. In the embodiment of the present invention, as shown in fig. 3, the subsystem includes: the system comprises an ion source and convolution monitoring system, a magnet power supply monitoring system, a vacuum monitoring system, a magnet temperature monitoring system, a high-frequency monitoring system, a beam diagnosis system, a data acquisition system, a central interlocking system, a synchronous timing trigger system and the like. Each subsystem corresponds to at least one subsystem server at the subsystem control layer, the subsystems work independently and do not interfere with each other, and when one subsystem breaks down, the normal operation of other systems cannot be influenced. The generation of real-time database, real-time operation, data acquisition, data storage, protocol conversion, equipment control, fault alarm and the like of the control system runs on the subsystem server. In particular, the subsystem control layer has a function as a central monitoring layer and a data transfer station of a field control layer, each subsystem server in a plurality of subsystem servers comprises a protocol conversion module, and the protocol conversion module is used for: converting the communication content sent to the central monitoring layer into a preset format according to a preset rule; in the embodiment of the invention, the preset rule is a standard industrial OPC or OPC UA protocol, and the preset format is an OPC or OPC UA variable, so that a central monitoring SERVER or other subsystem SERVERs can access an OPC SERVER of the subsystem SERVERs by OPC CLIENT. Meanwhile, the subsystem server also has the functions of an operator workstation and an engineer operation and maintenance station, and realizes the operations of configuration, debugging, maintenance and the like of the corresponding subsystem. Each subsystem is an independently operated system and has a self-complete structure, the real-time operation of each subsystem is operated on different subsystem servers, the parallel processing capability and the real-time response speed of the system are improved, the control system has good expandability, when the controlled equipment is increased, only the subsystem servers and the corresponding I/O channels are required to be increased, and the operation of other parts is not influenced.
The field control layer comprises at least one field control substation, each field control substation is connected with a corresponding subsystem server and used for generating a control signal according to a command issued remotely by the subsystem control layer or the central monitoring layer, directly realizing the control of the control equipment, uploading the running state and data of the controlled equipment to the subsystem control layer and the central monitoring layer, and automatically generating the control signal according to the preset parameters and the acquired data under the condition that the central monitoring layer and the subsystem control layer are not interfered so as to realize the control of the controlled equipment;
the field control layer comprises a plurality of field control substations, each field control substation is connected with at least one corresponding subsystem server, and is connected with equipment in the equipment layer, such as a sensor, an intelligent instrument, an execution device and the like, so that real-time monitoring on the field equipment is realized. In this layer, the main implementation is automatic control of all accelerator-related devices, the implementation of specific functions is accomplished by a field controller installed in a control substation near the controlled device, and the field control substation includes, according to the control requirements and respective characteristics of the accelerator-controlled device: the system comprises a process control substation, an intelligent digital controller and a data acquisition substation, wherein a PLC, an intelligent controller and a PXIe data acquisition industrial personal computer are respectively used as field controllers. All the field controllers are installed in a field control case or a control cabinet, can receive control instructions or control signals transmitted by a subsystem control layer or a central monitoring layer, and upload the running state and data of controlled equipment to the subsystem control layer and the central monitoring layer. Under the condition that the central monitoring layer and the subsystem control layer are not interfered, the control signal is automatically generated according to the preset parameters and the acquired data to realize the control of the controlled equipment, specifically, under the condition that the central monitoring layer and the subsystem control layer are not interfered, the field controller can independently control the equipment, operate various algorithms according to the set parameters, and control the output, the on/off and other operations of the controlled equipment. For example, taking a vacuum monitoring subsystem as an example, a PLC is used as a field control substation, and receives signals transmitted from devices in a device layer through a remote communication and I/O module, calculates a required control amount according to a preset control strategy, and sends the required control amount back to an actuator in the device layer, so as to implement continuous control, sequential control, a logic control function, a data monitoring function, and the like of a controlled device. In order to reduce the wiring length and interference and facilitate installation, the field control substation is placed in a control box near the controlled equipment along a wire harness by adopting a principle of proximity.
The equipment layer comprises a plurality of control equipment, the control equipment is directly connected with the field control substation through a field bus and performs information interaction, receives a control instruction or a control signal of the field control substation, and executes corresponding action according to the control instruction or the control signal;
specifically, the plurality of control devices are directly connected with the I/O interface module, the communication module or the data acquisition board card and the like in the field control substation through the field control bus, so that the control and monitoring of the field control substation on the control devices are realized.
The control system comprises a plurality of working modes, at least a treatment mode and a debugging mode, wherein in the debugging mode, the remote control of an operator on the accelerator equipment is realized, and the adjustment of accelerator parameters is realized at the same time, for example, the operator can carry out the operations of on/off, troubleshooting and the like on the equipment through an accelerator monitoring interface, and the adjustment of the accelerator parameters can be carried out by means of beam-adjusting software; in the treatment mode, all remote control functions of the accelerator are locked, and can be unlocked only when the treatment system switches the working mode to the commissioning mode. In the embodiment of the present invention, in the treatment mode, with reference to fig. 3, the control system has the following working steps:
s1, starting all devices in the accelerator, pre-checking the states of all the devices in the accelerator, downloading preset parameters required by the accelerator to a front-end control server or a device controller, and entering a standby preparation state;
s2, starting an injector, entering a treatment mode after the injector normally runs, handing over the control right of mode switching to a treatment system or a treatment control system, providing beam permission, beam application (treatment line and energy) and accelerator starting (synchronous trigger case) signals, and entering a treatment waiting state;
s3, the treatment control system applies for the needed energy to the accelerator control system according to the treatment plan and the parameters issued by the treatment plan system, the accelerator energy application system prepares the corresponding accelerator case sequence according to the energy request (treatment line and energy) information, the energy sequence and the time parameters submitted by the treatment control system, and waits for the treatment system or the treatment control system to issue the treatment (beam on/off) starting command;
s4, the treatment control system sends out a treatment starting signal, the accelerator control system synchronously triggers the accelerator and all related equipment (magnet power supply, high frequency, beam diagnosis and the like) of the corresponding treatment line, beam applied by the treatment terminal is sequentially generated according to the energy sequence and parameters preset in advance by the beam application system, and the beam is led out to the treatment terminal in a 1/3 resonance slow leading-out mode until the whole application sequence period is finished. If the equipment is abnormal in the treatment process, stopping current triggering, warning fault alarm and simultaneously sending a beam current prohibition signal to a treatment system;
and S5, waiting for the terminal to stop the current treatment command, if receiving the termination command, stopping the current trigger by the accelerator synchronous timing trigger system, and waiting for the beam application and treatment task of the treatment control system again.
The synchronous timing trigger system in step S5 is to ensure that the devices in each subsystem (magnet power system, high frequency system, beam diagnosis system, Chopper system, data acquisition system, treatment terminal control system, etc.) run synchronously according to the preset periodic time sequence; the accelerator control system provides a series of accurate synchronous time sequence signals (case signals) and trigger mechanisms for the control system and the treatment system through a set of self-developed synchronous timing trigger systems. The synchronous timing trigger system comprises a case generation system, a case transmission system and a case receiving/interpreting system, wherein the case generation system server receives a synchronous case control command of an upper computer (a treatment control system server) through the Ethernet, outputs a series of timing light pulse trigger case signals through a PXI high-speed backboard bus and an output board card based on the PXI backboard bus and an FPGA technology, and synchronously triggers corresponding equipment to work through the case receiving/interpreting system which is distributed to the synchronous equipment in a broadcasting mode through the case transmission system based on optical fibers and fan-out equipment.
In particular, as medical instruments, the safety is also a concern in the first place, and therefore, the subsystem of the control system must include a central interlocking system to ensure the safety of the accelerator mechanism. Therefore, the plurality of subsystem servers comprise at least one central chain server, the central chain server is used for monitoring the running state or parameters of equipment in the control system in real time, and when the accelerator is in a treatment mode, if the running state or parameters are not in a preset working range, a beam current prohibition signal is sent to the treatment system, and meanwhile, synchronous triggering of the accelerator equipment is stopped, and ion beams are stopped being sent to the treatment system; and if the running state or the parameter is in the preset working range, sending a beam current permission signal to the treatment system, and allowing the ion beam to be sent to the treatment system.
The central interlocking system is used for monitoring the running state of key equipment of each subsystem (a vacuum system, a power supply system, a beam diagnosis system, a Chopper control system, a water system, an injection/extraction system, a radiation protection system, a high-frequency system and the like) of the medical heavy ion accelerator in real time, analyzing and processing monitoring data, feeding back the whole equipment information of each area of the accelerator to a user, and providing a beam allowable signal for a treatment control system. If any equipment state of the accelerator is abnormal in the treatment process, the accelerator central interlocking system triggers the safety interlocking mechanism and stops triggering, meanwhile, a beam current prohibition signal is sent to the treatment system, and the current treatment is immediately stopped by the treatment safety interlocking system logic.
In terms of network architecture, the control system adopts a three-level hybrid communication network, wherein the first level is the network connection between a central monitoring layer and a subsystem control layer and between the control system and a treatment system, the second level is the network connection between the subsystem control layer and a field control layer and between the subsystem control layer and the field control layer, the third level is the communication connection between the field control layer and an equipment layer, specifically, the first level adopts a local area network based on a high-speed Ethernet to realize data or information interaction, the second level adopts a hundred-million optical fiber ring network based on a real-time industrial Ethernet technology to realize data and information interaction, and the third level adopts various field buses to realize data or information interaction.
Specifically, the first level adopts a local area network based on a high-speed Ethernet, which is responsible for information transmission and interaction of the whole accelerator, and realizes instruction issuing, data transmission and real-time monitoring on field equipment between a central monitoring layer and a subsystem control layer as well as between a control system and a treatment system, wherein the layer has higher requirements on the communication rate and throughput, but has low requirements on the communication real-time property; the second level adopts a hundred-million optical fiber ring network based on a real-time industrial Ethernet technology, and is responsible for information transmission between a subsystem control layer and a field control layer and issuing of a control program, the communication data volume of the layer is not high, but the requirement on real-time performance is high, so that stable and reliable real-time control on field equipment is ensured; and the third stage adopts various field buses and is responsible for communication and data acquisition between each field control layer and the equipment layer.
The software of the control system adopts a Client/Server architecture and industrial commercial configuration software WINCC for system integration and development.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN115729166A (en) * | 2022-11-23 | 2023-03-03 | 兰州科近泰基新技术有限责任公司 | A safety interlock system, method and medium for medical heavy ion accelerator |
| CN116370844B (en) * | 2023-01-13 | 2023-09-15 | 中子高新技术产业发展(重庆)有限公司 | Safety interlocking system for particle accelerator |
| CN117153445B (en) * | 2023-08-24 | 2025-01-28 | 哈尔滨工业大学 | A personal safety interlock system for cross-regional coordinated operation of accelerator clusters and beam transport lines arranged in partitions |
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