CN118831269A - Radiation therapy apparatus, radiation therapy system, and control method - Google Patents

Abstract

The present invention belongs to the technical field of high-end medical equipment, and discloses a radiotherapy device, a radiotherapy system and a control method. The radiotherapy device includes: an external frame, an internal frame, a first image guidance system and a second image guidance system. A particle accelerator is fixed on the external frame, the internal frame has a first end and a second end opposite to each other, and a treatment head is arranged on the internal frame. The first image guidance system includes a first ray generating device and a first image processing device, and the second image guidance system includes a second ray generating device and a second image processing device. The first ray generating device and the first image processing device are respectively arranged near the first end and the second end of the internal frame, and the second ray generating device and the second image processing device are respectively arranged on both sides of the internal frame. The radiotherapy device shortens the overall treatment time, improves the utilization efficiency of the radiotherapy device, better ensures the treatment effect, and makes proton therapy within reach.

Description

Radiotherapy equipment, radiotherapy system and control method

Technical Field

The present invention relates to the technical field of high-end medical equipment, and in particular to radiotherapy equipment, a radiotherapy system and a control method.

Background Art

Radiotherapy is the process of using radiotherapy equipment to penetrate human tissue with high-energy particle beams, destroy the DNA of cancer cells, inhibit the growth, division and proliferation of tumor cells, and ultimately lead to the death of tumor cells, thereby achieving the purpose of treatment. Radiotherapy equipment can provide more accurate and effective treatments and reduce side effects during treatment, thereby improving the quality of life of patients. Among them, the image guidance system is an important part of the clinical process of radiotherapy and is the decisive condition for the patient's tumor to accurately reach the center point of the particle beam. The image guidance system in the radiotherapy equipment is to position the patient by intersecting two pairs of tubes and flat-panel detectors to meet the purpose of center alignment between the tumor and treatment.

In the prior art, due to the limitations of the treatment room space requirements and the requirements of isocentric imaging, in actual use, it is necessary to manually move the tube or flat-panel detector of the image-guided system so that the image-guided system can scan the patient. Such moving equipment affects the treatment efficiency and is not conducive to improving the use efficiency of the radiotherapy equipment.

Therefore, existing radiotherapy equipment needs to be further improved.

Summary of the invention

The object of the present invention is to provide a radiotherapy device, a radiotherapy system and a control method, which not only shorten the overall treatment time, improve the use efficiency of the radiotherapy device, but also ensure the treatment effect.

The purpose of the present invention is achieved by the following technical solutions:

The present invention provides a radiotherapy device, comprising:

An outer frame, on which a particle accelerator is fixed, and the particle accelerator is configured to be driven to rotate together with the rotational movement of the outer frame;

An inner frame, the inner frame is fixed and has a first end and a second end opposite to each other, the second end is located above the first end, a treatment head is arranged on the inner frame, and the treatment head can move back and forth along the inner frame between the first end and the second end of the inner frame;

a first image guidance system and a second image guidance system, wherein the first image guidance system comprises a first ray generating device for generating rays and a first image processing device for receiving rays, and the second image guidance system comprises a second ray generating device for generating rays and a second image processing device for receiving rays, the rays generated by the first ray generating device and the rays generated by the second ray generating device are arranged to cross each other; the first ray generating device and the first image processing device are respectively located at a first end and a second end of the inner frame, and are located outside the inner frame in the height direction;

The first ray generating device and the first image processing device are movable relative to the inner frame in a second direction different from the height direction, the first ray generating device is configured to leave the first end of the inner frame before the treatment head moves toward the first end of the inner frame and reaches the first end of the inner frame, and the first image processing device is configured to leave the second end of the inner frame before the treatment head moves toward the second end of the inner frame and reaches the second end of the inner frame;

The second ray generating device and the second image processing device are respectively arranged on both sides of the inner frame along a third direction, and the third direction is perpendicular to both the height direction and the second direction. The moving path of the treatment head is located between a first straight line where the first ray generating device moves and a second straight line where the first image processing device moves. The moving paths of the first ray generating device and the first image processing device do not intersect with the rotational motion path of the particle accelerator.

Preferably, the rays generated by the first ray generating device and the rays generated by the second ray generating device are arranged perpendicular to each other.

Preferably, the first ray generating device is arranged on a side of the inner frame facing away from the treatment head, and a first notch is arranged at the first end of the inner frame so that the first ray generating device is exposed on a side facing the first image processing device; and/or,

The first image processing device is arranged on a side of the inner frame facing away from the treatment head, and a second notch is arranged at the second end of the inner frame so that the first image processing device is exposed on a side facing the first ray generating device.

Preferably, the first notch and the second notch are at least partially aligned in the height direction and penetrate the inner frame in the height direction, and the second ray generating device and the second image processing device are fixed.

Preferably, a first guide rail is provided below the first end of the inner frame, and the first ray generating device is provided on the first guide rail and can move back and forth along the first guide rail to avoid collision between the first ray generating device and the treatment head; and/or,

A second guide rail is arranged above the second end of the inner frame, the first image processing device is arranged on the second guide rail and can move back and forth along the second guide rail to avoid collision between the first image processing device and the treatment head, and the second guide rail is parallel to the first guide rail.

Preferably, it further comprises a driving component and a control component, wherein the control component comprises a controller, wherein the controller is used to control the driving component, and the driving component is used to drive the first ray generating device and/or the first image processing device and/or the treatment head to move;

The driving assembly comprises a first driving device, and the first driving device is used to drive the first ray generating device to move back and forth along the first guide rail; and/or,

The driving assembly further includes a second driving device, and the second driving device is used to drive the first image processing device to move back and forth along the second guide rail; and/or,

The driving assembly further comprises a third driving device, and the third driving device is used for driving the treatment head to move back and forth along the inner frame between the first end of the inner frame and the second end of the inner frame.

Preferably, the control component further comprises a first position sensor, the first position sensor is connected to the first driving device, and the first position sensor is used to detect the rotational movement of the first driving device to obtain the position information of the first ray generating device; and/or,

The control component further includes a second position sensor, the second position sensor is connected to the second driving device, and the second position sensor is used to detect the rotational movement of the second driving device to obtain the position information of the first image processing device; and/or,

The control component further includes a third position sensor, the third position sensor is connected to the first ray generating device, and the third position sensor is used to detect the position information of the first ray generating device; and/or,

The control component further includes a fourth position sensor, the fourth position sensor is connected to the first image processing device, and the fourth position sensor is used to detect position information of the first image processing device; and/or,

The control assembly further includes a fifth position sensor, which is connected to the third driving device and is used to detect the rotational movement of the third driving device to obtain the position information of the treatment head; and/or,

The control component further includes a sixth position sensor, which is connected to the treatment head and is used to detect position information of the treatment head.

Preferably, a first limiting device is provided on the moving path of the first ray generating device, and the first limiting device is used to limit the moving position of the first ray generating device; and/or,

A second position-limiting device is provided on the moving path of the first image processing device, and the second position-limiting device is used to limit the moving position of the first image processing device.

A radiotherapy system, comprising: a radiotherapy device as described in any one of the above, a treatment bed and a treatment room, wherein the treatment room has two side walls, a floor and a top surface opposite to the floor, the second ray generating device and the second image processing device are respectively arranged on the two oppositely arranged side walls, the treatment bed is installed in the treatment room through a mechanical arm, and the particle accelerator is used to generate a particle beam and treat a patient through the treatment head.

Preferably, the first end of the inner frame is arranged below the floor of the treatment room, and a third gap is arranged on the floor of the treatment room so that a side of the first ray generating device facing the first image processing device is exposed.

Preferably, the third notch penetrates the ground along the height direction, and the second guide rail is located inside the top surface but not exposed from the top surface.

A control method for a radiotherapy system using any of the radiotherapy systems described above comprises the following steps:

Before the patient is moved to the setup position, controlling the treatment head not to be located at the first end or the second end of the inner frame;

Controlling the first ray generating device and the first image processing device to be located at a first end of the inner frame and a second end of the inner frame respectively;

After the patient is moved to the setup position, the first image-guided system and the second image-guided system scan the patient and acquire an image of the affected part of the patient;

The robotic arm moves the affected part of the patient to the isocenter of the radiotherapy device according to the image of the affected part of the patient;

The treatment head moves along the inner frame according to the image of the patient's affected part to change the direction in which the particle beam irradiates the patient's affected part, and the controller controls the driving assembly to move the first ray generating device of the first image guidance system out of the first end of the inner frame and/or to move the first image processing device out of the second end of the inner frame before the treatment head moves to the first end and/or the second end of the inner frame.

Preferably, the direction in which the first ray generating device moves out of the first end of the inner frame is the same as the direction in which the first image processing device moves out of the second end of the inner frame, and the first image guiding system is not on the path of the rotational motion of the particle accelerator.

Compared with the prior art, the beneficial effects of the present invention include at least:

The radiotherapy equipment, radiotherapy system and control method of the present invention respectively arrange the first ray generating device and the first image processing device of the first image guidance system close to the first end and the second end of the inner frame, and respectively arrange the second ray generating device and the second image processing device of the second image guidance system on both sides of the inner frame. During use, there is no need to manually move the first ray generating device and the first image processing device of the first image guidance system, which not only saves the time of moving the equipment, shortens the overall treatment time, and improves the use efficiency of the radiotherapy equipment, but also avoids the errors caused by manually moving the equipment, improves the accuracy of positioning the patient's affected part, ensures that the particle beam can accurately irradiate the patient's affected part, and thus better ensures the treatment effect.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a partial structure of a radiotherapy device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a partial structure of a radiotherapy system according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of a partial structure of a radiotherapy system according to an embodiment of the present invention from another angle.

FIG. 4 is a schematic diagram of the structure of a radiotherapy system according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of another part of the structure of the radiotherapy device according to an embodiment of the present invention.

FIG. 6 is a flow chart of a control method of a radiotherapy system according to an embodiment of the present invention.

In the figure: 100, radiotherapy system; 1, radiotherapy equipment; 11, inner frame; 111, first end; 1111, first gap; 1112, first guide rail; 112, second end; 1121, second gap; 1122, second guide rail; 12, treatment head; 13, first image guidance system; 131, first ray generating device; 132, first image processing device; 14, second image guidance system; 141, second ray generating device; 142, second image processing device; 15, drive assembly; 151, second drive device; 16, control assembly; 161, controller; 17, treatment bed; 18, mechanical arm; 19, particle accelerator; 2, treatment room; 21, side wall; 22, ground; 221, third gap; 200, outer frame; 201, first arm; 202, second arm; 203, connecting arm.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make the present invention more comprehensive and complete and to fully convey the concepts of example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their repeated description will be omitted.

The words expressing positions and directions described in the present invention are all explained with reference to the accompanying drawings as examples, but they can be changed as needed, and all such changes are included in the protection scope of the present invention.

1 to 5, the present invention provides a radiotherapy device 1, which can be installed in a treatment room 2, and includes: an external frame 200, an internal frame 11, a treatment head 12, a first image guidance system 13, and a second image guidance system 14. A particle accelerator 19 is fixed on the external frame 200, the treatment head 12 is installed on the internal frame 11, a first ray generating device 131 and a first image processing device 132 of the first image guidance system 13 are respectively arranged near the two ends of the internal frame 11, and a second ray generating device 141 and a second image processing device 142 of the second image guidance system 14 are respectively arranged on both sides of the internal frame 11.

Specifically, referring to Fig. 5, a particle accelerator 19 is fixed on the outer frame 200, and the particle accelerator 19 can be installed on the outer frame 200, that is, on the rotating frame. The outer frame 200 is in a U-shape as a whole, and the outer frame 200 can include a first arm 201, a second arm 202 and a connecting arm 203. The first arm 201 and the second arm 202 are arranged parallel to each other, and the first arm 201 and the second arm 202 are respectively arranged at two ends of the connecting arm 203. The first arm 201 and the second arm 202 are respectively arranged perpendicular to the connecting arm 203. The connecting arm 203 is used to carry and fix the particle accelerator 19. The connecting arm 203 is divided into two sections arranged at intervals, and the particle accelerator 19 is fixed between the two sections of the connecting arm 203. In an alternative embodiment, the connecting arm 203 can also be set as a continuous section. The first arm 201, the second arm 202 and the connecting arm 203 are preferably made of a material with high structural strength to ensure that the first arm 201, the second arm 202 and the connecting arm 203 have sufficient structural strength and can bear the weight of the particle accelerator 19 to prevent the first arm 201, the second arm 202 and the connecting arm 203 from being deformed during use. The rotation axis of the first arm 201 and the second arm 203 can pass through the isocenter of the radiotherapy device 1, or in other words, the rotation axis of the first arm 201 and the second arm 202 can pass through the isocenter of the particle beam of the particle accelerator 19.

Referring to Fig. 1, Fig. 2, and Fig. 3, the inner frame 11 can be C-shaped as a whole, the inner frame 11 is fixed, and the inner frame 11 has a first end 111 and a second end 112 arranged opposite to each other. In this embodiment, the inner frame 11 can be arranged along the height direction, i.e., the vertical direction, and the second end 112 of the inner frame 11 is arranged above the first end 111 of the inner frame 11. A treatment head 12 is arranged on the inner frame 11, and the treatment head 12 is movably arranged on the inner frame 11. The treatment head 12 can irradiate the particle beam generated by the particle accelerator 19 to the affected part of the patient. Specifically, the treatment head 12 can be arranged to penetrate the inner and outer surfaces of the C-shaped inner frame 11, and the treatment head 12 can move back and forth along the inner frame 11 between the first end 111 of the inner frame 11 and the second end 112 of the inner frame 11, so that the particle beam can be irradiated to the affected part of the patient from different directions, thereby improving the treatment effect.

As a preferred embodiment, the inner frame 11 as a whole can be a part of a circle, the center of the inner frame 11 coincides with the isocenter of the radiotherapy device 1, and the treatment head 12 can always rotate around the isocenter of the radiotherapy device 1. When the patient's affected part is located at the isocenter, there is no need to adjust the range of the particle beam, and the treatment head 12 can also make the particle beam accurately irradiate the patient's affected part from different directions, which can improve the accuracy and speed of treatment and better ensure the treatment effect.

The first image guidance system 13 may image the affected part of the patient from a first imaging path, and the first image guidance system 13 may image the affected part of the patient from a second imaging path.

Specifically, the first image guidance system 13 may include a first ray generating device 131 for generating rays and a first image processing device 132 for receiving rays. When the first ray generating device 131 and the first image processing device 132 are arranged relative to each other, the first ray generating device 131 generates rays, and the first image processing device 132 can receive the rays and generate images or provide signals to a computer for processing based on the received rays to generate images. The first ray generating device 131 and the first image processing device 132 can be located at the first end 111 of the inner frame 11 and the second end 112 of the inner frame 11, respectively, that is, the first ray generating device 131 and the first image processing device 132 are arranged relative to each other in the vertical direction, and in the height direction, the first ray generating device 131 and the first image processing device 132 can be located at the outer side of the inner frame 11, respectively. At this time, the first ray generating device 131 and the first image processing device 132 are located in the first imaging path, and the patient's affected part, such as the tumor site, can be imaged to achieve positioning of the affected part.

The first ray generating device 131 and the first image processing device 132 are movable relative to the inner frame 11 in a second direction different from the height direction. The first ray generating device 131 is configured to leave the first end 111 of the inner frame 11 before the treatment head 12 moves toward the first end 111 of the inner frame 11 and reaches the first end 111 of the inner frame 11, and the first image processing device 132 is configured to leave the second end 112 of the inner frame 11 before the treatment head 12 moves toward the second end 112 of the inner frame 11 and reaches the second end 112 of the inner frame 11.

The second image guidance system 14 may include a second ray generating device 141 for generating rays and a second image processing device 142 for receiving rays. When the second ray generating device 141 and the second image processing device 142 are arranged relative to each other, the second ray generating device 141 generates rays, and the second image processing device 142 can receive the rays and generate images or provide signals to a computer for processing based on the received rays to generate images. The second ray generating device 141 and the second image processing device 142 can be arranged on both sides of the inner frame 11 along the third direction, respectively. The two sides of the inner frame 11 are the two sides of the line connecting the first end 111 of the inner frame 11 and the second end 112 of the inner frame 11, that is, the second ray generating device 141 and the second image processing device 142 are arranged relative to each other in the horizontal direction. At this time, the second ray generating device 141 and the second image processing device 142 are located in the second imaging path, and the patient's affected part can be imaged to achieve positioning of the affected part. In this embodiment, the second ray generating device 141 and the second image processing device 142 can be respectively arranged on the two side walls 21 of the treatment room 2. The second ray generating device 141 and the second image processing device 142 are preferably fixedly installed on the two side walls 21 of the treatment room 2 respectively. When in use, the positions of the second ray generating device 141 and the second image processing device 142 are fixed and do not need to be adjusted.

The third direction is perpendicular to both the height direction and the second direction. The moving path of the treatment head 12 is located between the first straight line where the first ray generating device 131 moves and the second straight line where the first image processing device 132 moves. The moving paths of the first ray generating device 131 and the first image processing device 132 do not intersect with the rotating movement path of the particle accelerator 19. The first ray generating device 131 and the second ray generating device 141 can both be X-ray tubes, which are used to generate X-rays. The first image processing device 132 and the second image processing device 142 can both be flat panel detectors.

The first imaging path and the second imaging path are arranged to cross each other, that is, the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 can be arranged to cross each other, and the intersection point of the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 preferably coincides with the isocenter of the radiotherapy device 1. The patient's affected part can be positioned by imaging of the first image guidance system 13 and imaging of the second image guidance system 14, and the patient's affected part can be moved to the isocenter of the radiotherapy device 1.

As a preferred mode, the first imaging path and the second imaging path are arranged perpendicularly to each other, that is, the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 are arranged perpendicularly to each other, that is, the rays generated by the first ray generating device 131 and the rays generated by the second ray generating device 141 are arranged orthogonally, so that the imaging of the first image guidance system 13 and the imaging of the second image guidance system 14 are arranged orthogonally. In this way, the accuracy of positioning, imaging and treatment can be improved, thereby improving the treatment effect and the safety of the patient.

In the present application, the first ray generating device 131 and the first image processing device 132 of the first image guidance system 13 are respectively arranged close to the first end 111 of the inner frame 11 and the second end 112 of the inner frame 11, and the second ray generating device 141 and the second image processing device 142 of the second image guidance system 14 are respectively arranged on both sides of the inner frame 11. During use, there is no need to manually move the first ray generating device 131 and the first image processing device 132 of the first image guidance system 13. In the process of moving the patient to the positioning position, the first ray generating device 131 and the first image processing device 132 of the first image guidance system 13 are intelligently moved to the first end of the inner frame and the second end of the inner frame at the same time, which not only saves the time of moving the equipment, shortens the duration of the treatment process, and improves the use efficiency of the radiotherapy equipment 1, but also avoids the errors caused by manually moving the equipment, improves the accuracy of positioning the patient's affected part, ensures that the particle beam can accurately irradiate the patient's affected part, and thus ensures the treatment effect.

In a specific embodiment, referring to Fig. 1, Fig. 2, and Fig. 3, the first ray generating device 131 can be arranged on the side of the inner frame 11 facing away from the treatment head 12, that is, the first ray generating device 131 can be arranged on the outer surface of the inner frame 11, so that the first ray generating device 131 is not on the rotation path of the treatment head 12, thereby increasing the rotation range of the treatment head 12 and further expanding the treatment range of the treatment head 12. The first end 111 of the inner frame 11 can be provided with a first notch 1111, so that the side of the first ray generating device 131 facing the first image processing device 132 is exposed, so that when the first ray generating device 131 and the first image processing device 132 are arranged relative to each other, the X-rays generated by the first ray generating device 131 can pass through the patient and then generate an image in the first image processing device 132.

The first image processing device 132 can also be arranged on the side of the inner frame 11 facing away from the treatment head 12, that is, the first image processing device 132 can be arranged on the outer surface of the inner frame 11, so that the first image processing device 132 is not on the rotation path of the treatment head 12, which increases the rotation range of the treatment head 12, thereby expanding the treatment range of the treatment head 12. The second end 112 of the inner frame 11 is provided with a second notch 1121, so that the side of the first image processing device 132 facing the first ray generating device 131 is exposed, so that when the first image processing device 132 and the first ray generating device 131 are arranged relative to each other, the first image processing device 132 can receive the X-rays generated by the first ray generating device 131.

The first notch 1111 and the second notch 1121 are at least partially aligned in the height direction and penetrate the inner frame 11 in the height direction, so that the first ray generating device 131 and the first image processing device 132 can at least partially overlap, that is, ensure that the first image processing device 132 can receive the rays emitted by the first ray generating device 131. The size of the first notch 1111 and the second notch 1121 needs to meet the FOV (Field of View) requirement of the first image guidance system 13. In this embodiment, the FOV (Field of View) of the first image guidance system 13 should be able to reach 27cm*27cm. In a specific embodiment, a first guide rail 1112 can be provided below the first end 111 of the inner frame 11. The first guide rail 1112 can be horizontally arranged, that is, the first guide rail 1112 is arranged parallel to the floor 22 of the treatment room 2. The first ray generating device 131 can be arranged on the first guide rail 1112 and can move back and forth along the first guide rail 1112 to avoid the first ray generating device 131 from colliding with the treatment head 12. That is to say, when the treatment head 12 rotates toward the first end 111 of the frame and approaches the first end 111 of the inner frame 11, the first ray generating device 131 moves along the first guide rail 1112 in a direction away from the first end 111 of the inner frame 11 to avoid the first ray generating device 131 from colliding with the treatment head 12; when the treatment head 12 rotates in a direction away from the first end 111 of the inner frame 11, the first ray generating device 131 can move along the first guide rail 1112 in the direction of the first end 111 of the inner frame 11 to place the first ray generating device 131 in the first imaging path, thereby ensuring that the first image guidance system 13 is not delayed in imaging the patient, thereby shortening the duration of the patient imaging preparation process before treatment and the overall treatment duration, and improving the utilization efficiency of the radiotherapy equipment 1.

A second guide rail 1122 may also be provided above the second end 112 of the inner frame 11. The second guide rail 1122 may be provided horizontally, that is, the second guide rail 1122 is provided parallel to the floor 22 of the treatment room 2. The first image processing device 132 may be provided on the second guide rail 1122 and may be able to move back and forth along the second guide rail 1122 to avoid collision between the first image processing device 132 and the treatment head 12. That is to say, when the treatment head 12 rotates toward the second end 112 of the frame and approaches the second end 112 of the inner frame 11, the first image processing device 132 moves along the second guide rail 1122 in a direction away from the second end 112 of the inner frame 11 to avoid the first image processing device 132 from colliding with the treatment head 12; when the treatment head 12 rotates in a direction away from the second end 112 of the inner frame 11, the first image processing device 132 can move along the second guide rail 1122 in the direction of the second end 112 of the inner frame 11 to place the first image processing device 132 in the first imaging path, thereby ensuring that the first image guidance system 13 is not delayed in imaging the patient, thereby shortening the overall treatment duration and improving the utilization efficiency of the radiotherapy equipment 1.

The first guide rail 1112 and the second guide rail 1122 are preferably arranged parallel to each other. The first guide rail 1112 and the second guide rail 1122 can be rigid slide rails, such as rigid slide grooves, which can improve the repeatability positioning accuracy of the first ray generating device 131 and the first image processing device 132, wherein the lengths of the first guide rail 1112 and the second guide rail 1122 can meet the time and distance for the treatment head 12 to enter and leave.

As a preferred embodiment, the radiotherapy device 1 may further include a driving component 15 and a control component 16. The control component 16 may include a controller 161. The driving component 15 and the controller 161 may be connected by a wire, or may be wirelessly connected. The controller 161 may be used to control the driving component 15. The driving component 15 may be used to drive the first ray generating device 131 and/or the first image processing device 132 to move. The driving component 15 may also be used to drive the treatment head 12 to move. The driving component 15 may be one or more of various power devices such as pneumatic, electric, and hydraulic. The first ray generating device 131, the first image processing device 132, and the treatment head 12 are driven to move by the driving component 15, thereby realizing automated operation, improving the movement accuracy and movement efficiency of the first ray generating device 131, the first image processing device 132, and the treatment head 12, and thereby improving the use efficiency of the radiotherapy device 1 and improving the treatment effect.

Specifically, the driving assembly 15 may include a first driving device (not shown), which is used to drive the first ray generating device 131 to move back and forth along the first guide rail 1112, so that the first ray generating device 131 moves into or out of the first end 111 of the inner frame 11, that is, to move the first ray generating device 131 into or out of the first imaging path.

The driving assembly 15 may also include a second driving device 151, which is used to drive the first image processing device 132 to move back and forth along the second guide rail 1122, so that the first image processing device 132 moves into or out of the second end 112 of the inner frame 11, that is, to move the first image processing device 132 into or out of the first imaging path.

The driving assembly 15 may further include a third driving device (not shown), which is used to drive the treatment head 12 to move back and forth along the inner frame 11 between the first end 111 of the inner frame 11 and the second end 112 of the inner frame 11, so that the particle beam can be irradiated to the patient's affected area from different directions to better ensure the treatment effect.

Specifically, the control component 16 may also include a first position sensor (not shown), which is connected to the first drive device. The first position sensor may also be connected to the controller 161, and the first position sensor is used to detect the rotational movement of the first drive device to obtain the position information of the first ray generating device 131. The first position sensor is, for example, a rotary encoder. When the first position sensor is coupled to the first drive device, the first position sensor can detect information such as the number of rotations and the direction of rotation of the first drive device, that is, the distance moved by the first ray generating device 131 can be obtained by calculation to obtain the real-time position information of the first ray generating device 131. By comparing the real-time position information of the first ray generating device 131 with the preset position information of the first ray generating device 131, it can be determined whether the first ray generating device 131 has reached the first imaging path.

The first position sensor can feed back the position information of the first ray generating device 131 to the controller 161. The controller 161 controls the rotation of the first driving device according to the feedback information of the first position sensor, so that the position of the first ray generating device 131 can be accurately controlled to ensure that the first ray generating device 131 reaches the first imaging path.

The control component 16 may also include a second position sensor (not shown), which is connected to the second driving device 151. The second position sensor may also be connected to the controller 161. The second position sensor is used to detect the rotational movement of the second driving device 151 to obtain the position information of the first image processing device 132. The second position sensor and the first position sensor may be sensors of the same type. The second position sensor is, for example, a rotary encoder. When the second position sensor is coupled to the second driving device 151, the second position sensor may detect the number of rotations and the direction of rotation of the second driving device 151, and other information. That is, the distance moved by the first image processing device 132 may be obtained by calculation to obtain the real-time position information of the first image processing device 132. By comparing the real-time position information of the first image processing device 132 with the preset position information of the first image processing device 132, it may be determined whether the first image processing device 132 has reached the first imaging path.

The second position sensor can feed back the position information of the first image processing device 132 to the controller 161. The controller 161 controls the rotation of the second driving device 151 according to the feedback information of the second position sensor, so that the position of the first image processing device 132 can be accurately controlled to ensure that the first image processing device 132 reaches the first imaging path.

The control component 16 may also include a third position sensor (not shown), which is connected to the first ray generating device 131. The third position sensor may also be connected to the controller 161. The third position sensor is used to detect the real-time position information of the first ray generating device 131. By comparing the real-time position information of the first ray generating device 131 with the preset position information of the first ray generating device 131, it can be determined whether the first ray generating device 131 has reached the first imaging path.

The controller 161 controls the rotation of the first driving device according to the feedback information of the third position sensor, so that the position of the first ray generating device 131 can be further accurately controlled. The third position sensor can be a sliding rheostat, a tensile displacement sensor, etc. In the present embodiment, the third position sensor is a sliding rheostat. The third position sensor can be arranged on the moving path of the first ray generating device 131. For example, the third position sensor is preferably arranged on the first guide rail 1112. The first ray generating device 131 is provided with a contact portion (not shown) connected to the third position sensor. The number of the contact portions can be one or more. The third position sensor obtains the position information of the first ray generating device 131 by obtaining the position of the contact portion on the third position sensor, that is, the third position sensor can obtain the real-time position information of the first ray generating device 131 to ensure that the first ray generating device 131 reaches the first imaging path.

The control component 16 may also include a fourth position sensor (not shown), which is connected to the first image processing device 132. The fourth position sensor may also be connected to the controller 161. The fourth position sensor is used to detect the real-time position information of the first image processing device 132. By comparing the real-time position information of the first image processing device 132 with the preset position information of the first image processing device 132, it can be determined whether the first image processing device 132 has reached the first imaging path.

The controller 161 controls the rotation of the second driving device 151 according to the feedback information of the fourth position sensor, so that the position of the first image processing device 132 can be further accurately controlled. The fourth position sensor and the third position sensor can be sensors of the same type. The fourth position sensor can be a sliding rheostat, a tensile displacement sensor, etc. In this embodiment, the fourth position sensor is a sliding rheostat. The fourth position sensor can be arranged on the moving path of the first image processing device 132. For example, the fourth position sensor is preferably arranged on the second guide rail 1122. The first image processing device 132 is provided with a contact portion (not shown) connected to the fourth position sensor. The number of the contact portions can be one or more. The fourth position sensor obtains the position information of the first image processing device 132 by obtaining the position of the contact portion on the fourth position sensor, that is, the fourth position sensor can obtain the real-time position information of the first image processing device 132 to ensure that the first image processing device 132 reaches the first imaging path.

In some embodiments, the control component 16 may further include a fifth position sensor (not shown) and/or a sixth position sensor (not shown). The fifth position sensor may be a sensor of the same type as the first position sensor and the second position sensor, the fifth position sensor is connected to the third drive device, and the fifth position sensor may also be connected to the controller 161, and the fifth position sensor is used to detect the rotational movement of the third drive device to obtain the position information of the treatment head 12. The sixth position sensor may be a sensor of the same type as the third position sensor and the fourth position sensor, the sixth position sensor is connected to the treatment head 12, and the sixth position sensor may also be connected to the controller 161, and the sixth position sensor is used to detect the real-time position information of the treatment head 12.

In the present application, after the controller 161 obtains the position information of the treatment head 12 through the fifth position sensor and/or the sixth position sensor, the controller 161 can control the first driving device to drive the first ray generating device 131 to move back and forth along the first guide rail 1112 to avoid collision between the first ray generating device 131 and the treatment head 12. That is to say, when the treatment head 12 rotates toward the first end 111 of the frame and approaches the first end 111 of the inner frame 11, the first driving device drives the first ray generating device 131 to move along the first guide rail 1112 in the direction away from the first end 111 of the inner frame 11 to avoid the first ray generating device 131 from colliding with the treatment head 12; when the treatment head 12 rotates in the direction away from the first end 111 of the inner frame 11, the first driving device drives the first ray generating device 131 to move along the first guide rail 1112 in the direction of the first end 111 of the inner frame 11 to make the first ray generating device 131 located in the first imaging path, ensuring that the first image guidance system 13 is not delayed in imaging the patient, thereby shortening the overall treatment time and improving the utilization efficiency of the radiotherapy equipment 1.

The controller 161 can also control the second driving device 151 to drive the first image processing device 132 to move back and forth along the second guide rail 1122 to avoid the first image processing device 132 from colliding with the treatment head 12. That is, when the treatment head 12 rotates toward the second end 112 of the frame and approaches the second end 112 of the inner frame 11, the second driving device 151 drives the first image processing device 132 to move along the second guide rail 1122 in a direction away from the second end 112 of the inner frame 11 to avoid the first image processing device 132 from colliding with the treatment head 12. When the treatment head 12 rotates in a direction away from the second end 112 of the inner frame 11, the second driving device 151 drives the first image processing device 132 to move along the second guide rail 1122 in a direction toward the second end 112 of the inner frame 11, so that the first image processing device 132 is located in the first imaging path, ensuring that the first image guidance system 13 is not delayed in imaging the patient, reducing the time for the patient to wait for treatment after entering the treatment room, shortening the overall treatment time, and improving the use efficiency of the radiotherapy equipment 1.

As an example, assuming that the treatment head 12 moves at a speed of 1 r/s (revolutions per second), when the treatment head 12 enters a distance of 10 cm from the first ray generating device 131 or the first image processing device 132, the controller 161 controls the first ray generating device 131 to move out of the first imaging path at a speed of 1 cm/s along the first guide rail 1112 or the first image processing device 132 to move out of the first imaging path at a speed of 1 cm/s along the second guide rail 1122, to provide space for the movement of the treatment head 12. When the treatment head 12 leaves the area, the first ray generating device 131 or the first image processing device 132 can just move back to the first imaging path, ensuring that the clinical imaging workflow is not delayed.

As a preferred embodiment, a first limiting device (not shown) may be provided on the moving path of the first ray generating device 131, and the first limiting device is used to limit the moving position of the first ray generating device 131. The first limiting device may be provided on the first guide rail 1112, the first limiting device may also be provided on the first ray generating device 131, or the first limiting device may be provided on both the first guide rail 1112 and the first ray generating device 131. In the present embodiment, the first limiting device is provided on the first guide rail 1112, and the first limiting device may be provided at both ends of the first guide rail 1112, which can not only prevent the first ray generating device 131 from falling off from the first guide rail 1112, but also ensure that the first ray generating device 131 moves to the first imaging path, thereby improving the positioning accuracy of the first ray generating device 131.

A second limiting device (not shown) may also be provided on the path where the first image processing device 132 moves, and the second limiting device is used to limit the moving position of the first image processing device 132. The second limiting device may be provided on the second guide rail 1122, or the second limiting device may be provided on the first image processing device 132, or the second limiting device may be provided on both the second guide rail 1122 and the first image processing device 132. In this embodiment, the first limiting device is provided on the second guide rail 1122, and the second limiting device may be provided at both ends of the second guide rail 1122, which can not only prevent the first image processing device 132 from falling off from the second guide rail 1122, but also ensure that the first image processing device 132 moves to the first imaging path, thereby improving the positioning accuracy of the first image processing device 132.

The first limit device and the second limit device are preferably components of the same type. The first limit device and the second limit device can be a hard limit component, such as a limit block. The first limit device and the second limit device can also be a sensor, such as a Hall switch, a proximity switch, etc. The first limit device and the second limit device can be connected to the controller 161. When the first ray generating device 131 moves to the first limit device, the first limit device can feed back the position information of the first ray generating device 131 to the controller 161, and the controller 161 controls the driving component 15 according to the feedback information of the first limit device, so that the driving component 15 stops operating. When the first image processing device 132 moves to the second limit device, the second limit device can feed back the position information of the first image processing device 132 to the controller 161, and the controller 161 controls the driving component 15 according to the feedback information of the first image processing device 132, so that the driving component 15 stops operating.

1 to 5, the present invention further provides a radiotherapy system 100, comprising the aforementioned radiotherapy equipment 1, a treatment bed 17 and a treatment room 2, the treatment room 2 having two side walls 21 and a floor 22 and a top surface (not shown) opposite to the floor 22, the second ray generating device 141 and the second image processing device 142 can be respectively arranged on the two oppositely arranged side walls 21, the treatment bed 17 can be installed in the treatment room 2 through a mechanical arm 18, the treatment bed 17 is used to support the patient, the mechanical arm 18 can adjust the position of the treatment bed 17 from six degrees of freedom to ensure that the patient's affected part is adjusted to the isocenter of the radiotherapy equipment 1, and the treatment bed 17 can be set as a treatment chair in addition to the shape shown in FIG4. The particle accelerator 19 is used to generate a particle beam and treat the patient's affected part through the treatment head 12, and the particles can be protons or heavy ions.

The first end 111 of the inner frame 11 can be arranged below the floor 22 of the treatment room 2. A third notch 221 is arranged on the floor 22 of the treatment room 2. The third notch 221 penetrates the floor 22 in the height direction so that the first ray generating device 131 is exposed on a side facing the first image processing device 132. In this way, when the first ray generating device 131 and the first image processing device 132 are arranged relative to each other, the X-rays generated by the first ray generating device 131 can pass through the patient and then generate an image in the first image processing device 132, that is, the X-rays generated by the first ray generating device 131 can pass through the first notch 1111 and the third notch 221 in sequence and then pass through the patient and then generate an image in the first image processing device 132. The second guide rail 1122 is located inside the top surface but not exposed to the top surface, that is, the second guide rail 1122 does not extend downward from the top surface in the height direction. The third notch 221 can also expose the first end 111 of the inner frame 11. The treatment head 12 can move to the third notch 221 and cover the first notch 1111, thereby better realizing the small-scale integration of the radiotherapy system 100, providing a wider movement space for the movement of the treatment head 12, and expanding the rotation range of the treatment head 12, which is conducive to better providing radiotherapy to the patient at a preset angle.

6 , the present invention further provides a control method for a radiotherapy system, using the aforementioned radiotherapy system 100 , and comprising the following steps: S100 - S500 .

Step S100: before the patient is moved to the setup position, the treatment head 12 is controlled not to be located at the first end 111 or the second end 112 of the inner frame 11 .

Specifically, before the patient is moved to the positioning position, which may be the center of the inner frame, the controller 161 obtains the position information of the treatment head 12 through the fifth position sensor and/or the sixth position sensor, and the controller 161 then controls the third driving device to drive the treatment head 12 to move along the inner frame 11, and controls the treatment head 12 not to be located at the first end 111 or the second end 112 of the inner frame 11.

Step S200: controlling the first ray generating device 131 and the first image processing device 132 to be located at the first end 111 of the inner frame 11 and the second end 112 of the inner frame 11 respectively.

Specifically, the controller 161 obtains the position information of the treatment head 12 through the fifth position sensor and/or the sixth position sensor, and after confirming that the treatment head 12 is not located at the first end 111 or the second end 112 of the inner frame 11, the controller 161 controls the first driving device to drive the first ray generating device 131 to move along the first guide rail 1112 to the first end 111 of the inner frame 11, and the controller 161 controls the second driving device to drive the first image processing device 132 to move along the second guide rail 1122 to the second end 112 of the inner frame 11, so that the first ray generating device 131 and the first image processing device 132 are located in the first imaging path.

Step S300: After the patient is moved to the positioning position, the first image guidance system 13 and the second image guidance system 14 scan the patient and obtain images of the affected part of the patient.

Specifically, the patient lies on the treatment bed 17. After the patient is moved to the positioning position, the positioning position may be the center of the inner frame. The first ray generating device 131 and the first image processing device 132 are located in the first imaging path. The first image guiding system 13 may image the patient's affected part from the first imaging path. The second ray generating device 141 and the second image processing device 142 are located in the second imaging path. The first image guiding system 13 may image the patient's affected part from the second imaging path. In this embodiment, the first imaging path and the second imaging path are arranged perpendicular to each other, so that the imaging of the first image guiding system 13 and the imaging of the second image guiding system 14 are arranged orthogonally. This can improve the accuracy of positioning, imaging and treatment, and better ensure the effect of radiotherapy and the safety of patients.

Step S400: the robot arm 18 moves the patient's affected part to the isocenter of the radiotherapy device 1 according to the image of the patient's affected part.

Specifically, the position information of the patient's affected part can be determined based on the imaging of the first image guidance system 13 and the imaging of the second image guidance system 14. The robotic arm 18 moves the patient's affected part to the isocenter of the radiotherapy equipment 1 based on the position information of the patient's affected part. The accelerator is used to generate a particle beam and treat the patient's affected part through the treatment head 12.

Step S500: The treatment head 12 moves along the inner frame 11 according to the image of the patient's affected part to change the direction of the particle beam irradiating the patient's affected part. Before the treatment head 12 moves to the first end 111 and/or the second end 112 of the inner frame 11, the controller 161 controls the drive assembly 15 to move the first ray generating device 131 of the first image guidance system 13 out of the first end 111 of the inner frame 11 and/or move the first image processing device 132 out of the second end 112 of the inner frame 11.

Specifically, the first image guidance system 13 and the second image guidance system 14 perform real-time scanning on the patient and obtain real-time images of the patient's affected part. The treatment head 12 can determine the treatment effect of the patient's affected part according to the changes in the image of the patient's affected part, and control the treatment head 12 to move along the inner frame 11 to change the direction of the particle beam irradiating the patient's affected part, so as to treat the patient's affected part from different directions and better ensure the treatment effect.

The controller 161 can obtain the real-time position information of the treatment head 12 through the fifth position sensor and/or the sixth position sensor, and control the driving component 15 to move the first image guidance system 13 into or out of the first end 111 and/or the second end 112 of the inner frame 11, that is, control the driving component 15 to move the first image guidance system 13 into or out of the first imaging path. When the treatment head 12 rotates toward the first end 111 of the frame and approaches the first end 111 of the inner frame 11, the first driving device drives the first ray generating device 131 to move along the first guide rail 1112 away from the first end 111 of the inner frame 11 to avoid the first ray generating device 131 from colliding with the treatment head 12. When the treatment head 12 rotates toward the first end 111 of the inner frame 11, the first driving device drives the first ray generating device 131 to move along the first guide rail 1112 toward the first end 111 of the inner frame 11 so that the first ray generating device 131 is located in the first imaging path, ensuring that the first image guidance system 13 is not delayed in imaging the patient, shortening the overall treatment time and improving the use efficiency of the radiotherapy device 1. When the treatment head 12 moves to the first end 111 of the inner frame 11 and enters the third notch 221, the treatment head 12 covers the first notch 1111 in the height direction, thereby better realizing the small integration of the radiotherapy system 100.

When the treatment head 12 rotates toward the second end 112 of the frame and approaches the second end 112 of the inner frame 11, the second driving device 151 drives the first image processing device 132 to move along the second guide rail 1122 in a direction away from the second end 112 of the inner frame 11 to avoid the first image processing device 132 from colliding with the treatment head 12. When the treatment head 12 rotates in a direction away from the second end 112 of the inner frame 11, the second driving device 151 drives the first image processing device 132 to move along the second guide rail 1122 in the direction of the second end 112 of the inner frame 11, so that the first image processing device 132 is located in the first imaging path, ensuring that the first image guidance system 13 is not delayed in imaging the patient, thereby shortening the overall treatment time and improving the utilization efficiency of the radiotherapy equipment 1.

The direction in which the first ray generating device 131 moves out of the first end 111 of the inner frame 11 is the same as the direction in which the first image processing device 132 moves out of the second end 112 of the inner frame 11 , and the first image guiding system 13 is not on the path of the rotational movement of the particle accelerator 19 .

Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, substitute and modify the above embodiments within the scope of the invention without departing from the principles and purpose of the present invention. All such changes should fall within the scope of protection of the claims of the present invention.

Claims (13)

1. A radiation therapy device, comprising:

an outer frame, on which a particle accelerator is fixed, the particle accelerator being arranged to be rotated together by a rotational movement of the outer frame;

the inner rack is fixed and provided with a first end and a second end which are opposite, the second end is positioned above the first end, a treatment head is arranged on the inner rack, and the treatment head can move back and forth between the first end and the second end of the inner rack along the inner rack;

A first image guidance system including a first radiation generating device for generating radiation and a first image processing device for receiving radiation, and a second image guidance system including a second radiation generating device for generating radiation and a second image processing device for receiving radiation, the radiation generated by the first radiation generating device and the radiation generated by the second radiation generating device being disposed to intersect each other; the first ray generation device and the first image processing device are respectively positioned at the first end and the second end of the inner frame and are positioned at the outer side of the inner frame along the height direction;

The first radiation generating device and the first image processing device are movable relative to the inner housing in a second direction different from the height direction, the first radiation generating device being arranged to leave the first end of the inner housing before the treatment head moves towards the first end of the inner housing to reach the first end of the inner housing, the first image processing device being arranged to leave the second end of the inner housing before the treatment head moves towards the second end of the inner housing to reach the second end of the inner housing;

The second ray generating device and the second image processing device are respectively arranged on two sides of the inner frame along a third direction, the third direction is perpendicular to the height direction and the second direction, the moving path of the treatment head is positioned between a first straight line where the first ray generating device moves and a second straight line where the first image processing device moves, and the moving paths of the first ray generating device and the first image processing device are not intersected with the rotating moving path of the particle accelerator.

2. The radiotherapy apparatus of claim 1, wherein the radiation generated by the first radiation generating means and the radiation generated by the second radiation generating means are arranged perpendicular to each other.

3. The radiotherapy apparatus of claim 1, wherein the first radiation generating device is disposed on a side of the inner housing facing away from the treatment head, the first end of the inner housing being provided with a first notch to expose the first radiation generating device toward a side of the first image processing device; and/or the number of the groups of groups,

The first image processing device is arranged on one surface of the inner frame, which is opposite to the treatment head, and a second notch is arranged at the second end of the inner frame, so that one surface of the first image processing device, which is opposite to the first ray generating device, is exposed.

4. A radiation therapy device according to claim 3, wherein said first and second indentations are at least partially aligned in a height direction and extend through said inner gantry in a height direction, said second radiation generating means and said second image processing means being stationary.

5. The radiotherapy apparatus of claim 1 in which a first rail is provided below the first end of the inner housing, the first radiation generating device being arranged on the first rail and being movable back and forth along the first rail to avoid collision of the first radiation generating device with the hair; and/or the number of the groups of groups,

The upper portion of the second end of the inner frame is provided with a second guide rail, the first image processing device is arranged on the second guide rail and can move back and forth along the second guide rail so as to avoid collision between the first image processing device and hair to be treated, and the second guide rail is parallel to the first guide rail.

6. The radiotherapy apparatus of claim 5 further comprising a drive assembly and a control assembly, the control assembly comprising a controller for controlling the drive assembly for driving the first radiation generating device and/or the first image processing device and/or the treatment head to move;

The driving assembly comprises a first driving device, wherein the first driving device is used for driving the first ray generation device to move back and forth along the first guide rail; and/or the number of the groups of groups,

The driving assembly further comprises a second driving device, wherein the second driving device is used for driving the first image processing device to move back and forth along the second guide rail; and/or the number of the groups of groups,

The drive assembly further includes a third drive for driving the treatment head back and forth along the inner housing between the first end of the inner housing and the second end of the inner housing.

7. The radiotherapy apparatus of claim 6, wherein the control assembly further comprises a first position sensor connected to the first drive means, the first position sensor for detecting rotational movement of the first drive means to obtain position information of the first radiation generating means; and/or the number of the groups of groups,

The control assembly further comprises a second position sensor, wherein the second position sensor is connected with the second driving device and is used for detecting the rotation movement of the second driving device so as to acquire the position information of the first image processing device; and/or the number of the groups of groups,

The control assembly further comprises a third position sensor, wherein the third position sensor is connected with the first ray generation device and is used for detecting position information of the first ray generation device; and/or the number of the groups of groups,

The control assembly further comprises a fourth position sensor, wherein the fourth position sensor is connected with the first image processing device and is used for detecting position information of the first image processing device; and/or the number of the groups of groups,

The control assembly further comprises a fifth position sensor, wherein the fifth position sensor is connected with the third driving device and is used for detecting the rotary motion of the third driving device so as to acquire the position information of the treatment head; and/or the number of the groups of groups,

The control assembly further includes a sixth position sensor coupled to the treatment head, the sixth position sensor configured to detect position information of the treatment head.

8. The radiotherapy apparatus of claim 1, wherein a first limiting device is provided on a path along which the first radiation generating device moves, the first limiting device being configured to limit a movement position of the first radiation generating device; and/or the number of the groups of groups,

The first image processing device is provided with a first limiting device on a moving path, and the first limiting device is used for limiting the moving position of the first image processing device.

9. A radiation therapy system, comprising: the radiation therapy apparatus, treatment couch, and treatment room as set forth in any one of claims 1-8, said treatment room having two sidewalls, a floor, and a ceiling opposite to said floor, said second radiation generating device and said second image processing device being disposed on two oppositely disposed sidewalls, respectively, said treatment couch being mounted in the treatment room by a robotic arm, said particle accelerator for generating a particle beam and treating a patient by said treatment head.

10. The radiation therapy system of claim 9, wherein a first end of said inner housing is disposed below a floor of said treatment room, said floor of said treatment room being provided with a third notch to expose said first radiation generating device toward a face of said first image processing device.

11. The radiation therapy system of claim 10, wherein said third gap extends through said ground in a height direction, and wherein said second rail is positioned within said top surface without exposing said top surface.

12. A method of controlling a radiation therapy system, wherein a radiation therapy system as claimed in any one of claims 9 to 11 is used, comprising the steps of:

Controlling the treatment head not to be located at the first end or the second end of the inner housing prior to moving the patient to the home position;

Controlling the first ray generation device and the first image processing device to be respectively positioned at the first end of the inner frame and the second end of the inner frame;

After moving the patient to the home position, the first and second image guidance systems scan the patient and acquire an image of the patient's affected area;

The mechanical arm moves the affected part of the patient to the isocenter of the radiotherapy equipment according to the affected part image of the patient;

The treatment head moves along the inner frame according to the affected part image of the patient so as to change the direction of the particle beam irradiating the affected part of the patient, and the controller controls the driving assembly to move the first ray generating device of the first image guiding system out of the first end of the inner frame and/or move the first image processing device out of the second end of the inner frame before the treatment head moves to the first end and/or the second end of the inner frame.

13. The method of claim 12, wherein the direction of movement of the first radiation generating device out of the first end of the inner gantry is the same as the direction of movement of the first image processing device out of the second end of the inner gantry, the first image guidance system not being in the path of rotational movement of the particle accelerator.