CN2910255Y - Robot radiation therapeutical system - Google Patents
Robot radiation therapeutical system Download PDFInfo
- Publication number
- CN2910255Y CN2910255Y CN 200620005096 CN200620005096U CN2910255Y CN 2910255 Y CN2910255 Y CN 2910255Y CN 200620005096 CN200620005096 CN 200620005096 CN 200620005096 U CN200620005096 U CN 200620005096U CN 2910255 Y CN2910255 Y CN 2910255Y
- Authority
- CN
- China
- Prior art keywords
- real
- robot
- arm
- automatic tracking
- time imaging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Radiation-Therapy Devices (AREA)
Abstract
The utility model relates to a robot radiation therapeutical system belonging to medical equipment field, which comprises six main modules including a positive- and converse-direction radiation therapeutic planning system, a three-dimensional digital-control therapeutical bed, a real-time imaging automatic tracking loop, a robot system, a ray source and a real-time dosage verification system, and is characterized in that: the real-time imaging automatic tracking loop comprises a C type arm real-time imaging system, an infrared automatic tracking orientator and an electromagnetic automatic tracking orientator; the real-time dosage verification system of tumor therapeutic target area consists of a two-dimensional matrix ionization chamber or a noncrystallosilicon (selenium) electronic portal imaging system and is arranged on the moving holding frame of a two-dimensional matrix dosage instrument. The utility model completely integrates simulation orientation, therapy planning, image guide, accurate location, conformal treatment and dosage verification in modern radiotherapy, thereby being an intelligent and integrative systemic tumor accurate radiotherapy system.
Description
Affiliated technical field: this utility model relates to field of medical, specifically is a kind of robot radiation therapy system.
Background technology: the purpose of tumour radiotherapy is the therapeutic dose to tumor target area maximum, and the exposure dose minimum that normal surrounding tissue and organ are subjected to improve the local control rate of tumor, reduces the complication of normal structure.Reach this purpose, when carrying out radiotherapy work, must accomplish " four essences ", promptly accurately diagnose, accurately design, accurately locate and accurate treatment.In recent years, along with the development of related disciplines such as radiophysics, radiobiology, Clinical Oncology and Medical Imaging, great variety has taken place in radiation therapy technology.Traditional conventional radiotheraphy forward precise radiotherapy changes.So-called precise radiotherapy technology, just be meant that adopting modern computer technology, medical image technology, radiation biological technology, radiation physical technique and clinical cancer therapy technology is means, tumor carried out a kind of new radiation therapy technology of " accurately diagnosis, accurately location, accurately plan, accurate treatment ".
The precise radiotherapy technology comprises radiotherapy (IGRT) and the tomoscan intensity modulated therapy (Tomotherapy) and the automatic control cutter (as " Cyberknife ") etc. of 3 dimensional conformal radiation therapy (3D-CRT) technology, Intensity Modulation Radiated Therapy (IMRT) (IMRT) technology, stereotactic radiotherapy (SRT) technology, stereotaxic radiosurgery (SRS), image guiding.The precise radiotherapy technology can obviously improve the local control rate of tumor, reduces the complication of normal structure, thereby improves therapeutic effect.Wherein, Chinese patent 200410081270.6 " self-control dynamic three-dimensional directional radiotherapy eutical system " will be simulated location, treatment plan, image guiding, accurately irradiation, conformal therapy is together fully-integrated, have and reduce radiotherapy apparatus, shorten therapeutic process, improve the treatment precision, reduce the advantage of treatment cost, but still have can further perfect place.
The utility model content: the purpose of this utility model is in order to overcome the defective of prior art, a kind of robot radiation therapy system is provided, with the simulation location in the modern radiotherapy, treatment plan, image guiding, accurately location, conformal therapy, dosage checking are together fully-integrated, to become the general tumour precise radiotherapy system of real " intelligent ", " integrated ".
The purpose of this utility model realizes by following technical proposals:
Robot radiation therapy system of the present utility model is by just, inverse treatment planning system, 3 d nc therapy bed, the real-time imaging automatic tracking system, robot system, radiographic source, dosage verification system six big modules are formed in real time, wherein, just, inverse treatment planning system by network respectively with 3 d nc therapy bed, the real-time imaging automatic tracking system, robot system, radiographic source, the dosage verification system links to each other in real time, 3 d nc therapy bed links to each other with the real-time imaging automatic tracking system, the real-time imaging automatic tracking system links to each other with robot system, and robot system links to each other with radiographic source, and radiographic source links to each other with real-time dosage verification system; It is characterized in that the real-time imaging automatic tracking system is made up of C type arm real-time imaging system, infrared automatic track and localization instrument (13) and the automatic track and localization instrument of electromagnetism (14), absorbed dose real-time dosage verification system in oncotherapy target area is made up of two-dimensional matrix ionization chamber or non-crystalline silicon (selenium) EPID (electronics launched field picture system), is installed on the two-dimensional matrix doser motion bracing frame (8).
In the such scheme, C type arm real-time imaging system is made up of C arm slide rail (1), C arm rotating shaft (2), C arm base (3) and the x-ray source (4), the X line detector (5) that are installed in C arm slide rail two ends, bootable x-ray source of C arm slide rail (1) (4) and X line detector (5) are done greater than 180 ° of motions, arm can be controlled between 750mm～1000mm deeply, C arm trunnion axis is rotatable ± and 180 °, vertical axis swings ± and 12 °; X-ray source (4) energy is the KV level, and is adjustable between 80～150KV.
In the such scheme, X line detector (5) can be CCD image amplifier or non-crystalline silicon (selenium) flat panel detector, and the maximum useful detection area of detector can reach 41cm * 41cm.
In the such scheme, but 3 d nc therapy bed by front, back, left, right, up, down and the numerical control that rotatablely moves move carbon fiber bed board (7), belt supporting frame and face shield head holder (17), can be upper and lower and 360 ° of therapeutic bed lift shafts (9) and can make the two-dimensional matrix ionization chamber or two-dimensional matrix doser motion bracing frame (8) and control system that non-crystalline silicon (selenium) EPID (electronics launched field picture system) does X, Y, the three-dimension numerical controlled motion of Z are formed of rotatablely moving; The control system of 3 d nc therapy bed is connected with real-time imaging automatic tracking system, robot system and radiogenic control system are interactive, in therapeutic process, by control system, can very precisely realize the beam output-target area-Trinitarian cooperation of treatment position of robot radiotherapy system.
In the such scheme, robot system is made up of control system and robot (10).
In the such scheme, radiographic source is made up of control system and the 6MV X-band water-cooled linear accelerator (11) on the arm that is installed in robot (10), be furnished with change view aligner (12) adapter at linear accelerator (11) front end, the root a tree name patient state of an illness need be selected different collimators.
The robot radiation therapy system that the utility model proposes (Robort RadiotherapySystem) is a kind of integrated (or integrated) radiotherapy system (RRTS).
The disease that the RRTS system mainly treats has:
Tumor of head and neck: as glioma, glioma, tumor of base of skull, metastatic tumor, nasopharyngeal carcinoma etc.;
Body entity tumor: as lung tumors, breast tumor, pancreas tumor, liver neoplasm, tumor of kidney, breast tumor;
Spinal cord position tumor, tumor of prostate, gynecological tumor, orthopaedics tumor;
Vascular malformation: as arteriovenous teratism and spongy vascular malformation etc.;
Nervous system disease: as trigeminal neuralgia, epilepsy, parkinson disease, lumbar nerve roots pathological changes;
Benign tumor: as meningioma, acoustic neuroma, epilemma tumor, pituitary tumor, hemangioblastoma, other benign tumor etc.;
The part cardiovascular disease.
The characteristics of RRTS system:
" RRTS " utilizes one can produce 6MV X-band ray, the heavily about 150 kilograms light-duty linac of water-cooled as the treatment radiographic source;
This system is furnished with a six degree of freedom mechanical arm, and accelerator is attached on the mechanical arm, by computer software computing and operation; The low dosage three-dimensional volume image (3D Volume Image) that adopts image guidance techniques to obtain is followed the trail of knub position, the dosage that utilization records is in real time proofreaied and correct guided robot radiotherapy system line dosage, and then shines tumor with the lonizing radiation of accurate dosage.The positional repeatability of computer-controlled robot arm almost can be near conventional stereo located irradiation surgery (X cutter, γ cutter) all diseased regions that are beyond one's reach less than 0.2 millimeter.System both can do center irradiations such as conventional coplane or non-coplane, also can do center irradiations such as non-; Both can realize conventional circular field treatment technology, also can the wild multiple Intensity Modulation Radiated Therapy (IMRT) technology in the side of realization;
Do not use the framework and the helmet fully, patient is not had the wound treatment, removed patient's the wound that has and located misery and mental pressure, therapeutic process is more effectively carried out;
Advanced volume image guidance technologies found and the automatic tracing-positioning system of infra-red electromagnetic can be followed the trail of patient and target by dynamic real-time in therapeutic process, can implement high precisely " dynamically radiotherapy " to motor tissue organ tumors such as lung, liver, kidney, pancreases, this be at present all radiotherapy apparatus and technology all do less than;
The advantage of center such as non-irradiation can make radiological dose reach best uniform distribution and conformal performance at diseased region, eliminates cold spot and focus on the dose distribution fully, and curative effect obviously strengthens;
Take the circle and the square collimator of variable open country, utilization original creation launched field--the distance-time is transferred strong technology, solved when tumor is shone in the open country greatly, automatic control cutter (as " Cyberknife ") can not be transferred the weakness of putting treatment by force, improved the service efficiency and the range of application of equipment greatly, this also is one of place of RRTS and the basic fundamental difference of other treatment technology.
Be equipped with the real time agent system for measuring quantity, can measure the radioactive dose that calculates the in-vivo tumour target area immediately, guarantee the accurate execution of radiotherapy planning, this also is the function that other treatment technology does not possess fully.
The forward treatment plan can be provided, also can provide reverse treatment plan;
But single therapy, also graded treatment, two kinds of functions of compatible radiosurgery and radiotherapy.
The X-ray beam that the 6MV accelerator produces by variable view aligner with single bundle or the strong mode of the multiple accent of multi beam from different direction focusings to focus point, the radiation that makes the focus point bear high dose reduces the radiation to tissue on every side.
In sum, because the characteristics such as the non-isocentric treatment of IMRT accurate radiotherapy and multi-section position of the volume images guiding that RRTS is exclusive, enable flexible Application in the inaccessible intracranial damage of the conventional three-dimensional directional radiotherapy eutical system of treatment (γ cutter, X cutter) institute, for example meningioma, nasopharyngeal carcinoma, metastatic tumor, cranial nerve tumor, spinal cord tumor especially can be near cranium portion than the damage locations on the hole of lower, the recessed and neck marrow, and near the intracranial lesion of key position.Especially, it can be treated the entity tumor of whole body most organs tissue, is the artificial intelligence's radiotherapy and the whole body radiosurgery equipment of image guiding truly.And the dexterity of accurate and 6 degree of freedom that its beam has intimate " laser guidance " therefore also opens up a new way for being used for the external exposure prevention and treating some cardiovascular disease.
So, robot radiation therapy system of the present utility model, with the simulation location in the modern radiotherapy, treatment plan, image guiding, accurately location, conformal therapy, dosage checking are together fully-integrated, become the general tumour precise radiotherapy system of real " intelligent ", " integrated ".
Description of drawings:
Fig. 1 is the front schematic view of this utility model embodiment.
Fig. 2 is the side schematic view of this utility model embodiment.
Fig. 3 is a software work module map of the present utility model.
Fig. 4 is a workflow diagram of the present utility model.
The specific embodiment:
Be described in further detail this utility model below in conjunction with drawings and Examples, but this utility model is not limited only to described embodiment.
In the accompanying drawing, each digital implication is: 1:C arm slide rail; The rotating shaft of 2:C arm; 3:C arm base; 4:X line radiographic source; The 5:X line detector; 6: patient; 7: the carbon fiber bed board is moved in numerical control; 8: two-dimensional matrix doser motion bracing frame; 9: the therapeutic bed lift shaft; 10: robot; 11: treating radiation source; 12: variable view aligner; 13: infrared automatic track and localization instrument; 14: the automatic track and localization instrument of electromagnetism; 15: the body surface label; 16: electromagnetic generator; 17: head holder.
As depicted in figs. 1 and 2, robot radiation therapy system of the present utility model is by just, inverse treatment planning system, 3 d nc therapy bed, the real-time imaging automatic tracking system, robot system, radiographic source, dosage verification system six big modules are formed in real time, wherein, radiotherapy treatment planning system respectively with 3 d nc therapy bed, the real-time imaging automatic tracking system, robot system, radiographic source, the dosage verification system links to each other in real time, and 3 d nc therapy bed links to each other with the real-time imaging automatic tracking system, and the real-time imaging automatic tracking system links to each other with robot system, robot system links to each other with radiographic source, and radiographic source links to each other with real-time dosage verification system; It is characterized in that the real-time imaging automatic tracking system is made up of C type arm real-time imaging system, infrared automatic track and localization instrument (13) and the automatic track and localization instrument of electromagnetism (14), absorbed dose real-time dosage verification system in oncotherapy target area is made up of two-dimensional matrix ionization chamber or non-crystalline silicon (selenium) EPID (electronics launched field picture system), and be installed on the two-dimensional matrix doser motion bracing frame (8), in therapeutic process, the central point of matrix ionization chamber or non-crystalline silicon (selenium) EPID is consistent with the target area central point all the time.In order further to improve systematic treating precision and automaticity, native system at organ of locomotion in the body (as liver, lung, kidney, the hearts etc.) motion causes position and tumor target area displacement error, two cover automatic tracking location systems have been equipped with: adopt at skin surface and place the infrared automatic track and localization instrument (13) of body surface label (15) and adopt the automatic track and localization instrument of electromagnetism (14) of placing electromagnetic generator (16) on the tumor tissues in vivo, in therapeutic process, patient's position and tiny the moving in target area of causing because of internal motion, by these two kinds automatic tracing-positioning system Monitoring Data and the SDA system data analysis of C type arm real-time imaging, relatively, will revise after the data that the doctor in charge confirms flow to the control system of robot (10) adjusts.
C type arm real-time imaging system is made up of C arm slide rail (1), C arm rotating shaft (2), C arm base (3) and the x-ray source (4), the X line detector (5) that are installed in C arm slide rail two ends, bootable x-ray source of C arm slide rail (1) (4) and X line detector (5) are done greater than 180 ° of motions, arm can be controlled between 750mm and the 1000mm deeply, C arm trunnion axis is rotatable ± and 180 °, vertical axis swings ± and 12 °; X-ray source (4) energy is the KV level, and is adjustable between 80～150KV.
X line detector (5) can be CCD image amplifier or non-crystalline silicon (selenium) flat panel detector, and the maximum useful detection area of detector can reach 41cm * 41cm.
Patient (6) is placed on the 3 d nc therapy bed, but 3 d nc therapy bed by front, back, left, right, up, down and the numerical control that rotatablely moves move carbon fiber bed board (7), belt supporting frame and face shield head holder (17), can be upper and lower and 360 ° of therapeutic bed lift shafts (9) and can make the two-dimensional matrix ionization chamber or two-dimensional matrix doser motion bracing frame (8) and control system that non-crystalline silicon (selenium) EPID does X, Y, the three-dimension numerical controlled motion of Z are formed of rotatablely moving; The control system of 3 d nc therapy bed is connected with real-time imaging automatic tracking system, robot system and radiogenic control system are interactive.In the conventional therapy process,, can very precisely realize the beam output-target area-Trinitarian cooperation of treatment position of robot radiotherapy system by control system.
Robot system is made up of control system and robot (10).The main device of native system is robot (10), and it has 6 degree of freedom, and arm is maximum to bear a heavy burden 240 kilograms, the maximum radius of gyration is greater than 1 meter, robot arm moves repeatable accuracy less than 0.2mm, by the instruction of control system, can be used for radiotherapy very neatly.System both can do center irradiations such as conventional coplane or non-coplane, also can do center irradiations such as non-, both can realize conventional garden shape launched field treatment technology, also can the wild multiple Intensity Modulation Radiated Therapy (IMRT) technology in the side of realization, and can be on doctor workstation virtual analog treatment overall process.
Radiographic source is made up of control system and the 6MV X-band water-cooled linear accelerator (11) that is installed on the arm of robot (10), and greater than 200MU, maximum weight is no more than 150 kilograms to linear accelerator (11) in the output dose rate of 1 meter per minute.Be furnished with change view aligner (12) adapter at linear accelerator (11) front end, select different collimators according to patient's state of an illness needs.In general, for the tumor of positions such as head, spinal column, select garden shape collimator for use, and, then select for use square collimator to carry out Intensity Modulation Radiated Therapy (IMRT) for the bigger solid tumor of body (as greater than 6cm) less than 3cm.
As shown in Figure 3 and Figure 4, the work process of robot radiation therapy system of the present utility model is as follows:
When patient makes a definite diagnosis will carry out treating with robot radiation therapy system the time, the doctor is at first with the CT (x-ray tomography), the MRI (nuclear magnetic resonance, NMR) that have patient in the central database or the lesion image that PET/CT is diagnosed, according to the state of an illness just, design the radiotherapy treatment planning of optimization in the inverse treatment planning system (TPS).Preliminary design goes out to adopt radiocurable technical approach of RRTS (conventional beam or IMRT) and machine parameter, and calculating and optimization focus point need the radiological dose of acceptance.
Patient is sent into therapeutic room be placed on the therapeutic bed, carry out the patient posture calibration.Before treatment, utilize C arm, three-D X line image collection processing system to follow the trail of moving of position, patient body target area.X sheet, consecutive image and X ray volume images can be clapped by this system, obtain the three-dimensional volume image of patient on treatment position, need not the implantable marker thing, have the contrast the same through once rotating to collect, can differentiate the complete three dimensional image of soft tissue structures such as tumor or risk organs with CT.
When treating, X line tracing system (ray navigation system) also can constantly compare the bone type reference point image that has that is obtained in the therapeutic process with the focus dot image that before had been stored in the data base mutually, so that the tram of decision tumor, again these data are delivered to robot arm, at any time revise in real time, according to the requirement of radiotherapy treatment planning, make beam aim at the target area on request.
The image guidance technologies found of RRTS system is followed the trail of target in the treatment overall process.The previous CT scan image that obtains of this system and irradiation image merges, registration, determines the relation of target and bone type reference point anatomical structure repeatedly.If the imaging monitor of gathering is to any displacement of patient target region, the information that the control system of RRTS system indication linear accelerator feeds back according to target is made point-device second positioning again.
Because above-mentioned image guides automatic tracing process only to accomplish " likeness in form " of beam irradiation field and tumor target area (promptly so-called suitable shape).In therapeutic process, the accurate dosage that tumor truly receives is directly to be measured in therapeutic process by the two-dimensional matrix ionization chamber doser that is placed on behind the patient body.This is measured in real time dosage rebuilds and calculates dosage with TPS and compare, if true dosage and intended dose that the institute of monitoring in real time accepts the irradiation treatment target area are variant, when this species diversity has surpassed certain range of error, system is the prompting staff automatically, or revise automatically and cause reasons of error, or revise treatment plan and treatment condition, or make robot end treatment.
When treat target areas, position such as internal organs that may move in to body such as liver, lung, heart, for the tiny of more accurate reflection target moved, RRTS also is furnished with two swollen automatic track and localization instrument: 1). adopt the infrared automatic track and localization instrument (passive type) of placing the body surface label at skin surface; 2). adopt the automatic track and localization instrument of electromagnetism (active) of placing electromagnetic generator on the tumor tissues in vivo.Organ movement's displacement meeting instantaneous transmission that they are caught is carried out position correction to robot control system.
When carrying out the IMRT mode when treating, the robot location move up and down and diverse location on become the size of view aligner open country and residence time and all cooperate and finish by treatment planning systems TPS software and robot control program.
Claims (6)
1. robot radiation therapy system, by just, inverse treatment planning system, 3 d nc therapy bed, the real-time imaging automatic tracking system, robot system, radiographic source and real-time dosage verification system six big modules are formed, wherein, just, inverse treatment planning system by network respectively with 3 d nc therapy bed, the real-time imaging automatic tracking system, robot system, radiographic source, the dosage verification system links to each other in real time, 3 d nc therapy bed links to each other with the real-time imaging automatic tracking system, the real-time imaging automatic tracking system links to each other with robot system, and robot system links to each other with radiographic source, and radiographic source links to each other with real-time dosage verification system; It is characterized in that the real-time imaging automatic tracking system is made up of C type arm real-time imaging system, infrared automatic track and localization instrument (13) and the automatic track and localization instrument of electromagnetism (14), absorbed dose real-time dosage verification system in oncotherapy target area is made up of two-dimensional matrix ionization chamber or non-crystalline silicon electronics launched field picture system, is installed on the two-dimensional matrix doser motion bracing frame (8).
2. robot radiation therapy system according to claim 1, it is characterized in that C type arm real-time imaging system is made up of C arm slide rail (1), C arm rotating shaft (2), C arm base (3) and the x-ray source (4), the X line detector (5) that are installed in C arm slide rail two ends, C arm slide rail (1) guiding x-ray source (4) and X line detector (5) are done greater than 180 ° of motions, arm is controlled between 750mm～1000mm deeply, C arm trunnion axis is rotatable ± and 180 °, vertical axis swings ± and 12 °; X-ray source (4) energy is the KV level, and is adjustable between 80～150KV.
3. robot radiation therapy system according to claim 2 is characterized in that X line detector (5) can be CCD image amplifier or amorphous silicon flat panel detector, and the maximum useful detection area of detector can reach 41cm * 41cm.
4. robot radiation therapy system according to claim 1, but it is characterized in that 3 d nc therapy bed by front, back, left, right, up, down and the numerical control that rotatablely moves move carbon fiber bed board (7), belt supporting frame and face shield head holder (17), can be upper and lower and 360 ° of therapeutic bed lift shafts (9) and can make the two-dimensional matrix ionization chamber or two-dimensional matrix doser motion bracing frame (8) and control system that non-crystalline silicon electronics launched field picture system is done X, Y, the three-dimension numerical controlled motion of Z are formed of rotatablely moving; The control system of 3 d nc therapy bed is connected with real-time imaging automatic tracking system, robot system and radiogenic control system are interactive.
5. robot radiation therapy system according to claim 1 is characterized in that robot system is made up of control system and robot (10).
6. robot radiation therapy system according to claim 1, it is characterized in that radiographic source is made up of control system and the 6MV X-band water-cooled linear accelerator (11) that is installed on the arm of robot (10), be furnished with change view aligner (12) adapter at linear accelerator (11) front end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620005096 CN2910255Y (en) | 2006-02-09 | 2006-02-09 | Robot radiation therapeutical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620005096 CN2910255Y (en) | 2006-02-09 | 2006-02-09 | Robot radiation therapeutical system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2910255Y true CN2910255Y (en) | 2007-06-13 |
Family
ID=38132120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620005096 Expired - Fee Related CN2910255Y (en) | 2006-02-09 | 2006-02-09 | Robot radiation therapeutical system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2910255Y (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101015723B (en) * | 2006-02-09 | 2010-04-07 | 吴大怡 | Robot radiation therapy system |
| CN102698373A (en) * | 2012-05-25 | 2012-10-03 | 南京大学 | Automatic positioning control system for accelerator |
| CN103977504A (en) * | 2014-06-06 | 2014-08-13 | 赵立敏 | Cobalt 60 gamma ray head radioactive equipment |
| CN104548375A (en) * | 2015-02-03 | 2015-04-29 | 瑞地玛医学科技有限公司 | Sub-quadrant radiotherapy device and sub-quadrant radiation method using same to treat tumor target volume |
| CN104587609A (en) * | 2015-02-03 | 2015-05-06 | 瑞地玛医学科技有限公司 | Positioning and locating device for radiotherapy and positioning method of dynamic target region |
| CN104606797A (en) * | 2015-02-10 | 2015-05-13 | 霍玉青 | Tumor in-vivo radiotherapy device |
| CN104759033A (en) * | 2015-04-28 | 2015-07-08 | 瑞地玛医学科技有限公司 | Rotating disc type image system |
| CN108403370A (en) * | 2018-04-11 | 2018-08-17 | 广东铱鸣智能医疗科技有限公司 | A kind of novel intelligent nursing robot |
| CN108742841A (en) * | 2018-05-30 | 2018-11-06 | 上海交通大学 | A kind of operation tool real-time location method of multiposition tracker |
| CN110465003A (en) * | 2019-07-24 | 2019-11-19 | 太丛信息科技（上海）有限公司 | The radiotherapy unit of self-shileding |
| WO2020133400A1 (en) * | 2018-12-29 | 2020-07-02 | 清华大学 | Tomography and image-guided radiotherapy device |
| CN111359106A (en) * | 2020-03-09 | 2020-07-03 | 青岛市中医医院(青岛市海慈医院、青岛市康复医学研究所) | Radiotherapy positioning bed |
-
2006
- 2006-02-09 CN CN 200620005096 patent/CN2910255Y/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101015723B (en) * | 2006-02-09 | 2010-04-07 | 吴大怡 | Robot radiation therapy system |
| CN102698373A (en) * | 2012-05-25 | 2012-10-03 | 南京大学 | Automatic positioning control system for accelerator |
| CN103977504A (en) * | 2014-06-06 | 2014-08-13 | 赵立敏 | Cobalt 60 gamma ray head radioactive equipment |
| CN103977504B (en) * | 2014-06-06 | 2017-01-11 | 赵立敏 | Cobalt 60 gamma ray head radioactive equipment |
| CN104587609B (en) * | 2015-02-03 | 2017-05-31 | 瑞地玛医学科技有限公司 | Posture radiotherapy positioner and static state, dynamic target area pendulum position method |
| CN104548375A (en) * | 2015-02-03 | 2015-04-29 | 瑞地玛医学科技有限公司 | Sub-quadrant radiotherapy device and sub-quadrant radiation method using same to treat tumor target volume |
| CN104587609A (en) * | 2015-02-03 | 2015-05-06 | 瑞地玛医学科技有限公司 | Positioning and locating device for radiotherapy and positioning method of dynamic target region |
| CN104606797A (en) * | 2015-02-10 | 2015-05-13 | 霍玉青 | Tumor in-vivo radiotherapy device |
| CN104759033A (en) * | 2015-04-28 | 2015-07-08 | 瑞地玛医学科技有限公司 | Rotating disc type image system |
| CN108403370A (en) * | 2018-04-11 | 2018-08-17 | 广东铱鸣智能医疗科技有限公司 | A kind of novel intelligent nursing robot |
| CN108742841A (en) * | 2018-05-30 | 2018-11-06 | 上海交通大学 | A kind of operation tool real-time location method of multiposition tracker |
| WO2020133400A1 (en) * | 2018-12-29 | 2020-07-02 | 清华大学 | Tomography and image-guided radiotherapy device |
| US11179579B2 (en) | 2018-12-29 | 2021-11-23 | Tsinghua University | Tomographic imaging and image-guided radiation therapy apparatus |
| CN110465003A (en) * | 2019-07-24 | 2019-11-19 | 太丛信息科技（上海）有限公司 | The radiotherapy unit of self-shileding |
| CN111359106A (en) * | 2020-03-09 | 2020-07-03 | 青岛市中医医院(青岛市海慈医院、青岛市康复医学研究所) | Radiotherapy positioning bed |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101015723B (en) | Robot radiation therapy system | |
| CN2910255Y (en) | Robot radiation therapeutical system | |
| US11511132B2 (en) | Tumor tracking during radiation treatment using ultrasound imaging | |
| US9451928B2 (en) | Incorporating internal anatomy in clinical radiotherapy setups | |
| US9155912B2 (en) | Method and system for stereotactic intensity-modulated arc therapy | |
| EP2293843B1 (en) | Methods and systems for guiding radiotherapy setups | |
| CN103143124B (en) | Robot is without wound radiotherapy system | |
| ES2370747T3 (en) | VERIFICATION OF CHARACTERISTICS OF AN INJURY USING WAYS OF DOES. | |
| EP2535086A1 (en) | Integration of MRI into radiation therapy treatment | |
| US20070276229A1 (en) | Breast restraint | |
| CN1778275A (en) | Self-control dynamic three-dimensional directional radiotherapy eutical system | |
| US10471280B2 (en) | Radiosurgery of cancers in the breast and the head using a single multi-source gamma-ray device | |
| CN113491845B (en) | Radiotherapy system, radiotherapy device and storage medium | |
| CN111437520B (en) | Method for synchronously calculating radiotherapy beam angle in real time in radiotherapy | |
| Ryken et al. | Ultrasonographic guidance for spinal extracranial radiosurgery: technique and application for metastatic spinal lesions | |
| Moutsatsos et al. | The CyberKnife robotic radiosurgery system | |
| Saw et al. | A review on the technical and dosimetric aspects of stereotactic body radiation therapy (SBRT) | |
| Heller et al. | Techniques of stereotactic radiosurgery | |
| Dieterich et al. | Radiosurgery | |
| Gillin | Special Procedures | |
| MOGIRE | EVALUATION OF THE ACCURACY AND REPRODUCIBILITY OF THE PLANNING ISOCENTRE USING AUTOMATIC AND MANUAL COUCH MOVEMENTS | |
| Kron | Special Delivery Techniques: Dedicated to Michael Sharpe | |
| Tree et al. | Prostate motion: Implications and management strategies | |
| Law | Image guidance in radiation therapy | |
| Tseng | Evaluation of the Three Dimensional Localization Accuracy Using |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070613 Termination date: 20150209 |
|
| EXPY | Termination of patent right or utility model |