MEDICAL DEVICES AND MEDICAL SYSTEMS

The present disclosure relates to a medical device. The medical device comprises a gantry; a first support member rotatably mounted on the gantry around a first rotation axis; and a treatment device including a treatment ray emitter configured to emit treatment rays and a treatment ray receiver configured to receive the treatment rays, the treatment ray emitter and the treatment ray receiver being rotatably mounted on the first support member around a second rotation axis synchronously, wherein the first rotation axis intersects with the second rotation axis.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No. 202310540187.3 filed on May 12, 2023, the contents of which are hereby incorporated by reference.

TECHNICAL FIELD

The present disclosure relates to the technical field of medical devices, and in particular to a radiation imaging and treatment device and system.

BACKGROUND

A radiation imaging and treatment device is a medical device that integrates both the medical scanning function and the radiotherapy function. The radiation imaging and treatment device uses a scanning device to scan a lesion site of a patient to assist a treatment device to accurately localize the lesion site. However, the treatment device and the scanning device of the current radiation imaging and treatment device can only irradiate the patient in a small angle range, the current radiation imaging and treatment device is not applicable to complex application scenarios. In addition, during the working process of the radiation imaging and treatment device, the treatment device and the scanning device need to be controlled to rotate around the patient and may interfere with each other or with the patient in the rotation process, which may affect the use safety of the radiation imaging and treatment device.

In order to solve the problems, the present disclosure provides a medical device and a medical system for improving the efficiency and accuracy of radiation imaging and treatment.

SUMMARY

An aspect of the present disclosure relates to a medical device. The medical device comprises a gantry; a first support member rotatably mounted on the gantry around a first rotation axis; and a treatment device including a treatment ray emitter configured to emit treatment rays and a treatment ray receiver configured to receive the treatment rays, the treatment ray emitter and the treatment ray receiver being rotatably mounted on the first support member around a second rotation axis synchronously, wherein the first rotation axis intersects with the second rotation axis.

In some embodiments, the medical device comprises a second support member and a third support member, wherein the second support member and the third support member are spaced apart from each other along an extension direction of the second rotation axis, the second support member and the third support member are rotatably mounted on the first support member around the second rotation axis synchronously, the treatment ray emitter is mounted on one of the second support member and the third support member, the treatment ray receiver is mounted on the other of the second support member and the third support member, and the treatment ray receiver is mounted on a transmission path of the treatment rays emitted by the treatment ray emitter.

In some embodiments, the first support member includes an annular structure, the gantry includes an accommodating hole, the annular structure is mounted within the accommodating hole, and the second support member and the third support member are connected with an inner ring of the first support member.

In some embodiments, the second support member is rotatably mounted on the first support member around a third rotation axis, the third rotation axis is parallel to an extension direction of an intersection line between the second support member and the first support member, the third support member is rotatably mounted on the first support member around a fourth rotation axis, the fourth rotation axis is parallel to an extension direction of an intersection line between the third support member and the first support member, and the third rotation axis is parallel to the fourth rotation axis.

In some embodiments, during a rotation process of the treatment ray emitter, a distance between the treatment ray emitter and an isocenter of the treatment device remains constant.

In some embodiments, the medical device comprises a first scanning device including a first scanning ray emitter configured to emit first scanning rays and a first scanning ray receiver configured to receive the first scanning rays, wherein the first scanning ray emitter and the first scanning ray receiver are rotationally mounted on the first support member around the second rotation axis synchronously, and an isocenter of the treatment device coincides with an isocenter of the first scanning device.

In some embodiments, the medical device comprises a second support member and a third support member, wherein the second support member and the third support member are spaced apart from each other along an extension direction of the second rotation axis, the second support member and the third support member are rotatably mounted on the first support member around the second rotation axis synchronously, the first scanning ray emitter is mounted on one of the second support member and the third support member, and the first scanning ray receiver is mounted on the other of the second support member and the third support member, and the first scanning ray receiver is mounted on a transmission path of the first scanning rays emitted by the first scanning ray emitter.

In some embodiments, the medical device comprises a second scanning device including a second scanning ray emitter configured to emit second scanning rays and a second scanning ray receiver configured to receive the second scanning rays, wherein the second scanning ray emitter and the second scanning ray receiver are fixedly mounted on the first support member.

In some embodiments, the second scanning ray emitter and the second scanning ray receiver are mounted on different sides of a plane defined by the first rotation axis and the second rotation axis.

In some embodiments, the gantry includes a first gantry component and a second gantry component, and the first gantry component and the second gantry component are spaced apart from each other along an extension direction of the first rotation axis, and two ends of the first support member along the extension direction of the first rotation axis are rotationally connected with the first gantry component and the second gantry component, respectively.

In some embodiments, the first support member includes a first support end portion, a second support end portion, and a connecting portion, the connecting portion is located between and connects the first support end portion and the second support end portion, the first support end portion is rotationally connected with the first gantry component, the second support end portion is rotationally connected with the second gantry component, the second support member and the third support member are rotatably mounted on the connecting portion around the second rotation axis, and the second scanning ray emitter and the second scanning ray receiver are fixed on the connecting portion.

In some embodiments, the first rotation axis is perpendicular to the second rotation axis, and an intersection point between the first rotation axis and the second rotation axis coincides with an isocenter of the medical device.

In some embodiments, the medical device further comprises a slide rail arranged along a circumferential direction of the gantry, an axial direction of the slide rail coincides with the first rotation axis, the first support member includes a first sliding device and a second sliding device, the first sliding device is configured to slidably mount the treatment ray emitter in the slide rail, the second sliding device is configured to slidably mount the treatment ray receiver in the slide rail, and the first sliding device and the second sliding device are symmetrically arranged on two sides of the first rotation axis.

In some embodiments, the first sliding device includes a first pulley mounted in the slide rail and a first connecting rod configured to connect the first pulley and the treatment ray emitter, a length of the first connecting rod is adjustable for adjusting a distance from the treatment ray emitter to the gantry, and the second sliding device includes a second pulley mounted in the slide rail and a second connecting rod configured to connect the second pulley and the treatment ray receiver, a length of the second connecting rod is adjustable for adjusting a distance from the treatment ray receiver to the gantry.

In some embodiments, the medical device comprises a first scanning device and a second scanning device. The first scanning device includes a first scanning ray emitter configured to emit first scanning rays and a first scanning ray receiver configured to receive the first scanning rays, the first scanning ray emitter and the first scanning ray receiver being rotatably mounted on the first support member around the second rotation axis synchronously. The second scanning device includes a second scanning ray emitter configured to emit second scanning rays and a second scanning ray receiver configured to receive the second scanning rays, the second scanning ray emitter and the second scanning ray receiver being fixedly mounted on the first support member; wherein an emission period of the first scanning rays at least partially coincides with an emission period of the treatment rays; and an emission period of the second scanning rays does not coincide with the emission period of the treatment rays.

In some embodiments, a dose of the second scanning rays is higher than a dose of the first scanning rays.

A second aspect of the present disclosure relates to a medical system. The medical system comprises a couch, a controller, and the medical device, wherein the couch is configured to support a patient, and the controller is configured to: determine a region to be treated for the patient; control the couch to move such that an isocenter of the medical device is located in the region to be treated; control the treatment device to rotate around the second rotation axis to adjust an irradiation angle of the treatment rays to be emitted by the treatment ray emitter; and control the first support member to rotate around the first rotation axis while controlling the treatment device to emit the treatment rays for performing radiotherapy.

In some embodiments, the medical device further includes a first scanning device and/or a second scanning device; the first scanning device includes a first scanning ray emitter configured to emit first scanning rays and a first scanning ray receiver configured to receive the first scanning rays, the first scanning ray emitter and the first scanning ray receiver are rotatably mounted on the first support member around the second rotation axis synchronously, the second scanning device includes a second scanning ray emitter configured to emit second scanning rays and a second scanning ray receiver configured to receive the second scanning rays, the second scanning ray emitter and the second scanning ray receiver are fixedly mounted on the first support member, and to determine the region to be treated for the patient. The controller is further configured to control the first scanning device and/or the second scanning device to acquire a planning image of the patient, and determine the region to be treated based on the planning image.

In some embodiments, when the treatment device is controlled to emit the treatment rays for performing radiotherapy, the controller is further configured to control the first scanning device and/or the second scanning device to acquire a treatment image of the patient, and determine whether the treatment rays emitted by the treatment device need to be adjusted based on the treatment image.

In some embodiments, the medical device includes the first scanning device and the second scanning device, the planning image is acquired by the second scanning device, and the treatment image is acquired by the first scanning device.

DETAILED DESCRIPTION

A radiation imaging and treatment device is a medical device that integrates both the medical scanning function and the radiotherapy function. The radiation imaging and treatment device uses a scanning device to scan a lesion site of a patient to assist a treatment device to accurately localize the lesion site. In some embodiments, ray emitters of the scanning device and the treatment device may emit scanning rays and treatment rays to the patient, respectively, and the scanning rays and treatment rays may penetrate through the patient to be received by corresponding receivers. In some embodiments, in order to realize multi-angle and multi-directional imaging and treatment needs, the scanning device and the treatment device may rotate around the lesion site during the working process. In order to ensure the use safety of the radiation imaging and treatment device, the scanning device and the treatment device need to avoid a region where the patient is located (as used herein, the region where the patient is located is referred to as a scanning and treatment space) in the process of rotation. Therefore, in addition to the scanning and treatment space, the larger the coverage area of the scanning rays and the treatment rays emitted by the scanning device and the treatment device, the smaller the imaging and treatment blind area of the scanning device and the treatment device. As used herein, the coverage area refers to an area that can be covered by scanning rays or treatment rays when the scanning device or the treatment device rotates around the patient to irradiate the patient from different angles. In some embodiments, the coverage area of the scanning rays and the treatment rays emitted by the scanning device and the treatment device may be related to irradiation angle ranges of the rays emitted by the scanning device and the treatment device, and rotation ranges of the scanning device and the treatment device. For example, the larger the irradiation angle ranges and the larger the rotation ranges of the scanning device and treatment device, the wider the coverage area of the scanning rays and the treatment rays emitted by the scanning device and the treatment device.

In some embodiments, a limiting device may be used to limit the rotation ranges of the scanning device and the treatment device to avoid the scanning and treatment space where the patient is located. However, arranging the limiting device may not only make an overall structure of the radiation imaging and treatment device more complex, but also increase the manufacturing cost. In addition, since the rotation ranges of the scanning device and the treatment device are limited, the coverage area of the rays emitted by the scanning device and the treatment device is reduced, which may reduce clinical work efficiency to a certain extent. Furthermore, the current radiation imaging and treatment device has a small irradiation angle, which leads to a small coverage area of the rays emitted by the scanning device and treatment device, resulting in a large imaging and treatment blind area of the scanning device and the treatment device, and making it unable to meet the requirements of complex clinical application scenarios.

Accordingly, the present disclosure provides a medical device to address the above-mentioned problems. The medical device may include a gantry, a first support member rotatably mounted on the gantry around a first rotation axis, and a treatment device. The treatment device may include a treatment ray emitter configured to emit treatment rays and a treatment ray receiver configured to receive the treatment rays. The treatment ray emitter and the treatment ray receiver may be rotatably mounted on the first support member around a second rotation axis synchronously. The first rotation axis may intersect with the second rotation axis.

In some embodiments, the medical device may further include a first scanning device and/or a second scanning device. The first scanning device may include a first scanning ray emitter configured to emit first scanning rays and a first scanning ray receiver configured to receive the first scanning rays. The first scanning ray emitter and the first scanning ray receiver may be rotationally mounted on the first support member around the second rotation axis synchronously. The second scanning device may include a second scanning ray emitter configured to emit second scanning rays and a second scanning ray receiver configured to receive the second scanning rays. The second scanning ray emitter and the second scanning ray receiver may be fixedly mounted on the first support member.

In the medical device and the medical system provided by the present disclosure, the treatment ray emitter and the treatment ray receiver may be mounted on the first support member, so that the first support member may drive the treatment device to rotate around the first rotation axis. Since the treatment ray emitter and the treatment ray receiver are rotatably mounted around the second rotation axis, and the first rotation axis intersects with the second rotation axis, the treatment device can rotate around two different rotation axes (the first rotation axis and the second rotation axis). Therefore, the embodiments of the present disclosure can increase the irradiation range of the treatment rays, and realize multi-angle and multi-directional adjustment of the irradiation angle of the treatment rays. Similarly, the irradiation range of the scanning rays can be increased, and multi-angle and multi-directional adjustment of the irradiation angle of the scanning rays can be realized. In addition, the scanning device and the treatment device can be prevented from interfering with the patient without the additional limiting device, which ensures the use safety of the medical device, and increases the irradiation range of the rays emitted by the scanning device and the treatment device, thereby reducing the manufacturing cost, and improving clinical work efficiency.

As illustrated inFIGS.1-3, a medical device10may include a gantry11, a first support member12, a treatment device17, and a first scanning device18. The gantry11may be configured to support the first support member12, the treatment device17, and the first scanning device18. The first support member12may be rotatably mounted on the gantry11around a first rotation axis15.

The treatment device17may include a treatment ray emitter171and a treatment ray receiver172. The treatment ray emitter171may be configured to emit treatment rays. The treatment ray receiver172may be configured to receive the treatment rays emitted by the treatment ray emitter171. The treatment ray emitter171and the treatment ray receiver172may be rotatably mounted on the first support member12around a second rotation axis16, and the treatment ray emitter171and the treatment ray receiver172may rotate synchronously. The first rotation axis15may intersect with the second rotation axis16.

The first scanning device18may include a first scanning ray emitter181and a first scanning ray receiver182. The first scanning ray emitter181may be configured to emit first scanning rays. The first scanning ray receiver182may be configured to receive the first scanning rays emitted by the first scanning ray emitter181. The first scanning ray emitter181and the first scanning ray receiver182may be rotatably mounted on the first support member12around the second rotation axis16, and the first scanning ray emitter181and the first scanning ray receiver182may rotate synchronously. The treatment device17and the first scanning device18are isocentric.

In some embodiments, an emission period of the first scanning rays may at least partially coincide with an emission period of the treatment rays. For example, a middle period of the emission period of the first scanning ray may coincide with a middle period of the emission period of the treatment rays. As another example, an end period of the emission period of the first scanning rays may coincide with an initial period of the emission period of the treatment rays. During a coincided period, a region to be treated may be imaged and treated simultaneously. In some embodiments, the emission period of the first scanning rays may not coincide with the emission period of the treatment rays. For example, the first scanning rays may be emitted before radiotherapy.

In some embodiments, the medical device10may further comprise a second scanning device. The second scanning device may be fixedly mounted on the first support member12. More descriptions regarding the second scanning device may be found inFIG.6,FIG.7, andFIG.9and related descriptions thereof.

The first support member12being rotatably mounted on the gantry11around the first rotation axis15refers to that the first support member12may be mounted on the gantry11and may rotate around the first rotation axis15relative to the gantry11. Synchronous rotation in the present disclosure refers to that two objects rotate around the same rotation axis in the same direction at the same speed. The treatment device17and the first scanning device18being isocentric refers to that the isocenter of the treatment device17coincides with the isocenter of the first scanning device18. The isocenter of the treatment device17refers to a mechanical isocenter of the treatment device17, i.e., an intersection point of treatment rays emitted by the treatment ray emitter171during a rotation process of the treatment ray emitter171. Similarly, the isocenter of the first scanning device18refers to a mechanical isocenter of the first scanning device18, i.e., an intersection point of first scanning rays emitted by the first scanning ray emitter181during a rotation process of the first scanning ray emitter181. In some embodiments, the isocenter of the first scanning device18and the isocenter of the treatment device17are also referred to as an isocenter of the medical device10.

The first rotation axis15may intersect with the second rotation axis16. That is, the first rotation axis15may not coincide with or parallel to the second rotation axis16. In some embodiments, since the first rotation axis15intersects with the second rotation axis16, the first rotation axis15may be perpendicular to or not be perpendicular to the second rotation axis16. An intersection point of the first rotation axis15and the second rotation axis16may be the isocenter of the medical device10, i.e., the isocenter of the treatment device17and the isocenter of the first scanning device18. In some embodiments, an angle between the first rotation axis15and the second rotation axis16may be within a range of 0-90 degrees. The angle between the first rotation axis15and the second rotation axis16refers to a smaller pair of vertically opposite angles of angles between the first rotation axis15and the second rotation axis16. In some embodiments, the angle between the first rotation axis15and the second rotation axis16may be within a range of 45-90 degrees. Merely by way of example, the first rotation axis15may be perpendicular to the second rotation axis16, the first rotation axis15may be parallel to the X-axis direction as shown inFIG.1, and the second rotation axis16may be parallel to the Z-axis direction as shown inFIG.1. As another example, the angle between the first rotation axis15and the second rotation axis16may be 60 degrees. In some embodiments, the angle between the first rotation axis15and the second rotation axis16may be determined based on actual needs (e.g., a treatment range). In some embodiments, the angle between the first rotation axis15and the second rotation axis16may be fixed and determined when the medical device10is assembled. Alternatively, the angle between the first rotation axis15and the second rotation axis16may be dynamically adjusted. For example, the angle between the first rotation axis15and the second rotation axis16may be dynamically adjusted by the embodiments inFIG.8. More descriptions may be found in the related descriptions ofFIG.8.

In some embodiments, a distance between the treatment ray emitter171during the rotation process and the lesion site may remain constant, thereby further accurately controlling a dose of the treatment rays. In addition, the treatment device17and the first scanning device18may be prevented from interfering with each other during the rotation process, effectively improving the use safety of the medical device10.

In some embodiments, a distance from the treatment ray emitter171to the isocenter of the treatment device17is referred to as a first isocenter distance, and a distance from the treatment ray receiver172to the isocenter of the treatment device17is referred to as a second isocenter distance. A sum of the first isocenter distance and the second isocenter distance may be greater than a size of the scanning and treatment space. For convenience of description,FIG.4provides a schematic diagram illustrating an exemplary irradiation angle of a treatment device. The first isocenter distance is denoted as L1. The second isocenter distance is denoted as L2. The isocenter of the treatment device17is denoted as P. The scanning and treatment space refers to a region that is inaccessible during the rotation process of the first scanning device18and the treatment device17and configured to accommodate the patient. The size of the scanning and treatment space is denoted as L3. In some embodiments, the sum of the first isocenter distance L1and the second isocenter distance L2may be greater than the size L3of the scanning and treatment space, so as to prevent the treatment device17and the first scanning device18from colliding with the patient during the rotation process. In some embodiments, the first isocenter distance L1and the second isocenter distance L2may be the same or different. In some embodiments, the distance (i.e., the first isocenter distance) between the treatment ray emitter171and the isocenter of the treatment device17may remain constant during the rotation process, and/or the distance between the first scanning ray emitter181and the isocenter of the first scanning device18may remain constant during the rotation process, so that an irradiation dose of the first scanning rays and/or the treatment rays can be more accurately controlled to improve the accuracy of scanning and treatment, and the treatment device17and the first scanning device18can be prevented from interfering with each other during the rotation process. For example, a distance between the treatment ray emitter171and an isocenter of the medical device10(i.e., the isocenter of the treatment device17) during the rotation process and a distance between the first scanning ray emitter181and the isocenter of the medical device10(i.e., the isocenter of the first scanning device18) during the rotation process may remain constant.

Since the treatment ray emitter171and the treatment ray receiver172are mounted on the first support member12, the treatment device17may be driven to rotate around the first rotation axis15through the first support member12. Since the treatment ray emitter171and the treatment ray receiver172are rotatably mounted around the second rotation axis16, the treatment ray emitter171and the treatment ray receiver172may rotate around the second rotation axis16, and the first rotation axis15may intersect with the second rotation axis16. That is to say, the treatment device17may rotate around two different rotation axes (the first rotation axis15and the second rotation axis16), thereby increasing the irradiation range of the treatment rays, and realizing multi-angle and multi-directional adjustment of the irradiation range of the treatment rays.

The irradiation angle refers to an angle between irradiation rays and a straight line that is parallel to the second rotation axis and passes through an isocenter point. As illustrated inFIG.4, the patient needs to be located in a middle region of the scanning and treatment space, the lesion site may coincide with the point P (isocenter), and the irradiation angle is denoted as α inFIG.4. In some embodiments, the distance L1from a treatment ray source (i.e., the treatment ray emitter171) to the isocenter point may be determined based on the irradiation angle α, a structural size of the treatment ray emitter171, and a reserved size L3of the scanning and treatment space (i.e., a treatment aperture). For example, when the structural size of the treatment ray emitter171and the irradiation angle α remain constant, the closer the treatment ray emitter171is to an edge of the scanning and treatment space, the smaller the distance L1from the treatment ray emitter171of the treatment device17to the isocenter point. The larger the structural size of the treatment ray emitter171, the larger the space occupied by the treatment ray emitter171, and the larger the distance from the treatment ray emitter171to the edge of the scanning and treatment space, which in turn increases the distance L1from the treatment ray emitter171of the treatment device17to the isocenter point. Therefore, when the irradiation angle α, the structural size of the treatment ray emitter171, and the reserved size L3of the scanning and treatment space are determined, a minimum value of the distance L1from the treatment ray emitter171of the treatment device17to the isocenter point may be determined. In this way, the treatment ray emitter171can be mounted based on the minimum value of the distance L1to avoid collision with the patient.

The irradiation range of rays refers to a region covered by the rays when the rays are directed at a three-dimensional target region (or referred to as the lesion site).FIG.5is a schematic diagram illustrating an exemplary irradiation model of treatment rays emitted by the treatment device17. In the embodiments ofFIG.5, when the treatment device17rotates around the first rotation axis15and the second rotation axis16, the treatment device17may irradiate a three-dimensional target region M at different irradiation angles. A region corresponding to Q1represents an irradiation region that can be covered by treatment rays in space (i.e., the coverage area of the treatment rays in space), and a region corresponding to Q2represents a non-irradiation region that can not be covered by the treatment rays. A region corresponding to Q4represents a region on the three-dimensional target region M that can be covered by the treatment rays (i.e., the coverage area of the treatment rays on the three-dimensional target region M). A region corresponding to Q3represents a region on the three-dimensional target area M that cannot be covered by the treatment rays. It can be seen fromFIG.5that the embodiments of the present disclosure ensure that an area of the region covered by the treatment rays is large, and only a small part of the region is the non-irradiation region of the treatment rays, which indicates that the irradiation regions of the first scanning rays and the treatment rays emitted by the first scanning device18and the treatment device17, respectively, in the embodiments of the present disclosure are relatively large.

Similarly, since the first scanning ray emitter181and the first scanning ray receiver182are disposed on the first support member12, the first scanning device18may be driven to rotate around the first rotation axis15through the first support member12. When the first scanning ray emitter181and the first scanning ray receiver182rotate around the second rotation axis16synchronously, it may be equivalent to that the first scanning device18rotates around two rotation axes. That is to say, the first scanning device18may rotate around two different rotation axes, which may increase the irradiation range of the first scanning rays, thereby realizing multi-angle and multi-directional adjustment of the irradiation angle of the first scanning rays.

In addition, since the first scanning device18and the treatment device17are both mounted on the first support member12, the first scanning device18and the treatment device17may not interfere with each other during the rotation process, which may effectively improve the use safety of the medical device10. Since the isocenter of the treatment device17always coincides with the isocenter of the first scanning device18, no matter what position the treatment device17and the first scanning device18rotate to, scanning, imaging, and treatment can be performed on the lesion site if the patient20is in a same position, so that a relative positioning error in scanning, imaging and treatment can be avoided, thereby effectively improving the accuracy of radiotherapy.

In some embodiments, the treatment ray emitter171may include a linear accelerator, a cyclotron, a synchrotron, or the like. In some embodiments, the treatment rays may include relatively high energy beams (e.g., megavolt (MV) beams). In some embodiments, the first scanning ray emitter181may include an x-ray tube, the linear accelerator, or the like. In some embodiments, the first scanning rays may include relatively low energy beams (e.g., kilovolt (kV) beams). In some embodiments, the first scanning rays may include x-rays, y-rays, a-rays, ultraviolet rays, radio frequency (RF), radar, laser, neutrons, protons, or the like, or any combinations thereof. In some embodiments, the treatment ray receiver172and the first scanning ray receiver182may include a flat panel detector or a curved surface detector.

In some embodiments, referring toFIGS.1-3, the medical device10may further include a second support member13and a third support member14. The second support member13and the third support member14may be spaced apart from each other along an extension direction of the second rotation axis16. The second support member13and the third support member14may be rotatably mounted on the first support member12around the second rotation axis16synchronously. The treatment ray emitter171may be disposed on one of the second support member13and the third support member14, and the treatment ray receiver172may be disposed on the other of the second support member13and the third support member14. The treatment ray receiver172may be disposed on a path of the treatment rays emitted by the treatment ray emitter171, so that the treatment ray receiver172may receive the treatment rays emitted by the treatment ray emitter171. Merely by way of example, the treatment ray emitter171may be disposed on the second support member13, the treatment ray receiver172may be disposed on the third support member14, and the treatment rays emitted by the treatment ray emitter171may be irradiated to the treatment ray receiver172. Since the second support member13and the third support member14are mounted on the first support member12and rotate around the second rotation axis16synchronously, the second support member13and the third support member14may respectively drive the treatment ray emitter171and the treatment ray receiver172to rotate around the second rotation axis16synchronously to control the irradiation angle of the treatment rays.

In some embodiments, the first scanning ray emitter181may be disposed on one of the second support member13and the third support member14, and the first scanning ray receiver182may be disposed on the other of the second support member13and the third support member14. The first scanning ray receiver182may be disposed on a path of the first scanning rays emitted by the first scanning ray emitter181, so that the first scanning ray receiver182may receive the first scanning rays emitted by the first scanning ray emitter181. For example, in the embodiments ofFIG.1, the first scanning ray emitter181may be disposed on the second support member13, the first scanning ray receiver182may be disposed on the third support member14, and the first scanning rays emitted by the first scanning ray emitter181may be irradiated to the first scanning ray receiver182.

In some embodiments, the first scanning ray emitter181and the treatment ray emitter171may both be disposed on one of the second support member13and the third support member14, and the first scanning ray receiver182and the treatment ray receiver172may both be disposed on the other of the second support member13and the third support member14, as long as the isocenter of the first scanning device18coincides with the isocenter of the treatment device17. Merely by way of example, as illustrated inFIG.1, the first scanning ray emitter181and the treatment ray emitter171may both be disposed on the second support member13, and the first scanning ray receiver182and the treatment ray receiver172may both be disposed on the third support member14. As another example, the first scanning ray emitter181and the treatment ray emitter171may both be disposed on the third support member14, and the first scanning ray receiver182and the treatment ray receiver172may both be disposed on the second support member13.

In some embodiments, the first scanning ray emitter181and the treatment ray emitter171may be disposed on different support members. For example, the first scanning ray emitter181may be disposed on the third support member14, the first scanning ray receiver182may be disposed on the second support member13, the treatment ray emitter171may be disposed on the second support member13, and the treatment ray receiver172may be disposed on the third support member14. In some embodiments, referring toFIGS.1-4, when the first scanning ray emitter181and the treatment ray emitter171are both disposed on the second support member13or the third support member14, the first scanning ray emitter181and the treatment ray emitter171may be arranged symmetrically with respect to the second rotation axis16. Alternatively, the first scanning ray emitter181and the treatment ray emitter171may be arranged asymmetrically with respect to the second rotation axis16. A distance from the first scanning ray emitter181to the second rotation axis16and a distance from the treatment ray emitter171to the second rotation axis may be set based on use requirements of the medical device, respectively. Similarly, when the first scanning ray receiver182and the treatment ray receiver172are both disposed on the second support member13or the third support member14, the first scanning ray receiver182and the treatment ray receiver172may be arranged symmetrically with respect to the second rotating axis16. Alternatively, the first scanning ray receiver182and the treatment ray receiver172may be arranged asymmetrically with respect to the second rotation axis16. A distance from the first scanning ray receiver182to the second rotation axis16and a distance from the treatment ray receiver172to the second rotation axis16may be set based on the use requirements of the medical device, respectively. In some embodiments, by disposing the first scanning ray emitter181and the first scanning ray receiver182on the second support member13and the third support member14, respectively, the first scanning ray emitter181and the first scanning ray receiver182rotate around the second rotation axis16synchronously, and the first scanning device18and the treatment device17can move synchronously.

In some embodiments, the first support member12may be rotationally connected with the gantry11by means including a gear mechanism, a cam mechanism, a conveyor belt mechanism, a worm gear mechanism, and a rotary bearing mechanism. Merely by way of example, as illustrated inFIGS.1-4, the medical device10may include a first bearing191. An outer ring (i.e., a fixed portion) of the first bearing191may be connected with the gantry11, and an inner ring (i.e., a rotation portion) of the first bearing191may be connected with the first support member12. An axial direction of the first bearing191may coincide with the first rotation axis15, so that the first support member12may rotate around the first rotation axis15relative to the gantry11.

In some embodiments, the medical device10may include a slide rail disposed along a circumferential direction of the gantry11. The first support member12may include a first sliding device and a second sliding device. The first sliding device may be configured to slidably mount the treatment ray emitter171in the slide rail. The second sliding device may be configured to slidably mount the treatment ray receiver172in the slide rail. More descriptions regarding the slide rail and the sliding devices may be found inFIG.9and related descriptions thereof.

In some embodiments, the second support member13may be connected with the first support member12through a second bearing192. The third support member14may be connected with the first support member12through a third bearing193. A rotatable connection of the second support member13with the first support member12and a rotatable connection of the third support member14with the first support member12may be the same as or similar to a rotatable connection of the first support member12with the gantry11, which are not repeated here.

In some embodiments, the second support member13may be rotatably mounted on the first support member12around a third rotation axis. The third support member14may be rotatably mounted on the first support member12around a fourth rotation axis. More descriptions regarding mounting modes of the second support member13and the third support member14may be found inFIG.8and related descriptions thereof.

In some embodiments, the first support member12may include an annular structure. The gantry11may include an accommodating hole111. The annular structure may be mounted within the accommodating hole111. The second support member13and the third support member14may be connected with an inner ring123of the first support member12. The accommodating hole111of the gantry11may be configured to accommodate a couch, the patient20, the first support member12, etc. The annular structure refers to a structure with a hollow interior. The annular structure may include an outer ring124and the inner ring123. The outer ring124may be connected with an inner wall of the accommodating hole111(e.g., connected with the accommodating hole111through the first bearing191). The inner ring123may be connected with the second support member13and the third support member14(e.g., connected with the second support member13and the third support member14through the second bearing192and the third bearing193, respectively). In some embodiments, a shape of the accommodating hole111may include regular or irregular shapes such as a circle, an ellipse, a square, etc. A shape of the outer ring124of the annular structure may match the shape of the accommodating hole111. For example, in the embodiments ofFIG.1, the shape of the accommodating hole111and the shape of the outer ring124of the annular structure may be the circle, respectively. Similarly, in some embodiments, the shape of the inner ring123of the annular structure may include the regular or irregular shapes such as the circle, the ellipse, the square, etc. For example, in the embodiments ofFIG.1, the shape of the inner ring123of the annular structure may be the square. In some embodiments, by arranging the first support member12in the form of the annular structure, the outer ring124of the first support member12may be connected with the gantry11, and the inner ring123of the first support member12may be connected with the second support member13or the third support member14, thereby making an overall structural layout of the medical device10more compact, and occupy less space.

In some embodiments, referring toFIGS.1-3, the medical device10may include a driving component (not shown in the figures). The driving component may be configured to drive the support members to move. In some embodiments, the driving component may include a first driving member, a second driving member, and a third driving member. The first driving member may be connected with the first support member12to drive the first support member12to move. The second driving member may be connected with the second support member13to drive the second support member13to move. The third driving member may be connected with the third support member14to drive the third support member14to move. In some embodiments, the first driving member, the second driving member, and the third driving member may include a power mechanism and a transmission mechanism, respectively. An output member of the power mechanism may be connected with the transmission mechanism to transmit power to the corresponding support member through the transmission mechanism to drive the corresponding support member to move. In some embodiments, the transmission mechanism may include a gear transmission mechanism, a cam transmission mechanism, a conveyor belt transmission mechanism, a worm gear transmission mechanism, or the like. In some embodiments, the power mechanism may include an electric motor, a hydraulic cylinder, a pneumatic cylinder, or the like.

In some embodiments, the driving component may include a synchronous movement mechanism (not shown in the figure). The synchronous movement mechanism may be connected with the second driving member and the third driving member, so that the second driving member and the second driving member may move synchronously. Merely by way of example, the second support member13and the third support member14may be powered by the same power mechanism, and the power may be transmitted to the second support member13and the third support member14through the gear transmission mechanism. The synchronous movement mechanism may include a synchronous belt transmission mechanism. A driving gear that drives the second support member13and a driving gear that drives the third support member14may be connected with two ends of the synchronous belt transmission mechanism, respectively, to realize the synchronous movement of the second support member13and the third support member14. As another example, the medical device10may include a controller (e.g., a controller103of the medical system100). The controller may be in communicating connection with the second driving member and the third driving member. The controller may control output shafts of the second driving member and the third driving member to rotate in a same direction at a same speed, thereby realizing the synchronous movement.

FIG.6is a schematic diagram illustrating an exemplary medical device60according to some embodiments of the present disclosure.

As illustrated inFIG.6, the medical device60may include a treatment device67, a second scanning device68, and a first support member62. The treatment device67may include a treatment ray emitter671and a treatment ray receiver672. The treatment ray emitter671and a treatment ray receiver672may be rotatably mounted on the first support member62around the second rotation axis16synchronously. The treatment device67may be similar to the treatment device17, the descriptions of which are not repeated here.

The second scanning device68may include a second scanning ray emitter681configured to emit second scanning rays and a second scanning ray receiver682configured to receive the second scanning rays. The second scanning ray emitter681and the second scanning ray receiver682may be fixedly mounted on the first support member62. The second scanning ray emitter681and the second scanning ray receiver682may be disposed on two sides of a plane (i.e., a Z-X plane) defined by the first rotation axis15and the second rotation axis16, respectively. Since the first rotation axis15intersects with the second rotation axis16, the first rotation axis15and the second rotation axis16may define a unique plane.

In some embodiments, a connection line between the second scanning ray emitter681(where an emitter head of the second scanning ray emitter681is located) and the second scanning ray receiver682(where a receiver head of the second scanning ray receiver682is located) may have an intersection point with the first rotation axis15. The intersection point may be an isocenter point of the second scanning device68. When the first support member62rotates around the first rotation axis15, the second scanning rays emitted by the second scanning ray emitter681may always be received by the second scanning ray receiver682.

In some embodiments, the second scanning ray emitter681and the second scanning ray receiver682may be arranged symmetrically with respect to the plane defined by the first rotation axis15and the second rotation axis16. For example, a distance from the second scanning ray emitter681to the isocenter point of the second scanning device68may be equal to a distance from the second scanning ray receiver682to the isocenter point of the second scanning device68. In some embodiments, the second scanning ray emitter681and the second scanning ray receiver682may arranged asymmetrically with respect to the plane defined by the first rotation axis15and the second rotation axis16. The distance from the second scanning ray emitter681to the isocenter point of the second scanning device68and the distance from the second scanning ray receiver682to the isocenter point of the second scanning device68may be set based on use requirements of the medical device60.

In some embodiments, in order to reduce a transmission distance of the second scanning rays and correspondingly reduce an energy loss during the transmission of the second scanning rays, the connection line between the second scanning ray emitter681and the second scanning ray receiver682may be perpendicular or approximately perpendicular to the plane defined by the first rotation axis15and the second rotation axis16.

In some embodiments, an emission period of the second scanning rays may not coincide with an emission period of treatment rays. For example, the second scanning device68may first emit the second scanning rays, and then the treatment device may emit the treatment rays. As another example, the treatment device may first emit the treatment rays, and then the second scanning device may emit the second scanning rays. In some embodiments, the emission period of the second scanning rays may at least partially coincide with the emission period of the treatment rays. A region to be treated may be treated and imaged simultaneously during a coincided period.

In some embodiments, as illustrated inFIG.6, a gantry61may include a first gantry component612and a second gantry component613. The first gantry component612and the second gantry component613may be spaced apart from each other along an extension direction of the first rotation axis15. Two ends of the first support member62along the extension direction of the first rotating axis15may be rotationally connected with the first gantry component612and the second gantry component613, respectively. The second scanning ray emitter681and the second scanning ray receiver682may be disposed on the first support member62between the first gantry component612and the second gantry component613to rotate around the first rotation axis15along with the first support member62.

In some embodiments, by providing the first gantry component612and the second gantry component613to support the first support member62, the stability of the first support member62can be improved. In addition, the better the imaging performance of the second scanning device68, the heavier the second scanning device68. By providing the first gantry component612and the second gantry component613for support, the support stability can be enhanced, and the second scanning device with better performance and heavier weight can also operate stably.

In some embodiments, as illustrated inFIG.6, the first support member62may include a first support end portion621, a second support end portion622, and a connecting portion623. The connecting portion623may be connected between the first support end portion621and the second support end portion622. The first support end portion621may be rotatably connected with the first gantry component612. The second support end portion622may be rotatably connected with the second gantry component613. The second support member63and the third support member64may be rotatably mounted on the connecting portion623around the second rotation axis16. The second scanning ray emitter681and the second scanning ray receiver682may be connected to the connecting portion623.

In the embodiments, the second scanning ray emitter681and the second scanning ray receiver682may rotate around the first rotation axis5through the first support end portion621and the second support end portion622. In addition, since the second support member63and the third support member64are disposed on the connecting portion623, the treatment ray emitter671and the treatment ray receiver672may rotate around the second rotation axis16through the second support member63and the third support member623. That is, the second scanning device68may rotate around the first rotation axis15, and the treatment device67may rotate around the first rotation axis15and the second rotation axis16.

In some embodiments, the first support member62may have a frame structure, and each of the first support end portion621and the second support end portion622may have a square, a circle, an ellipse, or other regular or irregular plate-shaped or block-shaped structure. The connecting portion623may include at least two rods, plates or blocks configured to connect the first support end portion621and the second support end portion622. In some embodiments, the first support member62may have a cylindrical structure. For example, the first support member62may be a cylinder or a square cylinder.

In some embodiments, the first gantry component612and the second gantry component613may include an accommodating hole611, respectively. The first support end portion621and the second support end portion622may include an annular structure, respectively. The annular structure may be mounted within the accommodation hole611and rotationally connected with the accommodating hole611. In some embodiments, a first bearing691may be provided between the accommodating hole611and the annular structure, so that the accommodating hole611may be rotatably connected with the annular structure. Specifically, the first gantry component612and the second gantry component613may be connected and fixed with an outer ring of the first bearing691through the accommodating hole611, respectively. The first support end portion621and the second support end portion622may be connected and fixed with an inner ring of the first bearing691through the annular structure, respectively. In some embodiments, the accommodating hole611may match a shape of the outer ring of the first bearing691. For example, the accommodating hole611may have a regular or irregular shape such as a circle or a square. In some embodiments, the accommodating holes611may have a circular hole structure. In some embodiments, the annular structure may match a shape of the inner ring of the first bearing691.

In some embodiments, as illustrated inFIG.6, when the connecting portion623includes two rods6232, the two rods6232may be disposed on two sides of a plane defined by the first rotation axis15and the second rotation axis16, respectively. Two ends of the two rods6232may be connected with the first gantry component612and the second gantry component613, respectively. The second scanning ray emitter681and the second scanning ray receiver682may be connected on the two rods6232, respectively. In some embodiments, the second scanning ray emitter681and the second scanning ray receiver682may be fixedly connected or detachably connected with the connecting portion623. A fixed connection may include bonding, welding, etc. A detachable connection may include a snap connection, a threaded connection, etc.

In some embodiments, as illustrated inFIG.6, the second support member63may be connected with the connecting portion623of the first support member62through a second bearing (not shown in the figure), and the third support member64may be connected with the connecting portion623through a third bearing (not shown in the figure). In some embodiments, the connection portion623may include two plates6231. Two ends of the two plates6231along an extension direction of the first rotation axis15may be connected with the first gantry component612and the second gantry component612, respectively. The treatment device67may be disposed on the two plates6231. Merely by way of example, in the embodiments ofFIG.6, the connecting portion623may include the two plates6231and the two rods6232. Each of the two plates6231may have a rectangular plate structure. The two plates6231and the two rods6232may be spaced apart from each other around a circumferential direction of the first rotation axis15. Two ends of each of the two plats6231and each of the two rods6232along the extension direction of the first rotation axis15may be connected with the first support end portion621and the second support end portion622, respectively. The second support member63and the third support member64may be rotatably disposed on the two plates6231through the second bearing (not shown in the figure) and the third bearing (not shown in the figure), respectively, so that the second support member63and the third support member64may rotate around the second rotation axis16synchronously.

In some embodiments, the second support member63may be rotatable mounted on the upper plate6231around an axis parallel to the first rotation axis15. For example, the installation manner of the second support member63may be similar to the second support member13as described in connection withFIG.8. In some embodiments, the treatment ray emitter671may be rotatably mounted on the second support member63so that an irradiation angle of the treatment rays can be adjusted flexibly.

FIG.7is a schematic diagram illustrating an exemplary medical device70according to some embodiments of the present disclosure. The medical device70may be similar to the medical device10, except that the medical device70includes both the first scanning device18and a second scanning device23.

The first scanning device18may include the first scanning ray emitter181configured to emit first scanning rays and the first scanning ray receiver182configured to receive the first scanning rays. The first scanning ray emitter181and the first scanning ray receiver182may be rotatably mounted on the first support member12around the second rotation axis16simultaneously. The second scanning device23may include a second scanning ray emitter231configured to emit second scanning rays and a second scanning ray receiver232configured to receive the second scanning rays. The second scanning ray emitter231and the second scanning ray receiver232may be fixedly mounted on the first support member12.

In some embodiments, the second scanning ray emitter231and the second scanning ray receiver232may be disposed on two sides of a plane defined by the first rotation axis15and the second rotation axis16(i.e., a Z-X plane). In some embodiments, the second scanning ray emitter231and the second scanning ray receiver232may be mounted at any position on the first support member12(e.g., an interior of an inner ring, a position between the inner ring and an outer ring, etc.), as long as the second scanning ray receiver232is located on a transmission path of the second scanning rays emitted by the second scanning ray emitter231. In some embodiments, a connection line between the second scanning ray emitter231(where an emitter head of the second scanning ray emitter231is located) and the second scanning ray receiver231(where a receiver head of the second scanning ray receiver231is located) may have an intersection point with the first rotation axis15. The intersection point may be an isocenter point of the second scanning device23. When the first support member12rotates around the first rotation axis15, the second scanning rays emitted by the second scanning ray emitter231may always be received by the second scanning ray receiver232. In some embodiments, the second scanning ray emitter231and the second scanning ray receiver232may be arranged symmetrically or asymmetrically relative to the plane defined by the first rotation axis15and the second rotation axis16. In some embodiments, a mounting mode of the second scanning device23may be similar to the mounting mode of the second scanning device68inFIG.6, the descriptions of which are not repeated here.

In some embodiments, the first scanning device18and the second scanning device23may be configured to image a region to be treated before radiotherapy (i.e., before treatment rays are emitted), during radiotherapy (i.e., when the treatment rays are emitted), and/or after radiotherapy (i.e., after the treatment rays are emitted). In some embodiments, the first scanning device18may be configured to image the region to be treated during radiotherapy, thereby acquiring a treatment image. In this case, an emission period of the first scanning rays may at least partially coincide with an emission period of treatment rays. The treatment image acquired by the first scanning device18during radiotherapy may be used for monitoring (e.g., tracking movement) of the region to be treated, thereby realizing dynamic adjustment of radiotherapy, and improving treatment accuracy. Since the first scanning device18and the treatment device17are mounted on the second support member13, the first scanning device18and the treatment device17may move synchronously, and the treatment image acquired by the first scanning device18during radiotherapy may better guide radiotherapy. In some embodiments, the second scanning device23may be configured to image the region to be treated before radiotherapy, thereby acquiring a planning image. In this case, the emission period of the first scanning rays may not coincide with the emission period of the treatment rays. The planning image acquired by the second scanning device23before radiotherapy may be used to formulate a treatment plan.

In some embodiments, the first scanning rays and the second scanning rays may be the same type or different types of beams. For example, the first scanning rays and the second scanning rays may be x-rays. A dose of the first scanning rays and a dose of the second scanning rays may be determined based on actual needs. The dose of the first scanning rays and the dose of the second scanning rays may be the same or different. In some embodiments, when the second scanning device23is used for imaging before treatment and the first scanning device18is used for imaging during treatment, the dose of the second scanning rays may be higher than the dose of the first scanning rays. It should be understood that the planning image needs a higher image quality to ensure the accuracy of the treatment plan; while a quality requirement for the treatment image may be relatively low. Therefore, the planning image may be acquired using the second scanning rays of a relatively high dose, and the treatment image may be acquired using the first scanning rays of a relatively low dose, thereby improving the accuracy of the treatment plan, and avoiding excessive radiation to the patient during treatment.

In some embodiments, the first scanning device18may include a digital radiographic (DR) device, and the second scanning device23may include a computed tomographic (CT) device.

FIG.8is a schematic diagram illustrating an exemplary medical device80according to some embodiments of the present disclosure. The medical device80may be similar to the medical device10, except that the second support member13and the third support member14are mounted in different ways.

As illustrated inFIG.8, the second support member13may be rotatably mounted on the first support member12around the third rotation axis, and the third rotation axis may be parallel to an extension direction of an intersection line between the second support member13and the first support member12. The third support member14may be rotatably mounted on the first support member12around the fourth rotation axis. The fourth rotation axis may be parallel to an extension direction of an intersection line between the third support member14and the first support member12. The third rotation axis may be parallel to the fourth rotation axis. Specifically, the dotted line21inFIG.8represents the intersection line between the second support member13and the first support member12, the dotted line22represents the intersection line between the third support member14and the first support member12, the third rotation axis coincides with the intersection line21, the fourth rotation axis coincides with the intersection line22, and the intersection line21is parallel to the intersection line22.

The second support member13being rotatably mounted on the first support member12around the third rotation axis refers to that the second support member13may be mounted on the first support member12and may rotate around the third rotation axis relative to the first support member12. The third support member14being rotatably mounted on the first support member12around the fourth rotation axis refers to that the third support member14may be mounted on the first support member12and may rotate around the fourth rotation axis relative to the first support member12. In some embodiments, the second support member13and the third support member14may rotate synchronously around the third rotation axis and the fourth rotation axis, respectively. During a rotation process, the second support member13and the third support member14may always be opposite each other, and an isocenter of the treatment device17may coincide with an isocenter of the first scanning device18. In some embodiments, the second support member13and the third support member14may rotate in a limited angle range to avoid collision with the gantry11or the patient and prevent the treatment rays and the first scanning rays from being blocked by the gantry11.

In some embodiments, as mentioned above, the treatment ray emitter171and the first scanning ray emitter181may be disposed on one of the second support member13and the third support member14, and the treatment ray receiver172and the first scanning ray receiver182may be disposed on the other of the second support member13and the third support member14. For example, as illustrated in the embodiment ofFIG.8, the treatment ray emitter171and the first scanning ray emitter181may be disposed on the second support member13, and the treatment ray receiver172and the first scanning ray receiver182may be disposed on the third support member14. Therefore, the treatment ray emitter171and the first scanning ray emitter181may be driven to rotate around the third rotation axis through the second support member13. The treatment ray receiver172and the first scanning ray receiver182may be driven to rotate around the fourth rotation axis through third support member14.

In some embodiments, the second support member13may be connected with the first support member12through a fourth bearing194, so that the second support member13may rotate around the third rotation axis. The third support member14may be connected with the first support member12through a fifth bearing195, so that the third support member14may rotate around the fourth rotation axis. A rotatable connection mode of the second support member13, the third support member14, and the first support member12may be the same as or similar to the aforementioned rotatable connection mode of the first support member12and the gantry11, which is not repeated here.

In some embodiments of the present disclosure, the second support member13and the third support member14may be rotatably mounted on the first support member12around the third rotation axis and the fourth rotation axis, respectively, so that the second support member13and the third support member14may rotate to drive the treatment device17and the first scanning device18to rotate around the third rotation axis and the fourth rotation axis, respectively, which can increase a rotation range of the treatment device17and the first scanning device18, thereby enlarging an irradiation range of the treatment rays and the first scanning rays, and realizing multi-angle and multi-directional adjustment of an irradiation angle of the treatment rays and the first scanning rays. In addition, when the second support member13and the fourth support member14rotate to a different angle around the third rotation axis and the fourth rotation axis, a direction of the second rotation axis may change, so that an angle between the first rotation axis and the second rotation axis may be adjusted according to different needs.

In some embodiments, the treatment ray emitter171and/or the first scanning ray emitter181may be rotatably mounted on the second support member13. Additionally or alternatively, the treatment ray receiver172and/or the first scanning ray receiver182may be rotatably mounted on the fourth support member14. For example, the irritation angle of the treatment rays may be adjusted by rotating the treatment ray emitter171, and the treatment ray receiver172may be adjusted to receive the treatment rays. In this way, the irradiation range of the treatment rays and the first scanning rays can be further enlarged.

FIG.9is a schematic diagram illustrating an exemplary medical device90according to some embodiments of the present disclosure. The medical device90may be similar to the medical device10, except that a structure of a first support member configured to mount the treatment device17and the first scanning device18in the medical device90is different.

As illustrated inFIG.9, the medical device90may include a slide rail24arranged along a circumferential direction of the gantry11. An axial direction of the slide rail24may coincide with the first rotation axis15. A first support member91may include a first sliding device911and a second sliding device912. The first sliding device911may be configured to slidably mount the treatment ray emitter171in the slide rail24, and the second sliding device912may be configured to slidably mount the treatment ray receiver172in the slide rail24. The first sliding device911and the second sliding device912may be symmetrically arranged on two sides of the first rotation axis15.

In some embodiments, the treatment ray emitter171may be directly or indirectly connected with the first sliding device911. For example, as illustrated inFIG.9, the treatment ray emitter171may be indirectly connected with the first sliding device911through the second support member13. The first sliding device911may drive the second support member13to rotate around the first rotation axis15in the slide rail24, thereby driving the treatment ray emitter171to rotate around the first rotation axis15. As another embodiment, the treatment ray emitter171may be directly connected with the first sliding device911, and the first sliding device911may rotate around the first rotation axis15in the slide rail24, thereby driving the treatment ray emitter171to rotate around the first rotation axis15. A connection mode of the second sliding device912and the treatment ray receiver172may be similar to a connection mode of the first sliding device911and the treatment ray emitter171, which is not repeated here.

In some embodiments, the first sliding device911and the second sliding device912may rotate synchronously around the first rotation axis15, thereby driving the treatment ray emitter171and the treatment ray receiver172to rotate synchronously around the first rotation axis15, so that the treatment ray receiver172may receive treatment rays emitted by the treatment ray emitter171.

In some embodiments, the first sliding device911and the second sliding device912may be directly or indirectly connected with the first scanning device18. For example, the first sliding device911may be directly or indirectly connected with the first scanning ray emitter181, and the second sliding device912may be directly or indirectly connected with the first scanning ray receiver182. Merely by way of example, as illustrated inFIG.9, the first scanning ray emitter181may be indirectly connected with the first sliding device911through the second support member13. The first sliding device911may drive the second support member13to rotate around the first rotation axis15in the slide rail24, thereby driving the first scanning ray emitter181to rotate around the first rotation axis15.

In some embodiments, as illustrated inFIG.9, the first sliding device911may include a first pulley9111mounted in the slide rail24and a first connecting rod9112configured to connect the first pulley9111and the treatment ray emitter171. The second sliding device912may include a second pulley9121mounted in the slide rail24and a second connecting rod9122configured to connect the second pulley9121and the treatment ray receiver172. The first pulley9111and the second pulley9121may slide in the slide rail24. The first connecting rod9112and the second connecting rod9122may be directly or indirectly connected with the treatment ray emitter171and the treatment ray receiver172, thereby driving the treatment ray emitter171and the treatment ray receiver172to rotate synchronously around the first rotation axis15.

In some embodiments, a plurality of first connecting rods9112and a plurality of second connecting rods9122may be provided. For example, one first connecting rod9112and one second connecting rod may be provided, two first connecting rods9112and two second connecting rods may be provided, three first connecting rods9112and three second connecting rods may be provided, etc. Taking the first connecting rod9112as an example, as illustrated inFIG.9, one first connecting rod9112may be provided. In some embodiments, two or more first connecting rods9112may be provided to improve a connection strength and a connection stability of the two or more first connecting rods9112, thereby improving a mounting stability of the treatment device17. In some embodiments, two first connecting rods9112may be provided to connect the treatment ray emitter171and the first scanning ray emitter181, respectively, and two second connecting rods9122may be provided to connect the treatment ray receiver172and the first scanning ray emitter181, respectively.

In some embodiments, a length of the first connecting rod9112and/or the second connecting rod9122may be fixed. In some embodiments, as illustrated inFIG.9, the length of the first connecting rod9112may be adjusted to adjust a distance from the treatment ray emitter171to the gantry11. The length of the second connecting rod9122may be adjusted to adjust a distance from the treatment ray receiver172to the gantry11. The lengths of the first connecting rod9112and the second connecting rod9122may be adjusted through cylinder adjustment, knob adjustment, etc. In some embodiments, when the first sliding device911and the second sliding device912are connected with the first scanning device18, the distance from the first scanning ray emitter181to the gantry11and the distance from the second scanning ray receiver182to the gantry11may be adjusted through the first connecting rod9112and the second connecting rod9122. In some embodiments, when the lengths of the first connecting rod9112and the second connecting rod9122are adjusted, an isocenter of the treatment device17may coincide with an isocenter of the first scanning device18.

A distance from the treatment device17and/or the first scanning device18to the gantry11or the patient20may be adjusted by adjusting the lengths of the first connecting rod9112and the second connecting rod9122, so that radiotherapy for different types of patients (e.g., children or adults) or different lesion sites (e.g., a head or a chest) can be realized, thereby meeting different treatment needs.

In some embodiments, as illustrated inFIG.9, the medical device90may further include a third scanning device25. The third scanning device25may include a third scanning ray emitter251and a third scanning ray receiver252. The third scanning ray emitter251and the third scanning ray receiver252may be slidably mounted in the slide rail24through sliding devices, respectively. The sliding devices may slide in the slide rail24to drive the third scanning ray emitter251and the third scanning ray receiver252to rotate around the first rotation axis15. In some embodiments, the third scanning device25may be configured to image a region to be treated before radiotherapy (i.e., before treatment rays are emitted), during radiotherapy (i.e., when the treatment rays are emitted), and/or after radiotherapy (i.e., after the treatment rays are emitted). In some embodiments, the function of the third scanning device25may be similar to that of the second scanning device23.

In some embodiments of the present disclosure, the treatment device and the scanning devices may be mounted using the slide rail and the sliding devices, which can realize multi-dimensional rotation of the treatment device and the scanning devices, increase an irradiation range of the treatment rays and the scanning rays, and realize multi-angle and multi-directional adjustment of irradiation angles of the treatment rays and the scanning rays. In addition, the treatment device and the scanning devices may be flexibly mounted and removed through the sliding devices. Furthermore, any count of scanning devices may be mounted through the sliding devices, thereby meeting different needs.

It should be noted that the examples shown inFIGS.1and6-9and above descriptions thereof are merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. For example, similar to the first supporting member, the second supporting member and/or the third supporting member may have a frame structure or a sliding device structure.

FIG.10is a schematic module diagram illustrating an exemplary medical system100according to some embodiments of the present disclosure.

As illustrated inFIG.10, the medical system100may include a medical device101, a couch102, and a controller103. The medical device101may be a medical device (e.g., any one of the medical devices10,60,70,80, and90) described in the embodiments of the present disclosure. The couch102may be configured to support a patient (e.g., the patient20inFIG.1). The controller103may be configured to process data related to the medical system100.

In some embodiments, the medical device101may further include a first scanning device (e.g., the first scanning device18) and/or a second scanning device (e.g., the second scanning device23or68). The first scanning device may include a first scanning ray emitter configured to emit first scanning rays and a first scanning ray receiver configured to receive the first scanning rays emitted by the first scanning ray emitter. The first scanning ray emitter and the first scanning ray receiver may be rotatably mounted on a first support member around a second rotation axis synchronously. The second scanning device may include a second scanning ray emitter configured to emit second scanning rays and a second scanning ray receiver configured to receive the second scanning rays emitted by the second scanning ray emitter. The second scanning ray emitter and the second scanning ray receiver may be fixedly mounted on the first support member.

In some embodiments, the controller103may be configured to determine a region to be treated for the patient; control the couch102to move such that an isocenter of the medical device101may be located in the region to be treated; control a treatment device to rotate around the second rotation axis to adjust an irradiation angle of the treatment rays to be emitted by the treatment ray emitter; and control the first support member to rotate around the first rotation axis while controlling the treatment device to emit the treatment rays for performing radiotherapy.

The region to be treated refers to a region that needs to be treated or scanned and imaged for the patient, i.e., a lesion site. In some embodiments, the region to be treated for the patient may be determined by pre-stored lesion data of the patient. In some embodiments, the region to be treated for the patient may be determined by inputting the lesion data of the patient into the medical system100. In some embodiments, the controller103may be further configured to control the first scanning device and/or the second scanning device to scan and acquire a planning image of the patient, and determine the region to be treated for the patient based on the planning image. For example, target objects (e.g., various signs) may be arranged in the region to be treated for the patient, and the region to be treated for the patient may be determined by recognizing the target objects in the planning image. As another example, a medical worker may determine the region to be treated for the patient by performing operations such as clicking or circling the region to be treated for the patient in the planning image.

In some embodiments, positions of an isocenter point of the treatment device and an isocenter point of the scanning device may always be constant, so that the positions of the isocenter points may be stored in the controller. The controller103may obtain the positions of the isocenter points and the region to be treated, and control the couch to move until the isocenter points are located in the region to be treated. Merely by way of example, the couch may have a fixed initial position, and a position of the patient relative to the couch may be basically fixed. After the region to be treated of the patient is determined, the position of the region to be treated relative to the couch be determined. The controller103may be in communicating connection with a movement system of the couch to send a movement instruction to the movement system of the couch, thereby controlling the couch to move such that the positions of the isocenter points are located in the region to be treated.

In some embodiments, due to a positioning error between the region to be treated and the isocenter points, a movement error may occur in the movement of the couch and a body displacement of the patient. Therefore, in some embodiments, in order to avoid the positioning error and the movement error of the medical system100, the controller103may control the first scanning device and/or the second scanning device to acquire a preoperative guidance image before an irradiation angle is adjusted to ensure that the positions of the isocenter points are located in the region to be treated. In response to determining that the positions of the isocenter points are located in the region to be treated, the controller may control the treatment device to rotate around the second rotation axis to adjust the irradiation angle of the treatment rays emitted by the treatment ray emitter of the treatment device.

In some embodiments, when the treatment device is controlled to perform radiotherapy, the controller103may be further configured to control the first scanning device and/or the second scanning device to acquire a treatment image of the patient, and determine whether the treatment rays emitted by the treatment device need to be adjusted based on the treatment image. For example, a plurality of treatment images may be acquired during radiotherapy, and whether a movement amplitude of the region to be treated exceeds a threshold may be determined based on the plurality of treatment images. If the movement amplitude exceeds the threshold, the controller103may control the treatment device to stop emitting the treatment rays. Alternatively, the controller103may redetermine an emission angle of the treatment ray based on a latest second scanning device, and control the treatment device to adjust the emission angle of the treatment device so that the treatment rays may always target the region to be treated. In some embodiments, the planning image may be acquired by the second scanning device, and the treatment image may be acquired by the first scanning device.

In some embodiments, the controller103may be implemented by a computing device. For example, the computing device may include a processor, a storage, an input/output (I/O), and a communication port. In some embodiments, the controller103may be part of the medical device101.

The present disclosure further provides a radiotherapy method based on the medical device and the medical system provided in the foregoing embodiments. The radiotherapy method may include the following steps: causing a patient to lie on a couch; then determining a region to be treated for the patient and a position of an isocenter of the medical device; after the region to be treated for the patient is determined, controlling the couch to move so that the isocenter of the medical device is located in the region treated; and adjusting an irradiation angle of treatment rays emitted by a treatment ray emitter of a treatment device by controlling the treatment device to rotate around a second rotation axis based on a position and a range of the region to be treated. In some embodiments, before the irradiation angle of the treatment rays is adjusted, the first scanning device and/or the second scanning device may be controlled to acquire a preoperative guidance image to determine that the position of the isocenter is located in the region treated. After the irradiation angle of the treatment rays is adjusted, a first support member may be controlled to rotate around a first rotation axis while controlling the treatment device to perform radiotherapy.