The content of the invention
According to an aspect of the present invention, a kind of collimator positioner component is disclosed, it is fixed on substrate, the collimationDevice positioning component includes：Driver；Beam can be directed at least by being defined on the carrier driven by the driver, the carrierIt is further defined with two collimation positions, the carrier generally V-shaped with the corresponding section of at least two collimation positions differenceGroove；And locked component, its sleeve for including being fixed on the substrate, the elastic component that is arranged in the sleeve andActuated piece generally spherical in shape to expose and abut on the carrier from the sleeve inner point is put by the elastic component pressure；Wherein, as one at least two collimation positions of the carrier and during the beacon alignment, the locked component it is describedActuated piece is put into groove corresponding with the collimation position by the elastic component pressure.
Specifically, the driver is servomotor.
Specifically, the elastic component is spring.
Specifically, the actuated piece is spherical.More specifically, the actuated piece is steel ball.
Specifically, at least two collimation position includes photon therapy collimation position or electronic therapy collimation positionPut.
Optionally, at least two collimation position include the first energy level collimation position and different from the first energy level theTwo energy level collimation positions.
Specifically, the groove, which has to enter, inclined-plane and exits inclined-plane, wherein, the entrance inclined-plane and described exit inclined-planeThe section being collectively forming substantially forming V-shape, as one at least two collimation positions of the carrier and the beacon alignment,The actuated piece of the locked component is put to engage the entrance inclined-plane respectively and exit inclined-plane by the elastic component pressure.
Optionally, the carrier is disc shape, and the carrier is driven by the driver so that described carryBody is around its center rotating.
More specifically, the groove is limited on the circumferential end faces of the carrier or radial end face.
According to another aspect of the present invention, a kind of collimator positioner component is disclosed, it is fixed on substrate, the standardStraight device positioning component includes：Driver；Define to be aligned on the carrier for being driven and being moved by the driver, the carrier and penetrateAt least two collimation positions of beam；Position initialization component, it is used for the zero-bit that the carrier is set when the carrier movement；Encoder, it couples with the carrier to detect the first actual position information of the relative zero-bit motion of the carrier；PositionConfirm component, it is used to feed back the second actual position information when a carrier collimation position in office；Memory, it is stored withThe location confirmation group at the first precalculated position information and a collimation position in office of the relatively described zero-bit of any collimation positionUnique second precalculated position information corresponding to part；And controller, it is couple to the driver, the encoder, instituteRheme puts initialization component and the location confirmation component, for the first actual position information for being detected according to the encoder withThe memory storage with the first precalculated position information corresponding to collimation position to be positioned controls the driver to driveThe carrier is moved until the first actual position information and the memory storage and standard to be positioned that the encoder is detectedThe first precalculated position information corresponding to straight position is consistent；And the second physical location fed back according to the location confirmation componentInformation is compared to feed back school with the memory storage with the second precalculated position information corresponding to collimation position to be positionedTest information.
Specifically, the position initialization component includes being couple to the first element of the substrate and is couple to the loadSecond element of body, wherein, the zero signal of the carrier is fed back during the first element and the second element coupling.
More specifically, first element switchs for position initialization, second element is to arrange on the carrierProjection.
Specifically, the location confirmation component includes one group of position switch and collimated with one group of position switch in office oneCorresponding multigroup switch triggering part is distinguished in position, wherein, the position switch is fixed on the substrate, the switch triggering partBe set on the carrier, and when the carrier movement, a collimation position in office, the position switch with it is described multigroupOne group of switch triggering part feeds back the second actual position signal because of trigger event.
Specifically, the driver is servomotor.
Specifically, the number of position switch is made a reservation for according to the number of the collimation position in one group of position switch's.
Specifically, the number of the position switch in one group of position switch is 3.
Specifically, the switch triggering part is the projection for being arranged in the carrier.
Specifically, the carrier substantially disc shape, and the carrier is driven by the driver so that instituteCarrier is stated around its center rotating.More specifically, the projection is disposed in the circumferential end faces of the carrier.More specifically,The projection is radially outward protrusion.
According to another aspect of the present invention, a kind of localization method of collimator positioner component is disclosed, including：DriverDrive carrier movement so that the carrier movement arrive during specific location to controller feedback initialize zero message；According to describedFirst precalculated position information of the relatively described zero-bit of collimation position to be positioned and the coding coupled with the carrier on carrierFirst actual position information of the relatively described zero-bit of the carrier of device feedback, controller controls the driver driving is described to carryBody is consistent with first precalculated position information until first actual position information；Location confirmation component feeds back it and detectedThe carrier the second actual position information；And according to the location confirmation component feed back the second actual position information withThe second precalculated position information corresponding to collimation position to be positioned is compared with feedback check information.
Specifically, the check information include when the location confirmation component feed back the second actual position information with it is undeterminedPosition collimation position corresponding to the second precalculated position information it is consistent when confirmation signal and when the location confirmation component is anti-Self-locking when the second precalculated position information corresponding to second actual position information of feedback and collimation position to be positioned is inconsistentSignal.
Specifically, driver driving carrier movement is so that the carrier movement is to anti-to controller during specific locationIn feedback initialization zero message, the initialization zero message is by the initialisation switch trigger member and substrate on the carrierOn position initialization switch triggering and produce.
Specifically, the second actual position information fed back when the location confirmation component and collimation position to be positioned it is rightAfter the second precalculated position information for answering is consistent, in addition to, the step of carrier is locked by locked component.
In the collimator positioner component that the present invention is provided, mechanically positioned using springlock, design is simple adjustable,Without additional electrical control operation, and repetitive positioning accuracy is very high.
In the collimator positioner component that the present invention is provided, a set of detection is electrically being used as using servomotor and encoderDevice, control disc carrier movement reuses the reality of location confirmation component detection disc carrier to target collimation positionPositional information with pre-stored precalculated position information to be contrasted, and thereby, the target collimation position can be checked again, therefore, fixedPosition is relatively reliable.
Embodiment
It is understandable to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to the present inventionSpecific embodiment explain.
As shown in figure 1, Fig. 1 shows the perspective of the collimator positioner component 100 according to one embodiment of the present inventionFigure.The collimator positioner component 100 is fixed on substrate 200, and the collimator positioner component 100 includes：Controller (not shown),Driver 102, encoder 104, disc carrier 106, switch module 108 and locked component 110.Specifically, the disc106 points of carrier is two parts up and down, and top is divided into disc carrier element 106a.Disc carrier element 106a coreCentral through hole is provided with, around the central through hole, seven positioning holes are equably disposed with, each positioning hole is a collimation positionPut, these positioning holes for substantially taper positioning hole, the element that the size and shapes of these positioning holes is positioned as neededType and specification can be different.For example, having plenty of in these positioning holes to collimate photon therapy beam, have plenty ofIn order to collimate electronic therapy beam, moreover, it is also possible to arrange special in specific positioning hole according to the difference of beam energy levelFixed collimating element.Herein, it should be understood that the positioning hole having need not position specific element in the inner, for example, for someElectron beam therapy, can allow the beam from beam source directly by through hole.The lower part 106b's of the disc carrier 106 is straightFootpath is more bigger than disc carrier element 106a diameter but thickness of thickness ratio disc carrier element 106a is small, in the lower part106b outer circumferential is equably arranged with teeth.Although it is not shown, it will be understood, however, that the lower part of the disc carrier 106106b also defines positioning hole and central through hole, and its shape and position and top 106a positioning hole and the shape of central through holeShape and position correspond to each other.As illustrated, the upper part 106a and lower part 106b of disc carrier 106 are aligned with each other,And be rotatably fixed to together by the ball bearing through their central through holes on the substrate 200 of lower section.The typical case of driver 102Ground is servomotor, and the output shaft of the servomotor is fixed with little gear, the little gear and the lower part of disc carrier 106106b tooth is meshed so that can be by little gear band when servomotor is received and rotated from the signal of controller each otherThe dynamic concomitant rotation of disc carrier 106.Encoder 104 is fixed on substrate 200, and its outside is also equipped with little gear, the small toothWheel is also meshed in order to can be with when disc carrier 106 is rotated each other with the lower part 106b of disc carrier 106 toothPinion rotation is driven to calculate the turning collar counting number of little gear the angle of rotation of disc carrier so as to encoderSpend and feed back to controller.
Fig. 2 shows the upper part 106a of disc carrier 106 perspective view, and Fig. 3 shows the upper of disc carrier 106Part 106a top view, Fig. 6 shows what the auxiliary positioning switch and position initialization of Fig. 1 collimator positioner component were switchedPerspective view.With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 6, switch module 108 includes multiple position switch, and multiple position switch are fixed toOn flat board 112, the flat board 112 is fixed on substrate 200 by post 114.Specifically, in the illustrative embodiments, positionSwitch includes position initialization switch, SW0, its sign initialization zero-bit；Also including three in the other position switch can groupSwitched altogether with the auxiliary positioning for characterizing particular location, they are SW1, SW2, SW3, its circular disc carrier element respectively106a top is sequentially arranged, also, in the illustrative embodiments, auxiliary positioning switch SW1 is switched with position initializationSW0 is arranged in juxtaposition in the vertical direction.
Referring to Fig. 4 and Fig. 5, locked component 110 includes the pedestal 1102 being fixed on substrate 200 and fixed to pedestalSleeve 1104 on 1102, wherein, elastic component 1106 and the actuating offseted away by elastic component 1106 are disposed with sleeve 1104Part 1108.As illustrated, the elastic component 1106 is spring, the actuated piece 1108 is substantially spherical steel ball, and the steel ballNumber be two.
The position initialization signal of position initialization switch SW0 in aforementioned location switch feeds back to controller, encoder104 know the disc carrier 106 with respect to the angle that initial zero position has been rotated by, the position that controller feeds back encoder 104Information is compared with predetermined target location, and when disc carrier 106 reaches target location, the disc carrier 106 shouldThis is locked by foregoing locked component 110, and the auxiliary positioning switch detection in should being switched in locking by aforementioned location is specificPosition is verified with feeding back to controller.Therefore, the disc carrier 106 should be disposed with and position switch 108 and lockingThe corresponding structure of component 110.Below, this structure is specifically described.
The upper part 106a of the disc carrier 106, i.e. disc carrier element, above and below its circumferential annular end face is divided intoTwo parts, upper part is mainly used in coordinating aforementioned location switch 108 to carry out aided location detection, and lower part is mainly used in before cooperationState locked component 110 locked in particular locations.Specifically, in the upper part of circumferential annular end face, be equally divided into above and belowTwo parts, in upper part, the position for switching SW0 with position initialization is accordingly provided with a projection as position initializationSW0 switch triggering part is switched, so that, when the disc carrier 106 is rotated, the projection can be with foregoing position initializationSwitch SW0 is contacted so that position initialization switch puts 1；In lower part, multigroup switch triggering part is disposed with interval, and every group is openedClosing trigger member includes one or more projections, one or more of raised one or more with aided location detection switchCorrespond to each other, so that, when disc carrier 106 is rotated, one or more projections can be opened with the detection of corresponding aided locationClose to contact and feed back to controller and specifically switch closure situation.
The upper part 106a of the disc carrier 106 lower part, compartment of terrain is defined for the cause with locked component 110The groove that moving part 1108 is engaged, in the exemplary embodiment, the groove are substantially v-shaped groove.Because in exemplary realityIt is uniform to apply the position for seven positioning holes being arranged in mode on disc carrier 106, i.e. angle between any two is phaseWith, so, for groove, angle between any two is also identical.And, on the one hand, each groove is relative to positionThe angle for putting the zero-bit that initialisation switch and projection P are limited all is specialization, on the other hand, with it is one or more it is raised withAnd the particular location characterized by the specific auxiliary position switches of foregoing raised triggering is also mutually corresponding, in other words, works as tableLevy certain particular location it is one or more it is raised with corresponding auxiliary positioning switch contact when, the actuated piece of locked component 110 withCorresponding particular groove is engaged.
More specifically, referring to Fig. 1, when the disc carrier 106 is in such as the location of Fig. 1, locked component 110 withGroove A is engaged, and because being not provided with the projection corresponding with auxiliary positioning switch SW1 on disc carrier 106, therefore auxiliary positioning is openedClose SW1 be in opening, meanwhile, auxiliary positioning switch SW2, SW3 respectively with a projection contacts thus be in closed formState, so that feedback signal 011 gives controller, wherein, closure signal that 0 open signal for representing SW1, middle 1 represent SW2,1 below represents SW3 closure signal；Referring to Fig. 3, engaged when disc carrier 106 turns to locked component 110 with groove BPosition when, only auxiliary positioning switch SW3 and disc carrier 106 a projection contacts and close so that feedback signal001 gives controller；When disc carrier 106 turns to the position that locked component 110 is engaged with groove C, only auxiliary positioningSwitch SW2 and disc carrier 106 projection contacts and close, so that feedback signal 010 gives controller；When disc is carriedWhen body 106 turns to the position that locked component 110 is engaged with groove D, only auxiliary positioning switch SW1 and disc carrier 106A projection contacts and close so that feedback signal 100 give controller；When disc carrier 106 turns to locked component 110During the position engaged with groove E, the projection of three auxiliary positioning switches SW1, SW2, SW3 respectively with disc carrier 106Contact and close, so that feedback signal 111 gives controller；Connect when disc carrier 106 turns to locked component 110 and groove FDuring the position of conjunction, two auxiliary positionings switch SW1, SW2 respectively with projection contacts of disc carrier 106 and closing, fromAnd feedback signal 110 gives controller；When disc carrier 106 turns to the position that locked component 110 is engaged with groove G, threeIndividual auxiliary positioning switch SW1, SW3 are respectively with projection contacts of disc carrier 106 and closing, so that feedback signal 101To controller.Well known within the skill of those ordinarily skilled, above-mentioned feedback signal 011,001,010,100,111,110,101 tablesThe binary message levied is different, and when it is associated with the ad-hoc location of disc carrier, computer can be according to feedbackObtained binary message determines the ad-hoc location residing for disc carrier.In memory, be pre-stored with each hole position withThe corresponding relation of each feedback signal.
In addition, it can be seen from Fig. 2, raised P is arranged to contact so that the switch is closed with position initialization switch SW0Close, so as to feed back the position phase that initializing signal is engaged to controller, initialized location with foregoing locked component with groove ELucky 360 degree of difference.It will appreciated by the skilled person that the setting position of the raised P is not limited, it can be withThe top 106a of the disc carrier 106 upper part is arbitrarily set to, it can also set disc load in a arbitrary mannerThe bottom 106b of body 106 but need to avoid the actuated piece running route of locked component 110, however, it is also possible to understand, if this is convexPlay P position change, then corresponding position initialization switch SW0 position is also required to adjust.
It is readily appreciated that, each hole position prestored in memory on the disc carrier is specific relative to initialization zero-bitPosition relationship, for example, angle.
When running, it is assumed that the hole position at Fig. 1 position with the beacon alignment from radiographic source is H1, and according to beamSituation is, it is necessary to which when being transformed into the hole position H2 adjacent with H1, controller can drive 106 turns of the disc carrier by order-driven device firstMove and until position initialization switch SW0 is contacted with projection P so as to obtain zero signal, in the process, encoder 104 is alwaysThe number of turns crossed according to its pinion rotation calculates the turned angle of disc carrier 106 and feeds back to controller, works as controllerObtain after zero signal, the output data of encoder 104 is also zeroed out.Controller order-driven device 102 continues to drive discCarrier 106, meanwhile, by the angle information between the zero-bit being pre-stored in memory and H2 hole positions with carrying out self-encoding encoder 104The turned angle information of disc carrier 106 is contrasted.Foregoing zero rotation process and continue thereafter with to H2 holesIn the rotation process of position, the actuated piece 1108 of locked component 110 compresses circle always due to the effect of the elastic force of elastic component 1106The surface of disc-shaped carrier 106, and when running into groove, because the driving force of driver 102 is much larger than elastic component 1106 to recessedThe actuating power of groove, therefore the actuated piece 1108 of locked component 110 can enter and then cross groove.When carrying out self-encoding encoder 104The close angle information being pre-stored between the zero-bit in memory and H2 hole positions of the turned angle information of disc carrier 106Especially when the actuated piece 1108 of locked component 110 starts to contact with the edge of v-depression, for example, with corresponding to H2 hole positionsThe center of groove differs only by 0.5 degree, and controller order-driven device 102 discharges (or removal) its driving force, now, locked component110 actuated piece 1108 is constantly stretched out to abut to the v-depression in the presence of elastic component 1106 from sleeve 1104Inclined-plane, until the actuated piece 1108 can not it is protruding again untill.In the presence of the actuated piece 1108, the disc carrier106 the angle of very little is rotated in the case of the driving without driver after be locked into hole position H2.At the position, auxiliary is fixedOnly switch SW3 and the corresponding projection contacts of disc carrier 106 and closed in bit switch so as to the feedback signal of controller001.The feedback signal 001 is answered feedback signal information 001 to contrast by controller with being pre-stored in memory, and result is identical, then confirm the H2 hole positions.If foregoing actual feedback signal is not 001 but other signals, comparing result is exactly notWith, then controller sends self-locking instruction, waits attendant to be safeguarded.
In an exemplary embodiment of the present invention embodiment, the projection on disc carrier is coordinated by 3 auxiliary position switchesEach particular location is determined, it being understood, however, that when the hole position on disc carrier is more, can use and be more than 3Auxiliary position switches coordinate disc carrier on projection each particular location is determined, it is understood that, work as discWhen hole position on carrier is less, the projection on disc carrier can be coordinated using two auxiliary position switches to each particular locationIt is determined.
For the into and out groove in the presence of driver, the actuated piece of locked component more preferably selects spherical, soAnd, it will be understood that actuated piece spherical, elliposoidal or with smooth curved surface shape, here, these class ballsShape, elliposoidal or with smooth curved surface shape shape can be considered as the equivalency range of generally spherical shape.EquallyGround, the groove shapes of V-arrangement are preferably, it being understood, however, that similar V-arrangement, with entering inclined-plane and exit the groove on inclined-planeIt is feasible.
It is also to be understood that seven hole positions in exemplary embodiment of the invention can be around centre bore unevenlyArrangement.
In foregoing exemplary embodiment, position initialization switch and be arranged on carrier as switch triggering partA projection together constitute position initialization component for set carrier zero-bit.However, it is also possible to understand, the positionInitialization component can also be for example including fixed to the generating laser on substrate and and fixed to the laser pick-off on carrierDevice is constituted, and is rotated once carrier by driver driving and laser pickoff can receive just when carrier is in ad-hoc locationFrom the laser of generating laser when send feedback signal to controller and regard the present position of carrier as zero-bit.This area is generalLogical technical staff can also by other means complete position initialization.
In foregoing exemplary embodiment, projection and room in multigroup every group of switch triggering part are to be disposed in carrierTop and be cross direction profiles.If however, it is to be appreciated that the carrier is thicker, (that is, carrier has bigger circumferential endFace), the projection of each group and room can be along being vertically arranged, accordingly, and three auxiliary position switches are along being vertically arranged in juxtaposition.In addition, the v-depression that the actuated piece for locked component is engaged can also be limited to the radial end face of the carrier, correspondingly,It is appreciated that the arrangement of the locked component also has corresponding change.
In another embodiment, the carrier is not annular, for example, it may be rectangular shape, multiple hole positionsIt can be turned up the soil with uniform intervals or non-uniform spacing is turned up the soil and is disposed thereon；The carrier nor be rotatably driven, butBy the reciprocal driving in the linear ground of such as servomotor, here, the rotation of servomotor output can pass through rack-and-pinion etc.Movement conversion mechanism is couple to carrier；In addition to these differences, position initialization switch, auxiliary position switches, memory, codingDevice, controller, groove can be identical or essentially identical with the embodiment above described with the cooperation of locked component, this areaThose of ordinary skill above on the basis of be understandable.Therefore, according to the embodiment of this deformation, the present invention includesNot only include the invention that locking and position detection are realized when collimater hole position is changed with rotating manner above described in detailThought, and it is also included within what this realization locking and position when collimater hole position is changed with translational movement for simply describing were detectedInvention thought.
It is also to be understood that in an exemplary embodiment of the present invention embodiment, the collimation of the present invention is used as using radiotherapy machineWhat the application scenario of device positioning component was described, it being understood, however, that collimator positioner component of the invention may apply toIn medical imaging and any occasion for collimating switching for the treatment of.
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, are not departing from thisIn the spirit and scope of invention, it can make various changes or modifications, therefore protection scope of the present invention should be with claim instituteThe scope of restriction is defined.