• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
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    • 专利摘要:
    ABSTRACT Disclosed herein is a multi-joint radiotherapy apparatus using a flexible androtary-coupling Waveguide pipe. The multi-joint radiotherapy apparatus includes abeam irradiation head (10), a linear accelerating means (20) provided at the beamirradiation head (l0), a robot arrn (30) connected With the beam irradiation head (10)and having a plurality of joints, a Waveguide (40) built in the robot arrn 30 andconnected With the linear accelerating means (20), and an electromagnetic Waveoscillator (50) disposed at a lower side of the robot arrn (30) and generatingelectromagnetic Waves so that the electromagnetic Waves are propagated to the linearaccelerating means (20) through the Waveguide (40). That is, the present inventionprovides the multi-joint radiotherapy apparatus using a flexible and rotary-couplingWaveguide pipe, in Which the electromagnetic Wave oscillator is separated from thebeam irradiation head so as to reduce a Weight of the beam irradiation head, a load applied to the multi-joint robot arrn supporting the beam irradiation head is reduced, and thus the arrn may be precisely controlled. 13
    公开号:SE1450066A1
    申请号:SE1450066
    申请日:2014-01-24
    公开日:2014-08-14
    发明作者:Byung Cheol Lee；Byeong-No Lee；Seungho Kim；Kyung-Min Jeong；Jongseo Chai；Hyung Dal Park；Seungwook Shin；Seunghyun Lee；Jongchul Lee；Ki Baek Song
    申请人:Korea Atomic Energy Res；
    IPC主号:
    专利说明:

    MULTI-JOINT RADIOTHERAPY APPARATUS USING FLEXIBLE ANDROTARY COUPLING WAVEGUIDE PIPECROSS-REFERENCE TO RELATED APPLICATIONThis application claims priority to and the benefit of Korean PatentApplication No. 2013-0015420, f1led on February 13, 2013, the disclosure of Whichis incorporated herein by reference in its entirety.
    BACKGROUND1. Field of the InventionThe present invention relates to a multi-joint radiotherapy apparatus using aflexible and rotary-coupling Waveguide pipe, in Which an electromagnetic Waveoscillator is separated from a beam irradiation head so as to reduce a Weight of thebeam irradiation head, a load applied to a multi-joint robot arrn supporting the beamirradiation head is reduced, and thus the arrn may be precisely controlled.2. Discussion of Related ArtA conventional radiotherapy apparatus is disclosed in U.S. PatentNo.7,759,883 (July 20, 2010, hereinafter, called “conventional technique”) entitled“DUAL-ROTARY-COUPLING INTERNAL-WAVEGUIDE LINAC FOR IOTR”.The conventional technique relates to a multi-joint radiotherapy apparatus.A connection part of a Waveguide is formed into a rotary-coupling type in order toinstall the Waveguide in a robot arrn.
    However, in the conventional technique, since an electromagnetic Waveoscillator is located in the robot arrn, a Weight of the robot arrn is increased, and thusit is not easy to achieve an inertia control of an irradiation head.
    Further, When the Weight of the robot arrn is increased, it is not easy toprecisely control the robot arrn, and it is difficult to irradiate radiation to an exactposition of an affected part, and thus it is difficult to irradiate a consistent amount ofradiation.
    SUMMARY OF THE INVENTIONTherefore, it is an object of the present invention to provide a multi-jointradiotherapy apparatus using a flexible and rotary-coupling Waveguide pipe, in Whichan electromagnetic Wave oscillator and a beam irradiation head are separated fromeach other, and the Waveguide propagating electromagnetic Waves generated fromthe electromagnetic Wave oscillator to a linear accelerating means is built in a robotarrn supporting the beam irradiation head, such that a Weight of the beam irradiationhead and a load applied to a multi-joint robot arrn may be reduced, and also Whichenables stereotactic radiotherapy having the same center through an accurateoperation control and thus always obtains a consistent dose, even though a beam isirradiated at any positions.
    It is another object of the present invention to provide a multi-jointradiotherapy apparatus using a flexible and rotary-coupling Waveguide pipe, in Whicha rotary-coupling Waveguide pipe is provided to a rotary-coupling part of each jointof a robot arrn so that a motion at each joint is smoothly performed, and theWaveguide has a straight pipe structure or a flexible pipe structure, and thus it ispossible to provide the Waveguide fitting motion characteristics.
    It is yet another object of the present invention to provide a multi-jointradiotherapy apparatus using a flexible and rotary-coupling waveguide pipe, in whicha wave passage of the waveguide has a rectangular shape so as to reduce apropagation loss of radio frequency waves.
    According to an aspect of the present invention, there is provided a multi-joint radiotherapy apparatus using a flexible and rotary-coupling waveguide pipe,including a beam irradiation head (10), a linear accelerating means (20) provided atthe beam irradiation head (l0), a robot arrn (30) connected with the beam irradiationhead (l0) and having a plurality of joints, a waveguide (40) built in the robot arrn(30) and connected with the linear accelerating means (20), and an electromagneticwave oscillator (50) disposed at a lower side of the robot arrn (30) and generatingelectromagnetic waves so that the electromagnetic waves are propagated to the linearaccelerating means (20) through the waveguide (40).
    BRIEF DESCRIPTION OF THE DRAWINGSThe above and other objects, features and advantages of the presentinvention will become more apparent to those of ordinary skill in the art bydescribing in detail exemplary embodiments thereof with reference to theaccompanying drawings, in which:FIG. l is a perspective view of a multi-joint radiotherapy apparatus using aflexible and rotary-coupling waveguide pipe according to the present invention;FIG. 2 is a conceptual view of a waveguide of the multi-joint radiotherapyapparatus according to the present invention; andFIG. 3 is a conceptual view of the rotary-coupling waveguide pipe of themulti-joint radiotherapy apparatus according to the present invention.
    DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTSExemplary embodiments of the present invention will be described in detailbelow With reference to the accompanying drawings. While the present invention isshown and described in connection with exemplary embodiments thereof, it will beapparent to those skilled in the art that various modifications can be made withoutdeparting from the spirit and scope of the invention.
    As illustrated in FIGS. l to 3, a radiotherapy apparatus according to thepresent invention includes a beam irradiation head l0, a linear accelerating means 20,a multi-joint robot arrn 30, an electromagnetic wave oscillator 50, and a waveguide40 which propagates electromagnetic waves from the electromagnetic waveoscillator 50 to the linear accelerating means 20.
    The beam irradiation head l0, as illustrated in FIG. l, includes a housing l3which is connected to the robot arrn 30 to be supported, and a collimator ll which isdisposed at a lower end of the housing l3 to restrict an irradiation direction ofradiation and a diffusion thereof. Also, the beam irradiation head l0 is configuredso that an irradiation dose of other light except a used beam is released as small aspossible.
    To this end, the collimator ll is made of a radiation absorbent material suchas lead and tungsten, and, if necessary, may have a different thickness and size.
    A conventional beam irradiation head includes the linear accelerating means20 which accelerates and supplies electrons so that radiation is irradiated from thecollimator ll, and the electromagnetic wave oscillator 50 which generateselectromagnetic waves and supplies the electromagnetic waves to the electronsaccelerated by the linear accelerating means 20.
    Here, the linear accelerating means 20 includes an electron gun 21 Whichgenerates electrons, and an accelerating pipe 23 Which accelerates the electronsgenerated from the electron gun 21. The linear accelerating means 20 is built in thehousing 13.
    And the electromagnetic Wave oscillator 50 includes an RF generatorgenerating electromagnetic Waves, i.e., radiofrequency Waves, and the RF generatoris built in the housing 13 so that the accelerating pipe 23 is connected With theWaveguide 40 propagating the electromagnetic Waves.
    That is, as described above, the conventional beam irradiation head includesthe linear accelerating means 20, the electromagnetic Wave oscillator 50, theWaveguide 40, and so on.
    Particularly, in case of the electromagnetic Wave oscillator 50, the linearaccelerating means 20 has a small size, but reaches a Weight of about 30 kg.
    Therefore, since a total Weight of the linear accelerating means 20, theelectromagnetic Wave oscillator 50, and the Waveguide 40 is applied to the robot arm30 supporting the beam irradiation head 10, a supporting load of the robot arm 30 isincreased.
    This makes an inertia control difficult and thus makes an accurate controldifficult, When the robot arm 30 is operated. Therefore, it is impossible to performstereotactic radiotherapy having the same center, and also it is difficult to obtain aconsistent dose according to an irradiation position of the beam irradiation head 10.
    To overcome the above-mentioned disadvantages, in the present invention,the electromagnetic Wave oscillator 50 and the beam irradiation head 10 areconfigured to be separated from each other and thus reduce a Weight of the beamirradiation head 10. Therefore, since the supporting load of the robot arm 30 isreduced, it is possible to perform the stereotactic radiotherapy having the same center,and also obtain a consistent dose according to the irradiation position of the beamirradiation head 10.
    Then, as illustrated in FIGS. 1 and 2, When the electromagnetic Waveoscillator 50 is separated from the beam irradiation head 10, the Waveguide 40 isprovided to propagate the electromagnetic Waves, i.e., the radiofrequency Wavesgenerated from the electromagnetic Wave oscillator 50 to the linear acceleratingmeans 20. At this time, the Waveguide 40 (or a Waveguide pipe) is built in the robotarm 30 having multiple joints.
    That is, the robot arm 30 is configured such that multiple arms 31 areconnected to each other through the multiple joints. Therefore, it is possible toperform a joint movement such as a rotary motion and thus precisely irradiate a beamfrom the collimator 11 of the beam irradiation head 10 to an affected part.
    Further, the Waveguide 40 has a Wave passage S through Which theelectromagnetic Waves are moved. At this time, the Waveguide 40 has a straightpipe structure SP (FIG. 2A) or a flexible pipe structure FP (FIG. 2B) and is built ineach arm 31 of the robot arm 30.
    In this case, since the flexible pipe FP type Waveguide 40 has flexibility, theWaveguide 40 may be applied in various forms according to installationcharacteristics, such as a case that it is necessary to precisely adjust an alignment lineof the Waveguide 40 and a case of requiring a bending motion.
    And as illustrated in FIG. 3, a rotary-coupling Waveguide pipe 60 is providedat each joint part JP of the robot arm 30 so as to embody a smooth rotary motion ofthe robot arm 30.
    According to a position of the joint part JP of the robot arm 30, the rotary-coupling waveguide pipe 60 may be connected with an adjacent end of thewaveguide 40 built in each arrn 31, may be connected with the accelerating pipe 23at an upper end of the robot arrn 30, or may be connected with the electromagneticwave oscillator 50 at a lower end of the robot arrn 30, such that the rotary motionmay be smoothly performed at each joint part JP.
    Also, the rotary-coupling waveguide pipe 60 has a wave passage S so thatpropagation of the electromagnetic waves may be maintained.
    That is, the rotary-coupling waveguide pipe 60 includes a body 61 which isdisposed at each joint part JP, and a rotary-coupling part 63 which is rotatablydisposed at one end or both ends of the body 61.
    Further, the body 61 and the rotary-coupling part 63 have the wave passageS communicating with the wave passage S of the waveguide 40 and forming apassage of the electromagnetic waves.
    Particularly, the rotary-coupling part 63 may be formed into a rotary jointand may be provided to both ends of the body 61. Since the rotary motion isperformed at each joint part JP of the robot arrn 30, i.e., a connection part betweenthe beam irradiation head 10 and the robot arrn 30, a connection part of each arrn 31,and a connection part between the electromagnetic wave oscillator 50 and the robotarrn 30, the rotary-coupling part 63 may be provided to the both ends of each body61.
    The rotary-coupling part 63 may be prepared into various forms, such as astraight connection form (FIG. 3A), a U-shaped connection form (FIG. 3B), and an L-shaped connection form (FIG. 3C), according to connection forms and motioncharacteristics of objects to be connected.
    Further, a counter-flange 41 coupled to a flange provided at the rotary-coupling part 63 is provided at both ends of the Waveguide 40 and fastened through abolt and a nut.
    In this case, When the rotary-coupling Waveguide pipe 60 is fixedly built inthe joint part and the Waveguide is inserted into each arrn, each flange may becoupled thereto.
    In addition, the Wave passage S of the Waveguide 40 and the rotary-couplingWaveguide pipe 60 may have a rectangular shape. This is because each surface ofthe Wave passage S may be forrned to be flat, and a reflection angle may beconsistently maintained, and thus a propagation rate may be maintained uniforrnlyupon a propagation movement of the electromagnetic Waves, Whereby it is possibleto increase propagation efficiency of the electromagnetic Waves.
    A lower end of the robot arm 30 is rotatably disposed at base 1, and a basehousing 3 is provided on the base 1, and the electromagnetic Wave oscillator 50separated from the beam irradiation head 10 is installed in the base housing 3 so as tobe connected With the Waveguide 40.
    The reason Why the electromagnetic Wave oscillator 50 is provided in thebase housing 3 is to dispose the electromagnetic Wave oscillator 50 such that theWeight of the electromagnetic Wave oscillator 50 does not have an effect on the robotarm 30 as Well as the beam irradiation head 10, and thus to enable a more precisecontrol.
    Therefore, since the electromagnetic Wave oscillator 50 having a givenWeight is separated from the beam irradiation head 10, the Weight of the beamirradiation head 10 and thus the supporting load of the robot arm 30 may be reduced,and the rotary motion of the robot arm 30 may be controlled more precisely, Wherebyit is possible to irradiate radiation on the same virtual surface for the stereotacticradiotherapy having the same center.
    Further, since this makes it possible to irradiate a consistent amount ofradiation on the affected part, it is possible to increase reliability of the apparatus.
    MeanWhile, to reduce a size of the radiotherapy apparatus according to thepresent invention, the Waveguide 40 built in the robot arm 30 is installed in aninstallation hole formed in each arm of the robot arm 30 having a diameter of 5 cm.
    At this time, if the electromagnetic Waves of the electromagnetic Waveoscillator 50 having an X-band frequency of 8 to 12 GHz (9.3 GHz) are used, it ispossible to reduce a size of the Waveguide 40 and thus the Weight of the robot arm 30,and also it is possible to maintain a suff1cient propagation rate of the electromagneticWaves.
    The flexible and rotary-coupling Waveguide pipe according to the presentinvention may be applied even to other apparatus for inspecting and testing variousmaterials, such as a non-destructive inspection apparatus.
    Further, in FIG. 1, a circulation 80 is provided at an upper side of the robotarm, and a tube is installed at the robot arm.
    According to the multi-joint radiotherapy apparatus using the flexible androtary-coupling Waveguide pipe, the electromagnetic Wave oscillator and the beamirradiation head are separated from each other, and the Waveguide propagatingelectromagnetic Waves generated from the electromagnetic Wave oscillator to thelinear accelerating means is built in the robot arm supporting the beam irradiationhead, such that the Weight of the beam irradiation head and the load applied to themulti-joint robot arm may be reduced, and also it is possible to enable the stereotacticradiotherapy having the same center through the accurate operation control and thusalways obtain a consistent dose, even though the bean1 is irradiated at any positions.
    According to the present invention, the rotary-coupling Waveguide pipe isprovided to the rotary-coupling part of each joint of a robot arrn so that the n1otion ateach joint is sn1oothly performed, and the Waveguide has the linear pipe structure orthe flexible pipe structure, and thus it is possible to provide the Waveguide fittingn1otion characteristics.
    According to the present invention, the Wave passage of the Waveguide hasthe rectangular shape so as to reduce the propagation loss of the radiofrequencyWaves.
    It Will be apparent to those skilled in the art that various n1odif1cations can ben1ade to the above-described exeniplary enibodinients of the present inventionWithout departing from the spirit or scope of the invention. Thus, it is intended thatthe present invention covers all such niodifications provided they conie Within thescope of the appended clainis and their equivalents.
    权利要求:
    Claims (6)
    [1] l. A multi-joint radiotherapy apparatus using a flexible and rotary-couplingWaveguide pipe, comprising: a beam irradiation head (l0); a linear accelerating means (20) provided at the beam irradiation head (l0); a robot arm (30) connected With the beam irradiation head (10) and having aplurality of joints; a Waveguide (40) built in the robot arrn (30) and connected With the linearaccelerating means (20); and an electromagnetic Wave oscillator (50) disposed at a lower side of the robotarrn (30) and generating electromagnetic Waves so that the electromagnetic Waves are propagated to the linear accelerating means (20) through the Waveguide (40).
    [2] 2. The apparatus according to claim l, further comprising the rotary- coupling Waveguide pipe (60) provided at each joint part (JP) of the robot arrn (30).
    [3] 3. The apparatus according to claim l, Wherein the rotary-couplingWaveguide pipe (60) comprises a body (61) Which is disposed at each joint part (JP),and a rotary-coupling part (63) Which is rotatably disposed at one end or both ends of the body (6l).
    [4] 4. The apparatus according to claim l, Wherein the Waveguide (40) has a straight pipe structure (SP) or a flexible pipe structure (FP). 11
    [5] 5. The apparatus according to clain1 l, Wherein a Wave passage S of the WaVeguide 40 has a rectangular shape.
    [6] 6. The apparatus according to clain1 l, Wherein a base housing (3) is 5 provided at a lower end rotating part of the robot arrn (30), and the electromagnetic Wave oscillator (50) is built in the base housing (3). 12
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    法律状态:
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    优先权:
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