CN119185800A

CN119185800A - Adjustment device, adjustment method and loading system for radiotherapy

Info

Publication number: CN119185800A
Application number: CN202310768156.3A
Authority: CN
Inventors: 宋晨铭; 刘渊豪; 贡秋平
Original assignee: China Boron Xiamen Medical Equipment Co ltd
Current assignee: China Boron Xiamen Medical Equipment Co ltd
Priority date: 2023-06-27
Filing date: 2023-06-27
Publication date: 2024-12-27

Abstract

The application relates to an adjusting device, an adjusting method and a loading system for radiotherapy, wherein the adjusting device for radiotherapy comprises a first adjusting unit and a second adjusting unit, the first adjusting unit is used for adjusting an object to move along a first degree of freedom, the second adjusting unit is linked with the first adjusting unit and used for adjusting the object to move along a second degree of freedom, and the second adjusting unit can be driven to move along the first degree of freedom when the first adjusting unit works. The object is moved in the first degree of freedom through the first adjusting unit, and is moved in the second degree of freedom through the second adjusting unit, so that the posture of the irradiated body is adjusted to a proper treatment position, and the comfort of the body of the irradiated body during treatment is improved. Compared with the prior manual adjustment mode, the first adjusting unit and the second adjusting unit can more accurately adjust the position of the irradiated body, so that the irradiation treatment is more accurate, the damage of normal cells and tissues of the irradiated body is reduced, and the treatment effect of the irradiated body is ensured.

Description

Adjusting device, adjusting method and loading system for radiotherapy

Technical Field

The application relates to the technical field of radiotherapy, in particular to an adjusting device, an adjusting method and a loading system for radiotherapy.

Background

With the development of atomic science, radiation therapy such as cobalt sixty, linac, electron beam, etc. has become one of the main means for cancer therapy. However, conventional photon or electron therapy is limited by the physical conditions of the reflected beam itself, which can damage a large number of normal tissues in the beam path while killing tumor cells. In addition, due to the different sensitivity of tumor cells to radiation, traditional radiotherapy often has poor therapeutic effects on malignant tumors with relatively high radiation resistance.

In order to reduce radiation damage to normal tissue surrounding a tumor, target therapy in chemotherapy is applied in radiotherapy. In contrast, radiation sources having high relative biological effects, such as proton therapy, heavy ion therapy, and neutron capture therapy, are also actively developed at present for tumor cells having high radiation resistance. The neutron capture treatment combines the two concepts, such as boron neutron capture treatment, and provides a better cancer treatment choice than the traditional radioactive rays by means of the specific aggregation of the boron-containing medicament in tumor cells and the combination of accurate neutron beam irradiation.

The radiotherapy device is mainly used for radiotherapy of malignant tumors, and the purpose of radiotherapy is to maximally irradiate a target area while avoiding excessive irradiation of surrounding normal tissues. In the existing radiotherapy apparatus, different irradiated bodies generally have different body types, and a single irradiated body generally adopts a treatment mode with various body positions, so that a carrying device is required to support the irradiated body and position the irradiated body to a preset spatial position. However, how to accurately adjust the posture of the irradiated body, shorten the preparation time for positioning the affected part, simplify the preparation work and improve the accuracy of the irradiation treatment in the process of positioning the irradiated body to the preset spatial position through the bearing device is a problem to be solved by those skilled in the art.

Disclosure of Invention

Accordingly, it is necessary to provide an adjustment device, an adjustment method, and a placement system for radiotherapy, in order to solve the problems of how to quickly, smoothly, and accurately adjust the posture of an irradiation subject, shorten the preparation time for positioning an affected part, simplify the preparation work, and improve the accuracy of irradiation treatment.

The first aspect of the application provides an adjusting device for radiotherapy, comprising a first adjusting unit and a second adjusting unit, wherein the first adjusting unit is used for adjusting the movement of an object along a first degree of freedom, the second adjusting unit is linked with the first adjusting unit and used for adjusting the movement of the object along a second degree of freedom, and the second adjusting unit can be driven to move along the first degree of freedom when the first adjusting unit works.

In the adjusting device for radiotherapy, the object is moved in the first degree of freedom by the first adjusting unit, and is moved in the second degree of freedom by the second adjusting unit, so that the posture of the irradiated body is adjusted to a proper treatment position, and the comfort of the body of the irradiated body during treatment is improved. Compared with the previous manual adjustment mode, the first adjusting unit and the second adjusting unit can more accurately adjust the position of the irradiated body, so that the irradiation treatment is more accurate, the damage of normal cells and tissues of the irradiated body is reduced, and the treatment effect of the irradiated body is ensured. In addition, the adjusting device has compact structure and simple and convenient operation, can simplify the preparation work before irradiation treatment and shorten the preparation time for positioning the affected part.

In one embodiment, the first adjusting unit comprises a first adjusting member, a first transmission member and a first supporting member, wherein the first adjusting member is used for connecting and driving the first transmission member to move, the first supporting member is used for supporting the first adjusting member, and the first transmission member is connected with the second adjusting unit.

In one embodiment, the adjusting device further comprises a third adjusting unit, the third adjusting unit is used for adjusting the object to move along the third degree of freedom, the third adjusting unit is linked with the second adjusting unit, and when the second adjusting unit works, the third adjusting unit can be driven to move along the second degree of freedom.

In one embodiment, the second adjusting unit comprises a second adjusting member, a second transmission member, a fixing member and a second supporting member, wherein the second adjusting member is used for connecting and driving the second transmission member to move, the second transmission member is connected with the fixing member, the second supporting member is used for supporting the fixing member, and the second transmission member is connected with the third adjusting unit.

In one embodiment, the third adjusting unit includes a third adjusting member, a swinging member, a third supporting member, and a first swinging guide member, wherein the third adjusting member is used for connecting and driving the swinging member to move, the third supporting member is used for supporting the third adjusting member, the first swinging guide member is arranged on the third supporting member, and the first swinging guide member is used for guiding the movement path of the swinging member.

In one embodiment, the oscillating member is movable relative to the third adjusting member, and the first oscillating guide member is arranged in an arc shape such that the oscillating member is adjustable along the first oscillating guide member relative to the direction of movement of the third adjusting member.

In one embodiment, the third adjusting member is provided with a limiting portion, the swinging member is provided with an adjusting position for moving the limiting portion, and when the third adjusting member drives the swinging member to move, the swinging member swings relative to the first swinging guide member, and the limiting portion moves in the adjusting position.

In one embodiment, the third adjusting unit further comprises a rotating member, the object is rotatably connected with the third supporting member through the rotating member, and the object rotates around the axis of the rotating member when the swinging member drives the object to move.

In one embodiment, the third adjusting unit further comprises a second swing guide for guiding the movement of the object, the second swing guide being arranged in an arc shape, the second swing guide being arranged concentrically with the first swing guide.

In one embodiment, the device further comprises a fourth adjusting unit for adjusting the object to move along at least a fourth degree of freedom, the fourth adjusting unit is linked with the third adjusting unit, and the third adjusting unit can drive the fourth adjusting unit to move along a third degree of freedom when working.

In one embodiment, the fourth adjusting unit includes a fourth adjusting member, a fourth supporting member, a third transmission member and a lifting member, the fourth supporting member is used for supporting the fourth adjusting member, the fourth adjusting member is connected with the third transmission member, the third transmission member is connected with the lifting member, the fourth adjusting member drives the third transmission member to move along a first direction, and the third transmission member drives the lifting member to move along a second direction perpendicular to the first direction.

In one embodiment, the fourth adjustment unit further comprises a lifting guide for guiding the movement of the lifting member.

In one embodiment, at least the first and second adjusting units are provided externally with a housing comprising at least a first and a second housing, which first and second housing can be shaped in the direction of the first and/or second degrees of freedom following the movement of the first and/or second adjusting unit when the first and/or second adjusting unit is moved.

In a second aspect, the application provides an adjustment method of an adjustment device for radiotherapy, comprising a first adjustment unit and a second adjustment unit, wherein the method comprises the step of driving the second adjustment unit to move when the first adjustment unit works.

In one embodiment, moving the second adjustment unit includes moving the second adjustment unit along the first degree of freedom and moving the second adjustment unit along at least the first degree of freedom.

In one embodiment, the device further comprises a third adjusting unit, and the method further comprises the step of driving the third adjusting unit to move when the second adjusting unit works.

In one embodiment, moving the third adjustment unit includes moving the third adjustment unit along the second degree of freedom and moving the third adjustment unit at least along the second degree of freedom.

In one embodiment, the device further comprises a fourth adjusting unit, and the method further comprises the step of driving the fourth adjusting unit to move when the third adjusting unit works.

In one embodiment, moving the fourth adjustment unit includes moving the fourth adjustment unit along the third degree of freedom and moving the fourth adjustment unit at least along the third degree of freedom.

The third aspect of the application provides a loading system of an adjusting device for radiotherapy, which comprises a loading piece, a first adjusting unit and a second adjusting unit, wherein the first adjusting unit is used for adjusting an irradiated body to move along a first degree of freedom, and the second adjusting unit is linked with the first adjusting unit and used for adjusting the irradiated body to move along a second degree of freedom, and when the first adjusting unit works, the second adjusting unit can be driven to move along the first degree of freedom.

Drawings

Fig. 1 is an overall schematic view of a carrier and an adjusting device according to an embodiment of the invention.

Fig. 2 is a schematic structural diagram of an adjusting component according to an embodiment of the invention.

Fig. 3 is a schematic structural diagram of a first adjusting unit according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a second adjusting unit according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a third adjusting unit according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of the first housing and the second housing according to an embodiment of the invention.

Fig. 7 is a schematic structural diagram of a fourth adjusting unit in an embodiment of the present invention.

Fig. 8 is a schematic structural view of the first and second housings installed between the carrier and the third adjusting unit according to an embodiment of the invention.

Fig. 9 is a schematic structural diagram of a first driving assembly according to an embodiment of the invention.

Fig. 10 is a schematic view of the first drive assembly of the embodiment of fig. 8 with the housing removed.

Fig. 11 is a schematic structural view of a first driving member according to an embodiment of the invention.

Fig. 12 is a schematic connection diagram of the first moving portion and the fourth supporting portion according to an embodiment of the invention.

Fig. 13 is a schematic structural view of a second driving member according to an embodiment of the invention.

Fig. 14 is a schematic structural view of a third driving member according to an embodiment of the invention.

Fig. 15 is a schematic structural view of a mounting assembly according to an embodiment of the present invention.

Fig. 16 is a schematic structural view of a third moving member according to an embodiment of the invention.

Wherein, the carrier 1, the first supporting part 101, the second supporting part 102, the adjusting device 2, the adjusting assembly 10, the first adjusting unit 11, the first adjusting piece 111, the first operating part 1111, the first adjusting part 1112, the first transmission piece 112, the first supporting piece 113, the first guiding piece 114, the first sliding block 1141, the first guide rail 1142, the first mounting seat 115, the second adjusting unit 12, the second adjusting piece 121, the second operating part 1211, the second adjusting part 1212, the first gear 1213, the second transmission piece 122, the second gear 1221, the fixing piece 123, The second support 124, the second guide 125, the second slide 1251, the second rail 1252, the second mount 126, the third mount 127, the third adjusting unit 13, the third adjusting member 131, the third manipulating portion 1311, the third adjusting portion 1312, the first transmitting portion 1313, the limiting portion 1314, the swinging member 132, the adjusting position 1321, the third slide 1322, the third support 133, the first swinging guide 134, the third guide 135, the second swinging guide 136, the fourth slide 1361, the fourth rail 1362, the rotating member 137, the connecting member 138, the third manipulating portion 1312, Fourth mount 139, first housing 16, first side plate 161, first plate 1611, second plate 1612, third plate 1613, first plate 162, second plate 163, third plate 164, second housing 17, third side plate 171, fifth side plate 172, fourth plate 173, fourth adjustment unit 14, fourth adjustment member 141, fourth manipulation portion 1411, fourth adjustment portion 1412, fourth support 142, third transmission member 143, lifter 144, first lifter 1441, second lifter 1442, lifter guide 145, fifth support 146, third lifter 146, and fourth lifter, Fifth mount 147, sixth mount 148, seventh mount 149, eighth mount 150, third housing 151, fourth housing 152, positioning hole 153, moving assembly 20, push-pull member 21, first moving member 22, driving assembly 30, first driving assembly 31, first driving member 311, first driving portion 3111, first transmitting portion 3112a, second transmitting portion 3112b, transmitting belt 3112c, second transmitting portion 3113, first output portion 3114, first moving portion 3115, eighth mount 3116, second driving member 312, second transmitting portion 3112a, second transmitting portion 3112b, second transmitting portion 3113, first transmitting portion 3114, third transmitting portion, The second driving part 3121, the second output part 3122, the third supporting part 3123, the fourth supporting part 3124, the first guiding part 3125, the fifth slider 3125a, the fifth guide rail 3125b, the second guiding part 3126, the ninth mounting seat 3127, the third driving part 313, the third driving part 3131, the second transmitting part 3132, the third transmitting part 3133, the third output part 3134, the second moving part 3135, the tenth mounting seat 3136, the eleventh mounting seat 3137, the stopper 314, the inductive switch 3141, the first stopper shaft 3142, the second stopper shaft 3143, The base 315, the fifth housing 316, the power source 317, the positioning member 318, the third moving member 319, the connection block 3191, the seventh slider 3192, the seventh rail 3193, the pull rod 3194, the twelfth mounting block 3195, the stopper 3196, the positioning block 3197, the returning member 3198, the second moving member 320, the mounting assembly 40, the first mounting member 41, the first mounting portion 411, the operating portion 412, the engaging portion 413, the second mounting member 42, the second mounting portion 421, and the fixing portion 422.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly stated or limited otherwise, terms such as "mounted," "connected," "secured" and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, or indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly stated. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

An embodiment of the present application provides a loading system for radiotherapy, which is preferably applied to a radiotherapy apparatus, particularly a boron neutron radiotherapy apparatus. The radiotherapy apparatus comprises a beam generating device, a preparation room, a treatment room, a carrier 1 and an adjustment device 2. When the radiotherapy apparatus is a boron neutron therapy apparatus, the beam generating means may be neutron generating means for generating a beam, the treatment room is for performing a radiation irradiation treatment on the irradiated body, and the preparation room may be for performing a simulated positioning or other preparation work on the irradiated body before performing the radiation irradiation. Referring to fig. 1, a carrier 1 is used for carrying an irradiated body, and an adjusting device 2 is used for adjusting the posture of the irradiated body in a preparation room and a treatment room and quickly adjusting the irradiated body to a preset spatial position.

The adjustment device 2 comprises an adjustment assembly 10, a movement assembly 20, a drive assembly 30 and a mounting assembly 40. The device comprises a carrier 1, an adjusting component 10, a moving component 20, a driving component 30, a releasable mounting component 40 and a driving component 30, wherein the adjusting component 10 is connected with the carrier 1 and is used for adjusting the spatial position of the carrier 1 to enable an irradiated body to be accurately aligned with a beam, the moving component 20 is connected with the adjusting component 10 and is used for moving the adjusting component 10 and the carrier 1, the output end of the driving component 30 is connected with the input end of the adjusting component 10 and is used for driving the adjusting component 10 to adjust, the carrier 1 is quickly and accurately adjusted to a preset spatial position, so that the preparation time before irradiation treatment is saved and the long-time particle irradiation dose is avoided, the mounting component 40 is used for connecting or disconnecting the adjusting component 10 and the driving component 30, so that a separable connection is formed between the driving component 30 and the adjusting component 10, when the posture of the irradiated body needs to be adjusted, the driving component 30 is connected with the adjusting component 10 through the mounting component 40, the irradiated body is adjusted to the preset spatial position by the driving component 10 so as to carry out analog positioning or irradiation treatment on the irradiated body, and when the posture of the irradiated body is adjusted to the preset spatial position, the releasable mounting component 40 is used for separating the driving component 30 and the adjusting component 10, the driving component 30 and the electronic component 30 can be effectively driven to avoid the influence on the internal parts and the mechanical life of the driving component 30.

In other embodiments, the mounting assembly 40 may be omitted, so long as a detachable connection between the drive assembly 30 and the adjustment assembly 10 is achieved, such that the drive assembly 30 may be detachably removed, thereby avoiding the influence of particle radiation.

Preferably, the neutron beam N generated by the neutron generator is irradiated to the irradiated object on the carrier 1 through the beam shaping body and the collimator in this order. The beam shaper can adjust the beam quality of the neutron beam N generated by the neutron generating device, and the collimator is generally used for converging the neutron beam N, so that the neutron beam N has higher targeting property in the treatment process. It will be appreciated that the present application may be practiced without a collimator, i.e. the beam, after exiting the beam shaping body, is directed to the object to be irradiated on the carrier 1.

The simulated beam outlet which is the same as the beam outlet in the treatment room is arranged in the preparation room, and the tumor position of the irradiated body is precisely positioned and marked by combining a CT image and the like with a laser positioning system, so that the positioning preparation time of the irradiated body in the treatment room is saved. The preparation room may be a generic term for all facilities that perform the respective steps before the treatment and before the completion of the positioning, and may include a preparation room for acquiring an image, a preparation room for positioning, a preparation room for supplying a medicine, and the like. It will be appreciated that in other embodiments, the preparation room may be located outside of the medical facility or within the medical facility. It will be appreciated that the preparation room and the treatment room may be located within the same building of the medical facility or within different buildings.

In general, a beam outlet is provided in the treatment chamber, and a neutron beam irradiates the irradiation target with the neutron beam through the beam outlet.

The carrier 1 includes a first support portion 101 and a second support portion 102. The first support 101 and the second support 102 are mounted on the adjusting unit 10, the first support 101 is used for bearing the weight of the irradiated body, and the second support 102 is used for bearing the affected part of the irradiated body. Specifically, the first support part 101 may be a seat, a treatment plate, a treatment bed, etc., and the second support part 102 may be a head rest, a hand rest, a leg rest, etc. In this embodiment, preferably, the first supporting portion 101 is a seat, the second supporting portion 102 is a head rest, and the second supporting portion 102 is disposed in front of the first supporting portion 101, and in actual use, the irradiated body sits on the first supporting portion 101, and the head of the irradiated body is disposed on the second supporting portion 102.

The predetermined spatial position of the mount 1 is a position of the mount 1 where the irradiation target is aligned with the laser light or the beam. The present application adjusts the spatial position of the carrier 1 from a plurality of degrees of freedom including a first degree of freedom (e.g., a degree of freedom reciprocating parallel to the X-axis in fig. 1), a second degree of freedom (e.g., a degree of freedom reciprocating parallel to the Y-axis in fig. 1), a third degree of freedom (rotating about the Z-axis), and a fourth degree of freedom (e.g., a degree of freedom reciprocating parallel to the Z-axis in fig. 1). Referring to fig. 1, a direction perpendicular to a mounting surface of the mount 1 is defined as an up-down direction (a direction parallel to a Z axis shown in fig. 1), a direction parallel to beam emission is defined as a front-back direction (a direction parallel to a Y axis shown in fig. 1), and a direction orthogonal to the up-down direction and the front-back direction is defined as a left-right direction (a direction parallel to an X axis shown in fig. 1). In the following description, terms such as up, down, left, right, front, rear, etc. are used to describe positional relationships between related elements, so that description of positional relationships of one element to another element is simplified, but the description of these terms in azimuth does not impose any limitation on the technology itself. Specifically, the first degree of freedom is adjusted to move in the left-right direction of the object to be irradiated, the second degree of freedom is adjusted to move in the front-rear direction of the object to be irradiated, the third degree of freedom is adjusted to rotate the object to be irradiated about a straight line parallel to the up-down direction, and the fourth degree of freedom is adjusted to move in the up-down direction of the object to be irradiated.

Referring to fig. 2, the adjusting assembly 10 includes a first adjusting unit 11, a second adjusting unit 12, a third adjusting unit 13, and a fourth adjusting unit 14. Preferably, the output end of the first adjusting unit 11 is connected with the input end of the second adjusting unit 12, so as to adjust the carrying member 1 to drive the object/irradiated body to move along the first degree of freedom, further, the output end of the second adjusting unit 12 is connected with the input end of the third adjusting unit 13, so as to adjust the carrying member 1 to drive the object/irradiated body to move along the second degree of freedom, further, the output end of the third adjusting unit 13 is connected with the input end of the fourth adjusting unit 14, so as to adjust the carrying member 1 to drive the object/irradiated body to move along the third degree of freedom, and further, the output end of the fourth adjusting unit 14 is connected with the carrying member, so as to adjust the carrying member 1 to drive the object/irradiated body to move along the fourth degree of freedom. Preferably, the first adjusting unit 11, the second adjusting unit 12, the third adjusting unit 13, and the fourth adjusting unit 14 in this embodiment are sequentially arranged from bottom to top, and the fourth adjusting unit 14 is located at the uppermost layer and is connected with the carrying member 1, so that the space occupation of the arrangement mode is minimum and the driving process is most convenient from the aspects of the integration level of the structure and the convenience of the driving process.

Wherein, preferably, can link between two arbitrary adjacent regulating units, the regulating unit of drive lower floor can drive regulating unit and the carrier 1 of upper strata and remove promptly, and the regulating unit of upper strata removes and preferably can not drive the regulating unit of lower floor and remove, is convenient for control and adjusts each regulating unit. It is easy to understand that driving the lower level of the adjustment unit is shown as driving the input of the level of the adjustment unit in motion, rather than the level of the adjustment unit as a whole in a certain direction.

The device comprises a first adjusting unit 11, a second adjusting unit 12, a third adjusting unit 13, a fourth adjusting unit 14 and a carrying piece 1, wherein the first adjusting unit 11 is linked with the second adjusting unit 12, namely, the first adjusting unit 11 is driven to move, the second adjusting unit 12, the third adjusting unit 13, the fourth adjusting unit 14 and the carrying piece 1 can be driven to move along a first degree of freedom, the second adjusting unit 12 is linked with the third adjusting unit 13, namely, the second adjusting unit 12 is driven to move, the third adjusting unit 13, the fourth adjusting unit 14 and the carrying piece 1 can be driven to move along a second degree of freedom, the third adjusting unit 13 is linked with the fourth adjusting unit 14, namely, the third adjusting unit 13 is driven to move, the fourth adjusting unit 14 and the carrying piece 1 can be driven to rotate along a third degree of freedom, and the fourth adjusting unit 14 is connected with the carrying piece 1, namely, the fourth adjusting unit 14 is driven to move, and the carrying piece 1 can be driven to move along a fourth degree of freedom. The arrangement and adjustment mode of the adjustment unit realizes the adjustment of the carrying piece 1 in four degrees of freedom, so that the carrying piece 1 is adjusted to a preset space position for beam irradiation treatment.

In a preferred embodiment, the adjustment between the adjustment units is in a sequence such that the movement of the second adjustment unit 12 does not affect the position of the first adjustment unit 11, the movement of the third adjustment unit 13 does not affect the position of the first adjustment unit 11 and the second adjustment unit 12, and the movement of the fourth adjustment unit 13 does not affect the position of the first adjustment unit 11, the second adjustment unit 12 and the third adjustment unit 13. Therefore, under the condition of adjusting a plurality of degrees of freedom, each degree of freedom can be accurately adjusted one by one as required, and the influence caused by the respective adjustment of the adjusting units is reduced.

In other embodiments, the first adjusting unit 11, the second adjusting unit 12, the third adjusting unit 13, and the fourth adjusting unit 14 may also adopt other arrangement sequences, i.e. the arrangement sequence between them is not limited, so long as the linkage effect can be achieved, for example, the arrangement may be sequentially performed from bottom to top in the order of the second, the first, the fourth, and the third. In addition, in other embodiments, any two or any three groups may be selected from the first adjusting unit 11, the second adjusting unit 12, the third adjusting unit 13, and the fourth adjusting unit 14 to be combined, and the arrangement order is not limited, as long as the linkage effect can be achieved. The adjusting component 10 with layered design can realize targeted single-layer or multi-layer adjustment by randomly adjusting one or more of the first adjusting unit 11, the second adjusting unit 12, the third adjusting unit 13 and/or the fourth adjusting unit 14, stably and accurately adjust the posture of the irradiated body in single or multiple degrees of freedom, and reduce the time of repeated operation and verification adjustment, thereby shortening the preparation time of the positioning of the affected part, simplifying the preparation work and improving the accuracy of irradiation treatment.

Referring to fig. 3, the first adjusting unit 11 includes a first adjusting member 111, a first driving member 112, a first supporting member 113, and a first guide member 114. The first adjusting member 111 is connected with the first transmission member 112 and is used for driving the first transmission member 112 to move, the first transmission member 112 is connected with the second adjusting unit 12, the second adjusting unit 12 is driven to move through the movement of the first transmission member 112, the first supporting member 113 is used for supporting the first adjusting member 111 and the like, and the first guiding member 114 is connected between the first supporting member 113 and the second adjusting unit 12 and is used for guiding a path when the second adjusting unit 12 is driven to move.

The first adjuster 111 includes a first manipulation portion 1111 and a first adjustment portion 1112. The first control portion 1111 is configured to control the first adjusting portion 1112 to rotate, and the first adjusting portion 1112 rotates to move the first transmission member 112. Specifically, the first manipulating part 1111 is connected to the first adjusting part 1112, and the first adjusting part 1112 is mounted to the first supporting member 113 through the first mounting seat 115, and the first adjusting part 1112 is preferably a threaded rod, that is, the first driving member 112 is screwed to the first adjusting part 1112. When the first manipulating part 1111 is turned, the first adjusting part 1112 is controlled to controllably move the first driving member 112 along the axis of the first adjusting part 1112, so that the second supporting member 124 (fig. 4) moves in the left-right direction, thereby realizing the movement of the second supporting member 124 along the first degree of freedom, and further realizing the movement of the second adjusting unit 12, the third adjusting unit 13, the fourth adjusting unit 14 and the carrier 1 along the first degree of freedom at the same time.

The first guide 114 includes a first slider 1141 and a first rail 1142, the first slider 1141 and the first rail 1142 being movably coupled. Preferably, the first guide members 114 are provided in two, and further, the first guide members 114 may be provided at both sides of the first adjustment member 111, respectively, to ensure the balance degree of supporting the second support member 124. Preferably, the first slider 1141 is fixedly connected to the first supporting member 113, the first rail 1142 is fixedly connected to the second supporting member 124, and the first slider 1141 is slidably connected to the first rail 1142 to perform a guiding function on the second supporting member 124.

Referring to fig. 4, the second adjusting unit 12 includes a second adjusting member 121, a second transmitting member 122, a fixing member 123, a second supporting member 124, and a second guide member 125. As in fig. 4, it will be appreciated that the presentation of fig. 4 is not in any limiting sense on the technology itself, but is merely used to describe more specific structures. The second and third supports 124, 133 in fig. 4 are upside down views, which can more clearly show the specific structure of the respective parts of the second adjusting unit 12. In actual use, the second supporting member 124 is located below, and the third supporting member 133 in the third supporting unit 13 is located above the second supporting member 124. The second adjusting member 121 is connected with the second driving member 122 and is used for driving the second driving member 122 to rotate, the second driving member 122 is mounted on a third supporting member 133 of the third adjusting unit 13 through a second mounting seat 126, connection between the second driving member 122 and the third adjusting unit 13 is achieved, the second driving member 122 rotates and is used for driving the third adjusting unit 13 to move, the fixing member 123 is fixedly connected with the second supporting member 124, the second driving member 122 is preferably a threaded rod, the second driving member 122 is in threaded connection with the fixing member 123, the fixing member 123 can enable the second adjusting member 121 and the second driving member 122 to move relative to the second supporting member 124, the second supporting member 124 is used for supporting the fixing member 123 and the like, and the second guiding member 125 is connected between the second supporting member 124 and the third adjusting unit 13 and is used for guiding a moving path of the third adjusting unit 13.

The second adjuster 121 includes a second manipulation portion 1211 and a second adjustment portion 1212. The second control portion 1211 is used for controlling the second adjusting portion 1212 to rotate, and the second adjusting portion 1212 rotates to drive the first driving member 112 to rotate. The second control portion 1211 is connected to the second adjustment portion 1212, and the second adjustment portion 1212 is mounted to the third support 133 in the third adjustment unit 13 via the third mount 127. The second adjusting portion 1212 is preferably a shaft with a certain length, and further, a first gear 1213 is disposed on the second adjusting portion 1212, the first gear 1213 is meshed with a second gear 1221, and the second gear 1221 is connected with the second transmission member 122. Preferably, the second transmission member 122 is disposed perpendicular to the second adjustment portion 1212, such that the second manipulation portion 1211 and the first manipulation portion 1111 may be arranged to the same side, and advantageously, the second driving member 312 may be integrated with the first driving member 311. When the second control portion 1211 is rotated, the second gear 1213 and the second gear 1221 drive the second transmission member 122 to rotate, and the fixing member 123 and the second support member 124 are fixed, so that the second control portion 1211, the second adjustment portion 1212 and the second transmission member 122 move together at the same time, thereby driving the third support member 133 to move in the front-rear direction, so as to realize movement of the third support member 133 along the second degree of freedom, and further realize movement of the third adjustment unit 13, the fourth adjustment unit 14 and the placement member 1 along the second degree of freedom at the same time.

The second guide 125 includes a second slider 1251 and a second rail 1252, and the second slider 1251 and the second rail 1252 are movably connected. The second guide members 125 are provided at least two, and at least two guide members may be provided at both sides of the second adjustment member 121, respectively, thereby better securing the balance of the third support member 133. The second slide block 1251 is fixedly connected with the second supporting member 124, the second guide rail 1252 is fixedly connected with the third supporting member 133, and the second slide block 1251 is slidably connected with the second guide rail 1252, so that the guiding function of the third supporting member 133 is realized.

Referring to fig. 5, the third adjusting unit 13 includes a third adjusting member 131, a swing member 132, a third supporting member 133, a first swing guide 134, a third guide 135, a second swing guide 136, and a rotating member 137. The third adjusting member 131 is movably connected with the swinging member 132 for driving the swinging member 132 to move, the swinging member 132 is connected with the fourth adjusting unit 14 to realize the rotation of the fourth adjusting unit 14 by the swinging of the swinging member 132, the third supporting member 133 is used for supporting the third adjusting member 131 and the like, the first swinging guide member 134 is arranged on the third supporting member 133 and is movably connected with the swinging member 132 for guiding the swinging path of the swinging member 132, the first transmission part 1313 is connected with the third guide member 135 through the connecting member 138, the third guide member 135 is used for guiding the moving path of the first transmission part 1313, the second swinging guide member 136 is connected between the third supporting member 133 and the fourth adjusting unit 14 for guiding the moving path of the fourth adjusting unit 14, the rotating member 137 is connected between the third supporting member 133 and the fourth adjusting unit 14, and the rotating member 137 is preferably in a ring-shaped or circular structure. When the swinging member 132 swings, the rotating member 137 drives the fourth adjusting unit 14 to rotate substantially about the central axis of the rotating member 137, and it is easy to understand that when the rotating member 137 is of another shape, the rotating member 137 drives the fourth adjusting unit 14 to rotate substantially about another axis. The swinging member 132 is movably connected with the third adjusting member 131 and the first guiding member 114, and the swinging of the swinging member 132 is realized through the third adjusting member 131 and the first guiding member 114.

The third adjusting member 131 includes a third manipulation section 1311, a third adjusting section 1312, a first transmission section 1313, and a stopper section 1314. The third control portion 1311 is used for controlling the third adjusting portion 1312 to rotate, the third adjusting portion 1312 rotates to enable the first transmission portion 1313 to move, the first transmission portion 1313 moves to drive the swinging member 132 to move, and the limiting portion 1314 is used for achieving movable connection between the swinging member 132 and the first transmission portion 1313. Preferably, the third control portion 1311 is connected to the third adjusting portion 1312 through a gear engagement, the third adjusting portion 1312 is mounted to the third supporting member 133 through the fourth mounting seat 139, the third adjusting portion 1312 is preferably a threaded rod, and the third adjusting portion 1312 is in threaded connection with the first transmission portion 1313. When the third manipulating portion 1311 is rotated, the third adjusting portion 1312 drives the first driving portion 1313 to move along the axis of the third adjusting portion 1312, so as to drive the connecting member 138 to move along the axis of the third adjusting portion. The swinging member 132 is connected to the fourth supporting member 142 in the fourth adjusting unit 14, and by sliding the limiting portion 1314 in the adjusting position 1321 and guiding the swinging member 132 by the first swinging guide member 134, swinging of the swinging member 132 in the first swinging guide member 134 is achieved, and further, the fourth supporting member 142 is driven to rotate, so that rotation of the fourth supporting member 142 along the third degree of freedom is achieved, and further, rotation of the fourth adjusting unit 14 and the carrying member 1 along the third degree of freedom is achieved at the same time.

It is to be readily understood that the stopper 1314 may be a protrusion, a bump, or the like. The limiting portion 1314 is disposed on the connecting member 138, the first transmission portion 1313 is connected to the connecting member 138, and the connecting member 138 is movably connected to the swinging member 132 through the limiting portion 1314. The swinging member 132 is provided with an adjusting position 1321 for moving the limiting portion 1314, for example, the adjusting position 1321 may be a slot, a hole, or the like with a certain length, and in this embodiment, the adjusting position 1321 is preferably a waist-shaped hole matched with the limiting portion 1314, so that the limiting portion 1314 moves flexibly in the waist-shaped hole.

Further, the swing member 132 may be movable with respect to the third adjustment member 131, and the first swing guide 134 may be provided in an arc shape. Specifically, the first swing guide 134 is an arc-shaped groove, the bottom of the swing member 132 is provided with a third slider 1322, the swing member 132 moves in the arc-shaped groove through the third slider 1322, and preferably, the swing member 132 may be disposed at the other side of the arc-shaped groove opposite to the arc-shaped opening direction thereof. When the first transmission portion 1313 drives the swinging member 132 to move, the swinging member 132 is guided by the first swinging guide member 134 to perform an arc path, and the swinging portion is driven to move in combination with the first transmission portion 1313, so that the swinging member 132 swings along the arc path.

Further, the third guide 135 is a linear guide. The third guide members 135 may be provided in two or more and fixed to the third support member 133 such that the two third guide members 135 are located at both sides of the axis of the third adjusting portion 1312, respectively. Both ends of the first transmission part 1313 are movably connected with the two third guide members 135, respectively, through the connection members 138 to stably and balancedly guide the first transmission part 1313.

Further, the second swing guide 136 includes a fourth slider 1361 and a fourth rail 1362, and the fourth slider 1361 and the fourth rail 1362 are movably connected. The fourth guide 1362 is preferably configured in an arc shape, and the arc line of the fourth guide 1362 is concentric with the arc line of the first swing guide 134, for example, the center of the circle may be the intersection point of the axis of the rotating member 137 and the plane of the third support member 133, so as to further improve the stability and synchronization of adjustment. The fourth guide rail 1362 is disposed on the third supporting member 133, the fourth slider 1361 is fixedly connected with the fourth supporting member 142, and the fourth slider 1361 is slidably connected with the fourth guide rail 1362, thereby further realizing the guiding function for the fourth supporting member 142.

Further, the rotating member 137 may be a bearing. The rotating member 137 is fixedly connected to the third supporting member 133 and rotatably connected to the fourth supporting member 142 of the fourth adjusting unit 14, so that the fourth adjusting unit 14 can rotate relative to the third supporting member 133 through the rotating member 137.

Referring to fig. 6, the first, second and third adjusting units 11, 12, 13 are provided at the outside thereof with a housing capable of shape adjustment following the movement of the second and third adjusting units 12, 13, for protecting the parts inside the first, second and third adjusting units 11, 12, 13. Preferably, the housing further includes a first housing 16 and a second housing 17, the first housing 16 being disposed outside the second housing 17, specifically, the first housing 16 is an outer housing, and the second housing 17 is an inner housing. The first housing 16 is connected to the second support 124, the first housing 16 is capable of moving along with the second support 124, the second housing 17 is connected to the third support 133, and the second housing 17 is capable of moving along with the third support 133. For example, when the first manipulation part 1111 is rotated, the second support 124 can be moved in the left-right direction while the first and second cases 16 and 17 are moved in the left-right direction together with the second support 124, and when the second manipulation part 1211 is rotated, the third support 133 can be moved in the front-rear direction while the second case 17 is moved in the front-rear direction together with the third support 133.

Preferably, the first housing 16 includes a first side plate 161, a second side plate (not shown), a first flat plate 162, a second flat plate 163, and a third flat plate 164. The first side plate 161 and the second side plate have substantially the same structure, and the first side plate 161 and the second side plate are disposed opposite to each other and are respectively connected to both sides of the second supporting member 124. The first side plate 161 includes a first plate portion 1611, a second plate portion 1612, and a third plate portion 1613, and the first plate portion 1611, the second plate portion 1612, and the third plate portion 1613 may or may not be integrally formed on the same plane. In the embodiment disclosed in the present application, two adjacent plate portions 1611, 1612 and 1613 are connected to each other and are bent, and the degree of bending is 90 °. It is to be understood that the arrangement and shape of the first plate portion 1611, the second plate portion 1612, and the third plate portion 1613 are not limited as long as they can wrap the sides of the second housing 17 and the second support 124. The first flat plate 162, the second flat plate 163, and the third flat plate 164 are disposed at the top of the third adjusting unit 13, and the first flat plate 162, the second flat plate 163, and the third flat plate 164 are connected to the first side plate 161, and the second side plate, so that the first flat plate 162, the second flat plate 163, and the third flat plate 164 can protect the internal structure of the third adjusting unit 13, and can also support the fourth adjusting unit 14.

It is easy to understand that the first housing 16 is movably disposed outside the second housing 17, and the two are adjustably wrapped around the main structures of the first adjusting unit 11, the second adjusting unit 12 and the third adjusting unit 13, and along with any adjustment of the first adjusting unit 11, the second adjusting unit 12 and the third adjusting unit 13, the first housing 16 and the second housing 17 can be adaptively adjusted in a matching manner, and the left-right, front-back and rotation direction wrapping of the omnibearing wrapping is performed in the first, second and third dimensions, so that the sealing performance and the safety of the whole adjusting assembly are improved. The first housing 16 and the second housing 17 may be made of radiation shielding materials, particularly materials selected to shield neutrons, photons, gamma rays, etc., and the split housing may effectively protect the structures and components in the drive assembly, minimizing the internal structures from radiation damage.

Preferably, the second housing 17 includes a third side plate 171, a fourth side plate (not shown), a fifth side plate 172, and a fourth flat plate 173. The third side plate 171 and the fourth side plate are substantially identical in structure and are disposed opposite to each other, and are respectively connected to both sides of the third supporting member 133, and at least portions of the third side plate 171 and the fourth side plate are located inside the first side plate 161 and the second side plate. Both sides of the fifth side plate 172 are respectively connected with the third side plate 171 and the fourth side plate, and the third side plate 171, the fourth side plate and the fifth side plate 172 enclose a C shape together, so that part of the components of the first adjusting unit 11, the second adjusting unit 12 and the third adjusting unit 13 are wrapped inside. The fourth flat plate 173 is connected to the third side plate 171, the fourth side plate, and the fifth side plate 172, and the fourth flat plate 173 is positioned below the first flat plate 162, so that the fourth flat plate 173 can adaptively cover the internal parts thereof when the third supporting member 133 moves in the front-rear direction, thereby protecting the parts from the outside.

Referring to fig. 7, the fourth adjusting unit 14 includes a fourth adjusting member 141, a fourth supporting member 142, a third transmitting member 143, a lifting member 144, a lifting guide 145, a fifth supporting member 146, a third housing 151, and a fourth housing 152. The fourth adjusting member 141 is connected to the third driving member 143 for driving the third driving member 143 to move in the first direction, the third driving member 143 is connected to the elevating member 144, the third driving member 143 moves for driving the elevating member 144 to move in a second direction perpendicular to the first direction, up and down, so that the carrier 1 provided on the fifth supporting member 146 moves in a fourth degree of freedom, the fourth supporting member 142 supports the fourth adjusting member 141, etc., the elevating guide member 145 is slidably connected to the elevating member 144 for guiding the elevating member 144, the fifth supporting member 146 is connected to the elevating guide member 145 and the carrier 1 for mounting the carrier 1 and mounting the elevating guide member 145, and the third casing 151 and the fourth casing 152 are provided on the periphery of the elevating member 144 for protecting the fourth adjusting unit 14. It will be readily appreciated that in other embodiments, the lifting guide 145 may also be provided on the fourth support 142, i.e. not connected to the fifth support 146, and that the guiding of the adjustment of the lifting member 144 may be achieved by a sliding connection with the lifting member 144.

Further, the fourth adjuster 141 includes a fourth manipulation portion 1411 and a fourth adjustment portion 1412. The fourth control portion 1411 is configured to control movement, such as rotation, of the fourth adjusting portion 1412, and rotation of the fourth adjusting portion 1412 is configured to move the third transmission member 143. The first control portion 1111 is connected to the fourth adjusting portion 1412 through a speed reducer, the fourth adjusting portion 1412 is mounted on the fourth supporting member 142 through the fifth mounting seat 147, the fourth adjusting portion 1412 is preferably a screw, and the third transmission member 143 is connected to the fourth adjusting portion 1412 through threads.

Further, the elevating member 144 includes a first elevating portion 1441 and a second elevating portion 1442. The first lifting part 1441 and the second lifting part 1442 are hinged at the middle part, the first end of the first lifting part 1441 is hinged with the sixth mounting seat 148, the sixth mounting seat 148 is fixedly connected with the fifth supporting piece 146, the second end of the first lifting part 1441 is hinged with the third transmission piece 143, further, the first end of the second lifting part 1442 is hinged with the seventh mounting seat 149, the seventh mounting seat 149 is slidably connected with the lifting guide piece 145, the second end of the second lifting part 1442 is hinged with the eighth mounting seat 150, and the eighth mounting seat 150 is fixedly connected with the fourth supporting piece 142. When the fourth control portion 1411 is rotated, the fourth adjusting portion 1412 drives the third transmission member 143 to move along the first direction, such as the axis of the fourth adjusting portion 1412 moves, so as to drive the first lifting portion 1441 and the second lifting portion 1442 to synchronously rotate relatively, thereby realizing the movement of the fifth support member 146 in the second direction perpendicular to the first direction, in this embodiment, the movement in the up-down direction, and the movement of the carrier member 1 along the fourth degree of freedom.

Referring to fig. 8, the third housing 151 is connected to the fourth support 142, and the fourth housing 152 is connected to the fifth support 146. Preferably, in one embodiment, the third housing 151 and the fourth housing 152 are provided in a separately retractable adjustment form, wherein the fourth housing 152 is disposed at the periphery of the lifter 144, the third housing 151 is disposed at the periphery of the fourth housing 152, and the fourth housing 152 is movable relative to the third housing 151 to accommodate the lifting movement of the lifter 144.

The third case 151 and the fourth case 152 may be provided in an integrated form, in addition to being provided in a separate form. In other embodiments, the fourth housing 152 may not be provided, and only the third housing 151 may be provided. For example, one end of the third housing 151 is connected to the fourth support 142, and the other end of the third housing 151 is connected to the fifth support 146. In this embodiment, the third housing 151 is elastically deformable, for example, the first housing 51 may be flexible or corrugated, and the flexible or corrugated structure of the first housing 151 may be elastically deformed to follow the movement of the lifter 144 to adjust the shape, thereby protecting the movement of the lifter 144. It will be appreciated that the form and shape of the first and second housings 151 and 152 are not limited as long as they can be shape-adjusted following the movement of the lifter 144 and can function to protect the lifter 144.

Further, the moving assembly 20 includes a push-pull member 21 and a first moving member 22. The push-pull member 21 is disposed on one side of the adjusting assembly 10 and is used for pushing or pulling the adjusting assembly 10 and the carrying member 1, the push-pull member 21 may be a handle, a handrail, a push-pull rod, etc., the first moving member 22 is disposed around the bottom of the adjusting assembly 10 and is used for moving the adjusting assembly 10 and the carrying member 1, for example, for integrally moving the adjusting assembly 10 and the carrying member 1 to a preparation room, a treatment room, etc., and the first moving member 22 may be a pulley, a caster, a roller, a universal wheel, a sprocket, etc.

Further, at least one of the first manipulation portion 1111, the second manipulation portion 1211, the third manipulation portion 1311, and the fourth manipulation portion 1411 of the first adjustment unit 11, the second adjustment unit 12, the third adjustment unit 13, and the fourth adjustment unit 14 may be manually operated, or the first manipulation portion 1111, the second manipulation portion 1211, the third manipulation portion 1311, and the fourth manipulation portion 1411 may be driven by the driving unit 30. It is easily understood that the drive assembly 30 is able to adjust the carrier 1 to a preset spatial position more quickly and accurately with respect to manual operation.

Further, the drive assembly 30 comprises a first drive assembly 31 and/or a second drive assembly (not shown). For example, the first driving assembly 31 is used to drive the first manipulation part 1111, the second manipulation part 1211 and the third manipulation part 1311 to rotate, and the second driving assembly is used to drive the fourth manipulation part 1411 to rotate.

As shown in fig. 9, 10 and 14, the first driving assembly 31 includes a first driving member 311, a second driving member 312, a third driving member 313, a limiting member 314, a base 315, a fifth housing 316, a power source 317 and a second moving member 320. The output part of the first driving member 311 is connected to the first control part 1111 for driving the first control part 1111 to rotate, the output part of the second driving member 312 is connected to the second control part 1211 for driving the second control part 1211 to rotate, the output part of the third driving member 313 is connected to the third control part 1311 for driving the third control part 1311 to rotate, the limiting members 314 are respectively disposed on the first driving member 311, the second driving member 312 and the third driving member 313 for limiting the movement strokes of the first adjusting unit 11, the second adjusting unit 12 and the third adjusting unit 13, the base 315 is used for supporting the first driving member 311, the second driving member 312 and the third driving member 313, etc., the fifth housing 316 is used for covering the power source 317, the first driving member 311, the second driving member 312 and the third driving member 313, etc., it is easy to understand that the power source 317 may include an ac/dc power source, a pneumatic structure, etc., the power source 317 is used for providing power to the first driving member 311, the second driving member 312 and the third driving member 313, and the base 315, and the whole moving member 320 is used for moving the first driving assembly 31. Preferably, in this embodiment, the first driving member 311, the second driving member 312 and the third driving member 313 are integrated into a whole through the base 315 and the fifth housing 316, and are hung outside the adjusting assembly 10, and the first driving assembly 31 can be detachably removed, so that the first driving assembly 31 is prevented from being affected by particle radiation during the irradiation treatment, and activation and loss of internal parts are caused. The second driving assembly includes a fourth driving member (not shown), and an output portion of the fourth driving member is connected to the fourth control portion 1411 for driving the fourth control portion 1411 to rotate.

The fifth housing 316 may be provided in an integrally formed form or may be formed as a separate component, such as three-part housings 316a, 316b and 316c, depending on the configuration of the drive assembly. Specifically, the housing 316a and the housing 316b are used to protect the first driving piece 311, the second driving piece 312, and the third driving piece 313, and the housing 316c is used to protect the power source 317. The split structure can be separated and closed in the alignment and adjustment process of the driving assembly and the adjusting device. The fifth housing 316 may be made of a radiation shielding material, and particularly, a material that shields neutrons, photons, gamma rays, etc., and the split housing can effectively protect the structures and components in the driving assembly, so as to minimize radiation damage to the internal structure.

In other embodiments, the fourth drive may also be integrated into the first drive assembly 31.

Further, the first driving member 311 and the second driving member 312 are connected in linkage, that is, when the first driving member 311 works, the second driving member 312 can move along the first path. And the second drive member 312 is operable such that the second drive member 312 is itself capable of moving along a second path. The second driving member 312 and the third driving member 313 are interlocked with each other, that is, when the second driving member 312 is operated, the third driving member 313 can move along the second path along the second driving member 312, and the interlocking process of the three driving members is described below.

In a preferred embodiment, the second driving member 312 does not affect the position of the first driving member 311 when in operation, and similarly, the third driving member 313 does not affect the position of the first driving member 311 and the second driving member 312 when in operation. The drive assembly 30 can thus precisely drive the adjustment assembly 10 one by one as needed to effect movement of the carrier 1 in multiple degrees of freedom.

Referring to fig. 11 and 12, the first driving member 311 includes a first driving part 3111, a first transmitting part 3112, a second transmitting part 3113, a first output part 3114, and a first moving part 3115. The first driving part 3111 is used for providing driving force, the first transmission part 3112 is connected between the first driving part 3111 and the second transmission part 3113, the first transmission part 3112 is used for transmitting power of the first driving part 3111 to the second transmission part 3113, the second transmission part 3113 is used for following rotation of the first driving part 3111, the first output part 3114 is connected with the end of the second transmission part 3113 and used for outputting power of the first driving part 3111 to drive the first control part 1111 to rotate, and the first moving part 3115 is connected with the second transmission part 3113 in a transmission mode and connected with the second driving piece 312 and used for driving the second driving piece 312 and the third driving piece 313 to move.

Further, the first driving part 3111 is mounted to an eighth mount 3116, and a shaft is provided at an end of the first driving part 3111. The first transmitting portion 3112 includes a first transmitting wheel 3112a, a second driving wheel 3112b, and a transmitting belt 3112c. The first driving wheel 3112a is disposed on a shaft of the first driving section 3111, the second driving wheel 3112b is disposed at one end of the second driving section 3113, and the transmission belt 3112c is engaged with the first driving wheel 3112a and the second driving wheel 3112b for transmitting driving force of the first driving section 3111 to the second driving section 3113.

Further, the second transmission portion 3113 may be disposed side by side with the first driving portion 3111, so that space can be saved, the structural arrangement is compact, and one end of the second transmission portion 3113 is also mounted to the eighth mounting base 3116. The second transmission portion 3113 may be a screw, where the first moving portion 3115 is screwed to the second transmission portion 3113, and the first moving portion 3115 is configured to move along an axis where the second transmission portion 3113 is located while the second transmission portion 3113 rotates under the action of the first driving portion 3111 and the first transmission portion 3112, where the first moving portion 3115 is connected to the fourth support portion 3124, and the first moving portion 3115 moves to drive the second driving member 312 and the third driving member 313 to move (which will be described later).

Further, the first output portion 3114 is connected to an end portion of the second transmission portion 3113, a sleeve for transmitting power is provided at an end portion of the first manipulation portion 1111 near the first output portion 3114, and the first output portion 3114 is connected to the first manipulation portion 1111 through the sleeve. The first output section 3114 rotates the first manipulation section 1111 by the first driving section 3111, thereby realizing movement of the second adjustment unit 12, the third adjustment unit 13, the fourth adjustment unit 14, and the mount 1 along the first degree of freedom.

In the disclosed embodiment, the lead of the second transmission portion 3113 is preferably the same as the lead of the first adjustment portion 1112. Specifically, referring to fig. 14, the second transmission portion 3113 and the first adjustment portion 1112 preferably use the same threaded rod, and the second transmission portion 3113 and the first movement portion 3115 are provided in combination with the limiting member 314 to limit the movement path of the first transmission member 112, where the movement stroke of the first movement portion 3115 on the second transmission portion 3113 is the same as the movement stroke of the first transmission member 112 on the first adjustment portion 1112, and when the first movement portion 3115 moves to the end of the second transmission portion 3113, it means that the first transmission member 112 reaches the upper movement limit, i.e. the second adjustment unit 12 reaches the upper adjustment limit in the first degree of freedom, at this time, the first movement portion 3115 contacts the limiting member 314, and the first driving portion 3111 idles or stops rotating under the action of the limiting member 314, so that the second adjustment unit 12 stops moving, and the operation safety of the whole device in the adjustable range is ensured.

As shown with reference to fig. 12, 13 and 14, the second driving piece 312 includes a second driving portion 3121, a second output portion 3122, a third supporting portion 3123, a fourth supporting portion 3124, a first guiding portion 3125 and a second guiding portion. The second driving part 3121 is used for providing driving force, the second output part 3122 is connected with an output end of the second driving part 3121 and is used for outputting the power of the second driving part 3121 to drive the second control part 1211 to rotate, the third supporting part 3123 is connected with the second driving part 3121 and is used for installing the second driving part 3121, the fourth supporting part 3124 is connected with the first moving part 3115 and is used for following the movement of the first moving part 3115, the first guiding part 3125 is arranged on the fourth supporting part 3124 and is connected between the fourth supporting part 3124 and the base 315, the first guiding part 3125 is used for guiding the second driving part 3121 to move along a first path defined by the first guiding part 3125, the second guiding part is arranged on the third supporting part 3123 and is connected between the third supporting part 3123 and the fourth supporting part 3124, and is used for guiding the second driving part 3121 to move along a second path defined by the second guiding part.

Further, the second manipulation unit 1211 is provided with a sleeve near an end of the second output unit 3122, and the second output unit 3122 is connected to the second manipulation unit 1211 through the sleeve. Under the action of the second driving portion 3121, the second output portion 3122 drives the second control portion 1211 to rotate, so as to realize movement of the third adjustment unit 13, the fourth adjustment unit 14, and the carrier 1 along the second degree of freedom.

Further, the first guide 3125 includes a fifth slider 3125a and a fifth guide rail 3125b, and the fifth slider 3125a and the fifth guide rail 3125b may also be provided in pairs on the base 315. The second guide includes a sixth guide rail 3126. Preferably, the third support portion 3123, the second guide portion, the fourth support portion 3124, and the first guide portion 3125 are disposed on the base 315 sequentially from top to bottom. The second driving portion 3121 is mounted on the third supporting portion 3123 through a ninth mounting seat 3127, the bottom of the third supporting portion 3123 is connected with a sixth slider (not shown) which is slidably connected with the sixth guide rail 3126, the sixth guide rail 3126 is connected with the fourth supporting portion 3124, the bottom of the fourth supporting portion 3124 is connected with the fifth slider 3125a, the fifth slider 3125a is slidably connected with the fifth guide rail 3125b, the fifth guide rail 3125b is fixedly connected with the base 315, and the bottom of the fourth supporting portion 3124 is connected with the first moving portion 3115 for moving following the first moving portion 3115. Preferably, the line of the fifth guide 3125b is disposed perpendicular to the line of the sixth guide 3126. Referring to the setting of the plurality of degrees of freedom in the adjusting assembly 10, in the embodiment of the application, the straight line of the fifth guide rail 3125b is parallel to the first degree of freedom, the second driving portion 3121 moves through the fifth guide rail 3125b, that is, the second driving portion 3121 moves along the first path, and the straight line of the sixth guide rail 3126 is parallel to the second degree of freedom, that is, the second driving portion 3121 moves through the sixth guide rail 3126, that is, the second driving portion 3121 moves along the second path. When the first driving part 3111 drives the first manipulating part 1111 to rotate, the first transmission member 112 moves along the axis where the first adjusting part 1112 is located, driving the second adjusting unit 12 to move along the first degree of freedom, and meanwhile, the first moving part 3115 also moves along the axis where the second driving part 3113 is located, that is, the first moving part 3115 moves synchronously with the second adjusting unit 12, and the first moving part 3115 is connected with the fourth supporting part 3124, so that the fourth supporting part 3124 also moves with the second adjusting unit 12, and the second driving part 3121 moves along the first path, so that the second output part 3122 cannot be separated from the second manipulating part 1211, that is, the second output part 3122 cannot be separated from the sleeve of the second manipulating part 1211, and thus the second manipulating part 1211 cannot be driven. Specifically, the first guide portion 3125 is for guiding the fourth support portion 3124 to move along the first path. When the second driving portion 3121 drives the second manipulation portion 1211 to rotate, the second manipulation portion 1211, the second adjustment portion 1212, the second transmission member 122, and the third support member 133 move together along the second degree of freedom, and the second driving portion 3121 also moves along the second path, so that the second output portion 3122 is not separated from the second manipulation portion 1211, that is, the second output portion 3122 is not separated from the sleeve of the second manipulation portion 1211, and thus the second manipulation portion 1211 cannot be driven. Specifically, the second guiding portion is configured to guide the second driving portion 3121 and drive the second output portion 3122 to move along the second path.

As shown in fig. 14, the third driver 313 includes a third driving part 3131, a second transmitting part 3132, a third transmitting part 3133, a third output part 3134, and a second moving part 3135. The third driving part 3131 is used for providing driving force, the second transmission part 3132 is connected between the third driving part 3131 and the third transmission part 3133, and is used for transmitting the power of the third driving part 3131 to the third transmission part 3133, and the second transmission part 3132 in the third driving member 313 and the first transmission part 3112 in the first driving member 311 have substantially the same structure and function, and are not described herein. The third output portion 3134 is connected to an end portion of the third transmission portion 3133, and is configured to output power of the third driving portion 3131 to drive the third manipulation portion 1311 to rotate, and the third transmission portion 3133 and the second moving portion 3135 are combined with the limiting member 314 to limit a movement path of the first transmission portion 1313 (which will be described in detail below).

Further, the third driving portion 3131 is mounted to the third supporting portion 3123 through a tenth mounting seat 3136, and the third transmitting portion 3133 is mounted to the third supporting portion 3123 through an eleventh mounting seat 3137. The third output portion 3134 is located at an end of the third transmission portion 3133, and the third output portion 3134 is connected to the third manipulation portion 1311 through a sleeve.

Further, when the first driving part 3111 drives the first manipulation part 1111 to rotate, the second adjusting unit 12 and the third adjusting unit 13 move along the first degree of freedom while the second driving part 3121 and the third driving part 3131 move along the first path through the first guide part 3125, when the second driving part 3121 drives the second manipulation part 1211 to rotate, the second adjusting unit 12 and the third adjusting unit 13 move along the second degree of freedom while the second driving part 3121 and the third driving part 3131 move along the second path through the second guide part 3126, and when the third driving part 3131 drives the third manipulation part 1311 to rotate, the fourth adjusting unit 14 moves along the third degree of freedom. That is, preferably, at least the first output portion and the first manipulation portion are not disengaged, further, the second output portion and the second manipulation portion are not disengaged, and the third output portion and the third manipulation portion are not disengaged. In this way, during adjustment, the drive assembly 30 is able to reliably and continuously adjust the adjustment assembly 10 without the need to manually and frequently dock different output shafts to achieve adjustment, saving operating time.

Preferably, in the disclosed embodiment of the application, the lead of third transmission portion 3133 is preferably the same as the lead of third adjustment portion 1312. Specifically, the same threaded rod is preferably used for the third transmission portion 3133 and the third adjustment portion 1312, the second moving portion 3135 is in threaded connection with the third transmission portion 3133, the moving stroke of the second moving portion 3135 on the third transmission portion 3133 is the same as the moving stroke of the first transmission portion 1313 on the third adjustment portion 1312, when the second moving portion 3135 moves to the end portion of the third transmission portion 3133, it means that the first transmission portion 1313 reaches the upper limit of movement in the second degree of freedom, that is, the third adjustment unit 13 reaches the upper limit of adjustment, at this time, the second moving portion 3135 contacts the limiting member 314, and the third driving portion 3131 idles or stops rotating under the action of the limiting member 314, so that the third adjustment unit 13 stops moving, and the operation safety of the whole device in the adjustable range is ensured.

Further, the stopper 314 includes a sensing switch 3141 and a stopper shaft. Preferably, the inductive switch 3141 is used as a soft limit, the limiting shaft is used as a hard limit, and the limiting shaft is arranged on the first driving piece 311, the second driving piece 312 and the third driving piece 313, so that the motion strokes of the first adjusting unit 11, the second adjusting unit 12 and the third adjusting unit 13 are doubly limited, and the motion strokes cannot be continuously adjusted when reaching the upper adjusting limit, so that the operation safety of the device is ensured. It will be appreciated that only the inductive switch 3141 or the limiting shaft may be provided, or both may be provided. In the embodiment disclosed in the present application, the setting scheme of the limiting member 314 is described in conjunction with the third driving member 313, and the manner and principle of setting the limiting member 314 of the first driving member 311 and the second driving member 312 are basically the same as those of setting the limiting member 314 in the third driving member 313, which is not described herein.

Further, the inductive switch 3141 is mounted on the third supporting portion 3123, and two inductive switches 3141 may be disposed on two sides of the eleventh mounting seat 3137, corresponding to two ends of the third transmission portion 3133. When the second moving part 3135 moves to one end of the third transmission part 3133 along the third transmission part 3133, the second moving part 3135 contacts the sensing switch 3141, that is, indicates that the third adjusting unit 13 reaches the adjustment upper limit, at which time the third driving part 3131 may be stopped from driving by power-off, and the first transmission part 1313 may be stopped from moving.

Further, the limiting shaft includes a first limiting shaft 3142 and a second limiting shaft 3143, the first limiting shaft 3142 is mounted on the eleventh mounting seat 3137, and the second limiting shaft 3143 is mounted on the second moving portion 3135. When the second moving portion 3135 moves to one end of the third transmission portion 3133 along the third transmission portion 3133, the second moving portion 3135 abuts against the first limiting shaft 3142 or the second limiting shaft 3143 abuts against the eleventh mounting seat 3137, that is, the third adjusting unit 13 reaches the upper adjusting limit, and at this time, the third driving portion 3131 idles, so that the first transmission portion 1313 stops moving.

Further, the second moving member 320 is disposed around the bottom of the base 315, so as to move the entire first driving assembly 31, and the second moving member 320 may be a pulley, a caster, a roller, a universal wheel, etc.

Further, the second drive assembly includes a fourth drive member. The fourth driving piece is separately arranged, and the fourth output part of the fourth driving piece is connected with the fourth control part 1411 through a sleeve.

Referring to fig. 15, the mounting assembly 40 includes a first mounting member 41 and a second mounting member 42. The first mounting member 41 and the second mounting member 42 are preferably detachably connected for detachably connecting and securing the adjustment assembly 10 and the first drive assembly 31. The first mounting member 41 and the second mounting member 42 are matched and have corresponding mounting positions, the first mounting member 41 may be mounted on the adjusting assembly 10, the second mounting member 42 may be mounted on the first driving assembly 31, or the first mounting member 41 may be mounted on the first driving assembly 31, and the second mounting member 42 may be mounted on the adjusting assembly 10. In the embodiment disclosed in the application, two first mounting members 41 are provided, two first mounting members 41 are respectively mounted on two sides of the first driving assembly 31, two second mounting members 42 are provided, and two second mounting members 42 are respectively mounted on two sides of the adjusting assembly 10.

The second drive assembly may also be mounted using the mounting assembly 40 of the present application, it being understood that other mounting devices may be used.

In the embodiment disclosed in the present application, the first mounting member 41 includes a first mounting portion 411, an operating portion 412, and a clamping portion 413. The first mounting portion 411 is preferably mounted on a side surface of the base 315 of the first driving assembly 31, the operating portion 412 is disposed on the first mounting portion 411, the engaging portion 413 is connected to the operating portion 412, and the operating portion 412 is used for driving the engaging portion 413 to engage with the fixing portion 422 of the second mounting member 42.

The second mounting member 42 includes a second mounting portion 421 and a fixing portion 422. The second mounting portion 421 is preferably mounted on the bottom side of the adjustment assembly 10, and the fixing portion 422 is provided on the second mounting portion 421, and the fixing portion 422 is used for fixing the engaging portion 413. The clamping part 413 has two positions, including a clamping position and a release position, when the clamping part 413 is in the clamping position, the adjusting assembly 10 and the first driving assembly 31 are locked, and when the clamping part 413 is in the release position, the adjusting assembly 10 and the first driving assembly 31 are separated. The operating portion 412 is operable to drive the clamping portion 413 between the clamping position and the release position. Preferably, the clamping portion 413 has a ring-shaped structure, the fixing portion 422 is in a hook shape, when the spatial position of the carrying member 1 needs to be adjusted, the first driving assembly 31 is moved close to the mounting position of the adjusting assembly 10, the clamping portion 413 is driven by the operation portion 412 to be close to the fixing portion 422, the ring-shaped structure of the clamping portion 413 passes through the hook-shaped fixing portion 422, then the operation portion 412 is locked away from the clamping portion 413, the fixing portion 422 can stop the clamping portion 413 from being separated from the fixing portion, the clamping portion 413 is maintained at the clamping position, the clamping portion 413 is located at the clamping position, the first driving assembly 31 is fixed relative to the adjusting assembly 10, and connection fixation of the first driving assembly 31 and the adjusting assembly 10 is achieved. When the carrier 1 is adjusted to the preset spatial position, the driving operation part 412 approaches the fixing part 422, the clamping part 413 is separated from the fixing part 422, and at this time, the clamping part 413 is released from the position, so that the first driving assembly 31 can move relative to the adjusting assembly 10, and the first driving assembly 31 is separated from the adjusting assembly 10.

An embodiment of the present application provides an adjusting method of an adjusting device, including:

S100, the first driving assembly 31 and/or the second driving assembly (not shown) are connected and fixed to the adjustment assembly 10 from a separated state by the mounting assembly 40.

In actual operation, S100 includes the following methods:

S101, the carrier 1 is moved to the preparation room.

S102, positioning the first driving assembly 31 to the mounting position.

As shown in fig. 8 and 16, the base 315 of the first driving assembly 31 is further provided with a positioning member 318, and the bottom of the adjusting assembly 10 is correspondingly provided with a positioning hole 153. The positioning hole 153 is matched with the positioning piece 318, and is used for pre-positioning the first driving assembly 31 to the mounting position, so that the subsequent positioning through the mounting assembly 40 is facilitated. A second moving member 320 is disposed between the first driving member 311 and the base 315, and the third moving member 319 enables the first driving member 311 to be movable relative to the base 315, so as to achieve manual position adjustment.

The third mover 319 includes a joint block 3191, a seventh slider 3192, a seventh rail 3193, a pull rod 3194, a twelfth mount 3195, a stopper 3196, a positioning block 3197, and a reset member 3198. The connection block 3191 is connected to the eighth mount 3116, the bottom of the connection block 3191 is connected to the seventh slider 3192, the seventh slider 3192 is slidably connected to the seventh rail 3193, and the seventh rail 3193 is connected to the base 315 to operatively move the first driver 311 relative to the base 315. The axis of the seventh rail 3193 is preferably parallel to the first degree of freedom, so that the first driving member 311 drives the first output portion 3114 to be movable along the first path. The connecting block 3191 is connected with one end of the pull rod 3194, the pull rod 3194 penetrates through the twelfth mounting seat 3195, the twelfth mounting seat 3195 is fixed to the base 315, the limiting block 3196 is rotationally connected with the pull rod 3194, the positioning block 3197 is arranged at intervals with the twelfth mounting seat 3195, and the resetting piece 3198 is sleeved on the pull rod 3194 and located between the connecting block 3191 and the twelfth mounting seat 3195. It will be readily appreciated that the return member 3198 may be selected from springs, torsion springs, biasing structures, and the like. The pull rod 3194 is used for pulling the connecting block 3191 to enable the first driving member 311 to move along the first path, and then rotates the limiting block 3196 to abut against the positioning block 3197, at this time, the first driving member 311 is far away from the adjusting assembly 10 compared with the positioning member 318, and when the positioning member 318 is matched with the positioning hole 153, the first output part 3114 of the first driving member 311 can be prevented from colliding with the adjusting assembly 10 under the condition of misalignment, so that unnecessary part damage is caused.

S103, the clamping portion 413 is driven by the operation portion 412 to approach the fixing portion 422, so that the annular structure of the clamping portion 413 passes through the fixing portion 422, then the operation portion 412 is far away from the clamping portion 413, the fixing portion 422 stops the clamping portion 413 from being separated therefrom, and at this time, the first driving assembly 31 is fixed relative to the adjusting assembly 10.

S104, if there is a second driving component, fixing the second driving component to the adjusting component 10.

S200, the output part of the driving assembly 30 is adaptively docked with the input part of the adjusting assembly 10.

In actual operation, S200 includes the following methods:

the output parts include a first output part 3114, a second output part 3122, a third output part 3134, and/or a fourth output part, and the input parts include a first manipulation part 1111, a second manipulation part 1211, a third manipulation part 1311, and/or a fourth manipulation part 1411.

S201, the stopper 3196 is turned, so that the stopper 3196 and the positioning block 3197 are separated from each other, and the resetting member 3198 resets the connecting block 3191, and at this time, the first output portion 3114 is adjustably abutted with the first control portion 1111.

S202, the second driver 312 and the third driver 313 are moved along the second path so that the second output portion 3122 and the third output portion 3134 are substantially aligned with the second manipulation portion 1211 and the third manipulation portion 1311, and the second driver 312 and the third driver 313 are further moved along the first path so that the second output portion 3122 and the third output portion 3134 are abutted with the second manipulation portion 1211 and the third manipulation portion 1311.

S203, if there is a fourth output unit, the fourth output unit is docked with the fourth manipulation unit 1411.

S300, placing the irradiated object on the carrying piece 1, controlling the driving assembly 30 to drive the adjusting assembly 10, and adjusting the carrying piece 1 to a preset space position.

In actual operation, S300 includes the following methods:

S301, performing analog positioning, namely controlling at least one of the first driving member 311, the second driving member 312, the third driving member 313 and the fourth driving member by a wired or wireless control manner, so that at least one of the first control portion 1111, the second control portion 1211, the third control portion 1311 and the fourth control portion 1411 rotates, and the irradiated body reaches a preset position.

It will be appreciated that in the above method, the control sequence of the first driving member 311, the second driving member 312, the third driving member 313, and the fourth driving member is not limited.

S400, the driving assembly 30 is separated from the adjusting assembly 10 by the mounting assembly 40. Specifically, the driving operation portion 412 is close to the fixing portion 422, and the clamping portion 413 is separated from the fixing portion 422, at which time the first driving assembly 31 and/or the second driving assembly can be separated from the adjusting assembly 10.

The adjusting assembly 10 and the driving assembly 30 are moved to the treatment room, the above methods S100, S200, S300, S400 are repeated, the adjusting assembly 10 is adjusted to the corresponding position, then the driving assembly 30 is moved out of the treatment room, and finally the irradiated body is irradiated with the beam. It will be appreciated that the adjustment device may be operated only in the preparation room or only in the treatment room, the place of operation not being limited.

It should be understood that, although the reference numerals of the respective methods related to the embodiments described above are sequentially shown, the reference numerals are not necessarily sequentially performed in order. The method labels are not strictly limited to the order of execution, and the method labels may be executed in other orders, unless explicitly stated herein. Moreover, at least some of the reference numerals of the embodiments described above may include reference numerals or a plurality of stages of a plurality of methods, which are not necessarily performed at the same time, but may be performed at different times, and the order of the execution of the reference numerals or stages of the methods is not necessarily sequential, but may be performed alternately or alternately with at least a part of the steps or stages of other reference numerals or other reference numerals.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described one by one for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. A regulating device for radiotherapy, comprising:

A first adjustment unit, used for adjusting the movement of the object along a first degree of freedom; and

The second adjusting unit is linked with the first adjusting unit and is used to adjust the object to move along a second degree of freedom, wherein when the first adjusting unit is in operation, it can drive the second adjusting unit to move along the first degree of freedom.

2. The adjustment device for radiotherapy according to claim 1 is characterized in that the first adjustment unit includes a first adjustment member, a first transmission member and a first support member, the first adjustment member is used to connect and drive the first transmission member to move, the first support member is used to support the first adjustment member, and the first transmission member is connected to the second adjustment unit.

3. The adjustment device for radiotherapy according to claim 1 is characterized in that it also includes a third adjustment unit, which is used to adjust the object to move along a third degree of freedom. The third adjustment unit is linked with the second adjustment unit. When the second adjustment unit is working, it can drive the third adjustment unit to move along the second degree of freedom.

4. The adjustment device for radiotherapy according to claim 3 is characterized in that the second adjustment unit includes a second adjustment member, a second transmission member, a fixing member and a second supporting member, the second adjustment member is used to connect and drive the second transmission member to move, the second transmission member is connected to the fixing member, the second supporting member is used to support the fixing member, and the second transmission member is connected to the third adjustment unit.

5. The adjustment device for radiotherapy according to claim 3 is characterized in that the third adjustment unit includes a third adjusting member, a swinging member, a third supporting member and a first swinging guide member, the third adjusting member is used to connect and drive the swinging member to move, the third supporting member is used to support the third adjusting member, the first swinging guide member is arranged on the third supporting member, and the first swinging guide member is used to guide the movement path of the swinging member.

6. The adjustment device for radiotherapy according to claim 5 is characterized in that the swinging member is movable relative to the third adjusting member, and the first swinging guide member is arranged in an arc shape so that the swinging member can be adjusted along the movement direction of the first swinging guide member relative to the third adjusting member.

7. The adjustment device for radiotherapy according to claim 6 is characterized in that a limiting portion is provided on the third adjusting member, and an adjustment position for the limiting portion to move is provided on the swinging member, and when the third adjusting member drives the swinging member to move, the swinging member swings relative to the first swinging guide member, and the limiting portion moves in the adjustment position.

8. The adjustment device for radiotherapy according to claim 7 is characterized in that the third adjustment unit also includes a rotating member, and the object is rotatably connected to the third support member through the rotating member, and when the swing member drives the object to move, the object rotates around the axis of the rotating member.

9. The adjustment device for radiotherapy according to claim 8 is characterized in that the third adjustment unit also includes a second swinging guide for guiding the movement of the object, the second swinging guide is arranged in an arc shape, and the second swinging guide is arranged concentrically with the first swinging guide.

10. The adjustment device for radiotherapy according to claim 3 is characterized in that it also includes a fourth adjustment unit for adjusting the object to move at least along a fourth degree of freedom, and the fourth adjustment unit is linked with the third adjustment unit. When the third adjustment unit is working, it can drive the fourth adjustment unit to move along the third degree of freedom.

11. The adjustment device for radiotherapy according to claim 10 is characterized in that the fourth adjustment unit includes a fourth adjustment member, a fourth support member, a third transmission member and a lifting member, the fourth support member is used to support the fourth adjustment member, the fourth adjustment member is connected to the third transmission member, the third transmission member is connected to the lifting member, the fourth adjustment member drives the third transmission member to move in a first direction, and the third transmission member drives the lifting member to move in a second direction perpendicular to the first direction.

12. The adjusting device for radiotherapy according to claim 11, characterized in that the fourth adjusting unit further comprises a lifting guide member for guiding the movement of the lifting member.

13. The adjustment device for radiotherapy according to claim 1 is characterized in that at least the first adjustment unit and the second adjustment unit are provided with a shell on the outside, and the shell includes at least a first shell and a second shell, and when the first adjustment unit and/or the second adjustment unit moves, the first shell and the second shell can follow the movement of the first adjustment unit and/or the second adjustment unit to adjust the shape in the direction of the first degree of freedom and/or the second degree of freedom.

14. A method for adjusting an adjusting device for radiotherapy, characterized in that it comprises a first adjusting unit, a second adjusting unit and a third adjusting unit, and the method comprises:

When the first adjusting unit is in operation, it drives the second adjusting unit to move along the first degree of freedom; the second adjusting unit moves at least along the first degree of freedom;

When the second adjusting unit is working, it drives the third adjusting unit to move.