质子放疗旋转机架控制系统设计与实现

Software design of control system for proton radiotherapy rotating frame

摘要:

旋转机架是质子治疗设备中的关键部件，其主要功能是对治疗头、束流输运线等关键部件进行承重，并旋转至一定角度实现质子束对肿瘤特定角度的照射；针对在放疗过程中终端控制旋转机架运动的控制需求，提出了一种质子治疗旋转机架控制系统设计方法；基于Socket通信技术开发了总控室的服务端程序和工控机的客户端程序，并运用MFC类库设计了服务端与客户端的人机交互界面；在此基础上，在客户端程序中开发了基于S7.Net库的PLC上位控制模块；为保证医护平台在机架运动过程中的水平，在PLC程序中设计了一种同步运动控制模型，实现机架和医护平台的同步运动；现场实验结果表明：该系统可以终端控制旋转机架以0.1~1rpm在-180°~180°范围内运动，以及控制气动踏板的伸出和退回，还会实时监控机架旋转角度和旋转速度，适用于化疗过程中的工作环境，并验证了设计的同步运动控制模型可以实现旋转机架和医护平台同步运动。

Abstract:

The rotating frame is the key component of the proton therapy equipment. Its main function is to bear the weight of key components such as the therapeutic head and beam transport line, and to rotate to a certain angle to realize the irradiation of proton beam at a specific angle of tumor. Aiming at the control requirements of terminal control rotating frame movement during radiotherapy, a design method of proton therapy rotating frame control system is proposed. Based on Socket communication technology, the server program of the main control room and the client program of the industrial computer are developed, and the human-computer interaction interface between the server and the client is designed using MFC class library. On this basis, the PLC upper control module based on S7.Net library is developed in the client program. In order to ensure the level of the medical platform in the process of rack motion, a synchronous motion control model is designed in the PLC program to realize the synchronous motion of the rack and the medical platform. The field test results show that the system can control the movement of the rotating frame in the range of - 180 °~180 ° at 0.1~1 rpm, and control the extension and retraction of the pneumatic pedal. It also monitors the rotation angle and speed of the rack in real time. The system is applicable to the working environment during chemotherapy. It is also verified that the designed synchronous motion control model can realize the synchronous motion of the rotating frame and the medical platform.