阅读说明：本技术 放射治疗系统中的可旋转的悬臂式机架 (Rotatable cantilever open frame in radiotherapy system ) 是由 R·哈桑 J·舒尔特海斯 L·M·玛特 J-p·西尔 M·波尔 于 2018-03-14 设计创作，主要内容包括：一种具有悬臂式机架的质子束治疗系统。所述悬臂式机架具有一个端部(固定端部),所述端部附连到支撑所述机架的重量的外部结构。所述机架的其余部分处于悬置状态并且自由端部联接到射束喷嘴。主轴承联接到所述固定端部并且使得所述机架能够围绕等中心点在完整360°范围内旋转。大的配重可以设置在所述固定端部中以保持系统质心靠近于所述轴承。所述机架可以具有硬壳式壳体,所述硬壳式壳体包括悬臂区段,所述悬臂区段封闭机架射束线的磁体和其他部件；以及鼓区段,所述轴承放置在所述鼓区段上。(A kind of proton beam therapy system with cantilever open frame.The cantilever open frame has an end (fixed end), and the end is attached to the external structure for supporting the weight of the rack.The rest part of the rack is in suspended state and free end is connected to beam nozzle.Base bearing is connected to the fixed end and the rack is rotated within the scope of complete 360 ° around isocenter point.Big counterweight can be set in the fixed end to keep system mass center close to the bearing.The rack can have hard shell sandwich type element, and the hard shell sandwich type element includes cantilever section, the magnet and other component of the cantilever section sealing frame beamline；And drum section, the bearing are placed on the bulging section.)

1. a kind of radiotherapy system, the radiotherapy system include:

Accelerator, the accelerator are configured to provide the particle beams with primary power；

Supporting member, the supporting member are operable to be connected to outer surface；And

Rack components, the rack components are connected to the accelerator and the supporting member, and including rack beamline, institute It states rack beamline and is configured to convey the particle beams, wherein the rack components is configured to around the radiotherapy system The isocenter point of system rotates, and wherein further, the rack components is configured to by the supporting member with vibrating cantilever rectangular Formula support.

2. radiotherapy system as described in claim 1, wherein the rack components includes bearing, the bearing is configured to The rack components is rotated within the scope of 360 ° around the isocenter point.

3. radiotherapy system as claimed in claim 2, wherein the rack beamline includes:

First dipole magnet and the second dipole magnet, first dipole magnet and second dipole magnet are operable to make institute The particle beams is stated to add up to curve 90 °.

Quadrupole magnet.

4. radiotherapy system as claimed in claim 3, wherein first dipole magnet is close to the rack components The second end of first end setting and second dipole magnet close to the rack components is arranged, and the radiotherapy System further includes beam nozzle, and the beam nozzle is connected to the second end of the rack components.

5. radiotherapy system as claimed in claim 4, wherein the supporting member is set close to first dipole magnet It sets.

6. radiotherapy system as described in claim 1, the radiotherapy system further includes counterweight, and the counterweight is connected to The rack components and close to the supporting member be arranged.

7. radiotherapy system as claimed in claim 4, wherein the rack components includes being configured to close the rack The hard shell sandwich type element of beamline.

8. radiotherapy system as claimed in claim 7, wherein the monocoque shell includes:

The first end of cantilevered leg section, the cantilevered leg section towards the rack components is tapered；And

Drum section, the bulging section is in the shape of similar cylindrical body and is operable to be connected to counterweight, wherein the counterweight can Operation to balance the rack components during rotation.

9. radiotherapy system as claimed in claim 8, wherein the bulging section of the monocoque shell is further matched It is set to one or more of closing or less: the bearing；Rotary drive system；Position feedback system；Urgent motor brake.

10. radiotherapy system as claimed in claim 8, wherein the end of the bulging section corresponds to the rack components The second end, and wherein the end of the bulging section is operable to be attached to outer wall.

11. radiotherapy system as claimed in claim 7, the radiotherapy system further includes imaging system and cable, The imaging system and the cable are connected to the rack components each by the hard shell sandwich type element.

12. a kind of proton beam therapy system, the proton beam therapy system include:

Accelerator, the accelerator are configured to provide the proton beam with primary power；And

Rack components, the rack components are connected to the accelerator and are configured to around the proton beam therapy system Isocenter point rotation, wherein the rack components is installed to external structure and is supported in cantilever fashion by the external structure.

13. proton beam therapy system as claimed in claim 13, the proton beam therapy system further includes beam nozzle, described Beam nozzle is connected to the first end of the rack components, wherein the first end is the free end of the rack components, and Wherein further, the rack components is in the position of the second end opposite with the first end close to the rack components Place is installed to the external structure.

14. proton beam therapy system as claimed in claim 13, wherein the rack components includes floating bearing, the revolution Bearing is configured so that the rack components can rotate within the scope of 360 ° around the isocenter point.

15. proton beam therapy system as claimed in claim 14, wherein the rack components further include:

Rack beamline, the rack beamline include:

Focusing magnet；

First curves magnet, and described first, which curves magnet, is operable to that the proton beam is made to curve sharp angle；And

Second curves magnet, and described second, which curves magnet, is operable to that the proton beam is made to curve obtuse angle angle；And

Hard shell sandwich type element, the hard shell sandwich type element are configured to accommodate and support the rack beamline and the bearing, wherein Hard shell sandwich type element is operable to be attached to the external structure.

16. proton beam therapy system as claimed in claim 15, the proton beam therapy system further includes counterweight, the counterweight It is configured to balance the rack components, wherein the monocoque shell includes:

The first end of cantilevered leg section, the cantilevered leg section towards the rack components is tapered；And

Drum section, the bulging section are in the shape of similar cylindrical body and are connected to the counterweight.

17. proton beam therapy system as claimed in claim 16, wherein the bulging section is further configured to closing or less One or more of: the floating bearing；Rotary drive system；Position feedback system；Urgent motor brake.

18. proton beam therapy system as claimed in claim 16, wherein the end of the bulging section corresponds to the rack group The second end of part, and wherein the end of the bulging section is operable to be attached to outer wall.

19. proton beam therapy system as claimed in claim 15, the proton beam therapy system further includes imaging system and electricity Cable chain, the imaging system and the cable are connected to the rack components each by the hard shell sandwich type element.

20. proton beam therapy system as claimed in claim 15, wherein the monocoque shell has been all-welded monocoque Structure.

Technical field

The present disclosure generally relates to radiotherapy system fields, and more particularly to the machine in radiotherapy system Frame.

Background of invention

In the typical Proton therapy system for such as tumor radiotherapy, from the accelerator with a certain primary power, Such as cyclotron or synchrotron generate and export proton beam.Primary power determines the maximum penetration of proton beam And typically 250MeV.When proton beam travels across beam delivery system or beamline, beam energy is selected by energy It selects a good opportunity structure, such as degrader or energy filter (energy slit) are accurately adjusted.Beam delivery system includes for penetrating Multiple magnets that beam redirects (curving), focuses and turn to.Rotary frame with emission nozzle is located at beam delivery system End.Finally, beam is delivered to instrument table and to be provided based on gross tumor volume, geometry, position etc. for spy With the energy grade irradiation to patient of constant current modulation journey.

Due to buying and safeguarding that an accelerator is usually used for multiple by the high cost of this radiology system, medical facilities Instrument table, high spend for being accordingly used in accelerator facility are shared.Although using more instrument table list cyclotron systems for For larger medical facility can effective overhead cost, but the totle drilling cost of this multi-frame system is controlled for may only need one It is quite high for treating for the lesser health care facility of platform.In addition, some more treatment table systems do not support multiple treatments It is treated while in platform.Which results in further drawbacks: the delay at an instrument table can cause the delay of other treatment platform.

The growth of demand with the whole world to proton beam radiation therapy, it is therefore highly desirable to there is smaller and cheaper proton to control Treatment system improves the chance for the treatment of patients.In proton radiation system, the independent weight of machine frame system is usually just more than 200 tons, this is mainly derived from a large amount of magnets being mounted in rack.In order to support and accurately control the fortune of most of weight Dynamic, existing rotatable rack is supported by preceding ring structure and rear ring structure, hangs the component in organic frame beamline therebetween. That is rack is supported in a manner of freely-supported.

Fig. 1 shows the supporting mechanism of the freely-supported open frame 100 in proton beam therapy system according to prior art.Rack 100 include the beam optics (or beamline) for being connected to beam nozzle 110.Series of magnet (not shown) in beamline The conveying to guide proton beam is operated, the proton beam finally leaves from beam nozzle 110 and irradiates to patient.Rack 100 rotate around isocenter point 101, the positioning of instrument table and patient during the restriction of isocenter point 101 operation.

The weight of rack 100 is supported on two ends of rack (as by the institute of circle of dotted line 121 and 122 in a manner of freely-supported Show).More precisely, front ring 120 and rear ring 150 are respectively coupled to the front-end and back-end of rack 100.Front ring 120 and rear ring 150 Being respectively coupled to can be with the preliminary roller 161 and back roller 162 that rack 100 rotates.Ring and roller pass through solid made of steel and concrete Determine device 171 and 172 and is attached to ground.

Two rings 130 and 150, which are added, sees machine frame system in instrument table for the other structures component of reinforcement assembly Get up is like quite huge a cone (being as shown from right to left usually taper) or cylindrical drum like structure. Drum like structure limits the overall size of rack, such as end-to-end rack length 102.This drum type rack undesirably limits patient Positioning, and make it difficult to make beam optical geometry increment type improvement, because critical size is determined by mechanical structure, Rather than it is determined by magnet positioning.

Importantly, being rotated due to the intrinsic problem for being ideally directed at two rollers using two rollers to be supported Period introduces random amount of deflection error.Therefore, rack is often shaken, so that beam spot position be made to move in unpredictable fashion It is dynamic.In practice, in order to attempt to repair random error and maintain beam precision, plenty of time and resource are usually all spent again In alignment and repositioning roller.

Summary of the invention

Therefore, this disclosure provides a kind of rotatable rack components for Proton therapy system, it is described can Rotary frame component has structural support mechanism, and the structural support mechanism allows compact and light weight the design of rack, and Improved Mechanical Reliability and beam precision are also provided.

The embodiment of the disclosure includes rack, and the rack is configured as open cantilevered leg, and the cantilevered leg has It is attached to an end (fixed end) for the external structure of the weight of frames.The rest part of the rack, which is in, to overhang State and free end are connected to beam nozzle.Base bearing is connected to fixed end and rack is enabled to surround the centers of grade Point rotates within the scope of complete 360 °.Big counterweight can be set in fixed end to keep system mass center close to bearing. The shell of rack can be made of one or more monocoque sections, such as cantilever section, and the cantilever section sealing frame is penetrated The magnet and other component of bunch；And drum section, bearing are placed on the bulging section.

According to the embodiment of the disclosure, the weight of proton beam rack is for example supported on one by base bearing in cantilever fashion At a position.Compared with the freely-supported rack in conventional proton beam therapy system, cantilever open frame is advantageously eliminated to enclosing Around the roller or bearing for the treatment of region or the demand of other support constructions, and thereby eliminate the main next of random amount of deflection error Source.Cantilever-designed is departing from rack rotating mechanism, to advantageously allow for the case where not significantly changing rotating bearing structure Lower modification beam geometry.In addition, there is the support construction simplified, not only compact but also light weight can be made in cantilever open frame, To allow the flexibility significantly improved for realizing that patient positions while maintaining the gamut rotatory power of rack.In addition, By using hard shell sandwich type element, it can be used as and fully assembled be transported to by the device of pretest according to the rack of the disclosure Health care facility.Therefore, it can significantly and be advantageously reduced associated with manufacturing, transporting, installing, assembling and safeguarding It spends.

Detailed description of the invention

It is better understood with embodiment of the present invention by reading the detailed description carried out below in conjunction with attached drawing, wherein phase As appended drawing reference indicate similar element, and in the accompanying drawings:

Fig. 1 shows the supporting mechanism of the freely-supported open frame in proton beam therapy system according to prior art；

Fig. 2 shows the branch according to exemplary cantilever open frame in the proton beam therapy system of the embodiment of the disclosure Support mechanism；

Fig. 3 shows the exemplary hard shell sandwich type element in the cantilever open frame according to the embodiment of the disclosure；

Fig. 4 shows the inside for the exemplary cantilever open frame of the embodiment according to the disclosure being mounted in therapeutic room Configuration；

Fig. 5 shows matching for the exemplary cantilever open frame of the embodiment according to the disclosure being mounted in therapeutic room It sets；

Fig. 6 shows the configuration of the internal part in the exemplary cantilever open frame according to the embodiment of the disclosure；

Fig. 7 shows the configuration of the exemplary cantilever open frame of the embodiment according to the disclosure；

Fig. 8 shows the configuration of the exemplary cantilever open frame of the embodiment according to the disclosure.

Specific embodiment

Now to be shown in the accompanying drawings the example the preferred embodiments of the invention carry out referring in detail to.Although will combine The preferred embodiment description present invention, it will be understood that, it is not intended to limit the invention to these embodiments.On the contrary, this hair It is bright be intended to covering can be included in as in the spirit and scope of the present invention defined by the appended claims alternative solution, repair Change and equivalent.In addition, in the detailed description below to embodiment of the present invention, elaborate numerous specific details in order to It provides a thorough understanding of the present invention.However, those skilled in the art are it will be recognized that can be in these no certain details The present invention is practiced in the case where section.In other cases, well-known method, program, component and circuit are not described in detail and, In order to avoid unnecessarily obscuring the various aspects of embodiment of the present invention.

Although for the sake of clarity, method can be depicted as to a series of numbered step, number is not necessarily Indicate the sequence of step.It should be understood that some in step can be skipped, it is performed in parallel, or there is no remain stringent Sequence order executes in the case where requiring.Show the figure of embodiment of the present invention be it is semidiagrammatic, rather than drawn to scale, And particularly, some sizes are purposes for clearly appearing from and are illustrated in attached drawing with being exaggerated.Similarly, although it is attached View in figure is usually shown for ease of description to be similarly oriented, but this displaying in attached drawing is largely arbitrary. In general, the present invention can operate in any orientation.

Rotatable cantilever open frame in radiotherapy system

On the whole, the embodiment of the disclosure provides a kind of radiotherapy system, and the radiotherapy system includes it The rotatable rack that weight supports in cantilever fashion.The fixation end of cantilever open frame has base bearing, and the base bearing makes Rack can rotate in 360 ° around isocenter point.The open end of cantilever open frame is in suspended state and is connected in parallel to beam Nozzle, the beam nozzle is used for will be with particle beam irradiation to the patient positioned according to isocenter point.

Fig. 2 shows the exemplary cantilevereds that can be used in proton beam therapy system according to the embodiment of the disclosure The supporting mechanism of rack 200.Cantilever open frame 200 includes rack beamline (not shown), and the rack beamline is used for matter Beamlet is transported to beam nozzle 210.Series of magnet operation in rack beamline carrys out beams directed conveying.Proton beam finally leads to It crosses with the irradiation to patient of beam nozzle.Cantilever open frame 200 can be rotated around isocenter point 201, the isocenter point 201 Limit instrument table (not shown) and the therefore positioning of patient during operating.

In some embodiments, rack beamline 200 is equipped with pencilbeam scan nozzle, the pencilbeam scanning Nozzle using scanning magnet come according to predetermined scan position (for example, in spot scan) or scan path (for example, in raster scanning In) and control the lateral position (X and Y) of beam spot.Rack beamline further includes (determining as curve magnet first and second Property) dipole magnet, steering and correction magnetic as the quadrupole magnet of focusing magnet and for making the beam alignment in beamline Body.Typically, two dipole magnets make proton beam curve 90 ° in total.More precisely, the first dipole magnet is operable to make matter Beamlet curves sharp angle, such as 50 °, and the second dipole magnet is operable to that proton beam is made to curve obtuse angle angle, such as 140°。

According to the disclosure, cantilever open frame 200 is configured as cantilevered leg, and the cantilevered leg has fixed end, described solid Fixed end portion is installed to external support structure 271；And open end, the open end are connected to beam nozzle 210.More precisely Say that the weight of cantilever open frame 200 as indicated by circle of dotted line 221 as supported in one position in ground.At the rest part of rack In suspended state.Free end is connected to beam nozzle 210.Therefore, compared with conventional freely-supported open frame as shown in Figure 1 Compared with, according to the cantilever open frame of the disclosure eliminate to around treatment region bearing or roller or other support constructions demand. It is thus eliminated that the random amount of deflection error as caused by the misalignment between two support rollers.In addition, cantilever open frame is end-to-end Rack length 202 can be with much shorter.

Big counterweight 240 can be set in fixed end to keep system mass center close to the supporting zone of rack 200 (as indicated by circle of dotted line 221).

In some embodiments, external support structure 271 is installed to ground or construction wall.However, the disclosure not by The limitation of the configuration of external support structure.Also attachment techniques or mechanism used in external support structure are not connected to by by rack Limitation.

Base bearing 220 is mounted in fixed end 220, allows cantilever open frame 200 around axis 222, such as It is rotated within the scope of complete 360 °.Rack beamline extends through the inside of bearing.In this example, base bearing is connected to outside Support construction 271 and the weight for being also used to supporting cantilever open frame.It is to be understood, however, that not departing from the scope of the present disclosure In the case of, cantilever open frame can be supported on some other suitable positions along rack.

In some instances, base bearing curves magnet around first or is arranged adjacent to one end.Base bearing can be back Shaft is held, and the floating bearing is sufficiently large to surround the first sweeping area for curving magnet.However, not departing from the disclosure In the case where range, base bearing can also be implemented with any other suitable technology and configuration.In addition, in some other embodiments In, the rotary mechanical part in addition to bearing can be used for realizing the rotary motion of cantilever open frame.

Therefore, according to the embodiment of the disclosure, proton beam rack is configured as cantilevered leg and its weight with vibrating cantilever rectangular Formula is supported from a position, such as by base bearing.Cantilever open frame is designed departing from rotating mechanism, to advantageously allow for Beam optical geometry is modified in the case where not significantly changing rotating bearing structure.In addition, have the support construction simplified, Not only compact but also light weight can be made in cantilever open frame, to allow to realize that patient is fixed while maintaining gamut rotatory power Sizable flexibility of position.

In some embodiments, cantilever open frame can be configured and be fabricated to beam delivery system (for example, beam Nozzle) and the separated system of imaging system (for example, for locating verification system in).Cantilever open frame equipped with external beam The interface structure of delivery system and imaging system docking.In this way, it is possible to change in the case where not changing rotating machinery structure Become beam optical property.However, beam delivery system and imaging system are cantilever open frames in some other embodiments Integral part.

Most of 360 ° of current racks are all on-site assemblies, to need to assemble when constructing rack and be directed at beam Line.A large amount of cables and equipment are all assembled in situ, so as to cause installation quality and the variation of duration and very high peace Dress up this.According to the disclosure, cantilever open frame can be manufactured and as the fully assembled device fortune by pretest Be sent to health care facility, described device have the beamline and beam nozzle of factory-assembled and alignment, all cables, Vacuum and pipe-line system, motor brake, rotary drive mechanism, medium chain, imaging device etc..It will be appreciated that, according to the disclosure Cantilever open frame may include broad range of component well known in the art, such as with the energy selection system of degrader (ESS), for monitoring the beam diagnostic mechanism in situ etc. of beam position and beam current.

In some embodiments, cantilever open frame includes monocoque or fully integrated box as frame or shell Structure.The disclosure is not limited by material composition, configuration or the geometry of the hard shell sandwich type element of cantilever open frame.Fig. 3 is shown According to the exemplary hard shell sandwich type element 300 in the cantilever open frame of the embodiment of the disclosure.

Hard shell sandwich type element 300 can be it is all-welded and including cantilever section 310 and drum section 320.Optionally, two A section can be individual monocoque component and is linked together by another coupling mechanism.Base bearing can be set At the handover region of two sections.Each section of hard shell sandwich type element can be all-welded steel monocoque or box knot Structure.Cantilever section 310 may be embodied in first and curve the rack beamline started after magnet and associated component.Nozzle can To be connected to or be enclosed in the open end of cantilever section 310 extended above therapeutic room.Imaging system can also be installed to Cantilever section 310.Drum section 320 is substantially cylindrical and can close or otherwise couple base bearing, signal With power cable, until first curves beamline, vacuum and the conduit component, urgent motor brake, rotation driving of magnet Mechanism, counterweight, medium chain and/or imaging device.Various parts of the hard shell sandwich type element 300 including being formed to assembly rack are dashed forward Portion or other features out.

Cantilever section 310 can be made of the welding steel for forming carrying crust.Cantilever section 310 can be made more court It is firmer to fight the sizable power forced in this region to base bearing position.In some embodiments, cantilevered machine The pedestal (fixed end) of frame is reinforced by increasing the plate thickness near base bearing.Drum section 320 can be made of thick walled steel tube.

The second of ± 90 ° of position Shi Youchong torque loads for curving dipole magnet generation are rotated to especially for rack, Hard shell sandwich type element in rack advantageously provides excellent rigidity-weight ratio.Cantilever section 310 can have in all directions Generally conical shape, wherein its open end is much narrower than handover end.This can contribute to maintain rack in all rotations Rigidity in angle.

In addition, can be used as fully assembled passing through by using hard shell sandwich type element according to the rack of the disclosure and predict The device of examination is transported to health care facility.Therefore, significantly and it can be advantageously reduced and manufacture, transport, install, assemble With the associated cost of maintenance.

Fig. 4 shows the exemplary cantilever open frame 400 of the embodiment according to the disclosure being mounted in therapeutic room Inside configuration.Cantilever open frame 400 includes hard shell sandwich type element 410 (partlying show), decisive curved in its open end Turn magnet 401 and the base bearing in its fixation end.Cantilever open frame 400 is attached to external support knot by base bearing 402 Structure 405.The open end of rack is connected to beam nozzle 440 and housing shroud 430, and both of which can be rotated with rack 400.Rack The sight that cover 430 can be used for that user is blocked to enter rack construction.Energy Chain 403 (or cable) and counterweight 404 are mounted on rack In 400 fixation end.

Fig. 5 shows the exemplary cantilever open frame 500 of the embodiment according to the disclosure being mounted in therapeutic room 550 Configuration.Cantilever open frame 500 has configuration similar with the cantilever open frame 400 in Fig. 4.Cantilever open frame 500 is included in Decisive in its open end curves magnet 501, fixes base bearing 502 and hard shell sandwich type element (part in end positioned at it Ground is shown).Base bearing 502 is connected between the cantilever section 510 of hard shell sandwich type element and drum section 520.Cantilever open frame 500 Weight from the raised external support structure 505 in ground by supporting.The end of drum section 520 is attached to the outer wall of therapeutic room 550 560.Counterweight 504 is attached to bulging section 520 near outer wall 560.The open end of cantilever open frame 500, which has, is directed toward isocenter point Beam nozzle 540.Housing shroud 530 is connected to the end of cantilever open frame 500.

Fig. 6 shows the configuration of the internal part in the exemplary cantilever open frame 600 according to the embodiment of the disclosure. Cantilever open frame 600 has configuration similar with the cantilever open frame 500 in Fig. 5.Rack beamline includes the first dipole magnet 601 and second dipole magnet 602, and the quadrupole magnet 604-606 as focusing magnet.In this example, the first dipole Magnet 601 is operable to that proton beam is made to curve 50 °, and the second dipole magnet 602 is operable to that proton beam is made to curve 140 °.

Fig. 7 shows the configuration of the exemplary cantilever open frame 700 of the embodiment according to the disclosure.Cantilever open frame 700 have configuration similar with the cantilever open frame 600 in Fig. 6.Base bearing 702 is covered by main bearing housing 720, the main shaft Holding shell 720 may or may not be the integral part of hard shell sandwich type element of cantilever open frame 700.Medium chain 703 is arranged in shell Drum section on and integrate flexible wires, cable and other media.

In this example, other than base bearing 702, rear bearing 710 is optionally mounted at the other end of bulging section. Rear bearing 710 can be far smaller than base bearing, because the rear bearing does not need to surround the big sweeping area for curving magnet.Depend on In the definite mass center and base bearing of rack and the torque bearing capacity of main bearing housing, can be omitted in some embodiments Rear bearing 710.

Fig. 8 shows the configuration of the exemplary cantilever open frame 800 of the embodiment according to the disclosure.Cantilever open frame 800 have configuration similar with the cantilever open frame 600 in Fig. 6.Base bearing 802 is covered by main bearing housing 820.In addition, rotation Turn drive chain 804, rotation drive motor 805 and urgent motor brake 803 and is connected to base bearing 802.These devices can this Any mode known to field is implemented.The open end of cantilever open frame 800 and locating verification system (PVS) X-ray pipe 810 and Housing shroud 840 couples.Telescopic PVS imaging plate 830 extends from housing shroud 840.

Although disclosed herein certain preferred embodiments and method, according to foregoing disclosure, this field Technical staff is evident that, without departing from the spirit and scope of the present invention can to this kind of embodiment and Method is changed and modifies.The invention is intended to be limited solely by the regulations of range required by appended claims and applicable law And rule.