Which subsystems make up the radio wave knife system? What is the function of each subsystem? 1.The robotic delivery subsystem consists of a robotic manipulator and a linear accelerator. The robot arm has 6 joints and the accuracy of movement is ±0.2mm. 6MV X-rays are produced by the linear accelerator, and the dose rate of the fourth generation radio wave knife is 800MU per minute. 12 secondary collimators of 5~60mm aperture are available. 2, imaging subsystem (imaging subsystem) includes two X-ray sources (X-ray sources) installed in the ceiling of the treatment room and two digital image detectors (image detector) on both sides of the treatment bed cross opposite. The synchrony subsystem consists of three infrared cameras mounted on the ceiling that capture and record the trajectory of three infrared emitters near the patient’s chest as they move in response to breathing. This waveform combined with the imaging subsystem establishes a dynamic model of tumor movement with respiration and drives the robotic irradiation system to synchronize the X-ray beam in the treatment target area to dynamically irradiate the tumor that moves with respiration. 4.Treatment bed subsystem (patient positioning subsystem) The radio wave knife has a fully automatic treatment bed, which can move in 5 different directions: up and down, left and right, front and back, rotation and tilt, and automatically position the patient’s tumor site, and precisely move the patient with 0.1mm movement distance and 0.1° rotation tilt angle. The treatment planning system can realize the perfect integration of CT, MRI, PET and DSA. The features and characteristics of the lesions displayed by different imaging techniques are fully combined and utilized to facilitate clinicians to accurately outline the tumor target areas and the organs at risk. It can be a single-center plan or a multi-center plan when selecting treatment targets, and it can also distribute multiple independent target centers within the tumor according to the shape of the tumor, and the dose is synthesized to form a highly conformal dose distribution. Among them, the function module of inverse operation directly completes the plan design by targeting the restricted dose of neighboring endangered organs and tumor prescription dose, which accelerates the efficiency of treatment plan design. 6, power and control subsystem (power & control subsystem) power subsystem consists of power distributor (power distribution unit) and uninterruptible power supply (smart uninterruptible power supply), control subsystem mainly consists of each emergency stop control box ( Estop control chassis.