CN205084237U - Self -adaptation radiotherapy system based on three degree of freedom workstations - Google Patents
Self -adaptation radiotherapy system based on three degree of freedom workstations Download PDFInfo
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- CN205084237U CN205084237U CN201520801648.9U CN201520801648U CN205084237U CN 205084237 U CN205084237 U CN 205084237U CN 201520801648 U CN201520801648 U CN 201520801648U CN 205084237 U CN205084237 U CN 205084237U
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Abstract
The utility model belongs to the field of medical equipment, a radiotherapy device is related to, especially one kind is arranged in adjusting the device of human body in the position of radiotherapy. Self -adaptation radiotherapy system based on three degree of freedom workstations includes: elevating platform, motion bed board, human body, sensor, bottom plate, cross sliding table, the elevating platform is fixed in subaerially elevating platform upper portion links firmly the motion bed board, the motion bed board includes bottom plate and cross sliding table, the bottom plate with the elevating platform links firmly, cross sliding table swing joint in the bottom plate, the human body link firmly in cross sliding table is last. The required optional position of radiotherapy can be adjusted out to three degree of freedom workstations to look for the best radiotherapy position, thereby reach perfect radiotherapy effect.
Description
Technical field
This utility model belongs to medical instruments field, relates to a kind of radiotheraphy device, particularly a kind of device for adjusting the position of human body in radiotherapy.
Background technology
Intraoperative radiation therapy is a kind of new technique of tumour radiotherapy, it is in operation, after surgeon excises local tumor, application of radiation line irradiates tumor bed or the residual tumor tissue of tumor resection part by surgical field of view, is widely used in the therapeutic alliance of tumor of head and neck, chest, abdominal part, tumor of pelvic cavity.
Intraoperative radiation therapy originates in the eighties in this century, in operation, apply clinac, utilizes open operating field direct irradiation tissue surface, to kill the remaining tumor cell in local.Owing to there is no radiotherapy apparatus in special art at that time, therefore the large-scale clinac of radiotherapy department is adopted to implement treatment, after ocal resection, under patient is still in narcotism, after wound covers with disinfecting towel, patient is directly delivered to linear accelerator therapeutic room together with operation table, implement radiotherapy in art, this Therapeutic Method program is complicated, operating difficulties, all bring inconvenience to clinician and patient, therefore significantly limit the universal and popularization of radiotherapy in art.
The later stage nineties, radiotheraphy device in first release movable type mechanical arm art of Italy, compared with normal electron linear accelerator volume obviously reduces, weight saving, directly can move in operating room and carry out radiotherapy in art, United States Patent (USP) (the patent No.: 5, 635, 721) disclosed technology " is used in particular for the electron accelerator of radiotherapy in art " and describes radiotheraphy device in the art of this movable-type in detail, it adopts the device of mechanical arm type to support and mobile electron linear accelerator radiation head, move freely at six direction of principal axis, and by special design, significantly alleviate electron linear accelerator weight and volume, electron linear accelerator radiation head is driven to move to surgical field of view by the motion of Automated condtrol mechanical arm, aim at tumor bed position, implement introoperative radiotherapy.
Electron linear accelerator volume is reduced by particular design, and adopt the method for mechanical arm to carry out mobile electron linear accelerator radiation head, equipment all applies robotics, the multi-direction mechanical arm automatic control technology of multidimensional, and manufacture the electron linear accelerator technology of low weight, small size, represent technical merit most advanced now.
However, above-mentioned technology still existing defects, owing to significantly reducing the object of weight and volume to meet, and the special electronic acceleration tube design carried out, obviously reduce the radiant that can reach, this is far from being enough for the tumor cell killing a lot of deep tissue, because said apparatus adopts mechanical arm to support mobile electron linear accelerator radiation head, and mechanical arm can drive the weight of radiation head to limit to some extent, so this defect to be said apparatus very formidable, and in clinical expansion process, this is again extremely important key, this defect will inevitably affect the universal and popularization of radiotherapy technology in art.
Although said apparatus obviously alleviates the volume and weight of electron linear accelerator, the weight of said apparatus still weighs 2500 pounds, for moving 2500 pound weight flexibly, the manufacturing cost of multidimensional, multi-direction fitness machine mechanical arm is also inevitable very expensive, therefore, the price that in art, radiotheraphy device is high, obviously have impact on the popularization of this technology at clinical hospitals.
Another obvious defect of said apparatus is, although they have employed the multidimensional multi-direction fitness machine mechanical arm technology of superprecision, but, in clinical practice, lack 3 D stereo directional technology and device, only rely on Clinical Surgery doctor and radiotherapy department doctor perusal to determine position, both CT or the MR work Image-aided of hi-Fix had not been applied, doctor is not allowed to have perfect instrument determination lesions position yet, angle, direction and the relation with normal surrounding tissue, and the impact on around vitals, thus determine the optimal path of radiotherapy electron beam incidence in art, direction, angle, and the electron beam transmitting power determined accordingly, launch time etc.
The present situation of the conventional art of following description radiotheraphy device:
See Chinese utility model patent, number of patent application: 200310108091.2, disclose a kind of Radiotherapeutic apparatus in operation.This patent discloses, and arrange suspension type frame on the ceiling, this suspension type frame is provided with radiation head, radiation head has the function done translation along X, Y, Z-direction and rotate around Z axis.Arrange therapeutic bed in the below of suspension type frame, human body lies on therapeutic bed, and this therapeutic bed has and has along Z axis lifting moving and the function around Z axis rotation along therapeutic bed.From kinematics of mechanism angle analysis, the Radiotherapeutic apparatus in operation disclosed by this utility model has 4 degree of freedom.Kinematics of mechanism is thought, in space, a rigid body has 6 degree of freedom, that is: along the translation of X, Y, Z axis with rotate around X, Y, Z axis.Clearly, the device disclosed by this patent also lacks 2 degree of freedom, namely around the degree of freedom that X, Y-axis are rotated.So this utility model can not be guaranteed in radiotherapy, best position and angle will be adjusted between lesions position and radiation head.
Secondly, the radiotheraphy device disclosed by this patent also has the following disadvantages:
A, suspension type frame is set on the ceiling, because the position of suspension type frame is very high, in installation, maintenance, brings a lot of difficulty.
B, existence repetition in the design of degree of freedom, that is: radiation head has and does translation along X, Y, Z-direction and rotate around Z axis, therapeutic bed has and rotates along Z axis lifting moving and around Z axis, the degree of freedom repeated is: rotate along Z axis lifting moving and around Z axis, thus make therapeutic bed can not obtain any desired position and angle in pose adjustment;
C, suspension type erecting are placed on ceiling, due to the weight of radiation head and the deadweight of suspension type frame itself, make radiation head and suspension type frame there is the risk dropped, the hazard event such as to drop if there is radiation head, the patient's consequence immediately below being positioned at is by hardly imaginable.
Utility model content
The purpose of this utility model is to provide a kind of self adaptation radiotherapy system based on Three Degree Of Freedom workbench, utilize Three Degree Of Freedom workbench as carrying platform, human body lies at Three Degree Of Freedom workbench, Three Degree Of Freedom workbench can adjust the optional position required for radiotherapy, and find best radiotherapy position, thus reach perfect radiotherapeutic effect.
Based on a self adaptation radiotherapy system for Three Degree Of Freedom workbench, comprising: lifting platform, motion bed board, human body, sensor, base plate, cross slid platform; Described lifting platform is fixed on ground, and be connected on described lifting platform top described motion bed board; Described motion bed board comprises base plate and cross slid platform, and described base plate and described lifting platform are connected, and described cross slid platform is movably connected on described base plate; Described human body is fixed on described cross slid platform.
More specifically, described transducer arrangements is around described body foci position, and the quantity of described sensor is to 35.
Compare with conventional art, this utility model has following positive role based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench:
Described human body is fixed on described motion bed board.
Set up cartesian coordinate system XYZ, this utility model is based in the self adaptation radiotherapy system of Three Degree Of Freedom workbench, described cross slid platform is movably connected on described base plate, described cross slid platform can in X direction, Y-direction motion, drive described cross slid platform in X direction, Y-direction motion.Described lifting platform moves along described Z-direction.
This utility model can obtain three degree of freedom based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench: along the movement of X, Y, Z axis.Thus make described lesions position be adjusted to position required arbitrarily, make electron beam can be irradiated to described lesions position exactly.
The adjustment of position: after described sensor acquisition to the irradiation of electron beam, collect the strong and weak signals of electron beam, transmit the signal to controller, regulate this utility model based on the position of the self adaptation radiotherapy system of Three Degree Of Freedom workbench by controller, the intensity of the beam signal that described sensor acquisition is arrived is consistent, now, the lesions position of described human body is positioned at the center of electron beam.
Radiation head is fixed on certain device based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench by this utility model, thus the position of adjustment human body, without the need to using mechanical arm, thus avoid the requirement of radiation head in weight.
For domestic suspension type frame, this utility model is positioned on ground, regulate, install, safeguard all very convenient, substantially increase the safety of radiotherapy simultaneously, do not worry that radiation head falls down and injure patient by a crashing object.Meanwhile, the frame mode of console model, described human body lies on motion bed board.
In case of a failure, this utility model still can guarantee the safety of described human body based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench.Such as, motion of the present utility model breaks down, and motion will be caused not smooth, and described human body still lies on described motion bed board, and accidents such as being injured by a crashing object by radiation head, drop can not occur.
Accompanying drawing explanation
Fig. 1,2 is this utility model structural representations based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench.
In figure: 1 lifting platform, 2 motion bed boards, 3 human bodies, 4 sensors, 8 base plates, 9 cross slid platforms.
Detailed description of the invention
Be described in further detail this utility model below in conjunction with accompanying drawing, but do not form any restriction of the present utility model, element numbers similar in accompanying drawing represents similar element.As mentioned above, this utility model provides a kind of based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench, make its structure simple and be more easy to operation and use, this utility model is used for auxiliary human body and realizes radiotherapy, assists human body to adjust to best radiotherapy position.
As shown in Figure 1 and Figure 2, a kind of self adaptation radiotherapy system based on Three Degree Of Freedom workbench of this utility model, comprising: lifting platform 1, motion bed board 2, human body 3, sensor 4, base plate 8, cross slid platform 9; Described lifting platform 1 is fixed on ground, and be connected on described lifting platform 1 top described motion bed board 2; Described motion bed board 2 comprises base plate 8 and cross slid platform 9, and described base plate 8 and described lifting platform 1 are connected, and described cross slid platform 9 is movably connected on described base plate 8; Described human body 3 is fixed on described cross slid platform 9.
More specifically, described sensor 4 is arranged in around described human body 3 lesions position, and the quantity of described sensor 4 is 3 to 5.
See Fig. 1 to 2, below describe this utility model based on the work process of the self adaptation radiotherapy system of Three Degree Of Freedom workbench and operation principle:
Described human body 3 is fixed on described motion bed board 2.
See Fig. 1, set up cartesian coordinate system XYZ, this utility model is based in the self adaptation radiotherapy system of Three Degree Of Freedom workbench, and described cross slid platform 9 is movably connected on described base plate 8, described cross slid platform 9 can in X direction, Y-direction motion, drive described cross slid platform 9 in X direction, Y-direction motion.Described lifting platform 1 moves along described Z-direction.
This utility model can obtain three degree of freedom based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench: along the movement of X, Y, Z axis.Thus make described lesions position be adjusted to position required arbitrarily, make electron beam can be irradiated to described lesions position exactly.
The adjustment of position: after described sensor 4 collects the irradiation of electron beam, collect the strong and weak signals of electron beam, transmit the signal to controller, regulate this utility model based on the position of the self adaptation radiotherapy system of Three Degree Of Freedom workbench by controller, the intensity of the beam signal that described sensor 4 is collected is consistent, now, the lesions position of described human body 3 is positioned at the center of electron beam.
Radiation head is fixed on certain device based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench by this utility model, thus the position of adjustment human body, without the need to using mechanical arm, thus avoid the requirement of radiation head in weight.
For domestic suspension type frame, this utility model is positioned on ground, regulate, install, safeguard all very convenient, substantially increase the safety of radiotherapy simultaneously, do not worry that radiation head falls down and injure patient by a crashing object.Meanwhile, the frame mode of console model, described human body 3 lies on motion bed board 2.
In case of a failure, this utility model still can guarantee the safety of described human body 3 based on the self adaptation radiotherapy system of Three Degree Of Freedom workbench.Such as, motion of the present utility model breaks down, and motion will be caused not smooth, and described human body 3 still lies on described motion bed board 2, and accidents such as being injured by a crashing object by radiation head, drop can not occur.
Finally, it should be pointed out that above embodiment is only the more representational example of this utility model.Obviously, this utility model is not limited to above-described embodiment, can also have many distortion.Every above embodiment is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all should think and belong to protection domain of the present utility model.
Claims (2)
1. based on a self adaptation radiotherapy system for Three Degree Of Freedom workbench, it is characterized in that composed as follows, comprising: lifting platform, motion bed board, human body, sensor, base plate, cross slid platform; Described lifting platform is fixed on ground, and be connected on described lifting platform top described motion bed board; Described motion bed board comprises base plate and cross slid platform, and described base plate and described lifting platform are connected, and described cross slid platform is movably connected on described base plate; Described human body is fixed on described cross slid platform.
2. the self adaptation radiotherapy system based on Three Degree Of Freedom workbench according to claim 1, is characterized in that, described transducer arrangements is around described body foci position, and the quantity of described sensor is to 35.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520801648.9U CN205084237U (en) | 2015-10-09 | 2015-10-09 | Self -adaptation radiotherapy system based on three degree of freedom workstations |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520801648.9U CN205084237U (en) | 2015-10-09 | 2015-10-09 | Self -adaptation radiotherapy system based on three degree of freedom workstations |
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| CN205084237U true CN205084237U (en) | 2016-03-16 |
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| CN201520801648.9U Expired - Fee Related CN205084237U (en) | 2015-10-09 | 2015-10-09 | Self -adaptation radiotherapy system based on three degree of freedom workstations |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108066903A (en) * | 2017-12-28 | 2018-05-25 | 宋世鹏 | A kind of suspension type radiotherapy system |
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2015
- 2015-10-09 CN CN201520801648.9U patent/CN205084237U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108066903A (en) * | 2017-12-28 | 2018-05-25 | 宋世鹏 | A kind of suspension type radiotherapy system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160316 Termination date: 20161009 |
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| CF01 | Termination of patent right due to non-payment of annual fee |