CN208541706U - A kind of radiotherapy robot therapeutic bed of SCARA structure - Google Patents
A kind of radiotherapy robot therapeutic bed of SCARA structure Download PDFInfo
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- CN208541706U CN208541706U CN201721574716.8U CN201721574716U CN208541706U CN 208541706 U CN208541706 U CN 208541706U CN 201721574716 U CN201721574716 U CN 201721574716U CN 208541706 U CN208541706 U CN 208541706U
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Abstract
The utility model discloses a kind of radiotherapy robot therapeutic beds of SCARA structure, including lifting device, the first level rotating arm being connected with above-mentioned lifting device, the second horizontal rotating arm being connected with above-mentioned first level rotating arm, the combination rotary joint being connected with above-mentioned second horizontal rotating arm and the bed board being connected with said combination rotary joint；Lifting device can control bed board and move along Z-direction, first level rotating arm and the second horizontal rotating arm cooperate control bed board to move in the plane where X-axis and Y-axis jointly, combination rotary joint can control bed board and rotate rotating around X-axis, Y-axis and Z axis, thus, can be realized the movement of any direction of the bed board in treatment region and the rotation of any direction, with realize efficiently, accurately radiotherapy；And it is simple and reasonable, without occupying biggish space.
Description
Technical field
The utility model relates to medical apparatus and instruments technical fields, and in particular to a kind of SCARA (Selective
Compliance Assembly Robot Arm, Chinese translation: selection compliance puts together machines arm) radiotherapy of structure
With robot therapeutic bed.
Background technique
Tumour radiotherapy is a kind of local therapeutic approaches using radiation cure tumour.Radioactive ray include that radioactivity is same
Position element generate α, β, gamma-rays and all kinds of x-ray therapy apparatuses or accelerator generate x-ray, electric wire, proton beam and other
Particle beams etc..About 70% cancer patient needs to use radiotherapy during treating cancer, and there are about 40% cancers can
To be eradicated with radiotherapy.Effect and status of the radiotherapy in oncotherapy become increasingly conspicuous, it has also become treat the master of malignant tumour
Want one of means.
Therapeutic bed is one of radiotherapy key equipment.Radiotherapy start before preparation process, in radiation therapy process
Therapeutic bed is required to be supported patient, fix simultaneously accurate movement positioning as needed.In addition, the performance in radiotherapy apparatus is tested
It is also required in card with therapeutic bed support, positioning body mould.Multi-faceted flexible motion can be achieved and the high therapeutic bed of kinematic accuracy for
Guarantee that the effect of radiotherapy is vital.
Therapeutic bed used in radiotherapy at present is mostly to be equipped with three-dimensional translating mechanism below bed board to add one again
Circular motion come realize bed board movement, positioning, such radiation therapeutical bed, attitude regulation and installation space are all restricted, it is difficult to
Realize efficiently, accurately radiotherapy.
New content
The purpose of this utility model provides a kind of radiotherapy robot therapeutic bed of SCARA structure, solves above-mentioned existing
There is one or more in technical problem.
A kind of radiotherapy robot therapeutic bed of SCARA structure according to the present utility model, including lifting device, with
The connected first level rotating arm of above-mentioned lifting device, the second horizontal rotating arm being connected with above-mentioned first level rotating arm and
The combination rotary joint that above-mentioned second horizontal rotating arm is connected and the bed board being connected with said combination rotary joint；Lifting
Device can control bed board and move along Z-direction, and first level rotating arm and the second horizontal rotating arm cooperate control bed board jointly
It is moved in the plane where X-axis and Y-axis, combination rotary joint can control bed board and rotate rotating around X-axis, Y-axis and Z axis.
In some embodiments, lifting device includes axis inner column, axis outer column and axis lifting driving, axis inner column
It is arranged along Z axis, axis outer column is sheathed on axis inner column, and first level rotating arm is connected to axis outer column, and axis lifting driving can
Drive shaft outer column moves back and forth on axis inner column along Z-direction.
In some embodiments, axis inner column include inner column, on axis limited block, under axis limited block, axis limited block,
Sliding block and linear guide, inner column side wall are equipped with linear guide, and linear guide is parallel with Z axis, and sliding is set in linear guide
There is sliding block, sliding block is fixedly installed in axis outer column inner wall, and linear guide upper end is equipped on axis limited block, and lower end is equipped with axis limited block
Under, sliding block is equipped with and the axis limited block that cooperates on axis limited block and under axis limited block.
In some embodiments, axis lifting driving includes lifting motor, speed reducer, roller gear, screw rod bracket and silk
Thick stick jacks block, and the power output end of lifting motor connects speed reducer, and the power output end of speed reducer is connected with roller gear, cylinder
Gear is connected with shaft, and shaft rod upper sleeve is equipped with trapezoidal screw, lead screw jacking block and lead screw bracket, trapezoidal screw and is fixedly connected with lead screw
Block is jacked, lead screw jacking block is fixedly connected on axis outer column.
In some embodiments, first level rotating arm includes that axis rotates outer seat, is respectively arranged on the outer seat both ends of axis rotation
The first runner and the second runner, the first runner by the first driving motor drive, the second runner by the second driving motor drive
It is dynamic；First runner is connected to lifting device, and the second runner is connected to one end of the second horizontal rotating arm, and the second horizontal rotating arm is another
One end is connected with rotary joint is combined.
In some embodiments, inner column side wall is equipped with linear grating mounting rail, and activity is set on linear grating mounting rail
There is grating scale, grating reading head mounting rack is installed on the first runner, grating reading head mounting rack is equipped with absolute grating reading head,
Grating examinations contact mounting rack and grating contact shield are installed, Grating examinations contact mounting rack is touched equipped with grating on the second runner
Head shield.
In some embodiments, combination rotary joint includes the first oscillating bearing, second joint bearing, third joint shaft
It holds, the first joint arm, second joint arm, third driving motor, the 4th driving motor, the 5th driving motor, the first spline drived
Axis, the second spline shaft and third spline shaft；First joint arm one end is connected to the second water by the first oscillating bearing
The axis of flat rotating arm, the first oscillating bearing is parallel with X-axis；The axis of the axis of first joint arm and the first oscillating bearing is same
On one straight line；The first joint arm other end is connected to one end of second joint arm, second joint bearing by second joint bearing
Axis it is parallel with Y-axis, the axis of second joint arm is vertical with the axis of second joint bearing；The other end of second joint arm is logical
Cross third oscillating bearing and be connected to bed board, the axis of third oscillating bearing is parallel with Z axis, the axis of third oscillating bearing perpendicular to
Plane where bed board；Third driving motor, the 4th driving motor, the 5th driving motor, the first spline shaft, the second spline
Transmission shaft and third spline shaft are all set in the second horizontal rotating arm, and third driving motor passes through the first spline shaft
The first oscillating bearing is driven to rotate around X-axis, the 4th driving motor drives second joint bearing around Y-axis by the second spline shaft
Rotation, the 5th driving motor drive third oscillating bearing to rotate about the z axis by third spline shaft.
In some embodiments, sextuple torque sensor is provided between bed board third oscillating bearing and bed board；It is sextuple
The data measured load weight on real-time measurement bed board and load distribution and can be supplied in real time feedback by torque sensor
System realizes accurate positioning when different loads, different loads distribution.
In some embodiments, bed board is made of carbon fibre material, and bed board includes, end support region, fixed area
With effective treatment region, system positioning and proton beam can be guided to control with radioscopic image on effective treatment region, that is, therapeutic bed bed board
The region for the treatment of.
The utility model can be real by setting lifting device, first level rotating arm and the second horizontal rotating arm as a result,
Existing bed board also passes through setting combination rotary joint, Lai Shixian bed board difference respectively in vertically and horizontally any movement
It is rotated around X-axis, Y-axis and Z axis, final movement and any direction realized bed board and be capable of any direction of the bed board in treatment region
Rotation, with realize efficiently, accurately radiotherapy；And it is simple and reasonable, without occupying biggish space.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the radiotherapy robot therapeutic bed of SCARA structure of the utility model；
Fig. 2 is a kind of side view of the radiotherapy robot therapeutic bed of SCARA structure of the utility model；
Fig. 3 is a kind of structure of the axis inner column of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Schematic diagram；
Fig. 4 is a kind of vertical view of the axis inner column of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Figure；
Fig. 5 is a kind of side view of the axis inner column of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Figure；
Fig. 6 is a kind of knot of the axis lifting driving of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Structure schematic diagram；
Fig. 7 is a kind of side of the axis lifting driving of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
View；
Fig. 8 is a kind of first level rotating arm of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Top view；
Fig. 9 is a kind of first level rotating arm of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Side view；
Figure 10 is a kind of first level rotating arm of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Bottom view；
Figure 11 is a kind of combination rotary joint of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Side view；
Figure 12 is a kind of combination rotary joint of the radiotherapy robot therapeutic bed of SCARA structure of the utility model
Top view.
Specific embodiment
With reference to the accompanying drawings of the specification, the utility model is described in more detail.
As shown in figs. 1-12, the radiotherapy robot therapeutic bed of a kind of SCARA structure, including lifting device 1, with it is upper
State the connected first level rotating arm 2 of lifting device 1, the second horizontal rotating arm 3 for being connected with above-mentioned first level rotating arm 2,
The combination rotary joint 4 being connected with above-mentioned second horizontal rotating arm 3 and the bed board being connected with said combination rotary joint 4
5；Lifting device 1 can control bed board 5 and move along Z-direction, and first level rotating arm 2 and the second horizontal rotating arm 3 are matched jointly
It closes control bed board 5 to move in the plane where X-axis and Y-axis, combination rotary joint 4 can control bed board 5 rotating around X-axis, Y-axis
It is rotated with Z axis.It should be noted that X-axis is perpendicular with Y-axis, Z axis is perpendicular to the plane where X-axis and Y-axis.In order to more
The structural relation between above-mentioned component is clearly stated, in the present embodiment, lifting device 1 can control bed board 5 along Z1Axis side
To movement, cooperation controls bed board 5 in X jointly for first level rotating arm 2 and the second horizontal rotating arm 31Axis and Y1Plane where axis
Upper movement, wherein X1Axis and Y1Axis is perpendicular, Z1Axis is perpendicular to X1Axis and Y1Plane where axis.Combination rotary joint 4 can be controlled
Bed board processed 5 is rotating around X2Axis, Y2Axis and Z2Axis rotation, wherein X2Axis and Y2Axis is perpendicular, Z2Axis is perpendicular to X2Axis and Y2Where axis
Plane.Hereby it is achieved that bed board can the movement of any direction of the bed board in treatment region and the rotation of any direction, with reality
Now efficiently, accurately radiotherapy；And it is simple and reasonable, without occupying biggish space.
Wherein, as shown in Fig. 2, lifting device 1 includes axis inner column 11, axis outer column 12 and axis lifting driving 13, axis
Inner column 11 is arranged along Z axis, and all inner columns 11, which can be bolted, is installed on ground, and axis outer column 12 is sheathed in axis and stands
Column 11, first level rotating arm 2 are connected to 12 top of axis outer column, axis lifting driving 13 can drive shaft outer column 12 in axis
It is moved back and forth on column 11 along Z-direction.
In conjunction with shown in Fig. 3 and Fig. 4, axis inner column 11 include inner column 111, on axis limited block 113 under 112, axis limited block,
Axis limited block 114, sliding block 117 and linear guide 118, can be bolted on 111 side wall of inner column be equipped with it is straight
The axis of line guide rail 118, linear guide 118 is parallel with Z axis, and sliding sleeve is equipped with sliding block 117 in linear guide 118, and sliding block 117 is solid
Dingan County is loaded on 12 inner wall of axis outer column, and axis outer column 12 can move back and forth on axis inner column 11 as a result,.Linear guide 118
Upper end can be welded with axis upper limit position block 112, and lower end can be welded with axis lower position block 113, be welded on sliding block 117 and axis
The axis limited block 114 that upper limit position block 112 and axis lower position block 113 cooperate, thus, it is possible to limit axis outer column 12 in Z-direction
On moving distance.
Fig. 6 and Fig. 7 are please referred to again, and axis lifting driving 13 includes lifting motor 131, speed reducer 132, roller gear 133, silk
Bar bracket 134 and lead screw jack block 135, and the power output end of lifting motor 131 can be keyed in 132 input terminal of speed reducer,
The power output end of speed reducer 132 can be keyed in roller gear 133, and roller gear 133 is connected with shaft, specifically,
Roller gear 133 may include intermeshing first roller gear and the second roller gear, the first roller gear key connection in
The output end of speed reducer 132, the second roller gear are keyed in shaft.Shaft rod upper sleeve is equipped with trapezoidal screw 137, lead screw jacks
Block 135 and lead screw bracket 138, are threadedly coupled between trapezoidal screw 137 and shaft, and lead screw bracket 138 is used to support shaft, trapezoidal
Lead screw 137 is welded to connect lead screw and jacks block 135, and lead screw jacking block 135 is bolted to connection in axis outer column 12.Thus
Axis lifting driving 13 can drive shaft outer column 12 on axis inner column 11 along Z-direction move back and forth.
In conjunction with shown in Fig. 1, Fig. 8, Fig. 9 and Figure 10, first level rotating arm 2 includes that axis rotates outer seat 21, is respectively arranged on axis
First runner 22 and the second runner 23 at outer 21 both ends of seat are rotated, the first runner 22 and the second runner 23 can pass through bearing
It is rotatably mounted to axis and rotates outer seat 21, the first runner 22 is driven by the first driving motor 24, and the first driving motor 24 passes through
Bolt is fixedly installed in axis and rotates outer seat 21, and the first driving motor 24 is rotated by the first runner of chain drive 22.Second runner
23 are driven by the second driving motor 25, and the second driving motor 25, which is bolted, is installed on the outer seat 21 of axis rotation, and second drives
Dynamic motor 25 is rotated by the second runner of chain drive 23.First runner, 22 side wall is bolted to connection in lifting device 1
12 top of axis outer column, 23 side wall of the second runner is bolted to connection in one end of the second horizontal rotating arm 3, the second water
Flat 3 other end of rotating arm is connected with rotary joint 4 is combined.First level rotating arm 2 and the second horizontal rotating arm 3 can as a result,
Common cooperation control bed board 5 moves in the plane where X-axis and Y-axis.
In addition, as shown in connection with fig. 5,111 side wall of inner column, which can be bolted, is equipped with linear grating mounting rail
115, it is slidably equipped with grating scale 116 on linear grating mounting rail 115, is bolted on the first runner 22 and light is installed
Grid reading head mounting rack 26, grating reading head mounting rack 26 are fixedly installed with absolute grating reading head 27, consolidate on the second runner 23
Dingan County is equipped with Grating examinations contact mounting rack 28 and grating contact shield 29, and grating contact shield 29 is fixedly installed in grating inspection
It surveys on contact mounting rack 28.To realize accurately controlling for vertical movement distance.
Please refer to Figure 11 and Figure 12 again, combination rotary joint 4 includes the first oscillating bearing 41, second joint bearing 42, the
Three-knuckle bearing 43, the first joint arm 44, second joint arm 45, third driving motor 46, the driving of the 4th driving motor the 47, the 5th
Motor 48, the first spline shaft 461, the second spline shaft 471 and third spline shaft 481；First joint arm 44 1
End is connected to the second horizontal rotating arm 3 by the first oscillating bearing 41, and the first oscillating bearing 41 can pacify by the way that bearing block is fixed
Loaded on 3 end of the second horizontal rotating arm, the axis of the first oscillating bearing 41 is parallel with X-axis, the axis of the first joint arm 44 and
On the same line, the first joint arm 44 can rotate the axis of one oscillating bearing 41 around X-axis as a result, that is to say, that bed board 5
It can be rotated around X-axis.First joint arm, 44 other end is connected to one end of second joint arm 45 by second joint bearing 42, the
Two oscillating bearings 42 can be fixedly installed in 44 end of the first joint arm, the axis and Y of second joint bearing 42 by bearing block
Axis is parallel, and the axis of second joint arm 45 is vertical with the axis of second joint bearing 42, and second joint arm 45 can be around Y as a result,
Axis rotation, that is to say, that bed board 5 can be rotated around Y-axis.The other end of second joint arm 45 is connected by third oscillating bearing 43
In bed board 5, third oscillating bearing 43 can be fixedly installed in 45 end of second joint arm, third oscillating bearing 43 by bearing block
Axis it is parallel with Z axis, the axis of third oscillating bearing 43 is perpendicular to the plane where bed board 5, and bed board can be about the z axis as a result,
Rotation.Third driving motor 46, the 4th driving motor 47, the 5th driving motor 48, the first spline shaft 461, the second spline
Transmission shaft 471 and third spline shaft 481 are all set in the second horizontal rotating arm 3, and third driving motor the 46, the 4th drives
Motor 47 and the 5th driving motor 48, which can be bolted, to be installed in the second horizontal rotating arm 3.Third driving motor 46
The first oscillating bearing 41 is driven to rotate around X-axis by the first spline shaft 461, the 4th driving motor 47 is passed by the second spline
Moving axis 471 drives second joint bearing 42 rotate around Y-axis, and the 5th driving motor 48 drives the by third spline shaft 481
Three-knuckle bearing 43 rotates about the z axis.
It is provided with sextuple torque sensor 6 between third oscillating bearing 43 and bed board 5, can also be other multidimensional moment sensings
Device, 6 both ends of 6 DOF torque sensor pass through flanged joint in 5 bottom surface of 43 end face of third oscillating bearing and bed board respectively.It is sextuple
The data measured load weight on real-time measurement bed board and load distribution and can be supplied in real time feedback by torque sensor 6
System realizes accurate positioning when different loads, different loads distribution.
In addition, bed board 5 is made of carbon fibre material, bed board 5 includes, end support region, fixed area and effectively treatment
Region can use the region of radioscopic image guidance system positioning and proton beam therapy on effective treatment region, that is, therapeutic bed bed board.
In conclusion the utility model passes through setting lifting device, first level rotating arm and the second horizontal rotating arm energy
Enough realize that bed board respectively in vertically and horizontally any movement, also passes through setting combination rotary joint, Lai Shixian bed board
It is rotated rotating around X-axis, Y-axis and Z axis, it is final to realize that bed board is capable of the movement of any direction of the bed board in treatment region and any
The rotation in direction, with realize efficiently, accurately radiotherapy；And it is simple and reasonable, without occupying biggish space.
The above is only the preferred embodiment of the utility model, it is noted that those skilled in the art,
Without departing from the concept of the present invention, some similar deformation and improvement can be made, these are also considered as
Within utility model protection.
Claims (10)
1. a kind of radiotherapy robot therapeutic bed of SCARA structure, which is characterized in that including lifting device (1), with it is above-mentioned
The connected first level rotating arm (2) of lifting device (1), second to be connected with above-mentioned first level rotating arm (2) rotate horizontally
Arm (3), the combination rotary joint (4) being connected with above-mentioned second horizontal rotating arm (3) and with said combination rotary joint
(4) connected bed board (5)；The lifting device (1) controls the bed board (5) and moves along Z-direction, the first level rotation
The cooperation control bed board (5) is moved in the plane where X-axis and Y-axis jointly for arm (2) and the second horizontal rotating arm (3), institute
It states combination rotary joint (4) and controls the bed board (5) rotating around the rotation of X-axis, Y-axis and Z axis.
2. the radiotherapy robot therapeutic bed of a kind of SCARA structure according to claim 1, it is characterised in that: described
Lifting device (1) includes axis inner column (11), axis outer column (12) and axis lifting driving (13), axis inner column (11) edge
Z axis setting, the axis outer column (12) are sheathed on the axis inner column (11) outside, and the first level rotating arm (2) is connected to
The axis outer column (12), the axis lifting driving (13) drive axis outer column (12) edge on the axis inner column (11)
Z-direction moves back and forth.
3. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 2, which is characterized in that institute
Stating axis inner column (11) includes inner column (111), and inner column (111) side wall is equipped with linear guide (118), the straight line
Guide rail (118) is parallel with Z axis, and sliding is equipped with sliding block (117) on the linear guide (118), and the sliding block (117) is fixedly mounted
In axis outer column (12) inner wall, linear guide (118) upper end is equipped with axis upper limit position block (112), and lower end is equipped under axis
Limited block (113), the sliding block (117) are equipped with the axis cooperated with the axis upper limit position block (112) and axis lower position block (113)
Limited block (114).
4. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 2, which is characterized in that institute
Stating axis lifting driving (13) includes lifting motor (131), speed reducer (132), roller gear (133), screw rod bracket (134) and silk
Thick stick jacks block (135), and the power output end of the lifting motor (131) connects speed reducer (132), the speed reducer (132)
Power output end is connected with roller gear (133), and the roller gear (133) is connected with shaft, and the shaft rod upper sleeve is equipped with ladder
Shape lead screw (137), lead screw jacking block (135) and lead screw bracket (138), the trapezoidal screw (137) are fixedly connected with the lead screw
It jacks block (135), lead screw jacking block (135) is fixedly connected on the axis outer column (12).
5. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 3, which is characterized in that institute
Stating first level rotating arm (2) includes that axis rotates outer seat (21), is respectively arranged on first turn that the axis rotates outer seat (21) both ends
(22) and the second runner (23) are taken turns, first runner (22) is driven by the first driving motor (24), second runner
(23) it is driven by the second driving motor (25)；First runner (22) is connected to the lifting device (1), and described second turn
Wheel (23) is connected to one end of second horizontal rotating arm (3), the second horizontal rotating arm (3) other end and the combination
Rotary joint (4) connection.
6. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 5, which is characterized in that institute
It states inner column (111) side wall and is equipped with linear grating mounting rail (115), be movably equipped with light on the linear grating mounting rail (115)
Grid ruler (116) is equipped with grating reading head mounting rack (26) on first runner (22), the grating reading head mounting rack
(26) absolute grating reading head (27) are equipped with, Grating examinations contact mounting rack (28) and light is installed on second runner (23)
Grid contact shield (29), the Grating examinations contact mounting rack (28) are equipped with the grating contact shield (29).
7. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 1, which is characterized in that institute
Stating combination rotary joint (4) includes the first oscillating bearing (41), second joint bearing (42), third oscillating bearing (43), first
Joint arm (44), second joint arm (45) and the third driving motor being set in second horizontal rotating arm (3)
(46), the 4th driving motor (47), the 5th driving motor (48), the first spline shaft (461), the second spline shaft
(471) and third spline shaft (481)；Wherein the first joint arm (44) one end is connected by first oscillating bearing (41)
In second horizontal rotating arm (3), the first joint arm (44) other end is connected by the second joint bearing (42)
In one end of the second joint arm (45), the other end of the second joint arm (45) passes through the third oscillating bearing (43)
It is connected to the bed board (5), the third driving motor (46) passes through first spline shaft (461) driving described first
Oscillating bearing (41) is rotated around X-axis, and the 4th driving motor (47) passes through described in second spline shaft (471) driving
Second joint bearing (42) is rotated around Y-axis, and the 5th driving motor (48) is driven by the third spline shaft (481)
The third oscillating bearing (43) rotates about the z axis.
8. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 7, which is characterized in that institute
The axis for stating the first oscillating bearing (41) is parallel with X-axis, the axis and first oscillating bearing of first joint arm (44)
(41) on the same line, the axis of the second joint bearing (42) is parallel with Y-axis for axis, the second joint arm (45)
Axis it is vertical with the axis of the second joint bearing (42), the axis of the third oscillating bearing (43) is parallel with Z axis, institute
The axis of third oscillating bearing (43) is stated perpendicular to the plane where the bed board (5).
9. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 7, which is characterized in that institute
It states and is provided with multidimensional torque sensor (6) between third oscillating bearing (43) and the bed board (5).
10. a kind of radiotherapy robot therapeutic bed of SCARA structure according to claim 9, which is characterized in that institute
It states bed board (5) to be made of carbon fibre material, the bed board (5) includes, end support region, fixed area and effective treatment region
Domain.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107854779A (en) * | 2017-11-22 | 2018-03-30 | 中国科学院上海应用物理研究所 | A kind of radiotherapy robot therapeutic bed of SCARA structures |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854779A (en) * | 2017-11-22 | 2018-03-30 | 中国科学院上海应用物理研究所 | A kind of radiotherapy robot therapeutic bed of SCARA structures |
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Effective date of registration: 20221214 Address after: 201800 Shanghai city Jiading District Road No. 2019 Patentee after: SHANGHAI INSTITUTE OF APPLIED PHYSICS, CHINESE ACADEMY OF SCIENCES Patentee after: Shanghai Alliance Investment Ltd. Address before: 201800 Shanghai city Jiading District Road No. 2019 Patentee before: SHANGHAI INSTITUTE OF APPLIED PHYSICS, CHINESE ACADEMY OF SCIENCES |
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Effective date of registration: 20230816 Address after: 201821 area a, first floor, building 2, No. 1411, Yecheng Road, Jiading District, Shanghai Patentee after: SHANGHAI AIPUQIANG PARTICLE EQUIPMENT Co.,Ltd. Address before: 201800 Shanghai city Jiading District Road No. 2019 Patentee before: SHANGHAI INSTITUTE OF APPLIED PHYSICS, CHINESE ACADEMY OF SCIENCES Patentee before: Shanghai Alliance Investment Ltd. |