CN210228915U - Six-degree-of-freedom dynamic verification device based on stacked serial kinematic structure - Google Patents
Six-degree-of-freedom dynamic verification device based on stacked serial kinematic structure Download PDFInfo
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- 229920000915 polyvinyl chloride Polymers 0.000 claims description 4
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- 230000000241 respiratory effect Effects 0.000 abstract description 16
- 238000001959 radiotherapy Methods 0.000 abstract description 15
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Abstract
The utility model discloses a six degree of freedom developments verification device based on heap serial kinematics structure, including arc slip table (1) around the X axle rotation, arc slip table (2) around the Y axle rotation, elevating platform (3) of delaying Z axle translation, rotary platform (4) around the Z axle rotation, horizontal slip table (5) of delaying X axle translation, horizontal slip table (6) of delaying Y axle translation, step motor (7), step motor driver (8), drive control (9), power supply (10), motion control (11) and bearing support platform (12), the utility model discloses motion platform carries detector, solid water etc. can constitute dynamic dose verification device, can verify the influence of not equidirectional respiratory motion to radiotherapy dose; the motion platform carries a tumor die body, so that the influence of respiratory motion in different directions on the delineation of a tumor target area can be verified.
Description
Technical Field
The utility model belongs to the technical field of medical instrument, concretely relates to six degrees of freedom developments verification device based on heap serial kinematics structure.
Background
Radiotherapy is one of the main means of tumor treatment, and various physiological movements of the human body, especially respiratory movements, cause the difference between the radiotherapy dose actually received by the patient and the dose designed by the radiotherapy plan, and finally affect the treatment efficacy. Therefore, accurate verification of the effect of respiratory motion on the radiation therapy dose is very important in radiation therapy.
At present, various dynamic dose verification devices exist in the market at home and abroad. According to the motion dimension, the dynamic verification devices are divided into non-six-degree-of-freedom motion die bodies and six-degree-of-freedom motion die bodies. The non-six-freedom-degree motion die body cannot better describe tumor motion, and the six-freedom-degree motion die body realizes six degrees of freedom in a parallel mode and a serial mode. The HexaPod six-dimensional treatment couch for medical department has very high mechanical precision and motion precision, the device is used for researching the influence of respiratory motion on dosage, a control interface is required to be opened by a manufacturer, the mechanical precision of the six-dimensional treatment couch is easy to damage due to non-professional operation, the radiation implementation precision is influenced, and most importantly, the six-dimensional treatment couch is not movable and cannot be conveyed to a CT simulation positioning room from a radiation treatment room for CT scanning. The Stutt-Koff prototype is also a parallel six-degree-of-freedom motion die body with higher integration level, but the biggest defect is that the metal structure of the die body and the simulation head die are coaxial, and CT scanning and rotation treatment verification cannot be carried out. The tail end of the six-degree-of-freedom mechanical arm with the serial mechanical structure needs to bear a motion die body and a detector, the requirements on the load capacity of the mechanical arm and the moment precision of a connecting joint are high, and the design and construction cost is too high.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: the platform device capable of realizing six-degree-of-freedom motion is provided, and six-degree-of-freedom motion of the platform in three-dimensional horizontal directions (X (left and right), Y (front and back), Z (up and down)) and around X, Y and Z three-dimensional rotating directions (Rx, Ry and Rz) is realized through a stacked serial kinematics structure. The motion platform is provided with a detector, solid water and the like to form a dynamic dose verification device, so that the influence of respiratory motion in different directions on radiotherapy dose can be verified; the motion platform carries a tumor die body, so that the influence of respiratory motion in different directions on the delineation of a tumor target area can be verified.
The utility model provides a technical scheme that above-mentioned technical problem adopted does: a six-freedom-degree dynamic verification device based on a stacked serial kinematic structure comprises an arc sliding table rotating around an X axis, an arc sliding table rotating around a Y axis, a lifting table translating along a Z axis, a rotary platform rotating around the Z axis, a horizontal sliding table translating along the X axis, a horizontal sliding table translating along the Y axis, a stepping motor driver, a driving controller, a power supply, a motion controller and a bearing support platform, wherein the arc sliding table rotating around the X axis, the arc sliding table rotating around the Y axis, the lifting table translating along the Z axis, the rotary platform rotating around the Z axis, the horizontal sliding table translating along the X axis and the horizontal sliding table translating along the Y axis form the six-freedom motion platform in a stacking mode, and the arc sliding table rotating around the X axis, the arc sliding table rotating around the Y axis, the lifting table translating along the Z axis, the rotary platform rotating around the Z axis, The horizontal sliding table which moves along the X-axis in a translation manner and the horizontal sliding table which moves along the Y-axis in a translation manner are respectively connected with a stepping motor, the stepping motor is connected with a stepping motor driver, the stepping motor driver is connected with a driving controller, and the movement of the arc sliding table which rotates around the X-axis, the arc sliding table which rotates around the Y-axis, a lifting table which moves along the Z-axis, a rotating platform which rotates around the Z-axis, the horizontal sliding table which moves along the X-axis in a translation manner and the horizontal sliding table which moves along the Y-axis in a translation manner are controlled by the movement controller, the arc sliding table which rotates around the X-axis and the arc sliding table which rotates around the Y-axis are stacked up and down, the arc sliding table which rotates around the X-axis is arranged above the arc sliding table which rotates around the X-axis, the arc sliding table which rotates around the Y-axis and the horizontal displacement along the directions of X, Y and Z-axis are respectively generated, and, the maximum motion amplitude is 10 degrees, the speed of rotation around the Y axis is 6 degrees/s, the maximum motion amplitude is 10 degrees, the rotation error of the arc-shaped sliding table rotating around the X axis is 0.01mm, and the rotation error of the arc-shaped sliding table rotating around the Y axis is 0.09 mm.
The elevating platform capable of translating along the Z axis has the moving speed of 35mm/s, the maximum moving amplitude of 20mm and the moving error of-0.006 mm.
The rotating platform rotating around the Z axis has the rotating speed of 15 degrees/s around the Z axis, the maximum rotating amplitude of 30 degrees and the rotating precision of-0.11 mm.
The horizontal sliding table capable of moving along the X-axis in a translation mode and the horizontal sliding table capable of moving along the Y-axis in a translation mode both have the moving speed of 50mm/s, the moving amplitude of 150mm and the moving error of 0.13mm and-0.10 mm respectively.
The stepping motor is a two-phase four-wire stepping motor, the required voltage is 24V, and the stepping angle is 1.8 degrees.
The stepping motor driver is a two-phase hybrid stepping motor driver, seven-level subdivision and eight-level output current is set through a six-position dial switch, one end of the stepping motor driver is connected with the stepping motor, the other end of the stepping motor driver is connected with the driving controller, and a common anode connection method is adopted; the stepping motor driver converts a 5V pulse signal of the controller into a 24V driving signal required by the stepping motor, and ensures that six degrees of freedom can work simultaneously.
The power supply is connected with the stepping motor driver and the driving controller, provides 24V voltage for the stepping motor driver, and provides 24V and 5V voltage for the driving controller.
The motion controller is connected with the drive controller, and the interface uses COMM serial port communication control class as an interface class for communicating with the drive controller.
The bearing support platform is a polyvinyl chloride plate, is 100cm long and 35cm wide, and is symmetrically assembled at the top end of the motion platform in the front-back and left-right directions.
Compared with the prior art, the utility model difference and advantage lie in:
(1) the respiratory motion causes the deformation of related tissues, so that the displacement in each degree of freedom direction is generated, and the displacement amplitude in each direction is different. At present, respiratory motion phantoms on the market can only simulate motion of a few degrees of freedom, and six-degree-of-freedom motion phantoms which can simultaneously verify the influence of respiratory motion on radiotherapy dose and target region delineation do not exist. In order to better press close to clinical and verify the influence that each degree of freedom respiratory motion sketched with the target area to radiotherapy dose, the utility model discloses through heap serial kinematics structure utility model on the basis of predecessor's research, can realize six independent or synchronous compound motion's of degree of freedom developments verification device, this motion platform can realize promptly in three-dimensional horizontal direction (X, Y, Z) and around the six degree of freedom motions of X, Y, Z three-dimensional direction of rotation (Rx, Ry, Rz).
(2) In order to study the influence of respiratory motion on a target region sketching, but a metal structure at the bottom of a respiratory motion platform can cause strong metal artifacts, a bearing supporting surface is extended, so that the part of the bearing tumor mold body can be far away from a mechanical base, and the metal artifacts are avoided. In order to ensure the rigidity and the bearing capacity of the extended flat plate, the utility model discloses in used long 100cm, wide 35 cm's polyvinyl chloride board to the front-back bilateral symmetry assembly is on motion platform's top. Contrast other motion die bodies, the utility model discloses a research respiratory motion that the motion die body both can be convenient is to the influence of radiotherapy dose, can research the influence that respiratory motion sketched in to the target area again. Therefore, the utility model discloses can study the influence of respiratory motion to whole radiotherapy process.
(3) Furthermore, the utility model discloses a mechanical structure and material make the measurement accuracy of each degree of freedom can satisfy clinical research's requirement, and with low costs. Therefore, the device of the utility model is economical and practical.
Drawings
Fig. 1 is a schematic diagram of a six-degree-of-freedom dynamic verification device based on a stacked serial kinematic structure according to the present invention.
In the figure: 1 is around the rotatory arc slip table of X axle, 2 is around the rotatory arc slip table of Y axle, 3 is the elevating platform that prolongs the Z axle translation, 4 is around the rotatory rotary platform of Z axle, 5 is the horizontal slip table that prolongs X axle translation motion, 6 is the horizontal slip table that prolongs Y axle translation motion, 7 is step motor, 8 is the step motor driver, 9 is drive controller, 10 is power supply, 11 is motion control ware, 12 is bearing supporting platform.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, the present invention provides a six-degree-of-freedom dynamic verification apparatus based on stacked serial kinematic structure, which includes: the device comprises an arc-shaped sliding table 1 rotating around an X axis, an arc-shaped sliding table 2 rotating around a Y axis, a lifting table 3 translating along the Z axis, a rotating platform 4 capable of rotating around the Z axis, a horizontal sliding table 5 translating along the X axis, a horizontal sliding table 6 translating along the Y axis, a stepping motor 7, a stepping motor driver 8, a driving controller 9, a power supply 10, a motion controller 11 and a bearing support platform 12. The six-degree-of-freedom motion platform mainly comprises an arc sliding table 1 rotating around an X axis, an arc sliding table 2 rotating around a Y axis, a lifting table 3 translating along the Z axis, a rotation platform 4 rotating around the Z axis, a horizontal sliding table 5 translating along the X axis and a horizontal sliding table 6 translating along the Y axis in a stacking mode; the stepping motor 7 is driven by a stepping motor driver 8, the stepping motor driver 8 is connected with a driving controller 9, and the movement of the arc sliding table 1 rotating around an X axis, the arc sliding table 2 rotating around a Y axis, the lifting table 3 translating along the Z axis, the rotating platform 4 rotating around the Z axis, the horizontal sliding table 5 translating along the X axis and the horizontal sliding table 6 translating along the Y axis is controlled by a movement controller 11.
The horizontal sliding table 5 which moves along the X-axis in a translation manner and the horizontal sliding table 6 which moves along the Y-axis in a translation manner are combined together to form a base of the whole movement device; the rotating platform 4 rotating around the Z axis is stacked on the horizontal sliding table 5 which does translational motion along the X axis; the lifting platform 3 which translates along the Z axis is stacked on the rotating platform 4 which rotates around the Z axis; the arc-shaped sliding table 1 rotating around the X axis and the arc-shaped sliding table 2 rotating around the Y axis are stacked on the lifting table 3 translating along the Z axis; the bearing support platform 12 is stacked on the arc-shaped sliding table 1 rotating around the X axis. The load bearing support platform 12 is a polyvinyl chloride slab.
Realize in the platform of six degrees of freedom motions around the rotatory arc slip table 1 of X axle, around the rotatory arc slip table 2 of Y axle, prolong the elevating platform 3 of Z axle translation, around the rotatory rotary platform 4 of Z axle, prolong horizontal slip table 5 of X axle translation motion and prolong horizontal slip table 6 of Y axle translation motion and link to each other with corresponding step motor 7 respectively, step motor 7 link to each other rather than the step motor driver 8 that corresponds, step motor driver 8 links to each other with drive controller 9 to by motion controller 11 control, power supply 10 provides required voltage for step motor driver 8 and drive controller 9 simultaneously.
In order to verify that the motion of six degrees of freedom influences radiotherapy dose, the utility model discloses can select a clinical radiotherapy plan as the study object, according to clinical radiotherapy plan matter accuse flow, utilize motion control ware, gather and verify six degrees of freedom directions alone and the influence of joint motion to radiotherapy dose result.
In order to verify the influence that the motion of six degrees of freedom sketched in the target area, the utility model discloses utilize CT simulation positioning machine and tumour die body, through motion control ware, gather and verify the influence that six degrees of freedom directions independent motion and joint motion were sketched in the tumour target area.
Claims (1)
1. A six-freedom-degree dynamic verification device based on a stacked serial kinematic structure is characterized in that: the X-axis rotation type lifting platform comprises an arc sliding table (1) rotating around an X axis, an arc sliding table (2) rotating around a Y axis, a lifting table (3) translating along a Z axis, a rotating platform (4) rotating around the Z axis, a horizontal sliding table (5) translating along the X axis, a horizontal sliding table (6) translating along the Y axis, a stepping motor (7), a stepping motor driver (8), a driving controller (9), a power supply (10), a motion controller (11) and a bearing supporting platform (12), wherein the arc sliding table (1) rotating around the X axis, the arc sliding table (2) rotating around the Y axis, the lifting table (3) translating along the Z axis, the rotating platform (4) rotating around the Z axis, the horizontal sliding table (5) translating along the X axis, the horizontal sliding table (6) translating along the Y axis form a six-degree-of-freedom motion platform in a stacking mode, and the arc sliding table (1) rotating around the X axis, The X-axis translation type lifting platform comprises an arc sliding table (2) rotating around a Y axis, a lifting table (3) translating along the Z axis, a rotating platform (4) rotating around the Z axis, a horizontal sliding table (5) translating along the X axis and a horizontal sliding table (6) translating along the Y axis, wherein the rotating platform (4), the horizontal sliding table (5) translating along the Z axis and the horizontal sliding table (6) translating along the Y axis are respectively connected with a stepping motor (7), the stepping motor (7) is connected with a stepping motor driver (8), the stepping motor driver (8) is connected with a driving controller (9), and the movement of the arc sliding table (1) rotating around the X axis, the arc sliding table (2) rotating around the Y axis, the lifting table (3) translating along the Z axis, the rotating platform (4) rotating around the Z axis, the horizontal sliding table (5) translating along the X axis and the horizontal sliding table (6) translating;
the arc-shaped sliding table (1) rotating around the X axis and the arc-shaped sliding table (2) rotating around the Y axis are stacked up and down, the arc-shaped sliding table (1) rotating around the X axis is arranged on the upper portion, the arc-shaped sliding table (2) rotating around the Y axis is arranged on the lower portion, rotary motion around the X axis and the Y axis and horizontal displacement along X, Y direction and Z direction are generated respectively, the speed of rotation around the X axis is 5.33 degrees/s, the maximum motion amplitude is 10 degrees, the speed of rotation around the Y axis is 6 degrees/s, the maximum motion amplitude is 10 degrees, the rotary error of the arc-shaped sliding table (1) rotating around the X axis is 0.01mm, and the rotary error of the arc-shaped sliding table (2) rotating around the Y axis is 0.09 mm;
the lifting platform (3) translating along the Z axis has the moving speed of 35mm/s, the maximum moving amplitude of 20mm and the moving error of-0.006 mm;
the rotating platform (4) rotates around the Z axis, the rotating speed is 15 degrees/s, the maximum rotating amplitude is 30 degrees, and the rotating error is-0.11 mm;
the horizontal sliding table (5) which can do translational motion along the X axis and the horizontal sliding table (6) which can do translational motion along the Y axis have the motion speed of 50mm/s, the motion amplitude of 150mm and the motion error of 0.13mm and-0.10 mm respectively;
the stepping motor (7) is a two-phase four-wire stepping motor, the required voltage is 24V, and the stepping angle is 1.8 degrees;
the step motor driver (8) is a two-phase mixed step motor driver, seven-level subdivision and eight-level output current is set through a six-bit dial switch, one end of the step motor driver is connected with the step motor, the other end of the step motor driver is connected with the driving controller (9), and a common anode connection method is adopted; the stepping motor driver (8) converts a 5V pulse signal of the controller (9) into a 24V driving signal required by the stepping motor, and ensures that six degrees of freedom can work simultaneously;
the power supply (10) is connected with the stepping motor driver (8) and the driving controller (9) and provides 24V voltage for the stepping motor driver (8) and 24V and 5V voltage for the driving controller (9);
the motion controller (11) is connected with the drive controller (9), and the interface uses a COMM serial port communication control class as an interface class for communicating with the drive controller;
the bearing support platform (12) is a polyvinyl chloride plate, is 100cm long and 35cm wide, and is symmetrically assembled at the top end of the motion platform in front, back, left and right directions.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109224324A (en) * | 2018-11-28 | 2019-01-18 | 中国科学院合肥物质科学研究院 | A kind of six degree of freedom dynamic authentication device based on stack serial kinematic structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109224324A (en) * | 2018-11-28 | 2019-01-18 | 中国科学院合肥物质科学研究院 | A kind of six degree of freedom dynamic authentication device based on stack serial kinematic structure |
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