WO2017092105A1 - 多自由度放射治疗床 - Google Patents

多自由度放射治疗床 Download PDF

Info

Publication number
WO2017092105A1
WO2017092105A1 PCT/CN2015/098916 CN2015098916W WO2017092105A1 WO 2017092105 A1 WO2017092105 A1 WO 2017092105A1 CN 2015098916 W CN2015098916 W CN 2015098916W WO 2017092105 A1 WO2017092105 A1 WO 2017092105A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
radiation therapy
degree
freedom
branch
Prior art date
Application number
PCT/CN2015/098916
Other languages
English (en)
French (fr)
Inventor
熊璟
刘宇轩
夏泽洋
谢耀钦
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Publication of WO2017092105A1 publication Critical patent/WO2017092105A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04—Positioning of patients; Tiltable beds or the like

Definitions

  • the invention relates to the field of medical instruments, in particular to a multi-degree of freedom radiation therapy bed.
  • the treatment bed supported by the robot is an important part of the entire treatment system.
  • the treatment bed can be moved, rotated, and slid to achieve multiple angles of radiation therapy.
  • the invention provides a multi-degree-of-freedom radiation therapy bed to solve the problem of poor mobility of the treatment bed.
  • the present invention provides a multi-degree-of-freedom radiation therapy bed comprising:
  • a first platform located above the base, the first platform is provided with a sliding slot
  • a supporting mechanism for deflecting and three-dimensionally moving the first platform is connected between the first platform and the base;
  • a second platform is located above the first platform and is rotatably coupled to the sliding device.
  • the sliding device is provided with a sliding device rotating portion
  • the second platform is provided with a platform rotating portion
  • the sliding device rotating portion and the platform rotating portion form a rotating pair.
  • the support mechanism includes at least one branch, the branch is a telescopic sleeve structure, the bottom end of the branch is hinged to the base, and the top end of the branch is connected to the first platform Hinged.
  • the branch includes:
  • a moving rod a bottom end of the moving rod is coupled to the top end of the sleeve, and a bottom end of the moving rod is expandable and contractible in the sleeve; a top end of the moving rod is hinged on the first platform.
  • the branch includes:
  • a moving rod a top end of the moving rod is coupled to the bottom end of the sleeve, and a top end of the moving rod is expandable and contractible in the sleeve; a bottom end of the moving rod is hinged to the base.
  • the support mechanism includes a plurality of branches in parallel.
  • the supporting mechanism comprises six parallel branches, the six branches and the hinge point of the base form a first triangle, and the six branches form a second triangle with the hinge point of the first platform, the first triangle It is symmetrical with the second triangle.
  • the branch further includes: a bottom hinge seat disposed on the base, a top hinge seat disposed on the first platform, a hinge connector disposed at a bottom end of the branch, and being disposed in the a hinge joint at the top of the branch;
  • the hinge joint of the bottom hinge seat and the bottom end of the branch forms a hinge connection structure of the bottom; the hinge joint of the top hinge seat and the top end of the branch forms a top hinge connection structure.
  • the bottom hinge connection structure is a cross hinge mechanism or a ball hinge structure.
  • the sliding device is a slider
  • the slider is provided with a rotating shaft or a rotating disc
  • the second platform is provided with a groove for accommodating the rotating shaft or the rotating disc.
  • the sliding device is slidable in the first platform, so that translation relative to the first platform can be achieved, and the second platform is rotatably coupled to the sliding device, so that the second platform can be rotated relative to the first platform.
  • a supporting mechanism for deflecting and three-dimensionally moving the first platform is connected between the first platform and the base. Therefore, the first platform can drive the second platform to perform deflection and three-dimensional movement. Therefore, the multi-degree-of-freedom radiation therapy bed of the present invention has a full range of six-degree-of-freedom motion capability and a sufficient range of motion in a three-dimensional space, and thus has better flexibility.
  • the above multiple degrees of freedom are combined to provide redundancy in the entire treatment bed, ensuring that the multi-degree of freedom radiotherapy bed occupies less space.
  • the redundant degree of freedom makes the movement of each driving pair not uniquely determined, but can be flexibly adjusted and optimized according to the actual situation, so that the radiation therapy can be at any angle during the treatment. Under the irradiation of the patient's lesions, reduce damage to normal tissues, and achieve the purpose of efficient treatment.
  • Figure 1 is a schematic view showing the overall structure of a multi-degree-of-freedom radiation therapy bed of the present invention
  • FIG. 2 is a schematic structural view of a branch of the present invention
  • FIG. 3 is a schematic exploded view of the sliding device and the second platform of the present invention.
  • Figure 4 is a schematic view showing the degree of freedom of movement of the multi-degree-of-freedom radiation therapy bed of the present invention
  • Figure 5 is a first state of the multi-degree-of-freedom radiation therapy bed of the present invention.
  • Figure 6 is a second state of the multi-degree-of-freedom radiation therapy bed of the present invention.
  • Figure 7 is a third state of the multi-degree-of-freedom radiation therapy bed of the present invention.
  • Figure 8 is a fourth state of the multi-degree-of-freedom radiation therapy bed of the present invention.
  • Figure 9 is a fifth state of the multi-degree-of-freedom radiation therapy bed of the present invention.
  • Figure 10 is a sixth state of the multi-degree-of-freedom radiation therapy bed of the present invention.
  • the present invention provides a multi-degree-of-freedom radiation therapy bed comprising:
  • the base 1 can be mounted on a mobile device, or fixed at a designated location, or mounted on the floor;
  • first platform 9 located above the base 1, as shown in Figure 3, the first platform 9 is provided with a chute 91;
  • a supporting mechanism for deflecting and three-dimensionally moving the first platform is connected between the first platform 9 and the base 1;
  • a sliding device 8 disposed in the sliding slot 91, the sliding device 8 being slidable relative to the first platform 9;
  • a second platform 10 is located above the first platform 9 and is rotatably coupled to the sliding device 8.
  • the sliding device can slide in the first platform, so that translation relative to the first platform can be achieved, and since the length direction of the second platform 10 and the first platform 9 can be the same, the sliding slot 91 can be the length direction of the first platform 9. Therefore, the range of the translation is large, and the second platform 10 is rotatably coupled to the sliding device, so that the second platform 10 can be rotated relative to the first platform 9, and the rotation perpendicular to the bed surface of the second platform 10 can be realized. motion.
  • a supporting mechanism for deflecting and three-dimensionally moving the first platform 9 is connected between the first platform and the base.
  • the first platform 9 can drive the second platform 10 to perform deflection and three-dimensional movement. Therefore, the multi-degree-of-freedom radiation therapy bed of the present invention has a full range of six-degree-of-freedom motion capability and a sufficient range of motion in a three-dimensional space, and thus has better flexibility.
  • the sliding device 8 is provided with a sliding device rotating portion 81, and the second platform 10 is provided with a platform rotating portion, and the sliding device rotating portion forms a rotation with the platform rotating portion. vice.
  • a rotational connection facilitates installation and removal.
  • the sliding device 8 is a slider, and the slider is provided with a rotating shaft or a rotating wheel, that is, the sliding device rotating portion 81 is a rotating shaft or a rotating plate, and the second platform 10 is provided with a rotating shaft or a rotating plate.
  • the groove, that is, the platform rotating portion is a groove. This makes processing and installation easy.
  • the support mechanism includes at least one branch, the branch is a telescopic sleeve structure, the bottom end of the branch is hinged to the base, and the top end of the branch and the second platform Hinged.
  • the first platform can be deflected and three-dimensionally moved in a compact space.
  • the branch includes:
  • a sleeve 4 the bottom end of the sleeve is hinged on the base 1;
  • the bottom end of the moving rod is connected to the top end of the sleeve 4, and the bottom end of the moving rod 5 is capable of expanding and contracting in the sleeve 4; the top end of the moving rod 5 is hinged at the first On a platform 9 on. In this way, the deflection and three-dimensional movement of the first platform 9 can be conveniently achieved.
  • the branch includes:
  • the top end of the moving rod is connected to the bottom end of the sleeve, and the top end of the moving rod can be telescoped in the sleeve;
  • the bottom end of the moving rod is hinged to the base.
  • This sleeve-type structure allows the first platform to be deflected and three-dimensionally moved by placing the sleeve from the lower portion to the upper portion and moving the moving rod from the upper portion to the lower portion.
  • the support mechanism includes a plurality of branches in parallel.
  • This parallel arrangement can effectively reduce the overall inertia of the mechanism and ensure the high precision and high rigidity of the movement of the moving platform 9.
  • the second platform 10 is connected in series with the first platform 9, and the plurality of parallel branches form a parallel connection, which together form a hybrid mechanism with redundant degrees of freedom.
  • the robotic radiotherapy bed mechanism is designed based on the parallel topology, and the series mechanism with a large reach can be added to enlarge the moving range of the bed surface, which can reduce the overall inertia of the base and provide better stability and accuracy, and compact
  • the structure can reduce the space occupied.
  • the support mechanism includes six parallel branches, and the six branches are respectively installed at a hinge point in groups of two.
  • the hinge points of the six branches and the base form a first triangle (wherein the two branches intersect or fuse with the hinge point of the base), and the six branches form a second triangle with the hinge point of the first platform (wherein The two branches intersect or phase the hinge points of the first platform, and the first triangle and the second triangle are centrally symmetric.
  • the hinge points of each branch and the base are arranged in a center-symmetric three-point arrangement, and the branches and the hinge points of the first platform are arranged in a center-symmetric three-point arrangement. In this way, the force is reasonable and the degree of freedom is also large.
  • the three-point distributed shape structure has better stability and a smaller space than the circular or rectangular fixed platform structure, and the base 1 can be set to a Samsung shape or a triangular shape, which is light in weight and convenient to manufacture.
  • the shape and size of the first platform and the second platform can be varied depending on the size of the patient and the needs of the radiation therapy process to adjust the effective load bearing range of the entire treatment couch.
  • fewer than six branches can be connected in parallel, providing different degrees of freedom for the first platform.
  • the branch further includes: a bottom hinge seat 2 disposed on the base, a top hinge seat 7 disposed on the first platform, and a hinge disposed at a bottom end of the branch a connecting member 3, and a hinge connecting member 6 disposed at a top end of the branch;
  • the bottom hinge base 3 and the hinge connection 2 of the bottom end of the branch form a hinge connection structure at the bottom;
  • the top hinge seat 7 and the hinge connection 6 of the top end of the branch form a top hinge connection structure.
  • hinge connector 3 and the hinge connector 6 are cross hinge blocks, and the top hinge seat 7 and the bottom hinge seat 2 are cross hinge seats.
  • ball hinges and ball hinge seats can be used in place of the cross hinge block and the cross hinge seat. In this way, a flexible and secure connection can be achieved.
  • the multi-degree-of-freedom radiation therapy bed of the present invention can have various states or spatial positions.
  • FIG. 4 shows the degree of freedom or the direction of motion of the multi-degree-of-freedom radiation therapy bed.
  • the second platform 10 can The first platform 9 is slid in a linear direction 20; the second platform 10 is rotatable relative to the first platform 9 in a circumferential direction 30; the movement of the two states can be accomplished without the movement of the branches.
  • the movement of the second platform 10 and the first platform 9 in the x-axis, the y-axis, and the z-axis direction can be realized by the movement of the branch, and the second platform 10 and the first platform 9 can be realized to be opposite to the x-axis and the y-axis.
  • the deflection of the z-axis direction at different angles so that the multi-degree-of-freedom radiotherapy bed has a omnidirectional six-degree-of-freedom of motion in a three-dimensional space and a sufficient range of motion, with redundant degrees of freedom, ensuring that the multi-degree-of-freedom radiotherapy bed occupies space. Smaller.
  • Figures 5 through 10 illustrate several of the states or spatial locations of a multi-degree-of-freedom radiation therapy couch.
  • the second platform 10 in the first state, the second platform 10 does not slide relative to the first platform 9, and the second platform 10 is in the horizontal direction; as shown in FIG. 6, multi-degree of freedom radiation therapy In the second state of the bed, the second platform 10 slides relative to the first platform 9 relative to the first state; as shown in Figure 7, the third state of the multi-degree-of-freedom radiation therapy bed is relative to the first State, second platform 10 and first platform 9 Deflection in the lower right; as shown in Fig. 8, in the fourth state of the multi-degree-of-freedom radiation therapy bed, the second platform 10 is rotated relative to the first platform 9 as shown in Fig.
  • the second platform 10 and the first platform 9 are translated forward relative to the first state; as shown in FIG. 10, in the sixth state of the multi-degree-of-freedom radiation therapy bed, relative In the first state, the second platform 10 and the first platform 9 are deflected to the upper right.
  • the state or spatial position of the multi-degree-of-freedom radiation therapy bed of the present invention is not limited thereto and has more variations.
  • the multi-degree-of-freedom radiation therapy bed mechanism of the invention is compact, flexible in rotation, overall stable, and strong in carrying capacity.
  • the series mechanism between the first platform and the second platform completes the movement by driving the moving pair and the rotating pair, and the parallel supporting mechanism completes the movement by driving the moving pair of the sleeve structure in each branch.
  • the combination of the series mechanism and the parallel mechanism provides the treatment bed with redundant degrees of freedom, ensuring that the robot body occupies less space and enables the second platform 10 at the end of the robot to have an omnidirectional six-degree-of-freedom motion capability and a sufficient range of motion in three-dimensional space.
  • the degree of freedom of redundancy makes the movement of each driving pair not uniquely determined, but can be flexibly adjusted and optimized according to actual conditions, so that the radiation therapy can be irradiated at any angle during the treatment process. Go to the patient's lesions, reduce damage to normal tissues, and achieve the purpose of efficient treatment.
  • the hybrid multi-degree-of-freedom radiotherapy bed of the invention adopts a series-parallel hybrid mode, which not only has the advantages of large movable space of the series mechanism but also has the advantages of high precision and high stiffness of the parallel mechanism, and provides more through redundant degree of freedom configuration.
  • Good flexibility reduce the overall inertia through a six-bar (chain) parallel mechanism to provide better stability and reduce the occupancy of the treatment room space, through the six-bar parallel mechanism and the movement and rotation control of the treatment bed can achieve radiation therapy Multi-angle radiation therapy in the process, and the effective load-bearing range of the entire treatment bed can be adjusted by changing the shape and size of the first platform and the second platform.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Radiology & Medical Imaging (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

一种多自由度放射治疗床，包括：底座(1)；第一平台(9)，位于所述底座(1)之上，所述第一平台(9)设有滑槽(91)；使所述第一平台(9)做偏转和三维移动的支撑机构，连接在所述第一平台(9)与所述底座(1)之间；滑动装置(8)，设置在所述滑槽(91)中；第二平台(10)，位于所述第一平台(9)上方并与所述滑动装置(8)转动连接。所述多自由度放射治疗床，具有三维空间内的全方位六自由度运动能力和充足的运动范围，因而，具有较好的灵活性。

Description

多自由度放射治疗床 技术领域
本发明涉及医疗器械领域，具体涉及一种多自由度放射治疗床。
背景技术
随着放射治疗的普及，医生在放射治疗过程中可对患者患病部位进行精确的定位，并通过所提供的三维图像对病灶部位进行相应的放射治疗，从而减少对其他正常组织的伤害，以达到对病人有效治疗的目的。由机器人所支撑控制的治疗床是整个治疗***中重要的组成部分，治疗床可以通过移动，转动，滑动从而可以实现多个角度的放射治疗。
在多角度笔形束放疗、质子和重离子放疗等先进的放射治疗技术中需要高度灵活、稳定性更好、反应速度更快的治疗床来承载患者。但目前治疗床设备的体积大，运动灵活性有限。
综上所述，现有技术中至少存在以下问题：治疗床的运动灵活性不好。
发明内容
本发明提供一种多自由度放射治疗床，以解决治疗床的运动灵活性不好的问题。
为此，本发明提出一种多自由度放射治疗床，所述多自由度放射治疗床包括：
底座；
第一平台，位于所述底座之上，所述第一平台设有滑槽；
使所述第一平台做偏转和三维移动的支撑机构，连接在所述第一平台与所述底座之间；
滑动装置，设置在所述滑槽中；
第二平台，位于所述第一平台上方并与所述滑动装置转动连接。
进一步地，所述滑动装置上设有滑动装置转动部，所述第二平台上设有平台转动部，所述滑动装置转动部与所述平台转动部形成转动副。
进一步地，所述支撑机构包括至少一个支链，所述支链为能伸缩的套筒式结构，所述支链的底端与底座的铰接，所述支链的顶端与所述第一平台铰接。
进一步地，所述支链包括：
套管，套管的底端铰接在所述底座上；
移动杆，移动杆的底端连接在所述套管的顶端，并且所述移动杆的底端能够在所述套管中伸缩；所述移动杆的顶端铰接在所述第一平台上。
进一步地，所述支链包括：
套管，套管的顶端铰接在所述第一平台上；
移动杆，移动杆的顶端连接在所述套管的底端，并且所述移动杆的顶端能够在所述套管中伸缩；所述移动杆的底端铰接在所述底座上。
进一步地，所述支撑机构包括多个并联的支链。
进一步地，所述支撑机构包括六个并联的支链，六个支链与底座的铰接点形成第一三角形，六个支链与所述第一平台的铰接点形成第二三角形，第一三角形和第二三角形分别呈中心对称。
进一步地，所述支链还包括：设置在底座上的底部铰链座、设置在所述第一平台上的顶部铰链座、设置在所述支链的底端的铰链连接件、以及设置在所述支链的顶端的铰链连接件；
所述底部铰链座与支链的底端的铰链连接件形成底部的铰链连接结构；顶部铰链座与支链的顶端的铰链连接件形成顶部的铰链连接结构。
进一步地，所述底部的铰链连接结构为十字铰链机构或球铰链结构。
进一步地，所述滑动装置为滑块，所述滑块上设有转轴或转盘，所述第二平台上设有容纳所述转轴或转盘的凹槽。
本发明中，滑动装置能够在第一平台中滑动，因此，可以实现相对第一平台的平移，并且第二平台与所述滑动装置转动连接，所以，第二平台能够相对第一平台转动。此外，使所述第一平台做偏转和三维移动的支撑机构，连接在所述第一平台与所述底座之间，因此，第一平台能够带动第二平台做偏转和三维移动。所以，本发明的多自由度放射治疗床，具有三维空间内的全方位六自由度运动能力和充足的运动范围，因而，具有较好的灵活性。
进而，上述多个自由度组合起来，使整个治疗床具有冗余自由度，保证多自由度放射治疗床占有空间较小。当控制多自由度放射治疗床运动时，冗余自由度使得各个驱动副的运动不是唯一确定的，而是可以根据实际情况进行灵活调节与优化，从而完成在治疗过程中放射治疗可以在任意角度下照射到病人病灶处，减少对正常组织的损害，达到高效治疗的目的。
附图说明
图1为本发明的多自由度放射治疗床的整体结构示意图；
图2为本发明的支链的结构示意图；
图3为本发明的滑动装置与第二平台的分解结构示意图；
图4为本发明的多自由度放射治疗床的运动自由度的示意图；
图5为本发明的多自由度放射治疗床的第一种状态；
图6为本发明的多自由度放射治疗床的第二种状态；
图7为本发明的多自由度放射治疗床的第三种状态；
图8为本发明的多自由度放射治疗床的第四种状态；
图9为本发明的多自由度放射治疗床的第五种状态；
图10为本发明的多自由度放射治疗床的第六种状态。
附图标号说明：
1底座 2底部铰链座 3铰链连接件 4套管 5移动杆 6铰链连接件 7顶部铰链座 8滑动装置 9第一平台 10第二平台 20水平方向 30圆周方向
具体实施方式
为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图说明本发明。
如图1所示，本发明提出一种多自由度放射治疗床，所述多自由度放射治疗床包括：
底座1，可以安装在一个移动装置上，或者固定在指定位置，或者安装在地板上；
第一平台9，位于所述底座1之上，如图3所示，所述第一平台9设有滑槽91；
使所述第一平台做偏转和三维移动的支撑机构，连接在所述第一平台9与所述底座1之间；
滑动装置8，设置在所述滑槽91中，滑动装置8能够相对第一平台9滑动；
第二平台10，位于所述第一平台9上方并与所述滑动装置8转动连接。滑动装置能够在第一平台中滑动，因此，可以实现相对第一平台的平移，而且由于第二平台10与第一平台9的长度方向可以相同，滑槽91可以为第一平台9的长度方向，因此这种平移的范围较大，并且第二平台10与所述滑动装置转动连接，所以，第二平台10能够相对第一平台9转动，可以实现与第二平台10的床面相垂直的旋转运动。此外，使所述第一平台9做偏转和三维移动的支撑机构，连接在所述第一平台与所述底座之间，因此，第一平台9能够带动第二平台10做偏转和三维移动。所以，本发明的多自由度放射治疗床，具有三维空间内的全方位六自由度运动能力和充足的运动范围，因而，具有较好的灵活性。
进一步地，如图3所示，所述滑动装置8上设有滑动装置转动部81，所述第二平台10上设有平台转动部，所述滑动装置转动部与所述平台转动部形成转动副。这样的转动连接便于安装和拆卸。进一步地，所述滑动装置8为滑块，所述滑块上设有转轴或转盘，即滑动装置转动部81为转轴或转盘，所述第二平台10上设有容纳所述转轴或转盘的凹槽，即平台转动部为凹槽。这样，加工和安装方便。
进一步地，所述支撑机构包括至少一个支链，所述支链为可伸缩的套筒式结构，所述支链的底端与底座的铰接，所述支链的顶端与所述第二平台铰接。通过这种可伸缩的套筒式结构，可以在紧凑的空间内使所述第一平台做偏转和三维移动。
进一步地，如图2所示，所述支链包括：
套管4，套管的底端铰接在所述底座1上；
移动杆5，移动杆的底端连接在所述套管4的顶端，并且所述移动杆5的底端能够在所述套管4中伸缩；所述移动杆5的顶端铰接在所述第一平台9上。这样，可以方便的实现第一平台9的偏转和三维移动。
作为另外一种套筒式结构，所述支链包括：
套管，套管的顶端铰接在所述第一平台上；
移动杆，移动杆的顶端连接在所述套管的底端，并且所述移动杆的顶端能够在所述套管中伸缩；所 述移动杆的底端铰接在所述底座上。
这种套筒式结构，将套管从下部放置到上部，将移动杆从上部移动到下部，也可以实现使所述第一平台做偏转和三维移动的功能。
进一步地，如图1所示，所述支撑机构包括多个并联的支链。这种并联式布置能够有效减少机构的整体惯量，保证动平台9的运动具有高精度和高刚度。第二平台10与第一平台9形成串联连接，多个并联的支链形成并联连接，二者共同形成一个具有冗余自由度的混联机构。基于并联的拓扑结构来设计机器人放疗床机构，并增加可达范围较大的串联机构扩大床面的移动范围，可以使底座减小整体的惯量并提供更好的稳定性和精确性，紧凑的结构可以减少空间的占用。
进一步地，如图1所示，所述支撑机构包括六个并联的支链，六个支链分别以两个为一组安装在一个铰接点处。六个支链与底座的铰接点形成第一三角形(其中，两个支链与底座的铰接点相交或相聚合)，六个支链与所述第一平台的铰接点形成第二三角形(其中，两个支链与第一平台的铰接点相交或相聚合)，第一三角形和第二三角形呈中心对称。各支链与底座的铰接点呈中心对称的三点式布置，各支链与所述第一平台的铰接点呈中心对称的三点式布置。这样，受力合理，自由度也较大。三点分布式的形状结构相对圆形或者长方形的固定平台结构稳定性更好，占用空间小，底座1可以设置为三星形状或三角形形状，重量轻，制造方便。第一平台和第二平台的形状和大小可以根据病人的体型和放射治疗过程中的需求进行改变，从而调节整个治疗床的有效承载范围。此外，并联的支链可以少于6个，为第一平台提供不同的自由度选择。
进一步地，如图2所示，所述支链还包括：设置在底座上的底部铰链座2、设置在所述第一平台上的顶部铰链座7、设置在所述支链的底端的铰链连接件3、以及设置在所述支链的顶端的铰链连接件6；
所述底部铰链座3与支链的底端的铰链连接件2形成底部的铰链连接结构；顶部铰链座7与支链的顶端的铰链连接件6形成顶部的铰链连接结构。
进一步地，铰链连接件3和铰链连接件6为十字铰链块，顶部铰链座7和底部铰链座2为十字铰链座。此外，也可以用球铰链和球铰链座代替十字铰链块和十字铰链座。这样，可以实现灵活和牢固的连接。
本发明的多自由度放射治疗床可以有多种状态或空间位置，图4示出了多自由度放射治疗床的自由度或运动方向，从图4中，可以看出，第二平台10可以沿直线方向20相对第一平台9滑动；第二平台10可以按圆周方向30相对第一平台9转动；这两个状态的移动可以无需支链的运动即可完成。此外，通过支链的运动，可以实现第二平台10与第一平台9沿x轴，y轴，z轴方向的平移，还可以实现第二平台10与第一平台9相对x轴，y轴，z轴方向不同角度的偏转，这样，多自由度放射治疗床具有三维空间内的全方位六自由度运动能力和充足的运动范围，具有冗余自由度，保证多自由度放射治疗床占有空间较小。
图5至图10例如示出了多自由度放射治疗床的其中几个状态或空间位置。如图5所示，多自由度放射治疗床在第一种状态下，第二平台10没有相对第一平台9滑动，第二平台10处于水平方向；如图6所示，多自由度放射治疗床的第二种状态下，相对于第一种状态，第二平台10相对第一平台9滑动；如图7所示，多自由度放射治疗床的第三种状态下，相对于第一种状态，第二平台10与第一平台9向 右下方偏转；如图8所示，相对于第一种状态，多自由度放射治疗床的第四种状态下，第二平台10相对第一平台9转动；如图9所示，多自由度放射治疗床的第五种状态下，相对于第一种状态，第二平台10与第一平台9向前平移；如图10所示，多自由度放射治疗床的第六种状态下，相对于第一种状态，第二平台10与第一平台9向右上方偏转。本发明的多自由度放射治疗床的状态或空间位置不局限于此，具有更多的变化。
本发明的多自由度放射治疗床机构紧凑、转动灵活、整体稳定、承载能力强。第一平台和第二平台之间的串联机构通过驱动移动副和转动副来完成运动，并联的支撑机构通过驱动各支链中套筒式结构的移动副来完成运动。串联机构与并联机构结合使治疗床具有冗余自由度，保证机器人本体占有空间较小且使机器人末端的第二平台10具有三维空间内的全方位六自由度运动能力和充足的运动范围。当控制第二平台10运动时，冗余自由度使得各个驱动副的运动不是唯一确定的，而是可以根据实际情况进行灵活调节与优化，从而完成在治疗过程中放射治疗可以在任意角度下照射到病人病灶处，减少对正常组织的损害，达到高效治疗的目的。
本发明的混联多自由度放射治疗床采用串并联混联方式，不仅具有串联机构活动空间大的优点而且还具有并联机构高精度高刚度反应速度快的优点，通过冗余自由度配置提供更好的灵活度，通过六杆(支链)并联机构减小整体惯量提供更好的稳定性并减少治疗室空间的占用，通过六杆并联机构以及治疗床板的移动和转动控制可以实现在放射治疗过程中的多角度放射治疗，并且可以通过改变第一平台和第二平台的形状及大小来调节整个治疗床的有效承载范围。
以上所述仅为本发明示意性的具体实施方式，并非用以限定本发明的范围。为本发明的各组成部分在不冲突的条件下可以相互组合，任何本领域的技术人员，在不脱离本发明的构思和原则的前提下所作出的等同变化与修改，均应属于本发明保护的范围。

Claims (10)

  1. 一种多自由度放射治疗床，其特征在于，所述多自由度放射治疗床包括：
    底座；
    第一平台，位于所述底座之上，所述第一平台设有滑槽；
    使所述第一平台做偏转和三维移动的支撑机构，连接在所述第一平台与所述底座之间；
    滑动装置，设置在所述滑槽中；
    第二平台，位于所述第一平台上方并与所述滑动装置转动连接。
  2. 如权利要求1所述的多自由度放射治疗床，其特征在于，所述滑动装置上设有滑动装置转动部，所述第二平台上设有平台转动部，所述滑动装置转动部与所述平台转动部形成转动副。
  3. 如权利要求2所述的多自由度放射治疗床，其特征在于，所述支撑机构包括至少一个支链，所述支链为能伸缩的套筒式结构，所述支链的底端与底座铰接，所述支链的顶端与所述第一平台铰接。
  4. 如权利要求3所述的多自由度放射治疗床，其特征在于，所述支链包括：
    套管，套管的底端铰接在所述底座上；
    移动杆，移动杆的底端连接在所述套管的顶端，并且所述移动杆的底端能够在所述套管中伸缩；所述移动杆的顶端铰接在所述第一平台上。
  5. 如权利要求3所述的多自由度放射治疗床，其特征在于，所述支链包括：
    套管，套管的顶端铰接在所述第一平台上；
    移动杆，移动杆的顶端连接在所述套管的底端，并且所述移动杆的顶端能够在所述套管中伸缩；所述移动杆的底端铰接在所述底座上。
  6. 如权利要求4或5所述的多自由度放射治疗床，其特征在于，所述支撑机构包括多个并联的支链。
  7. 如权利要求4或5所述的多自由度放射治疗床，其特征在于，所述支撑机构包括六个并联的支链，六个支链与底座的铰接点形成第一三角形，六个支链与所述第一平台的铰接点形成第二三角形，第一三角形和第二三角形分别呈中心对称。
  8. 如权利要求3所述的多自由度放射治疗床，其特征在于，所述支链还包括：设置在底座上的底部铰链座、设置在所述第一平台上的顶部铰链座、设置在所述支链的底端的铰链连接件、以及设置在所述支链的顶端的铰链连接件；
    所述底部铰链座与支链的底端的铰链连接件形成底部的铰链连接结构；顶部铰链座与支链的顶端的铰链连接件形成顶部的铰链连接结构。
  9. 如权利要求8所述的多自由度放射治疗床，其特征在于，所述底部的铰链连接结构为十字铰链机构或球铰链结构。
  10. 如权利要求1所述的多自由度放射治疗床，其特征在于，所述滑动装置为滑块，所述滑块上设有转轴或转盘，所述第二平台上设有容纳所述转轴或转盘的凹槽。
PCT/CN2015/098916 2015-12-04 2015-12-25 多自由度放射治疗床 WO2017092105A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510884795.1A CN105327458A (zh) 2015-12-04 2015-12-04 多自由度放射治疗床
CN201510884795.1 2015-12-04

Publications (1)

Publication Number Publication Date
WO2017092105A1 true WO2017092105A1 (zh) 2017-06-08

Family

ID=55278351

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/098916 WO2017092105A1 (zh) 2015-12-04 2015-12-25 多自由度放射治疗床

Country Status (2)

Country Link
CN (1) CN105327458A (zh)
WO (1) WO2017092105A1 (zh)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107627292A (zh) * 2017-09-26 2018-01-26 广东工业大学 一种多自由度大行程高精度运动平台
CN107625596A (zh) * 2017-09-27 2018-01-26 宝鸡大医数码机器人有限责任公司 一种医用六自由度治疗床
CN109011205A (zh) * 2018-07-24 2018-12-18 冯丹 一种方便调节的放疗床
CN109434877A (zh) * 2018-12-21 2019-03-08 斯坦德机器人（深圳）有限公司 一种多自由度平移式顶升机构
CN109876311A (zh) * 2019-03-27 2019-06-14 陕西华明普泰医疗设备有限公司 一种六自由度放射治疗床
CN113119092A (zh) * 2019-12-30 2021-07-16 苏州丰达瑞自动化设备科技有限公司 高精度六自由度平台
CN113384289A (zh) * 2021-06-01 2021-09-14 四川大学华西医院 一种膝关节侧位x射线自动检测床及其检测方法
CN114191721A (zh) * 2021-12-24 2022-03-18 北京中成康富科技股份有限公司 一种毫米波治疗床体的照射头游走装置
CN114248255A (zh) * 2021-12-27 2022-03-29 北京交通大学 一种用于铺带位姿调整的五自由度并联机构
CN114310852A (zh) * 2021-10-28 2022-04-12 中国民航大学 一种长臂复合驱动六自由度并联机构
CN114536284A (zh) * 2022-03-11 2022-05-27 无锡市星迪仪器有限公司 一种六自由度调节平台
CN114886564A (zh) * 2022-04-28 2022-08-12 哈尔滨工业大学 一种手术机器人

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018082139A1 (zh) * 2016-11-02 2018-05-11 江苏超敏科技有限公司 机械治疗椅及其控制***
CN106512235A (zh) * 2016-11-23 2017-03-22 江苏超敏仪器有限公司 机械治疗椅及其控制***
JP6563891B2 (ja) * 2016-12-28 2019-08-21 株式会社メディカロイド ロボット手術台およびハイブリッド手術室
CN106730416B (zh) * 2016-12-31 2023-06-30 广东恒聚医疗科技有限公司 一种用于坐姿放疗的双并联定位机构
CN106693189A (zh) * 2016-12-31 2017-05-24 广东恒聚医疗科技有限公司 一种用于坐姿放疗的混联机器人
ES2681118B1 (es) * 2017-02-10 2019-07-31 Servicio Andaluz De Salud Dispositivo de inmovilización para radioterapia
CN107053144B (zh) * 2017-06-10 2023-12-29 北京意美德自动化科技有限公司 一种六自由度平台结构
CN109806511A (zh) * 2019-03-29 2019-05-28 王中卫 一种用于肿瘤放疗的移动装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6094760A (en) * 1997-08-04 2000-08-01 Sumitomo Heavy Industries, Ltd. Bed system for radiation therapy
US20040098804A1 (en) * 2002-11-26 2004-05-27 Muthuvelan Varadharajulu Grouted tilting patient positioning table for vascular applications
US7373676B2 (en) * 2006-09-21 2008-05-20 Aktina Medical Corporation Patient support apparatus and method therefor
CN104307113A (zh) * 2014-10-20 2015-01-28 苏州大学张家港工业技术研究院 放射治疗***
CN204709657U (zh) * 2015-05-21 2015-10-21 苏州爱因智能设备有限公司 一种精确摆位治疗床
CN205215971U (zh) * 2015-12-04 2016-05-11 深圳先进技术研究院 多自由度放射治疗床

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103417229B (zh) * 2013-08-06 2015-04-22 中国科学院深圳先进技术研究院 一种x射线成像机器人及其机械臂
CN103895009A (zh) * 2014-04-22 2014-07-02 四川大学 三自由度球心可调球面并联机构

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6094760A (en) * 1997-08-04 2000-08-01 Sumitomo Heavy Industries, Ltd. Bed system for radiation therapy
US20040098804A1 (en) * 2002-11-26 2004-05-27 Muthuvelan Varadharajulu Grouted tilting patient positioning table for vascular applications
US7373676B2 (en) * 2006-09-21 2008-05-20 Aktina Medical Corporation Patient support apparatus and method therefor
CN104307113A (zh) * 2014-10-20 2015-01-28 苏州大学张家港工业技术研究院 放射治疗***
CN204709657U (zh) * 2015-05-21 2015-10-21 苏州爱因智能设备有限公司 一种精确摆位治疗床
CN205215971U (zh) * 2015-12-04 2016-05-11 深圳先进技术研究院 多自由度放射治疗床

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107627292A (zh) * 2017-09-26 2018-01-26 广东工业大学 一种多自由度大行程高精度运动平台
CN107627292B (zh) * 2017-09-26 2023-10-03 广东工业大学 一种多自由度大行程高精度运动平台
CN107625596A (zh) * 2017-09-27 2018-01-26 宝鸡大医数码机器人有限责任公司 一种医用六自由度治疗床
CN107625596B (zh) * 2017-09-27 2023-08-01 宝鸡大医数码机器人有限责任公司 一种医用六自由度治疗床
CN109011205A (zh) * 2018-07-24 2018-12-18 冯丹 一种方便调节的放疗床
CN109434877A (zh) * 2018-12-21 2019-03-08 斯坦德机器人（深圳）有限公司 一种多自由度平移式顶升机构
CN109434877B (zh) * 2018-12-21 2024-03-26 斯坦德机器人（深圳）有限公司 一种多自由度平移式顶升机构
CN109876311A (zh) * 2019-03-27 2019-06-14 陕西华明普泰医疗设备有限公司 一种六自由度放射治疗床
CN109876311B (zh) * 2019-03-27 2023-09-29 陕西华明普泰医疗设备有限公司 一种六自由度放射治疗床
CN113119092A (zh) * 2019-12-30 2021-07-16 苏州丰达瑞自动化设备科技有限公司 高精度六自由度平台
CN113384289B (zh) * 2021-06-01 2022-11-01 四川大学华西医院 一种膝关节侧位x射线自动检测床及其检测方法
CN113384289A (zh) * 2021-06-01 2021-09-14 四川大学华西医院 一种膝关节侧位x射线自动检测床及其检测方法
CN114310852A (zh) * 2021-10-28 2022-04-12 中国民航大学 一种长臂复合驱动六自由度并联机构
CN114310852B (zh) * 2021-10-28 2023-09-26 中国民航大学 一种长臂复合驱动六自由度并联机构
CN114191721A (zh) * 2021-12-24 2022-03-18 北京中成康富科技股份有限公司 一种毫米波治疗床体的照射头游走装置
CN114248255A (zh) * 2021-12-27 2022-03-29 北京交通大学 一种用于铺带位姿调整的五自由度并联机构
CN114248255B (zh) * 2021-12-27 2023-11-17 北京交通大学 一种用于铺带位姿调整的五自由度并联机构
CN114536284A (zh) * 2022-03-11 2022-05-27 无锡市星迪仪器有限公司 一种六自由度调节平台
CN114536284B (zh) * 2022-03-11 2023-09-01 无锡市星迪仪器有限公司 一种六自由度调节平台
CN114886564B (zh) * 2022-04-28 2023-08-08 哈尔滨工业大学 一种手术机器人
CN114886564A (zh) * 2022-04-28 2022-08-12 哈尔滨工业大学 一种手术机器人

Also Published As

Publication number Publication date
CN105327458A (zh) 2016-02-17

Similar Documents

Publication Publication Date Title
WO2017092105A1 (zh) 多自由度放射治疗床
CN205215971U (zh) 多自由度放射治疗床
US11523784B2 (en) Portable medical imaging system
CN111885980B (zh) 具有可调式臂支撑件的外科平台
US20210315531A1 (en) Portable medical imaging system
JP7166259B2 (ja) 手術ロボットシステム
JP6832922B2 (ja) 選択的なホイール整合を有する外科用ロボットカート
US10751012B2 (en) Radiological imaging device with improved maneuverability
CN103417229B (zh) 一种x射线成像机器人及其机械臂
US8944680B2 (en) X-ray facility having a recording arrangement held on support arms
JP6563891B2 (ja) ロボット手術台およびハイブリッド手術室
US8739334B2 (en) Iso-roll table
US10307121B2 (en) X-ray device having an adjusting apparatus
US7354196B2 (en) Device for recording projection images
WO2013125146A1 (ja) 患者傾動装置付きカウチ
JPH09103426A (ja) Ｘ線診断装置用の移動式ｃ形アーム装置
BRPI1101960A2 (pt) sistema posicionador portátil, sistema de formação de imagem portátil e sistema de formação de imagem transportável
US10869640B2 (en) Operation table with robot arm
EP3610795B1 (en) Mobile x-ray imaging system
US20120198624A1 (en) Method and device for patient loading and positioning
CN104873211A (zh) 影像定位***及直线加速器***
CN105643593A (zh) 一种(3t)&2r五自由度解耦混联机构
CN108042929B (zh) 术中放射治疗装置
EP4144320A1 (en) Guide rail device and medical robot
US11491664B2 (en) Robotic platform manipulating peripeheral nerve system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15909619

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 27.09.2018)

122 Ep: pct application non-entry in european phase

Ref document number: 15909619

Country of ref document: EP

Kind code of ref document: A1