WO2018082139A1 - 机械治疗椅及其控制*** - Google Patents

机械治疗椅及其控制*** Download PDF

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Publication number
WO2018082139A1
WO2018082139A1 PCT/CN2016/107400 CN2016107400W WO2018082139A1 WO 2018082139 A1 WO2018082139 A1 WO 2018082139A1 CN 2016107400 W CN2016107400 W CN 2016107400W WO 2018082139 A1 WO2018082139 A1 WO 2018082139A1
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Prior art keywords
treatment chair
platform
mechanical treatment
connecting member
chair
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PCT/CN2016/107400
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English (en)
French (fr)
Inventor
周荣
许纹健
李磊
孙熙杉
薛会
吕凌俊
王敏
刘飞
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江苏超敏科技有限公司
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Publication of WO2018082139A1 publication Critical patent/WO2018082139A1/zh

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00Radiation therapy
    • A61N5/10X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy

Definitions

  • the present invention relates to a chair, and more particularly to a mechanical treatment chair.
  • proton heavy ion radiotherapy Due to its superior radiophysical and radiobiological properties, proton heavy ion radiotherapy has a greater advantage than conventional photon radiotherapy.
  • Proton heavy ions have a "Prague peak" energy release trajectory throughout the range, which can be used for tumors. The cells are accurately killed, and the damage to surrounding normal tissues is significantly reduced, but there is a high precision requirement for tumor localization.
  • the existing proton heavy ion therapy uses a treatment bed, which is not suitable for the treatment of head and neck cancer.
  • Traditional mechanical treatment chairs are usually only used as tools for carrying patients, lacking positioning functions, and can not meet the needs of precision radiotherapy.
  • a mechanical treatment chair includes a treatment chair, a slide rail, a slide plate, a rotation platform and a six-degree-of-freedom platform, the slide plate is slidably mounted on the slide rail, and the rotation platform is rotatably mounted on the slide plate.
  • the six degree of freedom platform is fixed to the rotating platform, and the treatment chair is fixed to the rotating platform.
  • the six-degree-of-freedom platform includes six adjusting devices, each of which includes an electric cylinder, a first connecting member and a second connecting member, and the first connecting member and the second connecting member respectively It is fixed at both ends of the electric cylinder.
  • the treatment chair comprises a movement platform and a chair body fixed to the movement platform, the first connection member is fixedly connected with the movement platform, and the electric cylinder is passed through the first connection member
  • the motion platform is rotatably connected.
  • the first connecting member is a hook hinge.
  • the second connecting member is fixedly connected to the rotating platform, and the electric cylinder is rotatably connected to the rotating platform through the second connecting member.
  • the second connecting member is a ball joint.
  • the treatment chair is made of carbon steel or an aluminum alloy.
  • a control system for a mechanical treatment chair includes a workstation, a main controller and a plurality of servo controllers, the workstation being remotely connected to the main controller, the main controller being connected to the plurality of servo controllers, each The servo controller respectively controls the six-degree-of-freedom platform, and the main controller converts an instruction issued by the workstation into an input instruction and transmits the input instruction to the plurality of servo controllers, A number of servo controllers control the six degree of freedom platform motion to accurately position the chair.
  • the mechanical treatment chair of the invention realizes the precise positioning of the treatment chair through the slide rail, the rotating platform and the six-degree-of-freedom platform, so that the patient can be positioned for the treatment in the case of proton heavy ion radiotherapy.
  • Figure 1 is an exploded view of the mechanical treatment chair of the present invention.
  • FIG. 2 is another perspective exploded view of the mechanical treatment chair of FIG. 1.
  • FIG. 3 is an assembled view of the mechanical treatment chair of FIG. 2.
  • FIG. 4 is a schematic view showing a state of use of the mechanical treatment chair of FIG. 3.
  • Figure 5 is a block diagram of the mechanical treatment chair control system of the present invention.
  • 100 mechanical treatment chair; 10, slide rail; 20, skateboard; 30, rotating platform; 40, six degrees of freedom platform; 41, adjusting device; 42, first connecting member; 44, electric cylinder; Two connectors; 48, motor; 50, treatment chair; 52, chair body; 54, exercise platform; 60, workstation; 70, main controller; 80, servo controller; 200, patient.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • a mechanical treatment chair 100 includes a slide rail 10 , a slide plate 20 , a rotating platform 30 , a six-degree-of-freedom platform 40 , and a treatment chair 50 .
  • the six degree of freedom platform 40 includes six adjustment devices 41.
  • Each of the adjusting devices 41 includes a first connecting member 42 , an electric cylinder 44 , a second connecting member 46 , and a motor 48 .
  • the motor 48 is fixedly coupled to the electric cylinder 44.
  • the first connecting member 42 and the second connecting member 46 are respectively fixed to both ends of the electric cylinder 44.
  • the first connecting member 42 is a hook hinge
  • the second connecting member 46 is a ball joint.
  • the chair 50 includes a chair body 52 and a motion platform 54.
  • the chair body 52 is fixed to the motion platform 54.
  • the chair body 52 is fixed to the motion platform 54.
  • the chair body 52 is made of carbon steel or an aluminum alloy.
  • the slide plate 20 is slidably mounted to the slide rail 10.
  • the rotating platform 30 is rotatably mounted to the sliding plate 20.
  • the second connecting member 46 is fixed to the rotating platform 30 to rotatably connect the electric cylinder 44 with the rotating platform 30.
  • the first connecting member 42 is fixedly coupled to the moving platform 54 to rotatably connect the electric cylinder 44 with the moving platform 54.
  • the present invention also relates to a control system for the mechanical treatment chair 100, the control system including a workstation 60, a main controller 70 remotely coupled to the workstation 60, and a plurality of The controller 70 is connected to the servo controller 80.
  • the main controller 70 receives the command and converts the command into an input command and transmits the input command to the plurality of servo controllers 80, each of the servo controls
  • the controller 80 controls a motor 48 to expand and contract the electric cylinder 44 to drive the chair body 52 to translate and rotate in three dimensions of x, y, and z in a certain range.
  • the chair body 52 can also realize a wide range of movement and rotation through the sliding plate 20 and the rotating flat 30, so as to adjust the position of the chair body 52 to align the patient's lesion with the radiation.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

一种机械治疗椅(100),包括治疗椅(50)、滑轨(10)、滑板(20)、转动平台(30)及六自由度平台(40),滑板(20)滑动安装于滑轨(10),转动平台(30)转动安装于滑板(20),六自由度平台(40)固定于转动平台(30),治疗椅(50)固定于转动平台(30)。该机械治疗椅(100)通过滑轨(10)、转动平台(30)及六自由度平台(40)实现治疗椅的精确定位,以便于治疗。还公开了一种机械治疗椅的控制***。

Description

机械治疗椅及其控制*** 技术领域
本发明涉及一种椅子,尤其涉及一种机械治疗椅。
背景技术
质子重离子放疗因其优越的放射物理和放射生物特性,相较于常规光子放疗具有较大的优势,质子重离子在整个射程中能量变化过程具有“布拉格峰”的能量释放轨迹,能对肿瘤细胞进行精准杀伤,对周围正常组织的损伤明显减少,但是对于肿瘤定位有很高的精度要求。现有的质子重离子治疗中采用治疗床,不适用于头颈部肿瘤治疗场合。传统的机械治疗椅通常只是作为承载病人的工具,缺乏定位功能,不能满足精准放疗的需要。
发明内容
为了克服现有技术的不足,本发明的目的在于提供一种使病人位置精确定位的机械治疗椅。
本发明的目的采用以下技术方案实现:
一种机械治疗椅,包括一治疗椅、一滑轨、一滑板、一转动平台及一六自由度平台,所述滑板滑动安装于所述滑轨,所述转动平台转动安装于所述滑板,所述六自由度平台固定于所述转动平台,所述治疗椅固定于所述转动平台。
优选的,所述六自由度平台包括六个调节装置,每一所述调节装置包括一电动缸、一第一连接件及一第二连接件,所述第一连接件及第二连接件分别固定在所述电动缸两端。
优选的,所述治疗椅包括一运动平台及一固定于所述运动平台的椅子本体,所述第一连接件与所述运动平台固定连接,使所述电动缸通过所述第一连接件与所述运动平台转动相连。
优选的,所述第一连接件为一虎克铰。
优选的,所述第二连接件与所述转动平台固定连接,所述电动缸通过所述第二连接件与所述转动平台转动连接。
优选的,所述第二连接件为球铰。
优选的,所述治疗椅由碳钢或者铝合金制成。
一种机械治疗椅的控制***,包括一工作站、一主控制器及若干伺服控制器,所述工作站与所述主控制器远程连接,所述主控制器与所述若干伺服控制器连接,每一所述伺服控制器分别对所述六自由度平台进行控制,所述主控制器将所述工作站发出的指令换算成一输入指令并将所述输入指令传送至所述若干伺服控制器,所述若干伺服控制器控制所述六自由度平台运动,使所述治疗椅精确定位。
相比现有技术,本发明的有益效果在于:
本发明机械治疗椅通过滑轨、转动平台及六自由度平台实现治疗椅的精确定位,使病人在进行质子重离子放疗时,肿瘤能被定位,以便于治疗。
附图说明
图1为本发明机械治疗椅的一分解图。
图2为图1的机械治疗椅的另一立体分解图。
图3为图2的机械治疗椅的一组装图。
图4为图3的机械治疗椅的一使用状态示意图。
图5为本发明机械治疗椅控制***的一模块图。
图中:100、机械治疗椅;10、滑轨;20、滑板;30、转动平台;40、六自由度平台;41、调节装置;42、第一连接件;44、电动缸;46、第二连接件;48、电机;50、治疗椅;52、椅子本体;54、运动平台;60、工作站;70、主控制器;80、伺服控制器;200、病人。
具体实施方式
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
需要说明的是,当组件被称为“固定于”另一个组件,它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件,它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件,它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于 限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1至图2,一种机械治疗椅100包括一滑轨10、一滑板20、一转动平台30、一六自由度平台40及一治疗椅50。
所述六自由度平台40包括六调节装置41。每一所述调节装置41包括一第一连接件42、一电动缸44、一第二连接件46及一电机48。所述电机48与所述电动缸44固定连接。所述第一连接件42及所述第二连接件46分别固定于所述电动缸44的两端。在一实施例中,所述第一连接件42为一虎克铰,所述第二连接件46为一球铰。
所述治疗椅50包括一椅子本体52及一运动平台54。所述椅子本体52固定于所述运动平台54。所述椅子本体52固定于所述运动平台54。在一实施例中,所述椅子本体52由碳钢或者铝合金制成。
请继续参阅图3,组装所述机械治疗椅100时,所述滑板20滑动安装于所述滑轨10。所述转动平台30转动安装于所述滑板20。所述第二连接件46固定于所述转动平台30使所述电动缸44与所述转动平台30转动连接。所述第一连接件42与所述运动平台54固定连接使所述电动缸44与所述运动平台54转动连接。
请继续参阅图5,本发明还涉及一种所述机械治疗椅100的控制***,所述控制***包括一工作站60、一与所述工作站60远程连接的主控制器70及若干与所述主控制器70连接的伺服控制器80。
请继续参阅图4,使用所述机械治疗椅100时,病人200坐在所述椅子本体52上,操作人员在所述工作站60上输入关于所述椅子本 体52需要定位的精确位置指令,所述主控制器70接收所述指令并将所述指令换算成一输入指令并将所述输入指令传送至所述若干伺服控制器80,每一所述伺服控制器80控制一电机48使所述电动缸44伸缩以带动所述椅子本体52在一定范围内x、y、z三个维度方向平移和转动。并且所述椅子本体52还能通过所述滑板20及转动平30实现大范围移动及转动,以便于调节椅子本体52位置,使病人的病灶对准射线。
对本领域的技术人员来说,可根据以上描述的技术方案以及构思,做出其它各种相应的改变以及形变,而所有的这些改变以及形变都应该属于本发明权利要求的保护范围之内。

Claims (8)

  1. 一种机械治疗椅,包括一治疗椅,其特征在于:所述机械治疗椅还包括一滑轨、一滑板、一转动平台及一六自由度平台,所述滑板滑动安装于所述滑轨,所述转动平台转动安装于所述滑板,所述六自由度平台固定于所述转动平台,所述治疗椅固定于所述转动平台。
  2. 根据权利要求1所述的机械治疗椅,其特征在于:所述六自由度平台包括六个调节装置,每一所述调节装置包括一电动缸、一第一连接件及一第二连接件,所述第一连接件及第二连接件分别固定在所述电动缸两端。
  3. 根据权利要求2所述的机械治疗椅,其特征在于:所述治疗椅包括一运动平台及一固定于所述运动平台的椅子本体,所述第一连接件与所述运动平台固定连接,使所述电动缸通过所述第一连接件与所述运动平台转动相连。
  4. 根据权利要求2所述的机械治疗椅,其特征在于:所述第一连接件为一虎克铰。
  5. 根据权利要求2所述的机械治疗椅,其特征在于:所述第二连接件与所述转动平台固定连接,所述电动缸通过所述第二连接件与所述转动平台转动连接。
  6. 根据权利要求5所述的机械治疗椅,其特征在于:所述第二连接件为球铰。
  7. 根据权利要求1所述的机械治疗椅,其特征在于:所述治疗椅由碳钢或者铝合金制成。
  8. 一种如权利要求1所述的机械治疗椅的控制***,其特征在于:所述机械治疗椅控制***包括一工作站、一主控制器及若干伺服控制器,所述工作站与所述主控制器远程连接,所述主控制器与所述若干伺服控制器连接,每一所述伺服控制器分别对所述六自由度平台进行控制,所述主控制器将所述工作站发出的指令换算成一输入指令并将所述输入指令传送至所述若干伺服控制器,所述若干伺服控制器控制所述六自由度平台运动,使所述治疗椅精确定位。
PCT/CN2016/107400 2016-11-02 2016-11-28 机械治疗椅及其控制*** WO2018082139A1 (zh)

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CN115230524A (zh) * 2022-08-18 2022-10-25 奥莱特汽车科技有限公司 一种五自由度运动平台
CN115256353A (zh) * 2022-09-05 2022-11-01 中国科学院光电技术研究所 一种外满秩、冗余多平台复合型串并联闭环式运动机构
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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***

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CN112008694A (zh) * 2020-07-22 2020-12-01 西安方元明科技股份有限公司 一种基于电动缸的全电化重载六自由度平台及其电控***
CN115373343A (zh) * 2022-04-30 2022-11-22 江苏普旭科技股份有限公司 并联式六自由度运动平台控制***与控制方法
CN115373343B (zh) * 2022-04-30 2024-05-14 江苏普旭科技股份有限公司 并联式六自由度运动平台控制***与控制方法
CN115230524A (zh) * 2022-08-18 2022-10-25 奥莱特汽车科技有限公司 一种五自由度运动平台
CN115230524B (zh) * 2022-08-18 2023-06-20 奥莱特汽车科技有限公司 一种五自由度运动平台
CN115256353A (zh) * 2022-09-05 2022-11-01 中国科学院光电技术研究所 一种外满秩、冗余多平台复合型串并联闭环式运动机构

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