WO2023045017A1

WO2023045017A1 - Positioning device for radiotherapy

Info

Publication number: WO2023045017A1
Application number: PCT/CN2021/126381
Authority: WO
Inventors: 魏江华; 宋云涛; 潘晓扬; 刘素梅; 陈永华; 丁开忠; 罗昌建
Original assignee: 合肥中科离子医学技术装备有限公司
Priority date: 2021-09-26
Filing date: 2021-10-26
Publication date: 2023-03-30
Also published as: CN113663235A

Abstract

Disclosed is a positioning device for radiotherapy. The positioning device comprises: a bed board for fixing a patient; a mechanical arm with six degrees of freedom, which is connected to the bed board and used for adjusting the position of the bed board; a position detection device, which can be used for detecting the distance between people or objects in an environment where the bed board and the mechanical arm with six degrees of freedom are located so as to obtain position information; a torque detection device, which is disposed between the bed board and a bed board adjusting assembly and used for obtaining torque parameters of the bed board in various directions; and a controller, which is used for communicating with the mechanical arm with six degrees of freedom, the position detection device and the torque detection device so as to control the mechanical arm with six degrees of freedom to adjust the position of the bed board according to the position information and the torque parameter. Therefore, the position detection device and the torque detection device are arranged to improve the stability and reliability of the bed board adjustment process and shorten the time required for positioning the bed board, thereby improving the treatment efficiency.

Description

放射治疗用的摆位设备Positioning equipment for radiotherapy

技术领域technical field

本发明涉及放射治疗技术领域，尤其是涉及一种放射治疗用的摆位设备。The invention relates to the technical field of radiotherapy, in particular to a positioning device for radiotherapy.

背景技术Background technique

质子/重离子治疗主要利用加速器产生一定能量的粒子束，通过各电磁元件将束流传输到靶区，轰击肿瘤细胞，达到治疗的效果。质子/重离子束能够在体内某个预先设定的深度释放其大部分能量，形成名为“布拉格峰”的能量释放轨迹可对肿瘤区域精准治疗，有效杀伤病灶。同时减少对周围健康组织的破坏的目的，大大减少对正常细胞的损伤，提高患者治疗过程中的舒适性，提高患者术后生活质量。Proton/heavy ion therapy mainly uses accelerators to generate particle beams with a certain energy, and transmits the beams to the target area through various electromagnetic components to bombard tumor cells to achieve therapeutic effects. The proton/heavy ion beam can release most of its energy at a preset depth in the body, forming an energy release trajectory called "Bragg peak", which can accurately treat the tumor area and effectively kill the lesion. At the same time, the purpose of reducing the damage to surrounding healthy tissues is to greatly reduce the damage to normal cells, improve the comfort of patients during treatment, and improve the quality of life of patients after surgery.

放射治疗患者摆位***是质子/重离子等新型放射治疗***中的核心部件之一，主要用于将患者精准摆位至治疗所需的位置和姿态,实现精准治疗和“定向***”，其是治疗患者的必要载体。Radiation therapy patient positioning system is one of the core components of new radiation therapy systems such as protons/heavy ions. It is a necessary carrier for the treatment of patients.

目前，常用的患者摆位***的摆位过程中安全性、稳定性、舒适性和人机接口便利性，无法得到有效地保障。同时，若出现人员操作失误或***故障，无法及时将摆位设备复位，并且在摆位设备的使用过程中容易发生摆位设备与附近人员或物体碰撞的情况，无法保证摆位设备在摆位过程中的安全性。At present, the safety, stability, comfort and convenience of the man-machine interface in the positioning process of commonly used patient positioning systems cannot be effectively guaranteed. At the same time, if there is a personnel error or system failure, the positioning device cannot be reset in time, and the positioning device is prone to collide with nearby people or objects during the use of the positioning device, and it cannot be guaranteed that the positioning device is in the correct position. safety in the process.

发明内容Contents of the invention

本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明的一个目的在于提出一种放射治疗用的摆位设备，所述放射治疗用的摆位设备在对患者摆位过程中安全性高。The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a positioning device for radiotherapy, which has high safety in positioning a patient.

根据本发明实施例的放射治疗用的摆位设备，包括：床板，所述床板用于固定患者；六自由度机械臂，所述六自由度机械臂与床板相连，并用于调节所述床板的位置；位置检测装置，所述位置检测装置可用于对所述床板和所述六自由度机械臂所处环境中的人或物体距离进行检测，以获取距离参数；力矩检测装置，所述力矩检测装置设置在所述床板和所述床板调节组件之间，并用于获取所述床板在多个方向上的力矩参数；控制器，所述控制器用于与所述六自由度机械臂、位置检测装置和所述力矩检测装置通讯，以根据所述距离参数、所述力矩参数控制所述六自由度机械臂调节所述床板位置。The positioning equipment for radiotherapy according to the embodiment of the present invention includes: a bed board, the bed board is used to fix the patient; a six-degree-of-freedom mechanical arm, the six-degree-of-freedom mechanical arm is connected with the bed board, and is used to adjust the position of the bed board Position; position detection device, the position detection device can be used to detect the distance between the bed board and the person or object in the environment where the six degrees of freedom mechanical arm is located, to obtain distance parameters; torque detection device, the torque detection The device is arranged between the bed board and the bed board adjustment assembly, and is used to obtain the torque parameters of the bed board in multiple directions; the controller, the controller is used to communicate with the six-degree-of-freedom mechanical arm and the position detection device Communicating with the torque detection device to control the six-degree-of-freedom mechanical arm to adjust the position of the bed board according to the distance parameter and the torque parameter.

根据本发明实施例的摆位设备，通过设置位置检测装置和力矩检测装置提升床板调节过程的稳定性、可靠性，同时缩短床板摆位需要的时间，提高治疗效率。According to the positioning equipment of the embodiment of the present invention, the stability and reliability of the bed board adjustment process are improved by setting the position detection device and the torque detection device, and at the same time, the time required for the bed board positioning is shortened, and the treatment efficiency is improved.

根据本发明的一些实施例，所述六自由度机械臂包括：安装座；第一关节，所述第一关节可转动地安装于所述安装座；第一驱动部，所述第一驱动部设置在所述安装座上，并用于驱动所述第一关节相对所述安装座绕第一轴线转动。According to some embodiments of the present invention, the six-degree-of-freedom mechanical arm includes: a mounting base; a first joint rotatably mounted on the mounting base; a first driving part, the first driving part It is arranged on the mounting base and is used to drive the first joint to rotate around the first axis relative to the mounting base.

根据本发明的一些实施例，所述第一关节设有安装腔，所述第一驱动部设置在所述第一关节的一端并位于所述安装腔内。According to some embodiments of the present invention, the first joint is provided with an installation cavity, and the first driving part is disposed at one end of the first joint and located in the installation cavity.

根据本发明的一些实施例，所述六自由度机械臂还包括：第二关节，所述第二关节构造为中空结构，且可转动地设置在所述第一关节的另一端，并位于所述第一关节背离所述安装座的一侧；第二驱动部，所述第二驱动部设置在所述安装腔内，并用于驱动所述第二关节相对所述第一关节绕第二轴线转动。According to some embodiments of the present invention, the six-degree-of-freedom robotic arm further includes: a second joint configured as a hollow structure, rotatably arranged at the other end of the first joint, and located at the The side of the first joint away from the mounting base; the second driving part, the second driving part is arranged in the mounting cavity and used to drive the second joint relative to the first joint around the second axis turn.

根据本发明的一些实施例，所述六自由度机械臂还包括：第三关节，所述第三关节构造为中空结构，且所述第三关节的一端与所述第二关节可转动地相连，且所述第三关节可随所述第二关节同步转动第三驱动部，所述第三驱动部设置在所述第二关节内，并用于驱动所述第三关节相对所述第二关节绕第三轴线转动。According to some embodiments of the present invention, the six-degree-of-freedom robotic arm further includes: a third joint, the third joint is configured as a hollow structure, and one end of the third joint is rotatably connected to the second joint , and the third joint can rotate a third driving part synchronously with the second joint, the third driving part is arranged in the second joint, and is used to drive the third joint relative to the second joint Rotate about the third axis.

根据本发明的一些实施例，所述六自由度机械臂还包括：第四关节，所述第四关节可转动地设置在所述第三关节的另一端；第四驱动部，所述第四驱动部设置在所述第三关节内，并用于驱动所述第四关节相对所述第三关节绕第四轴线转动；第五关节，所述第五关节设置在所述第三关节远离所述第二关节的一侧，并与所述第四关节可转动地相连；第五驱动部，所述第五驱动部用于驱动所述第五关节相对所述第四关节绕第五轴线转动；第六关节，所述第六关节设置在所述第五关节和所述床板之间；第六驱动部，所述第六驱动部与第六关节相连，并用于驱动所述床板相对所述第五关节绕第六轴线转动。According to some embodiments of the present invention, the six-degree-of-freedom mechanical arm further includes: a fourth joint, the fourth joint is rotatably arranged at the other end of the third joint; a fourth driving part, the fourth The driving part is arranged in the third joint, and is used to drive the fourth joint to rotate around the fourth axis relative to the third joint; the fifth joint, the fifth joint is arranged in the third joint away from the one side of the second joint, and is rotatably connected to the fourth joint; a fifth driving part, the fifth driving part is used to drive the fifth joint to rotate around a fifth axis relative to the fourth joint; The sixth joint, the sixth joint is arranged between the fifth joint and the bed board; the sixth driving part, the sixth driving part is connected with the sixth joint, and is used to drive the bed board relative to the first The five joints rotate around the sixth axis.

根据本发明的一些实施例，所述位置检测装置设置在所述第一关节的底部，且所述位置检测装置构造为激光雷达。According to some embodiments of the present invention, the position detection device is arranged at the bottom of the first joint, and the position detection device is configured as a laser radar.

根据本发明的一些实施例，摆位设备还包括：控制手柄，所述控制手柄可与所述控制器通讯，以控制所述六自由度机械臂调节床板位置。According to some embodiments of the present invention, the positioning device further includes: a control handle that can communicate with the controller to control the six-degree-of-freedom mechanical arm to adjust the position of the bed board.

根据本发明的一些实施例，摆位设备还包括：UPS，所述UPS与所述控制手柄通讯，且所述UPS适于在所述摆位设备断电时解除六自由度机械臂的锁止状态。According to some embodiments of the present invention, the positioning device further includes: a UPS, the UPS communicates with the control handle, and the UPS is adapted to unlock the six-degree-of-freedom mechanical arm when the positioning device is powered off state.

根据本发明的一些实施例，所述力矩检测装置构造为六维力矩传感器。According to some embodiments of the present invention, the torque detection device is configured as a six-dimensional torque sensor.

本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

附图说明Description of drawings

本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

图1是根据本发明实施例所述的放射治疗用的摆位设备的结构示意图；Fig. 1 is a schematic structural view of a positioning device for radiotherapy according to an embodiment of the present invention;

图2是根据本发明实施例所述的放射治疗用的摆位设备的俯视图；Fig. 2 is a top view of a positioning device for radiotherapy according to an embodiment of the present invention;

图3是根据本发明实施例所述的放射治疗用的摆位设备的剖视图。Fig. 3 is a cross-sectional view of a positioning device for radiotherapy according to an embodiment of the present invention.

附图标记：Reference signs:

摆位设备100、 Positioning device 100,

床板10、 bed board 10,

六自由度机械臂20、安装座21、第一关节22、安装腔22a、第一驱动部231、第二驱动部232、第三驱动部233、第二关节24、第三关节25、第四关节261、第五关节262、第六关节263Six degrees of freedom mechanical arm 20, mounting seat 21, first joint 22, mounting cavity 22a, first driving part 231, second driving part 232, third driving part 233, second joint 24, third joint 25, fourth Joint 261, fifth joint 262, sixth joint 263

位置检测装置30、力矩检测装置40、控制手柄50。A position detection device 30 , a torque detection device 40 , and a control handle 50 .

具体实施方式Detailed ways

下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

下面参考图1-图3描述根据本发明实施例的放射治疗用的摆位设备100。A positioning device 100 for radiotherapy according to an embodiment of the present invention will be described below with reference to FIGS. 1-3 .

根据本发明实施例的摆位设备100包括：床板10、六自由度机械臂20、位置检测装置30、力矩检测装置40和控制器。The positioning device 100 according to the embodiment of the present invention includes: a bed board 10 , a six-degree-of-freedom mechanical arm 20 , a position detection device 30 , a moment detection device 40 and a controller.

其中，床板10为患者的载体，以用于固定患者，六自由度机械臂20用于调节床板10的位置，以便于将患者调节至适于进行放射治疗的位置。其中，在床板10调节过程中，患者可以先躺在床板10上，再通过六自由度机械臂20对床板10的位置进行调节，以将患者摆位置适于放射治疗或检测的位置；在床板10调节过程中，还可以先通过六自由度机械臂20对床板10的位置进行初步调节，当患者躺在床板10上固定后，再通过六自由度机械臂20对床板10的位置进行调节。Wherein, the bed board 10 is the carrier of the patient for fixing the patient, and the six-degree-of-freedom mechanical arm 20 is used for adjusting the position of the bed board 10 so as to adjust the patient to a position suitable for radiotherapy. Wherein, during the adjustment process of the bed board 10, the patient can first lie on the bed board 10, and then adjust the position of the bed board 10 through the six-degree-of-freedom mechanical arm 20, so as to place the patient in a position suitable for radiotherapy or detection; 10 during the adjustment process, the position of the bed board 10 can also be initially adjusted through the six-degree-of-freedom mechanical arm 20, and then the position of the bed board 10 can be adjusted through the six-degree-of-freedom mechanical arm 20 after the patient is lying on the bed board 10 and fixed.

如图1所示，位置检测装置30设置在六自由度机械臂20上，并且位置检测装置30可以用于对床板10和六自由度机械臂20所处环境中的人员或物体距离位置进行检测，以获取人或物体的位置信息。以六自由度机械臂20为例，位置检测装置30可以对六自由度机械臂20与其附近的人员或物体之间的距离进行检测。需要说明的是，在摆位设备100对床板10的摆位过程中，存在出现人员或物体的可能，如：医生在摆位设备100附近，其他医疗设备处于摆位设备100附近等。其中，位置检测装置30用于检测人或物体与六自由度机械臂20之间的相对位置，设置在六自由度机械臂20上的位置检测装置可以随六自由度机械臂20同步运动，也就是说，在摆位设备100对床板10的摆位过程中，即使人或物体相对地面的位置不发生变化，其与六自由度机械臂20和床板10的相对位置也会发生变化，从而通过位置检测装置30可以对床板10摆位过程中摆位设备100附近的人或物体与摆位设备100之间的相对位置进行检测。As shown in Figure 1, the position detection device 30 is arranged on the six-degree-of-freedom mechanical arm 20, and the position detection device 30 can be used to detect the distance position of the person or object in the environment where the bed board 10 and the six-degree-of-freedom mechanical arm 20 are located. , to obtain the location information of a person or object. Taking the six-degree-of-freedom robot arm 20 as an example, the position detection device 30 can detect the distance between the six-degree-of-freedom robot arm 20 and nearby persons or objects. It should be noted that during the positioning of the bed board 10 by the positioning device 100 , there may be people or objects, such as: a doctor is near the positioning device 100 , other medical equipment is near the positioning device 100 , and so on. Wherein, the position detection device 30 is used to detect the relative position between the person or object and the six-degree-of-freedom mechanical arm 20, and the position detection device arranged on the six-degree-of-freedom mechanical arm 20 can move synchronously with the six-degree-of-freedom mechanical arm 20, and also That is to say, during the positioning process of the positioning device 100 on the bed board 10, even if the position of the person or object relative to the ground does not change, its relative position to the six-degree-of-freedom mechanical arm 20 and the bed board 10 will also change, thereby passing The position detection device 30 can detect the relative position between the person or object near the positioning device 100 and the positioning device 100 during the positioning of the bed board 10 .

进一步地，以人员出现在摆位设备100附近为例，当位置检测装置30检测到人员相对与六自由度机械臂20之间的距离参数位置信息后，可以将位置信息反馈至控制器，控制器可以根据位置信息进行判断六自由度机械臂20是否存在与人员发生碰撞的隐患。Further, taking a person appearing near the positioning device 100 as an example, when the position detection device 30 detects the position information of the distance parameter between the person and the six-degree-of-freedom mechanical arm 20, the position information can be fed back to the controller, and the control The device can judge whether the six-degree-of-freedom robotic arm 20 has a potential collision with personnel according to the position information.

其中，位置检测装置30可以构造为光电安全保护装置(即安全光幕)，还可以构造为光幕传感器等，当人员出现在位置检测装置30的检测区域范围内时，说明六自由度机械臂20存在与人员发生碰撞的隐患；当位置检测装置30未在检测区域范围内检测到人员时，说明六自由度机械臂20不存在与人员发生碰撞的隐患，可以继续对六自由度机械臂20的位置进行调节。物体出现在摆位设备100附近的检测方式与上述检测方式相同，在此不再赘述。同时，位置检测装置30还可以用于检测床板10与摆位设备100附近人员或物体之间的距离。Wherein, the position detection device 30 can be configured as a photoelectric safety protection device (i.e., a safety light curtain), and can also be configured as a light curtain sensor. 20, there is a hidden danger of collision with personnel; when the position detection device 30 does not detect personnel within the detection area, it means that the six-degree-of-freedom mechanical arm 20 does not have a hidden danger of collision with personnel, and the six-degree-of-freedom mechanical arm 20 can continue to be detected. position to adjust. The detection method for an object appearing near the positioning device 100 is the same as the above detection method, and will not be repeated here. At the same time, the position detection device 30 can also be used to detect the distance between the bed board 10 and the person or object near the positioning device 100 .

进一步地，力矩检测装置40设置在床板10和床板10调节组件之间，并用于获取床板10在多个方向上的力矩参数，控制器可以根据力矩参数可以判断床板10在位置调节过程中是否与物体或人员发生碰撞。Further, the torque detection device 40 is arranged between the bed board 10 and the adjustment assembly of the bed board 10, and is used to obtain the torque parameters of the bed board 10 in multiple directions, and the controller can judge whether the bed board 10 is in line with the position adjustment process according to the torque parameters. Objects or persons collide.

其中，控制器用于与六自由度机械臂20、位置检测装置30和力矩检测装置40通讯，以根据位置信息、力矩参数控制六自由度机械臂20调节床板10位置，从而可以提升床板10位置调节过程中的安全性、可靠性。Among them, the controller is used to communicate with the six-degree-of-freedom mechanical arm 20, the position detection device 30 and the torque detection device 40, so as to control the six-degree-of-freedom mechanical arm 20 to adjust the position of the bed board 10 according to the position information and torque parameters, so that the position of the bed board 10 can be adjusted. Safety and reliability in the process.

控制器控制六自由度机械臂20的控制方式包括：力矩检测装置40检测床板10在多个方向的力矩参数，并反馈至控制器，控制器可以将多个方向的力矩参数与预设力矩值进行比较，当其中某一方向上的力矩参数大于预设力矩值时，床板10存在与摆位设备100附近的人员或物体接触的可能，控制器可以控制六自由度机械臂20停止调节动作或控制六自由度机械臂20驱动床板10向力矩参数的相反方向运动。The control method for the controller to control the six-degree-of-freedom mechanical arm 20 includes: the torque detection device 40 detects the torque parameters of the bed board 10 in multiple directions, and feeds back to the controller. The controller can compare the torque parameters in multiple directions with the preset torque value For comparison, when the torque parameter in a certain direction is greater than the preset torque value, there is a possibility that the bed board 10 may be in contact with a person or object near the positioning device 100, and the controller can control the six-degree-of-freedom mechanical arm 20 to stop the adjustment action or control The six-degree-of-freedom mechanical arm 20 drives the bed board 10 to move in the opposite direction of the torque parameter.

控制器控制六自由度机械臂20的控制方式包括：当采用先调节床板10位置患者再躺在床板10上的调节方式时，当患者躺在床板10上时，床板10受到的力矩发生变化，力矩检测装置40可以检测变化后的力矩参数，并将其反馈至控制器，控制器可以根据力矩参数控制六自由度机械臂20对床板10的位置进一步调节，以对患者的位置进行精确调节，提高床板10位置调节的精度。The control method of the controller to control the six-degree-of-freedom mechanical arm 20 includes: when the adjustment method of first adjusting the position of the bed board 10 and the patient lying on the bed board 10 is adopted, when the patient lies on the bed board 10, the torque on the bed board 10 changes, The torque detection device 40 can detect the changed torque parameter and feed it back to the controller, and the controller can control the six-degree-of-freedom mechanical arm 20 to further adjust the position of the bed board 10 according to the torque parameter, so as to accurately adjust the position of the patient. The accuracy of position adjustment of the bed board 10 is improved.

根据本发明实施例的摆位设备100，通过设置位置检测装置30和力矩检测装置40提升床板10调节过程的稳定性、可靠性，同时缩短床板10摆位需要的时间，提高治疗效率。According to the positioning device 100 of the embodiment of the present invention, the stability and reliability of the adjustment process of the bed board 10 are improved by setting the position detection device 30 and the torque detection device 40, while shortening the time required for the bed board 10 to be positioned, and improving treatment efficiency.

结合图1和图3，在本发明的一些实施例中，六自由度机械臂20包括：安装座21、第一关节22和第一驱动部231，第一关节22可转动地安装于安装座21，第一驱动部231设置在安装座21上，并用于驱动第一关节22相对安装座21绕第一轴线转动，以实现第一关节22的位置调节。Referring to FIG. 1 and FIG. 3 , in some embodiments of the present invention, the six-degree-of-freedom robotic arm 20 includes: a mount 21 , a first joint 22 and a first driving part 231 , and the first joint 22 is rotatably mounted on the mount. 21 , the first driving part 231 is disposed on the mounting base 21 and is used to drive the first joint 22 to rotate relative to the mounting base 21 around the first axis, so as to realize the position adjustment of the first joint 22 .

进一步地，六自由度机械臂20通过安装座21进行安装，以将六自由度机械臂20安装至安装平台或地面等位置，安装座21为第一关节22的安装载体，对第一关节22具有支撑作用，以将第一关节22与地面间隔开。第一驱动部231设置在安装座21上，并且与第一关节22相连，用于驱动第一关节22相对安装座21绕第一轴线转动，以调节第一关节22的位置，从而带动床板10运动。其中，第一轴线垂直于水平方向，当第一驱动部231驱动第一关节22转动时，第一关节22在水平方向上转动。Further, the six-degree-of-freedom mechanical arm 20 is installed through the mounting base 21, so that the six-degree-of-freedom mechanical arm 20 is installed on the installation platform or the ground. The mounting base 21 is the mounting carrier of the first joint 22, and the first joint 22 It has a supporting effect to space the first joint 22 from the ground. The first driving part 231 is arranged on the mounting base 21 and is connected with the first joint 22 for driving the first joint 22 to rotate around the first axis relative to the mounting base 21 to adjust the position of the first joint 22 so as to drive the bed board 10 sports. Wherein, the first axis is perpendicular to the horizontal direction, and when the first driving part 231 drives the first joint 22 to rotate, the first joint 22 rotates in the horizontal direction.

在本发明进一步的实施例中，第一关节22设置有安装腔22a，第一驱动部231设置在第一关节22的一端并位于安装腔22a内，从而可以增加第一关节22在转动时的摆动幅度，增大六自由度机械臂20的运动范围。同时，第一关节22设置有安装腔22a，将第一驱动部231设置在安装腔22a内可以节省装配空间，还可以降低第一关节22的重量，降低第一驱动部231的驱动难度。In a further embodiment of the present invention, the first joint 22 is provided with an installation cavity 22a, and the first driving part 231 is arranged at one end of the first joint 22 and is located in the installation cavity 22a, so that the first joint 22 can be increased when it rotates. The swing range increases the range of motion of the six-degree-of-freedom mechanical arm 20 . At the same time, the first joint 22 is provided with an installation cavity 22a, the installation space of the first driving part 231 can be saved in the installation cavity 22a, and the weight of the first joint 22 can also be reduced, reducing the driving difficulty of the first driving part 231 .

在本发明的一些实施例中，第一关节22内设设置有孔洞结构，孔洞结构用于对六自由度机械臂20中的线束进行固定，线束可以是用于向驱动组件(如：第一驱动部231)供电的线束，也可以是与位置检测装置30或力矩检测装置40连接的线束，通过孔洞结构对线束的走线方向进行约束，以降低线束在第一关节22中的布置难度。In some embodiments of the present invention, the first joint 22 is provided with a hole structure, and the hole structure is used to fix the wire harness in the six-degree-of-freedom mechanical arm 20, and the wire harness can be used to drive components (such as: the first The wiring harness powered by the driving part 231) may also be a wiring harness connected to the position detection device 30 or the torque detection device 40, and the routing direction of the wiring harness is constrained by the hole structure to reduce the difficulty of arranging the wiring harness in the first joint 22.

进一步地，安装腔22a内设置有加强结构，加强结构可以用于提升第一关节22的结构强度，提升六自由度机械臂20的可靠性。其中，加强结构构造为交错设置的加强筋，交错设置的加强筋可以提升第一关节22的抗变形能力。Further, a reinforcement structure is provided in the installation cavity 22 a, and the reinforcement structure can be used to improve the structural strength of the first joint 22 and improve the reliability of the six-degree-of-freedom mechanical arm 20 . Wherein, the reinforcing structure is configured as reinforcing ribs arranged in a staggered manner, and the ribs arranged in a staggered manner can improve the deformation resistance of the first joint 22 .

在本发明的一些实施例中，六自由度机械臂20还包括：第二关节24和第二驱动部232，第二关节24构造为中空结构，而且第二关节24可转动地设置在第一关节22的另一端，并位于第一关节22背离安装座21的一侧，第二驱动部232设置在安装腔22a内，并用于驱动第二关节24相对第一关节22绕第二轴线转动。In some embodiments of the present invention, the six-degree-of-freedom mechanical arm 20 further includes: a second joint 24 and a second driving part 232, the second joint 24 is configured as a hollow structure, and the second joint 24 is rotatably arranged on the first The other end of the joint 22 is located on the side of the first joint 22 facing away from the mounting base 21 . The second driving part 232 is disposed in the mounting cavity 22 a and is used to drive the second joint 24 to rotate relative to the first joint 22 around the second axis.

具体地，第二关节24构造为中空结构，第二关节24的中空结构可以与第一关节22的安装腔22a连通，从而便于走线。参照图2，第一关节22的一端可转动地固定在安装架上，第二关节24设置在第一关节22远离安装架的一端，第二关节24连接在第一关节22和床板10之间，从而可以进一步增加六自由度机械臂20对床板10的调节范围。其中，第二关节24可以绕第二轴线进行360°转动，第二轴线与第一轴线平行设置，即第二关节24的转动方式也为水平转动。Specifically, the second joint 24 is configured as a hollow structure, and the hollow structure of the second joint 24 can communicate with the installation cavity 22a of the first joint 22, so as to facilitate wiring. Referring to Fig. 2, one end of the first joint 22 is rotatably fixed on the mounting frame, the second joint 24 is arranged at the end of the first joint 22 away from the mounting frame, and the second joint 24 is connected between the first joint 22 and the bed board 10 , so that the adjustment range of the six-degree-of-freedom mechanical arm 20 to the bed board 10 can be further increased. Wherein, the second joint 24 can rotate 360° around the second axis, and the second axis is arranged parallel to the first axis, that is, the second joint 24 also rotates horizontally.

进一步地，参照图1，第二关节24构造为圆台结构，第二轴线为圆台的中心轴线，从而可以提升第二关节24相对第一关节22转动时的稳定性。Further, referring to FIG. 1 , the second joint 24 is configured as a circular truncated structure, and the second axis is the central axis of the circular truncated structure, so that the stability of the second joint 24 when rotating relative to the first joint 22 can be improved.

在本发明进一步的实施例中，六自由度机械臂20还包括：第三关节25和第三驱动部233，第三关节25构造为中空结构，而且第三关节25的一端与第二关节24可转动地相连，第三关节25可以随第二关节24同步转动，第三驱动部233设置在第二关节24内，并用于驱动第三关节25相对第二关节24绕第三轴线摆动。参照图2，第三关节25连接在第二关节24和床板10之间，通过驱动第三关节25摆动可以调节床板10的高度位置。同时，第三关节25设置在第二关节24的周向外侧，且第三关节25相对第二关节24在周向方向的位置不发生变化，通过驱动第二关节24转动，可以带动第三关节25同步相对第一关节22转动。In a further embodiment of the present invention, the six-degree-of-freedom mechanical arm 20 further includes: a third joint 25 and a third driving part 233, the third joint 25 is configured as a hollow structure, and one end of the third joint 25 is connected to the second joint 24 Rotatably connected, the third joint 25 can rotate synchronously with the second joint 24 , and the third driving part 233 is disposed in the second joint 24 and used to drive the third joint 25 to swing relative to the second joint 24 around the third axis. Referring to FIG. 2 , the third joint 25 is connected between the second joint 24 and the bed board 10 , and the height position of the bed board 10 can be adjusted by driving the third joint 25 to swing. At the same time, the third joint 25 is arranged on the outer side of the second joint 24 in the circumferential direction, and the position of the third joint 25 relative to the second joint 24 in the circumferential direction does not change. By driving the second joint 24 to rotate, the third joint can be driven 25 to rotate relative to the first joint 22 synchronously.

其中，第三轴线沿水平方向延伸，并垂直与第一轴线和第二轴线，当第三关节25绕第三轴线转动时，第三关节25邻近床板10的一端将相对第一关节22向上或向下摆动，从而调节床板10的高度位置。Wherein, the third axis extends in the horizontal direction and is perpendicular to the first axis and the second axis. When the third joint 25 rotates around the third axis, the end of the third joint 25 adjacent to the bed board 10 will be upward or downward relative to the first joint 22. Swing down to adjust the height position of the bed board 10 .

如图3所示，在本发明的一些实施例中，六自由度机械臂20还包括：第四关节261、第五关节262、第六关节263，第四驱动部、第五驱动部和第六驱动部，第四关节261可转动地设置在第三关节25的另一端；第四驱动部设置在第三关节25内，并用于驱动第四关节261相对第三关节25绕第四轴线转动；第五关节262设置在第三关节25远离第二关节24的一侧，并与第四关节261可转动地相连；第五驱动部用于驱动第五关节262相对第四关节261绕第五轴线转动；第六关节263设置在第五关节262和床板10之间；第六驱动部与第六关节263相连，并用于驱动床板10相对第五关节262绕第六轴线转动。As shown in FIG. 3 , in some embodiments of the present invention, the six-degree-of-freedom robotic arm 20 further includes: a fourth joint 261, a fifth joint 262, a sixth joint 263, a fourth driving part, a fifth driving part and a fourth joint. Six driving parts, the fourth joint 261 is rotatably arranged at the other end of the third joint 25; the fourth driving part is arranged in the third joint 25, and is used to drive the fourth joint 261 to rotate around the fourth axis relative to the third joint 25 The fifth joint 262 is arranged on the side of the third joint 25 away from the second joint 24, and is rotatably connected with the fourth joint 261; The axis rotates; the sixth joint 263 is arranged between the fifth joint 262 and the bed board 10 ; the sixth driving part is connected with the sixth joint 263 and is used to drive the bed board 10 to rotate around the sixth axis relative to the fifth joint 262 .

可以理解的是，第四关节261、第五关节262、第六关节263依次连接在第三关节25与床板10之间，其中，第三关节25也构造为中空结构，第四关节261和第四驱动部设置在第三关节25的中空结构内，以节省六自由度机械臂20的装配空间，同时还可以减轻第三关节25处的重量。It can be understood that the fourth joint 261, the fifth joint 262, and the sixth joint 263 are sequentially connected between the third joint 25 and the bed board 10, wherein the third joint 25 is also configured as a hollow structure, and the fourth joint 261 and the sixth joint The four driving parts are arranged in the hollow structure of the third joint 25 to save the assembly space of the six-degree-of-freedom manipulator 20 and reduce the weight of the third joint 25 at the same time.

进一步地，第四驱动部用于驱动第四关节261转动，以调节床板10在宽度方向上的偏转角度；第五驱动部用于驱动第五关节262转动，以调节床板10在长度方向上的偏转角度；第六驱动部用于驱动床板10水平转动，用于调节床板10的朝向。Furthermore, the fourth drive part is used to drive the fourth joint 261 to rotate to adjust the deflection angle of the bed board 10 in the width direction; the fifth drive part is used to drive the fifth joint 262 to rotate to adjust the deflection angle of the bed board 10 in the length direction. Deflection angle; the sixth driving part is used to drive the bed board 10 to rotate horizontally and to adjust the orientation of the bed board 10 .

需要说明的是，上述多个驱动部(第一驱动部231、第一驱动部231、第三驱动部233、第四驱动部、第五驱动部和第六驱动部)可以构造为电机，电机的种类可以根据设计需求进行选择，如：三相同步伺服电机等。其中，第一驱动部231和第一驱动部231可以采用三相同步伺服电机配置减速机以及齿轮组件配合的结构，从而可以保证第一驱动部231对第一关节22、第一驱动部231对第二关节24的驱动效果，提升驱动过程的稳定性、可靠性。It should be noted that the above-mentioned multiple driving parts (the first driving part 231, the first driving part 231, the third driving part 233, the fourth driving part, the fifth driving part and the sixth driving part) can be configured as motors, and the motors The type can be selected according to the design requirements, such as: three-phase synchronous servo motor, etc. Among them, the first driving part 231 and the first driving part 231 can adopt the structure that the three-phase synchronous servo motor is configured with a reducer and a gear assembly, so that the first driving part 231 can ensure that the first joint 22, the first driving part 231 The driving effect of the second joint 24 improves the stability and reliability of the driving process.

由此，本申请通过上述多个驱动部对床板10的位置进行调节，可以增加床板10位置变换范围，还可以对床板10位置、倾斜角度以及朝向进行调节，以满足患者对不同放射治疗位置的需求。Therefore, the present application adjusts the position of the bed board 10 through the above-mentioned multiple driving parts, which can increase the position change range of the bed board 10, and can also adjust the position, inclination angle and orientation of the bed board 10, so as to meet the patient's needs for different radiotherapy positions. need.

在本发明一些具体的实施例中，第三关节25构造为自第二关节24向远离第二关节24一侧横截面面积逐渐减小的摆臂结构，摆臂结构的内部中空，从而可以将第四关节261至少部分布置在摆臂结构内，同时便于走线以及减轻摆臂的重量。In some specific embodiments of the present invention, the third joint 25 is configured as a swing arm structure whose cross-sectional area gradually decreases from the second joint 24 to the side away from the second joint 24. The inside of the swing arm structure is hollow, so that the The fourth joint 261 is at least partly arranged in the swing arm structure, while facilitating wiring and reducing the weight of the swing arm.

进一步地，摆臂结构用于布置第四关节261的一端构造为圆形截面，第四轴线为圆形截面的中心轴线，从而可以提升第四关节261转动过程中的稳定性。Further, one end of the swing arm structure for arranging the fourth joint 261 is configured as a circular cross-section, and the fourth axis is the central axis of the circular cross-section, thereby improving the stability of the fourth joint 261 during rotation.

如图1所示，第四关节261与第五关节262相连，第五关节262可以相对第四关节261转动，以调节床板10的俯仰角度。其中，第五关节262布置在床板10的正下方，也就是说，第五关节262与床板10之间的距离近，可以保证床板10在俯仰角度上调节的稳定性。As shown in FIG. 1 , the fourth joint 261 is connected to the fifth joint 262 , and the fifth joint 262 can rotate relative to the fourth joint 261 to adjust the pitch angle of the bed board 10 . Wherein, the fifth joint 262 is arranged directly below the bed board 10 , that is to say, the distance between the fifth joint 262 and the bed board 10 is short, which can ensure the stability of the bed board 10 in adjusting the pitch angle.

参照图3，第六关节263布置在床板10的正下方，第六轴线垂直于床板10设置，从而通过第六关节263可以驱动床板10在其所在的平面内转动，如：当床板10处于水平状态时，通过第六关节263可以驱动床板10在水平平面内转动。Referring to Fig. 3, the sixth joint 263 is arranged directly below the bed board 10, and the sixth axis is set perpendicular to the bed board 10, so that the bed board 10 can be driven to rotate in its plane through the sixth joint 263, such as: when the bed board 10 is in a horizontal position state, the bed board 10 can be driven to rotate in the horizontal plane through the sixth joint 263 .

在本发明的一些实施例中，第四驱动部、第五驱动部和第六驱动部均布置在第三关节25内，且分别与第四关节261、第五关节262和第六关节263电连接，从而便于将第四驱动部、第五驱动部和第六驱动部与线束相连。同时，无需将第五驱动部、第六驱动部暴露在摆位设备100的外侧，在节省空间的同时，避免第五驱动部、第六驱动部与床板10、第五关节262和第六关节263等部件之间产生干涉。In some embodiments of the present invention, the fourth driving part, the fifth driving part and the sixth driving part are all arranged in the third joint 25, and are electrically connected to the fourth joint 261, the fifth joint 262 and the sixth joint 263 respectively. connection, so as to facilitate the connection of the fourth driving part, the fifth driving part and the sixth driving part with the wire harness. At the same time, there is no need to expose the fifth driving part and the sixth driving part to the outside of the positioning device 100. While saving space, it is avoided that the fifth driving part and the sixth driving part have contact with the bed board 10, the fifth joint 262 and the sixth joint. Interference between components such as 263.

如图1所示，在本发明的一些实施例中，位置检测装置30设置在第一关节22的底部，而且位置检测装置30构造为激光雷达。需要说明的是，激光雷达是以发射激光束探测目标的位置、速度等特征量的雷达***，可以对物体的运动速度、姿态以及物体与物体、物体与人员之间的距离进行精确的检测。由此，当位置检测装置30检测到存在人员或物体靠近摆位设备100时，控制器可以及时控制六自由度机械臂20对床板10调节动作减速或停止，防止人员或物体与摆位设备100发生碰撞，提高摆位设备100摆位过程中的安全性、可靠性。As shown in FIG. 1 , in some embodiments of the present invention, the position detection device 30 is arranged at the bottom of the first joint 22 , and the position detection device 30 is configured as a laser radar. It should be noted that lidar is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. Thus, when the position detection device 30 detects that there is a person or object approaching the positioning device 100, the controller can control the six-degree-of-freedom mechanical arm 20 to slow down or stop the adjustment action of the bed board 10 in time, so as to prevent the person or object from coming into contact with the positioning device 100. When a collision occurs, the safety and reliability of the positioning device 100 during the positioning process are improved.

进一步地，当距离参数小于预设距离值时，说明摆位设备100附近的人员与六自由度机械臂20之间的距离较近，需要对摆位***的床板10调节动作减速或停止，以防止人员与六自由度机械臂20发生碰撞，影响床板10的位置调节。Further, when the distance parameter is less than the preset distance value, it means that the distance between the personnel near the positioning device 100 and the six-degree-of-freedom mechanical arm 20 is relatively short, and it is necessary to slow down or stop the adjustment action of the bed board 10 of the positioning system, so as to To prevent personnel from colliding with the six-degree-of-freedom mechanical arm 20 and affecting the position adjustment of the bed board 10 .

在本发明的一些实施例中，摆位设备100还包括：控制手柄50，控制手柄50可以与控制器通讯，以控制六自由度机械臂20调节床板10位置。当需要摆位设备100出现需要人为对床板10的位置进行调节时，可以通过控制手柄50向控制器发送指令，以对床板10的位置进行调节。In some embodiments of the present invention, the positioning device 100 further includes: a control handle 50 that can communicate with the controller to control the six-degree-of-freedom mechanical arm 20 to adjust the position of the bed board 10 . When the positioning device 100 needs to manually adjust the position of the bed board 10 , an instruction can be sent to the controller through the control handle 50 to adjust the position of the bed board 10 .

可以理解的是，控制手柄50为一种应急响应装置，可以在出现紧急情况时及时控制六自由度机械臂20停止调节动作，进一步提高摆位设备100的使用安全性及可靠性。It can be understood that the control handle 50 is an emergency response device, which can control the six-degree-of-freedom mechanical arm 20 to stop the adjustment action in time when an emergency occurs, and further improve the safety and reliability of the positioning device 100 .

在本发明进一步的实施例中，摆位设备100还包括：UPS，UPS与控制手柄50通讯，UPS可以在摆位设备100断电时解除六自由度机械臂20的锁止状态。其中，UPS(Uninterruptible Power Supply：不间断电源)是具有储能装置的不间断电源，可以在摆位设备100处于断电工况时提供电能。In a further embodiment of the present invention, the positioning device 100 further includes: a UPS, which communicates with the control handle 50 , and the UPS can release the locked state of the six-degree-of-freedom mechanical arm 20 when the positioning device 100 is powered off. Wherein, UPS (Uninterruptible Power Supply: uninterruptible power supply) is the uninterruptible power supply that has energy storage device, can provide electric energy when setting device 100 is in power-off working condition.

可以理解的是，当摆位设备100处于断电工况时，上述的多个驱动部将处于锁止状态，即控制器无法对第一关节22、第二关节24、第三关节25等部件无法进行控制，此时无法对床板10的位置进行调节。控制手柄50可以控制UPS解除上述锁止状态，此时可以通过人为驱动的方式对床板10的位置进行调节，可以将摆位设备100中各部件调节至合理的位置和高度，若患者固定在床板10上，还可以便于将患者从床板10上离开。It can be understood that when the positioning device 100 is in a power-off state, the above-mentioned multiple driving parts will be in a locked state, that is, the controller cannot control the first joint 22, the second joint 24, the third joint 25 and other components. Can't carry out control, can't adjust the position of bed board 10 this moment. The control handle 50 can control the UPS to release the above-mentioned locked state. At this time, the position of the bed board 10 can be adjusted by artificial driving, and each component in the positioning device 100 can be adjusted to a reasonable position and height. If the patient is fixed on the bed board 10, it is also convenient to leave the patient from the bed board 10.

在本发明的一些实施例中，力矩检测装置40构造为六维力矩传感器，通过六维力矩传感器可以对床板10受到的各个方向的力矩进行检测。可以理解的是，力矩检测装置40用于在不同的载荷下，摆位设备100变形可能造成位置和精度的偏差，同时基于力矩参数还可以对摆位设备100是否与物体或人员发生碰撞进行检测，以提升摆位设备100的工作可靠性。In some embodiments of the present invention, the torque detection device 40 is configured as a six-dimensional torque sensor, through which the torque in various directions on the bed board 10 can be detected. It can be understood that the torque detection device 40 is used to detect whether the positioning device 100 collides with an object or a person based on the torque parameter. , so as to improve the working reliability of the positioning device 100 .

在本发明的一些实施例中，床板10构造为碳纤维材质，碳纤维材质的床板10重量轻、强度高，并且碳纤维材质的床板10在受力时形变量小，可以在保证支撑患者的前提下降低床板10的调节难度。In some embodiments of the present invention, the bed board 10 is constructed of carbon fiber material. The bed board 10 made of carbon fiber is light in weight and high in strength, and the deformation of the bed board 10 made of carbon fiber is small when it is stressed, which can be reduced under the premise of ensuring the support of the patient. The adjustment difficulty of bed board 10.

进一步地，床板10构造为气动快拆结构，启动快拆结构可以用于粗摆位完成后的病人从外部移动至治疗室(即摆位设备100所处空间)内直接固定在摆位设备100上，进一步节省摆位时间，提高治疗效率。Further, the bed board 10 is configured as a pneumatic quick-release structure, and the quick-release structure can be used to move the patient from the outside to the treatment room (that is, the space where the positioning device 100 is located) after the rough positioning is completed, and directly fix it on the positioning device 100 On the other hand, it further saves setting time and improves treatment efficiency.

在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.

在本发明的描述中，“多个”的含义是两个或两个以上。In the description of the present invention, "plurality" means two or more.

在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结本发明的范围由权利要求及其等同物限定。In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific examples," or "some examples" are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, materials or characteristics described may be suitably combined in any one or more embodiments or examples. The scope of the invention is defined by the claims and their equivalents.

Claims

一种放射治疗用的摆位设备，其特征在于，包括：A positioning device for radiotherapy, characterized in that it includes:

床板；bed board;

六自由度机械臂，所述六自由度机械臂与床板相连，并用于调节所述床板的位置；a six-degree-of-freedom mechanical arm, the six-degree-of-freedom mechanical arm is connected to the bed board and is used to adjust the position of the bed board;

安全***，包括位置检测装置、力矩检测装置和控制器；其中，A safety system, including a position detection device, a torque detection device and a controller; wherein,

所述位置检测装置用于对所述床板和所述六自由度机械臂所处环境中的人或物体距离进行检测，以获取所述人或所述物体的位置信息；The position detection device is used to detect the distance between the bed board and the person or object in the environment where the six-degree-of-freedom mechanical arm is located, so as to obtain the position information of the person or the object;

所述力矩检测装置设置在所述床板和所述床板调节组件之间，并用于获取所述床板在多个方向上的力矩参数；The torque detection device is arranged between the bed board and the bed board adjustment assembly, and is used to acquire torque parameters of the bed board in multiple directions;

所述控制器用于与所述六自由度机械臂、位置检测装置和所述力矩检测装置通讯，以根据所述距离参数、所述力矩参数控制所述六自由度机械臂调节所述床板位置。The controller is used for communicating with the six-degree-of-freedom mechanical arm, the position detection device and the torque detection device, so as to control the six-degree-of-freedom mechanical arm to adjust the position of the bed board according to the distance parameter and the torque parameter.
根据权利要求1所述的放射治疗用的摆位设备，其特征在于，所述六自由度机械臂包括：The positioning device for radiotherapy according to claim 1, wherein the six-degree-of-freedom mechanical arm comprises:

安装座；mount;

第一关节，所述第一关节可转动地安装于所述安装座；a first joint, the first joint is rotatably mounted on the mounting base;

第一驱动部，所述第一驱动部设置在所述安装座上，并用于驱动所述第一关节相对所述安装座绕第一轴线转动。A first driving part, the first driving part is arranged on the mounting base, and is used to drive the first joint to rotate relative to the mounting base around a first axis.
根据权利要求2所述的放射治疗用的摆位设备，其特征在于，所述第一关节设有安装腔，所述第一驱动部设置在所述第一关节的一端并位于所述安装腔内。The positioning device for radiotherapy according to claim 2, wherein the first joint is provided with an installation cavity, and the first driving part is arranged at one end of the first joint and located in the installation cavity Inside.
根据权利要求3所述的放射治疗用的摆位设备，其特征在于，所述六自由度机械臂还包括：The positioning device for radiotherapy according to claim 3, wherein the six-degree-of-freedom mechanical arm further comprises:

第二关节，所述第二关节构造为中空结构，且可转动地设置在所述第一关节的另一端，并位于所述第一关节背离所述安装座的一侧；a second joint, the second joint is configured as a hollow structure, and is rotatably arranged at the other end of the first joint, and is located on a side of the first joint away from the mounting seat;

第二驱动部，所述第二驱动部设置在所述安装腔内，并用于驱动所述第二关节相对所述第一关节绕第二轴线转动。The second driving part is arranged in the installation cavity and used to drive the second joint to rotate around the second axis relative to the first joint.
根据权利要求4所述的放射治疗用的摆位设备，其特征在于，所述六自由度机械臂还包括：The positioning device for radiotherapy according to claim 4, wherein the six-degree-of-freedom mechanical arm further comprises:

第三关节，所述第三关节构造为中空结构，且所述第三关节的一端与所述第二关节可转动地相连，且所述第三关节可随所述第二关节同步转动；a third joint, the third joint is configured as a hollow structure, and one end of the third joint is rotatably connected to the second joint, and the third joint can rotate synchronously with the second joint;

第三驱动部，所述第三驱动部设置在所述第二关节内，并用于驱动所述第三关节相对所述第二关节绕第三轴线转动。A third driving part, the third driving part is arranged in the second joint, and is used to drive the third joint to rotate relative to the second joint around a third axis.
根据权利要求5所述的放射治疗用的摆位设备，其特征在于，所述六自由度机械臂还包括：The positioning device for radiotherapy according to claim 5, wherein the six-degree-of-freedom mechanical arm further comprises:

第四关节，所述第四关节可转动地设置在所述第三关节的另一端；a fourth joint, the fourth joint is rotatably arranged at the other end of the third joint;

第四驱动部，所述第四驱动部设置在所述第三关节内，并用于驱动所述第四关节相对所述第三关节绕第四轴线转动；a fourth driving part, the fourth driving part is arranged in the third joint, and is used to drive the fourth joint to rotate relative to the third joint around a fourth axis;

第五关节，所述第五关节设置在所述第三关节远离所述第二关节的一侧，并与所述第四关节可转动地相连；a fifth joint, the fifth joint is arranged on a side of the third joint away from the second joint, and is rotatably connected to the fourth joint;

第五驱动部，所述第五驱动部用于驱动所述第五关节相对所述第四关节绕第五轴线转动；a fifth driving part, the fifth driving part is used to drive the fifth joint to rotate around the fifth axis relative to the fourth joint;

第六关节，所述第六关节设置在所述第五关节和所述床板之间；a sixth joint, the sixth joint is arranged between the fifth joint and the bed board;

第六驱动部，所述第六驱动部与第六关节相连，并用于驱动所述床板相对所述第五关节绕第六轴线转动。The sixth driving part, the sixth driving part is connected with the sixth joint, and is used to drive the bed board to rotate around the sixth axis relative to the fifth joint.
根据权利要求2所述的放射治疗用的摆位设备，其特征在于，所述位置检测装置设置在所述第一关节的底部，且所述位置检测装置构造为激光雷达。The positioning equipment for radiotherapy according to claim 2, wherein the position detection device is arranged at the bottom of the first joint, and the position detection device is configured as a laser radar.
根据权利要求1所述的放射治疗用的摆位设备，其特征在于，还包括：控制手柄，所述控制手柄可与所述控制器通讯，以控制所述六自由度机械臂调节床板位置。The positioning device for radiotherapy according to claim 1, further comprising: a control handle, the control handle can communicate with the controller to control the six-degree-of-freedom mechanical arm to adjust the position of the bed board.
根据权利要求8所述的放射治疗用的摆位设备，其特征在于，还包括：UPS，所述UPS与所述控制手柄通讯，且所述UPS适于在所述摆位设备断电时解除六自由度机械臂的锁止状态。The positioning device for radiotherapy according to claim 8, further comprising: a UPS, the UPS communicates with the control handle, and the UPS is adapted to be released when the power of the positioning device is cut off. The locked state of the six-degree-of-freedom manipulator.
根据权利要求1所述的放射治疗用的摆位设备，其特征在于，所述力矩检测装置构造为六维力矩传感器。The positioning device for radiotherapy according to claim 1, wherein the torque detection device is configured as a six-dimensional torque sensor.