WO2023045017A1 - Dispositif de positionnement pour radiothérapie - Google Patents

Dispositif de positionnement pour radiothérapie Download PDF

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Publication number
WO2023045017A1
WO2023045017A1 PCT/CN2021/126381 CN2021126381W WO2023045017A1 WO 2023045017 A1 WO2023045017 A1 WO 2023045017A1 CN 2021126381 W CN2021126381 W CN 2021126381W WO 2023045017 A1 WO2023045017 A1 WO 2023045017A1
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WIPO (PCT)
Prior art keywords
joint
bed board
driving part
mechanical arm
degree
Prior art date
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PCT/CN2021/126381
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English (en)
Chinese (zh)
Inventor
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
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Publication of WO2023045017A1 publication Critical patent/WO2023045017A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092—Details
    • A61N2005/1097—Means for immobilizing the patient

Definitions

  • the invention relates to the technical field of radiotherapy, in particular to a positioning device for radiotherapy.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an object of the present invention is to provide a positioning device for radiotherapy, which has high safety in positioning a patient.
  • the positioning equipment for radiotherapy 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the position detection device is arranged at the bottom of the first joint, and the position detection device is configured as a laser radar.
  • 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.
  • 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.
  • the torque detection device is configured as a six-dimensional torque sensor.
  • Fig. 1 is a schematic structural view of a positioning device for radiotherapy according to an embodiment of the present invention
  • Fig. 2 is a top view of a positioning device for radiotherapy according to an embodiment of the present invention
  • Fig. 3 is a cross-sectional view of a positioning device for radiotherapy according to an embodiment of the present invention.
  • a position detection device 30 A position detection device 30 , a torque detection device 40 , and a control handle 50 .
  • a positioning device 100 for radiotherapy will be described below with reference to FIGS. 1-3 .
  • the positioning device 100 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 are 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the third joint can be driven 25 to rotate relative to the first joint 22 synchronously.
  • the third axis extends in the horizontal direction and is perpendicular to the first axis and the second 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 .
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • the above-mentioned multiple driving parts 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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.
  • lidar is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target.
  • 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.
  • the safety and reliability of the positioning device 100 during the positioning process are improved.
  • 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 .
  • 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 .
  • 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 .
  • an instruction can be sent to the controller through the control handle 50 to adjust the position of the bed board 10 .
  • 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 .
  • 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 .
  • an instruction can be sent to the controller through the control handle 50 to adjust the position of the bed board 10 .
  • 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 .
  • 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.
  • UPS Uninterruptible Power Supply: uninterruptible power supply
  • UPS is the uninterruptible power supply that has energy storage device, can provide electric energy when setting device 100 is in power-off working condition.
  • the positioning device 100 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.
  • 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.
  • 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 .
  • 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 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.
  • 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.
  • schematic representations of the above terms do not necessarily refer to the same embodiment or example.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
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  • Radiation-Therapy Devices (AREA)

Abstract

L'invention concerne un dispositif de positionnement pour la radiothérapie. Le dispositif de positionnement comprend : une planche de lit pour recevoir un patient ; un bras mécanique à six degrés de liberté, qui est relié à la planche de lit et utilisé pour ajuster la position de la planche de lit ; un dispositif de détection de position, qui peut être utilisé pour détecter la distance entre des personnes ou des objets dans un environnement où la planche de lit et le bras mécanique à six degrés de liberté sont situés de façon à obtenir des informations de position ; un dispositif de détection de couple, qui est disposé entre la planche de lit et un ensemble de réglage de planche de lit et utilisé pour obtenir des paramètres de couple de la planche de lit dans diverses directions ; et un dispositif de commande, qui est utilisé pour communiquer avec le bras mécanique à six degrés de liberté, le dispositif de détection de position et le dispositif de détection de couple de façon à commander le bras mécanique à six degrés de liberté pour ajuster la position de la planche de lit en fonction des informations de position et du paramètre de couple. Par conséquent, le dispositif de détection de position et le dispositif de détection de couple sont agencés pour améliorer la stabilité et la fiabilité du processus de réglage de planche de lit et raccourcir le temps nécessaire pour positionner la planche de lit, ce qui permet d'améliorer l'efficacité de traitement.
PCT/CN2021/126381 2021-09-26 2021-10-26 Dispositif de positionnement pour radiothérapie WO2023045017A1 (fr)

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