CN102805903A - Radiation therapy bed transferring device - Google Patents
Radiation therapy bed transferring device Download PDFInfo
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- CN102805903A CN102805903A CN2011101470195A CN201110147019A CN102805903A CN 102805903 A CN102805903 A CN 102805903A CN 2011101470195 A CN2011101470195 A CN 2011101470195A CN 201110147019 A CN201110147019 A CN 201110147019A CN 102805903 A CN102805903 A CN 102805903A
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Abstract
The invention discloses a radiation therapy bed transferring device, which comprises at least one therapy bed and an intelligent mechanical arm, wherein the treatment bed is movably arranged on a movable trolley; and the intelligent mechanical arm comprises a support post, a mechanical arm for transferring the treatment bed and an intelligent positioning control device for controlling the mechanical arm to act. A patient and the therapy bed are transferred from a therapy waiting room or a hand-operated trolley to a predetermined therapy position in an accelerator room by using the intelligent mechanical arm, and the patient is not required to be transferred between the hand-operated trolley or a bed of the therapy waiting room and the therapy bed in the accelerator room, so that the influence on the patient is reduced, and the working efficiency is increased; meanwhile, other patients can wait in sequence during treatment of one patient; after the patient receives therapy, the intelligent mechanical arm is used for moving the patient out of a treatment position in the accelerator room, the patient is placed back onto the trolley, working personnel pushes the trolley back into a sickroom, and a next patient is transferred onto the therapy position together with the therapy bed. Through the cycle, the working efficiency and the service efficiency of an expensive accelerator are increased greatly.
Description
Technical field
The present invention relates to a kind of armarium, a kind of radiotherapy bed shifting apparatus that particularly is used with the accelerator therapy appearance.
Background technology
When numerous ray class armarium are treated; Need earlier patient moved to from sick bed and pass on the car, artificial again patient is shifted onto in the operating room with passing on car, again patient is moved on the therapeutic bed from passing on car; Last starting device; Therapeutic bed moves to the precalculated position under the therapeutic equipments, and therapeutic equipments is started working then, and patient is treated.Existing therapeutic bed roughly is a cuboid that is provided with rotary apparatus and can moves at the Z axle horizontal along guide rail; Because the position of installing is closer from accelerator (radiotherapy main frame); Therefore not too convenient when shifting patient; The form of cuboid also influences doctor's erect-position, and not too attractive in appearance.The applicant formerly proposed a kind of radiotherapy and used the sick bed automatic positioning equipment; Utilize intelligent position control device and unsettled mechanical arm with and the Z axis adjustment device and the X axis adjustment device that are provided with, can away from the position transfer patient of accelerator to therapeutic bed, because be unsettled mechanical arm; Therefore can not influence doctor's erect-position; Very convenient, can only position control device control Z axis adjustment device and X axis adjustment device accurately patient has been delivered to treatment position, and can adjust as required; Total is succinctly attractive in appearance, has also improved work efficiency.But this scheme in use, still exists patient is transferred to the process on the therapeutic bed from handbarrow, increased the influence to patient, and work efficiency does not obtain optimization yet.
Summary of the invention
For addressing the above problem, the object of the present invention is to provide and a kind ofly can conveniently shift patient, efficient is high and do not influence doctor's erect-position and succinct radiotherapy bed shifting apparatus attractive in appearance.
For achieving the above object, technical scheme of the present invention is:
A kind of radiotherapy bed shifting apparatus comprises:
At least one activity is positioned over therapeutic bed and the intelligent machine arm on travelling car or other supporter,
Said intelligent machine arm comprises pillar, is used for the mechanical arm of the said therapeutic bed of transfer and controls the intelligent position control device that said mechanical arm moves.
Preferably, also comprise be located in the accelerator room and with the therapeutic bed bogey of said therapeutic bed coupling.
Preferably; Said mechanical arm comprises makes therapeutic bed arrive the Z axial coordinate Z axis adjustment device of setting parallel with the Z axle with making the therapeutic bed axis; And making therapeutic bed arrive the X axis adjustment device of the X axial coordinate of setting, said intelligent position control device is electrically connected with said Z axis adjustment device and X axis adjustment device respectively.
Preferably; Said mechanical arm comprises first cantilever that base, an end and said base are connected through spherical axle; And flexibly connect second cantilever with rotating shaft with the other end of said first cantilever, also comprise driving the first cantilever driving device that first cantilever does Three dimensional rotation and driving the second cantilever driving device that second cantilever rotates around the shaft.
Preferably; Said X axis adjustment device comprises first cantilever that first rotating shaft be located on the said base or rotating base, an end be connected with first rotating shaft or rotating base, second rotating shaft of being located at the said first cantilever other end; And second cantilever that is connected with said second rotating shaft of end, said Z axis adjustment device comprises the Z axle rotating shaft of being located at the said second cantilever other end and is located at the transporting arms in the rotating shaft of said Z axle.
Preferably, said first rotating shaft is spherical rotating shaft.
Preferably, said therapeutic bed below is provided with lifts groove, and said transporting arms front end is provided with the dish of lifting with said groove coupling.
Preferably; Said base is provided with driving device; Said driving device comprises electric control gear, is electrically connected and receives the motor of its control, the speed change gear that is connected with said electric-motor drive with said electric control gear; And the driving wheel that is in transmission connection with said speed change gear, said electric control gear is electrically connected with said intelligent position control device.
Preferably, said transporting arms slidably is sheathed on the transporting arms slide block, and said transporting arms slide block is fixedly connected in the rotating shaft of said Z axle.
Preferably, also be provided with base, said pillar is fixedly connected on the said base, and said first rotating shaft is installed on the said pillar and can moves up and down along pillar.
Adopt the beneficial effect of present technique scheme to be: utilize the intelligent machine arm with patient together with therapeutic bed from transfer on treatment waiting room, trolley or other supporter to accelerator room in predetermined treatment position, do not need again patient to have reduced influence to patient on the trolley or on the berth of treatment waiting room and shift between the accelerator room internal therapy bed; Also improved work efficiency, simultaneously, a patient in when treatment; All the other patients can wait in proper order; When this patient finishes, the intelligent machine arm shifts out it from accelerator room internal therapy position, and is put back on the dolly; Let the staff push back the ward; And then with the next bit patient together with the therapeutic bed transfer to treatment position, so circulation has improved the service efficiency of work efficiency and expensive accelerator greatly.
Description of drawings
Fig. 1 is the sketch map of a kind of radiotherapy bed of the present invention shifting apparatus;
Fig. 2 is the sketch map of a kind of radiotherapy bed of the present invention shifting apparatus embodiment 1;
Fig. 3 is the sketch map of a kind of radiotherapy bed of the present invention shifting apparatus embodiment 2;
Fig. 4 is the sketch map of a kind of radiotherapy bed of the present invention shifting apparatus embodiment 3;
Fig. 5 is the sketch map of a kind of radiotherapy bed of the present invention shifting apparatus embodiment 4.
The numeral corresponding component title represented among the figure with letter:
11. base 111. pillars 12. mechanical arms 121. first rotating shafts 122. first cantilevers 123. second rotating shafts 124. second cantilever 125.Z axle rotating shafts 126. transporting arms slide blocks 127. transporting arms 128. are lifted dish 129. rotating bases 13. intelligent position control device 2. therapeutic bed 31. Medical Instruments 32. therapeutic bed bogeys 51. first reference sensors 52. second reference sensors 71. first tracking transducers 72. second tracking transducers.
The specific embodiment
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is done further detailed explanation.
Embodiment 1,
As depicted in figs. 1 and 2, a kind of radiotherapy bed shifting apparatus comprises:
4 movable respectively therapeutic bed 2 and intelligent machine arm that are positioned on the travelling car,
Said intelligent machine arm comprises pillar 111, is used for the mechanical arm 12 of the said therapeutic bed of transfer and controls the intelligent position control device 13 that said mechanical arm moves.
Said intelligent machine arm is arranged in the accelerator room.
Also comprise be located in the accelerator room and with the therapeutic bed bogey 32 of said therapeutic bed 2 couplings.
Said mechanical arm 12 comprises makes therapeutic bed 2 arrive the Z axial coordinate Z axis adjustment device of setting parallel with the Z axle with making therapeutic bed 2 axis, and the X axis adjustment device that makes the X axial coordinate of therapeutic bed arrival setting,
Said intelligent position control device 13 is electrically connected with said Z axis adjustment device and X axis adjustment device respectively.
First cantilever 122 that said X axis adjustment device comprises that first rotating shaft 121, the end be located on the said base be connected with first rotating shaft 121, second rotating shaft 123 of being located at said first cantilever, 122 other ends; And second cantilever 123 that is connected with said second rotating shaft 123 of end; Said Z axis adjustment device comprises the Z axle rotating shaft 125 of being located at said second cantilever, 123 other ends and is located at the transporting arms slide block 126 in the said Z axle rotating shaft 125, and slidably is sheathed on the said transporting arms 127 on the transporting arms slide block 126.Said first rotating shaft 121 is installed on the said pillar 111 and can moves up and down along pillar 111.
Also be provided with intelligent position control device; It is provided with the first reference coordinate pick off 51 and the second reference coordinate pick off 52, and therapeutic bed 2 is provided with and the first reference coordinate pick off 51 and corresponding respectively first tracking transducer 71 and second tracking transducer 72 of the second reference coordinate pick off 52.
Operation principle is that the patient that needs are performed the operation shifts in the accelerator room internal therapy waiting room sequence onto from the ward; Show a patient among Fig. 1 and receiving treatment, three patients are arranged in the situation of waiting for, mechanical arm 11 starts then; And reduce height (mechanical arm descends along pillar 111), and transporting arms 127 is stretched into the following corresponding position of therapeutic bed 2, mechanical arm 12 rises then; Therapeutic bed 2 lifted from dolly remove, be downloaded to the therapeutic room from the waiting room image drift, this moment, intelligent position control device 13 detected the relative position coordinates that its inside are provided with the first reference coordinate pick off 51 and the second reference coordinate pick off 52 and first tracking transducer 71 and second tracking transducer 72 of therapeutic bed 2 precalculated position coordinates; Judge the target location direction, and calculate and optimize the mobile alignment of therapeutic bed 2, send operating instruction according to this mobile alignment figure to mechanical arm 12 then; First rotating shaft 121 drives first cantilever 122 and rotates on the mechanical arm, and second rotating shaft 123 drives second cantilever 124 and rotates, Z axle rotating shaft 125 drive transporting arms slide blocks 126 and transporting arms 127 and on therapeutic bed 2 rotate; Transporting arms 127 also cooperates along transporting arms slide block 126 sliding extensions; Make the correspondence position of first tracking transducer 71, till aligning, and then proofread and correct the correspondence position of second tracking transducer 72 and second reference sensor 52 from the dynamic(al) correction and first reference sensor 51; Till aligning; So far the position of two pairs of pick offs is all to correct time, and therapeutic bed 2 promptly arrives the predetermined treatment position, and it is locked with therapeutic bed that intelligent position control device 13 sends each the rotating mechanism locking of commands for controlling mechanical arm; Prevent to move, Medical Instruments 31 can be treated patient.After treatment finished, mechanical arm returned therapeutic bed 2 transfers to dolly, and transfer therapeutic bed 2 carries out next patient's treatment to therapeutic room from the dolly of next cis-position.
Adopt the beneficial effect of present technique scheme to be: utilize the intelligent machine arm with patient together with therapeutic bed from transfer on the trolley to accelerator room in predetermined treatment position, do not need again patient to be shifted between dolly and accelerator room internal therapy bed, reduced influence to patient; Also improved work efficiency, simultaneously, a patient in when treatment; All the other patients can wait in proper order; When this patient finishes, the intelligent machine arm shifts out it from accelerator room internal therapy position, and is put back on the dolly; Let the staff push back the ward; And then with the next bit patient together with the therapeutic bed transfer to treatment position, so circulation has improved the service efficiency of work efficiency and expensive accelerator greatly.
In the foregoing description, patient is also can be in advance just in place on therapeutic bed that the treatment waiting room is provided with or other supporter, waits for treatment; Or the preparation before treating simultaneously, behind the opening of device, by set order with patient together with therapeutic bed transfer predetermined treatment position in the accelerator room; After treatment finished, the treatment waiting room was returned in transfer again, after placing; Transfer next bit patient gets into treatment position predetermined in the accelerator room again, so circulation.
Embodiment 2,
As shown in Figure 3, all the other are identical with embodiment 1, and difference is; Also be provided with base 11; Said pillar 111 is fixedly connected on the said base 11, and said base 11 is provided with driving device, and said driving device comprises electric control gear, is electrically connected and receives the motor of its control, the speed change gear that is connected with said electric-motor drive with said electric control gear; And the driving wheel that is in transmission connection with said speed change gear, said electric control gear is electrically connected with said intelligent position control device.Like this, intelligent position control device 13 can be controlled said drive device drives base 11 and in the room, move, and makes equipment stronger to the space adaptability in treatment room, and possesses mobility, can in different rooms, shift.
Wherein, said motor is at least two and be in transmission connection with a driving wheel of left and right sides respectively.
In the foregoing description; Said intelligent position control device comprises the micro-computer controlling apparatus handling coordinate information and control said mechanical arm operation and receiving target coordinate information and the wireless signal receiving system that is electrically connected with said micro-computer controlling apparatus, and the coordinates of targets setting and the discharger that are arranged on the said radiotherapy equipment and mate with said wireless signal receiving system.
Said wireless launcher is the 2.4G wireless launcher, and said radio receiver is the 2.4G radio receiver that matees with said 2.4G wireless launcher.
Adopt the beneficial effect of present technique scheme to be: utilize the intelligent machine arm with patient together with therapeutic bed from transfer on the trolley to accelerator room in predetermined treatment position, do not need again patient to be shifted between dolly and accelerator room internal therapy bed, reduced influence to patient; Also improved work efficiency, simultaneously, a patient in when treatment; All the other patients can wait in proper order; When this patient finishes, the intelligent machine arm shifts out it from accelerator room internal therapy position, and is put back on the dolly; Let the staff push back the ward; And then with the next bit patient together with the therapeutic bed transfer to treatment position, so circulation has improved the service efficiency of work efficiency and expensive accelerator greatly.
Embodiment 3,
As shown in Figure 4, all the other are identical with embodiment 2, and difference is that said therapeutic bed 2 belows are provided with lifts groove, and said transporting arms 127 front ends are provided with lifting of said groove coupling and coil 128.Can locate and lock therapeutic bed 2 more easily.
Embodiment 4,
As shown in Figure 5, all the other are identical with embodiment 1, and difference is that said therapeutic bed 2 belows are provided with lifts groove, and said transporting arms 127 front ends are provided with lifting of said groove coupling and coil 128.Can locate and lock therapeutic bed 2 more easily.Its mechanical arm 12 is by base 11 in addition; But be installed on the base 11 and the rotating base 129 of 360 ° of positive and negative two-way rotations of level, the lower end can be rotated on vertical through first cantilever, 122, the first cantilevers 122 that first rotating shaft 121 is connected with rotating base 129 around the shaft; And the rear end front end that is connected in second cantilever, 124, the second cantilevers 124 of first cantilever, 122 upper ends through second rotating shaft 123 is provided with the telescopic arm of retractable, and the front end of telescopic arm is installed with the aforementioned dish 128 of lifting.In the present embodiment; First cantilever 122 is used to adjust the level height of lifting dish 128 and therapeutic bed 2, and 124 on second cantilever remains level, and rotating base 129 can be that mechanical arm freely rotates for 12360 °; Make things convenient for transfer therapeutic bed 2; The present embodiment clear in structure is succinct, and is attractive in appearance, powerful.
Embodiment 5,
All the other are identical with embodiment 4; Difference is, does not establish rotating base 129, and changes first rotating shaft 121 into spherical rotating shaft; Horizontally rotate and, realize the purpose of the function of embodiment 4 in another way with 360 ° of direct realizations freely the rotating of vertical direction.
In the foregoing description, transporting arms 127 can also be designed to adopt the mechanical hand form of extracting, directly grasps therapeutic bed 2, carries out transfer then.
Above-described only is preferred implementation of the present invention, should be pointed out that for the person of ordinary skill of the art, under the prerequisite that does not break away from the invention design, can also make some distortion and improvement, and these all belong to protection scope of the present invention.
Claims (10)
1. a radiotherapy bed shifting apparatus is characterized in that, comprising:
At least one activity is positioned over therapeutic bed and the intelligent machine arm on travelling car or other supporter,
Said intelligent machine arm comprises pillar, is used for the mechanical arm of the said therapeutic bed of transfer and controls the intelligent position control device that said mechanical arm moves.
2. radiotherapy bed shifting apparatus according to claim 1 is characterized in that, also comprise be located in the accelerator room and with the therapeutic bed bogey of said therapeutic bed coupling.
3. according to the arbitrary described radiotherapy bed shifting apparatus of claim 1 to 2; It is characterized in that; Said mechanical arm comprises makes therapeutic bed arrive the Z axial coordinate Z axis adjustment device of setting parallel with the Z axle with making the therapeutic bed axis; And making therapeutic bed arrive the X axis adjustment device of the X axial coordinate of setting, said intelligent position control device is electrically connected with said Z axis adjustment device and X axis adjustment device respectively.
4. radiotherapy bed shifting apparatus according to claim 1 and 2; It is characterized in that; Said mechanical arm comprises first cantilever that base, an end and said base are connected through spherical axle; And flexibly connect second cantilever with rotating shaft with the other end of said first cantilever, also comprise driving the first cantilever driving device that first cantilever does Three dimensional rotation and driving the second cantilever driving device that second cantilever rotates around the shaft.
5. radiotherapy bed shifting apparatus according to claim 3; It is characterized in that; Said X axis adjustment device comprises first cantilever that first rotating shaft be located on the said base or rotating base, an end be connected with first rotating shaft or rotating base, second rotating shaft of being located at the said first cantilever other end; And second cantilever that is connected with said second rotating shaft of end, said Z axis adjustment device comprises the Z axle rotating shaft of being located at the said second cantilever other end and is located at the transporting arms in the rotating shaft of said Z axle.
6. radiotherapy bed shifting apparatus according to claim 5 is characterized in that said first rotating shaft is spherical rotating shaft.
7. radiotherapy bed shifting apparatus according to claim 4 is characterized in that, said therapeutic bed below is provided with lifts groove, and said transporting arms front end is provided with the dish of lifting with said groove coupling.
8. radiotherapy bed shifting apparatus according to claim 5; It is characterized in that; Said base is provided with driving device; Said driving device comprises electric control gear, is electrically connected and receives the motor of its control, the speed change gear that is connected with said electric-motor drive with said electric control gear, and the driving wheel that is in transmission connection with said speed change gear, and said electric control gear is electrically connected with said intelligent position control device.
9. radiotherapy bed shifting apparatus according to claim 5 is characterized in that, said transporting arms slidably is sheathed on the transporting arms slide block, and said transporting arms slide block is fixedly connected in the rotating shaft of said Z axle.
10. radiotherapy bed shifting apparatus according to claim 5 is characterized in that, also is provided with base, and said pillar is fixedly connected on the said base, and said first rotating shaft is installed on the said pillar and can moves up and down along pillar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101470195A CN102805903A (en) | 2011-06-02 | 2011-06-02 | Radiation therapy bed transferring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101470195A CN102805903A (en) | 2011-06-02 | 2011-06-02 | Radiation therapy bed transferring device |
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| CN102805903A true CN102805903A (en) | 2012-12-05 |
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| CN2011101470195A Pending CN102805903A (en) | 2011-06-02 | 2011-06-02 | Radiation therapy bed transferring device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107115597A (en) * | 2017-06-21 | 2017-09-01 | 苏州雷泰医疗科技有限公司 | A kind of novel therapeutic bed and accelerator therapy device for radiotherapy |
| JP2017176354A (en) * | 2016-03-29 | 2017-10-05 | 住友重機械工業株式会社 | Neutron capture therapy system |
| CN108525145A (en) * | 2018-05-14 | 2018-09-14 | 柯尼卡美能达再启医疗设备（上海）有限公司 | The more bed board positioning systems of one proton heavy ion |
| CN109846656A (en) * | 2019-04-12 | 2019-06-07 | 华庚智康(天津)科技有限公司 | A kind of intelligence power-assisted therapeutic bed and treatment system |
| CN112022517A (en) * | 2020-08-11 | 2020-12-04 | 北京东软医疗设备有限公司 | Automated medical system |
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| CN2640449Y (en) * | 2003-06-27 | 2004-09-15 | 中国人民解放军第一九五医院 | Multifunctional sick and wounded porter for peace or war time |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2017176354A (en) * | 2016-03-29 | 2017-10-05 | 住友重機械工業株式会社 | Neutron capture therapy system |
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| CN108525145A (en) * | 2018-05-14 | 2018-09-14 | 柯尼卡美能达再启医疗设备（上海）有限公司 | The more bed board positioning systems of one proton heavy ion |
| CN109846656A (en) * | 2019-04-12 | 2019-06-07 | 华庚智康(天津)科技有限公司 | A kind of intelligence power-assisted therapeutic bed and treatment system |
| CN112022517A (en) * | 2020-08-11 | 2020-12-04 | 北京东软医疗设备有限公司 | Automated medical system |
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Application publication date: 20121205 |
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